569 lines
33 KiB
C
569 lines
33 KiB
C
#include "zh_encoder.h"
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#define TAG "zh_encoder"
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#define ZH_LOGI(msg, ...) ESP_LOGI(TAG, msg, ##__VA_ARGS__)
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#define ZH_LOGE(msg, err, ...) ESP_LOGE(TAG, "[%s:%d:%s] " msg, __FILE__, __LINE__, esp_err_to_name(err), ##__VA_ARGS__)
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#define ZH_ERROR_CHECK(cond, err, cleanup, msg, ...) \
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if (!(cond)) \
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{ \
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ZH_LOGE(msg, err, ##__VA_ARGS__); \
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cleanup; \
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return err; \
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}
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#define ZH_ERROR_CHECK_CONT(cond, cleanup, msg, ...) \
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if (!(cond)) \
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{ \
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ZH_LOGE(msg, ESP_FAIL, ##__VA_ARGS__); \
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cleanup; \
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continue; \
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}
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#define ZH_ENCODER_DIRECTION_CW 1
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#define ZH_ENCODER_DIRECTION_CCW -1
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/**
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* @brief Internal encoder handle structure.
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*
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* Stores all runtime state for a single encoder instance,
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* including GPIO configuration, PCNT handles, and position tracking.
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*/
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struct _zh_encoder_handle_t
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{
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bool s_gpio_status; /*!< Current encoder button status */
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uint8_t encoder_number; /*!< Unique encoder number */
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gpio_num_t s_gpio_number; /*!< Encoder button GPIO number */
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uint16_t s_gpio_debounce_time; /*!< Encoder button debounce time in microseconds */
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uint64_t s_gpio_prev_time; /*!< Timestamp of the previous button interrupt */
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float encoder_step; /*!< Encoder step size */
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float encoder_position; /*!< Current encoder position */
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float encoder_min_value; /*!< Encoder minimum value */
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float encoder_max_value; /*!< Encoder maximum value */
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pcnt_unit_handle_t pcnt_unit_handle; /*!< PCNT unit handle for quadrature decoding */
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pcnt_channel_handle_t pcnt_channel_a_handle; /*!< PCNT channel A handle (A phase) */
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pcnt_channel_handle_t pcnt_channel_b_handle; /*!< PCNT channel B handle (B phase) */
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};
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/**
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* @brief Queue message structure for encoder ISR processing.
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*
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* Sent from ISR context to the processing task when encoder position changes.
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*/
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typedef struct
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{
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int watch_point_value; /*!< PCNT watch point value (CW or CCW direction) */
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zh_encoder_handle_t *handle; /*!< Pointer to the encoder handle */
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} zh_encoder_queue_t;
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TaskHandle_t zh_encoder = NULL; /*!< Handle to the shared encoder ISR processing task */
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static QueueHandle_t _queue_handle = NULL; /*!< Queue for passing encoder events from ISR to processing task */
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static portMUX_TYPE _spinlock = portMUX_INITIALIZER_UNLOCKED; /*!< Spinlock for protecting encoder position access */
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static zh_encoder_stats_t _stats = {0}; /*!< Global error statistics */
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static zh_vector_t *_vector = NULL; /*!< Vector storing encoder numbers */
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/**
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* @brief Validate encoder initialization configuration.
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*
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* Checks all configuration parameters for validity and initializes
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* the encoder handle with configuration values.
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*
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* @param config Pointer to encoder configuration structure
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* @param handle Pointer to encoder handle to initialize
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*
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* @return ESP_OK on success
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* @return ESP_ERR_INVALID_ARG if any configuration parameter is invalid
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*/
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static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
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/**
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* @brief Initialize PCNT peripheral for quadrature decoding.
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*
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* Configures PCNT unit with two channels (A and B phases),
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* sets up glitch filter, edge/level actions for CW/CCW counting,
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* registers watch points and event callbacks.
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*
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* @param config Pointer to encoder configuration structure
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* @param handle Pointer to encoder handle to populate with PCNT handles
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*
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* @return ESP_OK on success
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* @return ESP_ERR_INVALID_ARG if GPIO numbers are invalid or identical
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* @return ESP_FAIL if PCNT peripheral initialization fails
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*/
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static esp_err_t _zh_encoder_pcnt_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
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/**
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* @brief Initialize GPIO pin for encoder button (if configured).
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*
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* Configures the button GPIO as input with interrupt on any edge.
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* Installs ISR service if not already installed and registers the button ISR handler.
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*
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* @param config Pointer to encoder configuration structure
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* @param handle Pointer to encoder handle to populate with GPIO settings
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*
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* @return ESP_OK on success
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* @return ESP_ERR_INVALID_ARG if GPIO numbers conflict with encoder pins
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* @return ESP_FAIL if GPIO or ISR service initialization fails
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*/
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static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
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/**
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* @brief Initialize shared resources (queue) for the first encoder.
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*
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* Creates the FreeRTOS queue used for passing encoder events
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* from ISR context to the processing task. Only executed once
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* when the first encoder is initialized.
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*
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* @param config Pointer to encoder configuration structure
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*
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* @return ESP_OK on success
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* @return ESP_FAIL if queue creation fails
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*/
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static esp_err_t _zh_encoder_resources_init(const zh_encoder_init_config_t *config);
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/**
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* @brief Initialize the shared ISR processing task for the first encoder.
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*
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* Creates the FreeRTOS task that processes encoder events from the queue.
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* Only executed once when the first encoder is initialized.
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*
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* @param config Pointer to encoder configuration structure
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*
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* @return ESP_OK on success
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* @return ESP_FAIL if task creation fails
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*/
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static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config);
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/**
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* @brief PCNT event callback invoked when watch point is reached.
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*
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* Clears the PCNT counter and sends the watch point value
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* to the processing task queue. Executed in ISR context.
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*
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* @param unit PCNT unit handle that triggered the event
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* @param edata Pointer to PCNT watch event data
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* @param user_ctx Pointer to encoder handle
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*/
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static bool _zh_encoder_isr_handler(pcnt_unit_handle_t unit, const pcnt_watch_event_data_t *edata, void *user_ctx);
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/**
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* @brief FreeRTOS task for processing encoder events from the queue.
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*
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* Receives queue messages from the ISR handler, updates encoder position
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* based on CW/CCW direction, and posts esp_event notifications
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* when position changes. Runs indefinitely until the queue is deleted.
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*
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* @param pvParameter Task parameter (unused)
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*/
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static void _zh_encoder_isr_processing_task(void *pvParameter);
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/**
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* @brief GPIO ISR handler for encoder button press/release.
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*
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* Implements debouncing by checking the time since the last interrupt.
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* Posts a button event via esp_event_isr_post when button state changes.
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* Executed in ISR context.
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*
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* @param arg Pointer to encoder handle
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*/
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static void _zh_encoder_button_isr_handler(void *arg);
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ESP_EVENT_DEFINE_BASE(ZH_ENCODER);
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esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t **handle)
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{
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ZH_LOGI("Encoder initialization started.");
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ZH_ERROR_CHECK(config != NULL && handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder initialization failed. Invalid argument.");
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ZH_ERROR_CHECK(*handle == NULL, ESP_ERR_INVALID_STATE, NULL, "Encoder initialization failed. Encoder is already initialized.");
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*handle = heap_caps_calloc(1, sizeof(zh_encoder_handle_t), MALLOC_CAP_8BIT);
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ZH_ERROR_CHECK(_zh_encoder_validate_config(config, *handle) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. Initial configuration check failed.");
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if (_vector == NULL)
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{
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ZH_ERROR_CHECK(zh_vector_init(&_vector, sizeof(uint8_t)) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. Failed to create vector.");
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}
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ZH_ERROR_CHECK(zh_vector_push_back(&_vector, &config->encoder_number) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. Failed to add vector data.");
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ZH_ERROR_CHECK(_zh_encoder_resources_init(config) == ESP_OK, ESP_FAIL, zh_vector_delete_back(&_vector); heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. Resources initialization failed.");
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// clang-format off
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ZH_ERROR_CHECK(_zh_encoder_task_init(config) == ESP_OK, ESP_FAIL,
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zh_vector_delete_back(&_vector); heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. Processing task initialization failed.");
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ZH_ERROR_CHECK(_zh_encoder_pcnt_init(config, *handle) == ESP_OK, ESP_FAIL,
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zh_vector_delete_back(&_vector); heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. PCNT initialization failed.");
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ZH_ERROR_CHECK(_zh_encoder_gpio_init(config, *handle) == ESP_OK, ESP_FAIL,
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{ZH_ERROR_CHECK(pcnt_unit_stop((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "PCNT unit stop fail.")};
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{ZH_ERROR_CHECK(pcnt_unit_disable((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "PCNT unit disable fail.")};
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{ZH_ERROR_CHECK(pcnt_del_channel((*handle)->pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "PCNT delete channel fail.")};
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{ZH_ERROR_CHECK(pcnt_del_channel((*handle)->pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "PCNT delete channel fail.")};
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{ZH_ERROR_CHECK(pcnt_del_unit((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "PCNT delete unit fail.")};
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zh_vector_delete_back(&_vector); heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. GPIO initialization failed.");
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// clang-format on
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if (_stats.min_stack_size == 0)
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{
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_stats.min_stack_size = config->stack_size;
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}
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ZH_LOGI("Encoder initialization completed successfully.");
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return ESP_OK;
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}
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esp_err_t zh_encoder_deinit(zh_encoder_handle_t **handle)
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{
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ZH_LOGI("Encoder deinitialization started.");
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ZH_ERROR_CHECK(handle != NULL && *handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder deinitialization failed. Invalid argument.");
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ZH_ERROR_CHECK(pcnt_unit_stop((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. PCNT unit stop fail.");
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ZH_ERROR_CHECK(pcnt_unit_disable((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. PCNT unit disable fail.");
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ZH_ERROR_CHECK(pcnt_unit_remove_watch_point((*handle)->pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. PCNT unit remove watch point fail.");
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ZH_ERROR_CHECK(pcnt_unit_remove_watch_point((*handle)->pcnt_unit_handle, ZH_ENCODER_DIRECTION_CCW) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. PCNT unit remove watch point fail.");
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ZH_ERROR_CHECK(pcnt_del_channel((*handle)->pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. PCNT delete channel fail.");
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ZH_ERROR_CHECK(pcnt_del_channel((*handle)->pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. PCNT delete channel fail.");
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ZH_ERROR_CHECK(pcnt_del_unit((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. PCNT delete unit fail.");
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if ((*handle)->s_gpio_number != GPIO_NUM_MAX)
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{
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ZH_ERROR_CHECK(gpio_isr_handler_remove((*handle)->s_gpio_number) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. Remove GPIO isr handler failed.");
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ZH_ERROR_CHECK(gpio_reset_pin((*handle)->s_gpio_number) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. Reset GPIO failed.");
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}
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int32_t index = 0;
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ZH_ERROR_CHECK(zh_vector_find_item(&_vector, &(*handle)->encoder_number, &index) == ESP_ERR_NOT_FOUND, ESP_ERR_INVALID_ARG, NULL, "Encoder deinitialization failed. Failed to find vector item.");
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ZH_ERROR_CHECK(zh_vector_delete_item(&_vector, (uint16_t)index) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. Vector delete item failed.");
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uint16_t vector_size = 0;
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ZH_ERROR_CHECK(zh_vector_get_size(&_vector, &vector_size) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. Failed to get vector size.");
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if (vector_size == 0)
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{
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vQueueDelete(_queue_handle);
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_queue_handle = NULL;
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vTaskDelete(zh_encoder);
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zh_encoder = NULL;
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ZH_ERROR_CHECK(zh_vector_free(&_vector) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. Free vector failed.");
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}
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heap_caps_free(*handle);
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*handle = NULL;
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ZH_LOGI("Encoder deinitialization completed successfully.");
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return ESP_OK;
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}
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esp_err_t zh_encoder_reinit(zh_encoder_handle_t **handle, float min, float max, float step)
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{
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ZH_LOGI("Encoder reinitialization started.");
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ZH_ERROR_CHECK(handle != NULL && *handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder reinitialization failed. Invalid argument.");
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ZH_ERROR_CHECK(max > min, ESP_ERR_INVALID_ARG, NULL, "Encoder reinitialization failed. Invalid encoder min/max value.");
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ZH_ERROR_CHECK(step > 0, ESP_ERR_INVALID_ARG, NULL, "Encoder reinitialization failed. Invalid encoder step.");
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taskENTER_CRITICAL(&_spinlock);
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(*handle)->encoder_min_value = min;
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(*handle)->encoder_max_value = max;
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(*handle)->encoder_step = step;
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(*handle)->encoder_position = ((*handle)->encoder_min_value + (*handle)->encoder_max_value) / 2;
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taskEXIT_CRITICAL(&_spinlock);
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ZH_LOGI("Encoder reinitialization completed successfully.");
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return ESP_OK;
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}
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esp_err_t zh_encoder_set(zh_encoder_handle_t **handle, float position)
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{
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ZH_LOGI("Encoder set position started.");
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ZH_ERROR_CHECK(handle != NULL && *handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder set position failed. Invalid argument.");
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ZH_ERROR_CHECK(position <= (*handle)->encoder_max_value && position >= (*handle)->encoder_min_value, ESP_ERR_INVALID_ARG, NULL, "Encoder set position failed. Invalid argument.");
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taskENTER_CRITICAL(&_spinlock);
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(*handle)->encoder_position = position;
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taskEXIT_CRITICAL(&_spinlock);
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ZH_LOGI("Encoder set position completed successfully.");
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return ESP_OK;
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}
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esp_err_t zh_encoder_get(zh_encoder_handle_t **handle, float *position)
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{
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ZH_LOGI("Encoder get position started.");
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ZH_ERROR_CHECK(handle != NULL && *handle != NULL && position != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder get position failed. Invalid argument.");
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*position = (*handle)->encoder_position;
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ZH_LOGI("Encoder get position completed successfully.");
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return ESP_OK;
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}
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esp_err_t zh_encoder_reset(zh_encoder_handle_t **handle)
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{
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ZH_LOGI("Encoder reset started.");
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ZH_ERROR_CHECK(handle != NULL && *handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder reset failed. Invalid argument.");
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taskENTER_CRITICAL(&_spinlock);
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(*handle)->encoder_position = ((*handle)->encoder_min_value + (*handle)->encoder_max_value) / 2;
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taskEXIT_CRITICAL(&_spinlock);
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ZH_LOGI("Encoder reset completed successfully.");
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return ESP_OK;
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}
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const zh_encoder_stats_t *zh_encoder_get_stats(void)
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{
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return &_stats;
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}
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void zh_encoder_reset_stats(void)
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{
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ZH_LOGI("Error statistic reset started.");
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_stats.event_post_error = 0;
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_stats.queue_overflow_error = 0;
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_stats.min_stack_size = 0;
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ZH_LOGI("Error statistic reset successfully.");
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}
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static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle)
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{
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ZH_ERROR_CHECK(config->task_priority >= 1 && config->stack_size >= configMINIMAL_STACK_SIZE, ESP_ERR_INVALID_ARG, NULL, "Invalid task settings.");
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ZH_ERROR_CHECK(config->queue_size >= 1, ESP_ERR_INVALID_ARG, NULL, "Invalid queue size.");
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ZH_ERROR_CHECK(config->encoder_max_value > config->encoder_min_value, ESP_ERR_INVALID_ARG, NULL, "Invalid encoder min/max value.");
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ZH_ERROR_CHECK(config->encoder_step > 0, ESP_ERR_INVALID_ARG, NULL, "Invalid encoder step.");
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ZH_ERROR_CHECK(config->encoder_number > 0, ESP_ERR_INVALID_ARG, NULL, "Invalid encoder number.");
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if (_vector != NULL)
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{
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int32_t index = 0;
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ZH_ERROR_CHECK(zh_vector_find_item(&_vector, &config->encoder_number, &index) == ESP_ERR_NOT_FOUND, ESP_ERR_INVALID_ARG, NULL, "Encoder number already present.");
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}
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handle->encoder_number = config->encoder_number;
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handle->encoder_min_value = config->encoder_min_value;
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handle->encoder_max_value = config->encoder_max_value;
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handle->encoder_step = config->encoder_step;
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handle->encoder_position = (handle->encoder_min_value + handle->encoder_max_value) / 2;
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return ESP_OK;
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}
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static esp_err_t _zh_encoder_pcnt_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle)
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{
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ZH_ERROR_CHECK(config->a_gpio_number < GPIO_NUM_MAX && config->b_gpio_number < GPIO_NUM_MAX, ESP_ERR_INVALID_ARG, NULL, "Invalid GPIO number.")
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ZH_ERROR_CHECK(config->a_gpio_number != config->b_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Encoder A and B GPIO is same.")
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pcnt_unit_config_t pcnt_unit_config = {
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.high_limit = 10,
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.low_limit = -10,
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};
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pcnt_unit_handle_t pcnt_unit_handle = NULL;
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ZH_ERROR_CHECK(pcnt_new_unit(&pcnt_unit_config, &pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT initialization failed.");
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pcnt_glitch_filter_config_t pcnt_glitch_filter_config = {
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.max_glitch_ns = 1000,
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};
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ZH_ERROR_CHECK(pcnt_unit_set_glitch_filter(pcnt_unit_handle, &pcnt_glitch_filter_config) == ESP_OK, ESP_FAIL,
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{ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
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pcnt_chan_config_t pcnt_chan_a_config = {
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.edge_gpio_num = config->a_gpio_number,
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.level_gpio_num = config->b_gpio_number,
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};
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pcnt_channel_handle_t pcnt_channel_a_handle = NULL;
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ZH_ERROR_CHECK(pcnt_new_channel(pcnt_unit_handle, &pcnt_chan_a_config, &pcnt_channel_a_handle) == ESP_OK, ESP_FAIL,
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{ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
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pcnt_chan_config_t pcnt_chan_b_config = {
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.edge_gpio_num = config->b_gpio_number,
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.level_gpio_num = config->a_gpio_number,
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};
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pcnt_channel_handle_t pcnt_channel_b_handle = NULL;
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ZH_ERROR_CHECK(pcnt_new_channel(pcnt_unit_handle, &pcnt_chan_b_config, &pcnt_channel_b_handle) == ESP_OK, ESP_FAIL,
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{ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
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{ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
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ZH_ERROR_CHECK(pcnt_channel_set_edge_action(pcnt_channel_a_handle, PCNT_CHANNEL_EDGE_ACTION_DECREASE, PCNT_CHANNEL_EDGE_ACTION_HOLD) == ESP_OK, ESP_FAIL,
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{ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
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{ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
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{ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
|
|
ZH_ERROR_CHECK(pcnt_channel_set_level_action(pcnt_channel_a_handle, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_HOLD) == ESP_OK, ESP_FAIL,
|
|
{ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
|
|
ZH_ERROR_CHECK(pcnt_channel_set_edge_action(pcnt_channel_b_handle, PCNT_CHANNEL_EDGE_ACTION_INCREASE, PCNT_CHANNEL_EDGE_ACTION_HOLD) == ESP_OK, ESP_FAIL,
|
|
{ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
|
|
ZH_ERROR_CHECK(pcnt_channel_set_level_action(pcnt_channel_b_handle, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_HOLD) == ESP_OK, ESP_FAIL,
|
|
{ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
|
|
ZH_ERROR_CHECK(pcnt_unit_add_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL,
|
|
{ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
|
|
ZH_ERROR_CHECK(pcnt_unit_add_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CCW) == ESP_OK, ESP_FAIL,
|
|
{ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
|
|
pcnt_event_callbacks_t cbs = {
|
|
.on_reach = _zh_encoder_isr_handler,
|
|
};
|
|
ZH_ERROR_CHECK(pcnt_unit_register_event_callbacks(pcnt_unit_handle, &cbs, handle) == ESP_OK, ESP_FAIL,
|
|
{ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CCW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
|
|
ZH_ERROR_CHECK(pcnt_unit_enable(pcnt_unit_handle) == ESP_OK, ESP_FAIL,
|
|
{ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CCW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
|
|
ZH_ERROR_CHECK(pcnt_unit_clear_count(pcnt_unit_handle) == ESP_OK, ESP_FAIL,
|
|
{ZH_ERROR_CHECK(pcnt_unit_disable(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT unit disable fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CCW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
|
|
ZH_ERROR_CHECK(pcnt_unit_start(pcnt_unit_handle) == ESP_OK, ESP_FAIL,
|
|
{ZH_ERROR_CHECK(pcnt_unit_disable(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT unit disable fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CCW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
|
|
{ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
|
|
if (config->pullup == false)
|
|
{
|
|
ZH_ERROR_CHECK(gpio_pullup_dis(config->a_gpio_number) == ESP_OK, ESP_FAIL, NULL, "GPIO pullup disable fail.");
|
|
ZH_ERROR_CHECK(gpio_pullup_dis(config->b_gpio_number) == ESP_OK, ESP_FAIL, NULL, "GPIO pullup disable fail.");
|
|
}
|
|
handle->pcnt_unit_handle = pcnt_unit_handle;
|
|
handle->pcnt_channel_a_handle = pcnt_channel_a_handle;
|
|
handle->pcnt_channel_b_handle = pcnt_channel_b_handle;
|
|
return ESP_OK;
|
|
}
|
|
|
|
static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle)
|
|
{
|
|
ZH_ERROR_CHECK(config->s_gpio_number <= GPIO_NUM_MAX, ESP_ERR_INVALID_ARG, NULL, "Invalid GPIO number.")
|
|
ZH_ERROR_CHECK(config->a_gpio_number != config->s_gpio_number && config->b_gpio_number != config->s_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Encoder GPIO and button GPIO is same.")
|
|
if (config->s_gpio_number != GPIO_NUM_MAX)
|
|
{
|
|
gpio_config_t pin_config = {
|
|
.mode = GPIO_MODE_INPUT,
|
|
.pull_up_en = (config->pullup == true) ? GPIO_PULLUP_ENABLE : GPIO_PULLUP_DISABLE,
|
|
.pin_bit_mask = (1ULL << config->s_gpio_number),
|
|
.intr_type = GPIO_INTR_ANYEDGE};
|
|
ZH_ERROR_CHECK(gpio_config(&pin_config) == ESP_OK, ESP_FAIL, NULL, "GPIO initialization failed.");
|
|
esp_err_t err = gpio_install_isr_service(ESP_INTR_FLAG_LOWMED);
|
|
ZH_ERROR_CHECK(err == ESP_OK || err == ESP_ERR_INVALID_STATE, ESP_FAIL,
|
|
{ZH_ERROR_CHECK(gpio_reset_pin(config->s_gpio_number) == ESP_OK, ESP_FAIL, NULL, "Reset GPIO failed.")}, "Failed install isr service.");
|
|
ZH_ERROR_CHECK(gpio_isr_handler_add(config->s_gpio_number, _zh_encoder_button_isr_handler, handle) == ESP_OK, ESP_FAIL,
|
|
{ZH_ERROR_CHECK(gpio_reset_pin(config->s_gpio_number) == ESP_OK, ESP_FAIL, NULL, "Reset GPIO failed.")}, "Interrupt initialization failed.");
|
|
handle->s_gpio_number = config->s_gpio_number;
|
|
handle->s_gpio_debounce_time = config->s_gpio_debounce_time;
|
|
handle->s_gpio_status = gpio_get_level(config->s_gpio_number);
|
|
}
|
|
return ESP_OK;
|
|
}
|
|
|
|
static esp_err_t _zh_encoder_resources_init(const zh_encoder_init_config_t *config)
|
|
{
|
|
uint16_t vector_size = 0;
|
|
zh_vector_get_size(&_vector, &vector_size);
|
|
if (vector_size == 1)
|
|
{
|
|
_queue_handle = xQueueCreate(config->queue_size, sizeof(zh_encoder_queue_t));
|
|
ZH_ERROR_CHECK(_queue_handle != NULL, ESP_FAIL, NULL, "Failed to create queue.");
|
|
}
|
|
return ESP_OK;
|
|
}
|
|
|
|
static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config)
|
|
{
|
|
uint16_t vector_size = 0;
|
|
zh_vector_get_size(&_vector, &vector_size);
|
|
if (vector_size == 1)
|
|
{
|
|
ZH_ERROR_CHECK(xTaskCreatePinnedToCore(&_zh_encoder_isr_processing_task, "zh_encoder_isr_processing", config->stack_size, NULL, config->task_priority, &zh_encoder, tskNO_AFFINITY) == pdPASS,
|
|
ESP_FAIL, NULL, "Failed to create isr processing task.");
|
|
}
|
|
return ESP_OK;
|
|
}
|
|
|
|
static bool IRAM_ATTR _zh_encoder_isr_handler(pcnt_unit_handle_t unit, const pcnt_watch_event_data_t *edata, void *user_ctx)
|
|
{
|
|
zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)user_ctx;
|
|
zh_encoder_queue_t encoder_queue = {0};
|
|
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
|
|
if (pcnt_unit_clear_count(unit) != ESP_OK)
|
|
{
|
|
return false;
|
|
}
|
|
encoder_queue.watch_point_value = edata->watch_point_value;
|
|
encoder_queue.handle = encoder_handle;
|
|
if (xQueueSendFromISR(_queue_handle, &encoder_queue, &xHigherPriorityTaskWoken) != pdTRUE)
|
|
{
|
|
++_stats.queue_overflow_error;
|
|
}
|
|
if (xHigherPriorityTaskWoken == pdTRUE)
|
|
{
|
|
return true;
|
|
};
|
|
return false;
|
|
}
|
|
|
|
static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter)
|
|
{
|
|
(void)pvParameter;
|
|
zh_encoder_queue_t encoder_queue = {0};
|
|
while (xQueueReceive(_queue_handle, &encoder_queue, portMAX_DELAY) == pdTRUE)
|
|
{
|
|
bool is_value_changed = false;
|
|
zh_encoder_handle_t *encoder_handle = encoder_queue.handle;
|
|
switch (encoder_queue.watch_point_value)
|
|
{
|
|
case ZH_ENCODER_DIRECTION_CW:
|
|
if (encoder_handle->encoder_position < encoder_handle->encoder_max_value)
|
|
{
|
|
encoder_handle->encoder_position = encoder_handle->encoder_position + encoder_handle->encoder_step;
|
|
if (encoder_handle->encoder_position > encoder_handle->encoder_max_value)
|
|
{
|
|
encoder_handle->encoder_position = encoder_handle->encoder_max_value;
|
|
}
|
|
is_value_changed = true;
|
|
}
|
|
break;
|
|
case ZH_ENCODER_DIRECTION_CCW:
|
|
if (encoder_handle->encoder_position > encoder_handle->encoder_min_value)
|
|
{
|
|
encoder_handle->encoder_position = encoder_handle->encoder_position - encoder_handle->encoder_step;
|
|
if (encoder_handle->encoder_position < encoder_handle->encoder_min_value)
|
|
{
|
|
encoder_handle->encoder_position = encoder_handle->encoder_min_value;
|
|
}
|
|
is_value_changed = true;
|
|
}
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
if (is_value_changed == true)
|
|
{
|
|
is_value_changed = false;
|
|
zh_encoder_event_on_isr_t encoder_data = {0};
|
|
encoder_data.encoder_number = encoder_handle->encoder_number;
|
|
if (encoder_handle->encoder_position < 0 && encoder_handle->encoder_position > -1e-12)
|
|
{
|
|
encoder_handle->encoder_position = 0;
|
|
}
|
|
encoder_data.encoder_position = encoder_handle->encoder_position;
|
|
ZH_ERROR_CHECK_CONT(esp_event_post(ZH_ENCODER, ZH_ENCODER_EVENT, &encoder_data, sizeof(zh_encoder_event_on_isr_t), 1000 / portTICK_PERIOD_MS) == ESP_OK, ++_stats.event_post_error, "Encoder isr processing failed. Failed to post interrupt event.");
|
|
}
|
|
_stats.min_stack_size = (uint32_t)uxTaskGetStackHighWaterMark(NULL);
|
|
}
|
|
vTaskDelete(NULL);
|
|
}
|
|
|
|
static void IRAM_ATTR _zh_encoder_button_isr_handler(void *arg)
|
|
{
|
|
zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)arg;
|
|
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
|
|
uint64_t _current_us = esp_timer_get_time();
|
|
if (_current_us - encoder_handle->s_gpio_prev_time >= encoder_handle->s_gpio_debounce_time)
|
|
{
|
|
bool s_gpio_status = gpio_get_level(encoder_handle->s_gpio_number);
|
|
if (encoder_handle->s_gpio_status != s_gpio_status)
|
|
{
|
|
encoder_handle->s_gpio_status = s_gpio_status;
|
|
zh_encoder_button_event_on_isr_t encoder_data = {0};
|
|
encoder_data.encoder_number = encoder_handle->encoder_number;
|
|
encoder_data.button_status = encoder_handle->s_gpio_status;
|
|
if (esp_event_isr_post(ZH_ENCODER, ZH_BUTTON_EVENT, &encoder_data, sizeof(zh_encoder_button_event_on_isr_t), &xHigherPriorityTaskWoken) != ESP_OK)
|
|
{
|
|
++_stats.event_post_error;
|
|
}
|
|
}
|
|
}
|
|
encoder_handle->s_gpio_prev_time = _current_us;
|
|
if (xHigherPriorityTaskWoken == pdTRUE)
|
|
{
|
|
portYIELD_FROM_ISR();
|
|
};
|
|
} |