aZholtikov/zh_inclinometer
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aZholtikov committed 2026-09-12 12:43:08 +03:00
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README.md
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@@ -1,9 +1,5 @@
# ESP32 ESP-IDF component for inclinometer (via optical rotary encoder) # ESP32 ESP-IDF component for inclinometer (via optical rotary encoder)
## SAST Tools
[PVS-Studio](https://pvs-studio.com/pvs-studio/?utm_source=website&utm_medium=github&utm_campaign=open_source) - static analyzer for C, C++, C#, and Java code.
## Features ## Features
1. Quadrature encoder support with configurable GPIO pins. 1. Quadrature encoder support with configurable GPIO pins.
zh_inclinometer.c
+4 -4
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@@ -56,7 +56,7 @@ static esp_err_t _zh_inclinometer_validate_config(const zh_inclinometer_init_con
*/ */
static esp_err_t _zh_inclinometer_pcnt_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_handle_t *handle); static esp_err_t _zh_inclinometer_pcnt_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_handle_t *handle);
esp_err_t zh_inclinometer_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_handle_t **handle) // -V2008 esp_err_t zh_inclinometer_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_handle_t **handle)
{ {
ZH_LOGI("Inclinometer initialization started."); ZH_LOGI("Inclinometer initialization started.");
ZH_ERROR_CHECK(config != NULL && handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer initialization failed. Invalid argument."); ZH_ERROR_CHECK(config != NULL && handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer initialization failed. Invalid argument.");
@@ -71,7 +71,7 @@ esp_err_t zh_inclinometer_init(const zh_inclinometer_init_config_t *config, zh_i
return ESP_OK; return ESP_OK;
} }
esp_err_t zh_inclinometer_deinit(zh_inclinometer_handle_t **handle) // -V2008 esp_err_t zh_inclinometer_deinit(zh_inclinometer_handle_t **handle)
{ {
ZH_LOGI("Inclinometer deinitialization started."); ZH_LOGI("Inclinometer deinitialization started.");
ZH_ERROR_CHECK(handle != NULL && *handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer deinitialization failed. Invalid argument."); ZH_ERROR_CHECK(handle != NULL && *handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer deinitialization failed. Invalid argument.");
@@ -93,7 +93,7 @@ esp_err_t zh_inclinometer_get(zh_inclinometer_handle_t **handle, float *angle)
int pcnt_count = 0; int pcnt_count = 0;
ZH_ERROR_CHECK(pcnt_unit_get_count((*handle)->pcnt_unit_handle, &pcnt_count) == ESP_OK, ESP_FAIL, NULL, "Inclinometer get position failed. PCNT unit get count fail."); ZH_ERROR_CHECK(pcnt_unit_get_count((*handle)->pcnt_unit_handle, &pcnt_count) == ESP_OK, ESP_FAIL, NULL, "Inclinometer get position failed. PCNT unit get count fail.");
float angle_temp = pcnt_count * (*handle)->degrees_per_pulse; float angle_temp = pcnt_count * (*handle)->degrees_per_pulse;
*angle = ((*handle)->rotation == true) ? angle_temp : ((angle_temp == 0) ? angle_temp : -angle_temp); // -V550 *angle = ((*handle)->rotation == true) ? angle_temp : ((angle_temp == 0) ? angle_temp : -angle_temp);
ZH_LOGI("Inclinometer get position completed successfully."); ZH_LOGI("Inclinometer get position completed successfully.");
return ESP_OK; return ESP_OK;
} }
@@ -113,7 +113,7 @@ static esp_err_t _zh_inclinometer_validate_config(const zh_inclinometer_init_con
return ESP_OK; return ESP_OK;
} }
static esp_err_t _zh_inclinometer_pcnt_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_handle_t *handle) // -V2008 static esp_err_t _zh_inclinometer_pcnt_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_handle_t *handle)
{ {
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.") 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.")
ZH_ERROR_CHECK(config->a_gpio_number != config->b_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Encoder A and B GPIO is same.") ZH_ERROR_CHECK(config->a_gpio_number != config->b_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Encoder A and B GPIO is same.")