aZholtikov/zh_inclinometer
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perf: updated error checks

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aZholtikov committed 2026-10-04 22:24:57 +03:00
1 parent 0a4c9993c0
commit 15b498fd6b
3 files changed
+66 -62
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README.md
-9
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@@ -10,15 +10,6 @@
6. PCNT glitch filter for noise rejection (1000ns).
7. Multiple inclinometer instances support.
## Note
Enable the following settings in menuconfig:
```text
PCNT_CTRL_FUNC_IN_IRAM
PCNT_ISR_IRAM_SAF
```
## Using
In an existing project, run the following command to install the components:
include/zh_inclinometer.h
+6 -4
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@@ -20,11 +20,14 @@
#pragma once
#include "stdbool.h"
#include "stdint.h"
#include "esp_log.h"
#include "driver/gpio.h"
#include "driver/pulse_cnt.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_heap_caps.h"
#define ZH_INCLINOMETER_INIT_CONFIG_DEFAULT() \
{ \
@@ -63,8 +66,8 @@ extern "C"
*/
typedef struct
{
uint8_t a_gpio_number; /*!< Encoder A channel GPIO number */
uint8_t b_gpio_number; /*!< Encoder B channel GPIO number */
gpio_num_t a_gpio_number; /*!< Encoder A channel GPIO number */
gpio_num_t b_gpio_number; /*!< Encoder B channel GPIO number */
bool pullup; /*!< GPIO pull-up resistor enable (true) or disable (false) */
bool rotation; /*!< Rotation direction: true - positive for CW, false - positive for CCW */
uint16_t encoder_pulses; /*!< Number of encoder pulses per one full rotation */
@@ -78,7 +81,7 @@ extern "C"
* and starts the pulse counter.
*
* @param[in] config Pointer to the inclinometer initialization configuration
* structure. Can point to a temporary variable (must not be NULL)
* structure (can point to a temporary variable, must not be NULL)
* @param[out] handle Pointer to the unique inclinometer handle (must be NULL)
*
* @return ESP_OK on success
@@ -103,7 +106,6 @@ extern "C"
*
* @return ESP_OK on success
* @return ESP_ERR_INVALID_ARG if handle or *handle is NULL
* @return ESP_FAIL if PCNT stop, disable, or deletion failed
*/
esp_err_t zh_inclinometer_deinit(zh_inclinometer_handle_t **handle);
zh_inclinometer.c
+60 -49
View File
@@ -1,6 +1,6 @@
#include "zh_inclinometer.h"
#define TAG "zh_inclinometer"
static const char *TAG = "zh_inclinometer";
#define ZH_LOGI(msg, ...) ESP_LOGI(TAG, msg, ##__VA_ARGS__)
#define ZH_LOGE(msg, err, ...) ESP_LOGE(TAG, "[%s:%d:%s] " msg, __FILE__, __LINE__, esp_err_to_name(err), ##__VA_ARGS__)
@@ -13,6 +13,13 @@
return err; \
}
#define ZH_ERROR_CHECK_CONT(cond, cleanup, msg, ...) \
if (!(cond)) \
{ \
ZH_LOGE(msg, ESP_FAIL, ##__VA_ARGS__); \
cleanup; \
}
/**
* @brief Internal structure holding the inclinometer instance state.
*
@@ -34,10 +41,10 @@ struct _zh_inclinometer_handle_t
*
* Checks that all required configuration parameters are within valid ranges.
*
* @param config Pointer to the initialization configuration structure.
* @param config Pointer to the initialization configuration structure
*
* @return ESP_OK if the configuration is valid
* @return ESP_ERR_INVALID_ARG if encoder_pulses is zero or negative
* @return ESP_ERR_INVALID_ARG if encoder_pulses is zero or out of range
*/
static esp_err_t _zh_inclinometer_validate_config(const zh_inclinometer_init_config_t *config);
@@ -65,7 +72,7 @@ esp_err_t zh_inclinometer_init(const zh_inclinometer_init_config_t *config, zh_i
*handle = heap_caps_calloc(1, sizeof(zh_inclinometer_handle_t), MALLOC_CAP_8BIT);
ZH_ERROR_CHECK(*handle != NULL, ESP_ERR_NO_MEM, NULL, "Inclinometer initialization failed. Failed to allocate inclinometer handle.");
ZH_ERROR_CHECK(_zh_inclinometer_pcnt_init(config, *handle) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "Inclinometer initialization failed. PCNT initialization failed.");
(*handle)->degrees_per_pulse = 360.0 / config->encoder_pulses;
(*handle)->degrees_per_pulse = 360.0 / (4 * config->encoder_pulses);
(*handle)->rotation = config->rotation;
ZH_LOGI("Inclinometer initialization completed successfully.");
return ESP_OK;
@@ -75,11 +82,11 @@ esp_err_t zh_inclinometer_deinit(zh_inclinometer_handle_t **handle)
{
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(pcnt_unit_stop((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Inclinometer deinitialization failed. PCNT unit stop fail.");
ZH_ERROR_CHECK(pcnt_unit_disable((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Inclinometer deinitialization failed. PCNT unit disable fail.");
ZH_ERROR_CHECK(pcnt_del_channel((*handle)->pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "Inclinometer deinitialization failed. PCNT delete channel fail.");
ZH_ERROR_CHECK(pcnt_del_channel((*handle)->pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "Inclinometer deinitialization failed. PCNT delete channel fail.");
ZH_ERROR_CHECK(pcnt_del_unit((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Inclinometer deinitialization failed. PCNT delete unit fail.");
ZH_ERROR_CHECK_CONT(pcnt_unit_stop((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "Inclinometer deinitialization failed. PCNT unit stop fail.");
ZH_ERROR_CHECK_CONT(pcnt_unit_disable((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "Inclinometer deinitialization failed. PCNT unit disable fail.");
ZH_ERROR_CHECK_CONT(pcnt_del_channel((*handle)->pcnt_channel_a_handle) == ESP_OK, NULL, "Inclinometer deinitialization failed. PCNT delete channel fail.");
ZH_ERROR_CHECK_CONT(pcnt_del_channel((*handle)->pcnt_channel_b_handle) == ESP_OK, NULL, "Inclinometer deinitialization failed. PCNT delete channel fail.");
ZH_ERROR_CHECK_CONT(pcnt_del_unit((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "Inclinometer deinitialization failed. PCNT delete unit fail.");
heap_caps_free(*handle);
*handle = NULL;
ZH_LOGI("Inclinometer deinitialization completed successfully.");
@@ -93,7 +100,8 @@ esp_err_t zh_inclinometer_get(zh_inclinometer_handle_t **handle, float *angle)
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.");
float angle_temp = pcnt_count * (*handle)->degrees_per_pulse;
*angle = ((*handle)->rotation == true) ? angle_temp : ((angle_temp == 0) ? angle_temp : -angle_temp);
*angle = (*handle)->rotation == true ? angle_temp : -angle_temp;
*angle += 0.0f;
ZH_LOGI("Inclinometer get position completed successfully.");
return ESP_OK;
}
@@ -109,7 +117,7 @@ esp_err_t zh_inclinometer_reset(zh_inclinometer_handle_t **handle)
static esp_err_t _zh_inclinometer_validate_config(const zh_inclinometer_init_config_t *config)
{
ZH_ERROR_CHECK(config->encoder_pulses > 0, ESP_ERR_INVALID_ARG, NULL, "Invalid encoder pulses.");
ZH_ERROR_CHECK(config->encoder_pulses > 0 && 4 * config->encoder_pulses <= 32767, ESP_ERR_INVALID_ARG, NULL, "Invalid encoder pulses.");
return ESP_OK;
}
@@ -117,9 +125,17 @@ static esp_err_t _zh_inclinometer_pcnt_init(const zh_inclinometer_init_config_t
{
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.")
gpio_config_t io_config = {
.pin_bit_mask = (1ULL << config->a_gpio_number) | (1ULL << config->b_gpio_number),
.mode = GPIO_MODE_INPUT,
.pull_up_en = config->pullup == true ? GPIO_PULLUP_ENABLE : GPIO_PULLUP_DISABLE,
.pull_down_en = GPIO_PULLDOWN_DISABLE,
.intr_type = GPIO_INTR_DISABLE,
};
ZH_ERROR_CHECK(gpio_config(&io_config) == ESP_OK, ESP_FAIL, NULL, "GPIO initialization failed.");
pcnt_unit_config_t pcnt_unit_config = {
.high_limit = config->encoder_pulses,
.low_limit = -config->encoder_pulses,
.high_limit = 4 * config->encoder_pulses,
.low_limit = -4 * config->encoder_pulses,
};
pcnt_unit_handle_t pcnt_unit_handle = NULL;
ZH_ERROR_CHECK(pcnt_new_unit(&pcnt_unit_config, &pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT initialization failed.");
@@ -127,57 +143,52 @@ static esp_err_t _zh_inclinometer_pcnt_init(const zh_inclinometer_init_config_t
.max_glitch_ns = 1000,
};
ZH_ERROR_CHECK(pcnt_unit_set_glitch_filter(pcnt_unit_handle, &pcnt_glitch_filter_config) == ESP_OK, ESP_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_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
pcnt_chan_config_t pcnt_chan_a_config = {
.edge_gpio_num = config->a_gpio_number,
.level_gpio_num = config->b_gpio_number,
};
pcnt_channel_handle_t pcnt_channel_a_handle = NULL;
ZH_ERROR_CHECK(pcnt_new_channel(pcnt_unit_handle, &pcnt_chan_a_config, &pcnt_channel_a_handle) == ESP_OK, ESP_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_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
pcnt_chan_config_t pcnt_chan_b_config = {
.edge_gpio_num = config->b_gpio_number,
.level_gpio_num = config->a_gpio_number,
};
pcnt_channel_handle_t pcnt_channel_b_handle = NULL;
ZH_ERROR_CHECK(pcnt_new_channel(pcnt_unit_handle, &pcnt_chan_b_config, &pcnt_channel_b_handle) == 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_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_a_handle, PCNT_CHANNEL_EDGE_ACTION_DECREASE, 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_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_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
{ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
ZH_ERROR_CHECK(pcnt_channel_set_edge_action(pcnt_channel_a_handle, PCNT_CHANNEL_EDGE_ACTION_DECREASE, PCNT_CHANNEL_EDGE_ACTION_INCREASE) == ESP_OK, ESP_FAIL,
{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
{ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, 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_INVERSE) == ESP_OK, ESP_FAIL,
{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
{ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, 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_DECREASE) == ESP_OK, ESP_FAIL,
{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
{ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, 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_INVERSE) == ESP_OK, ESP_FAIL,
{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
{ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, 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_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_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
{ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, 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_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_CONT(pcnt_unit_disable(pcnt_unit_handle) == ESP_OK, NULL, "PCNT unit disable fail.")};
{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
{ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, 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_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((gpio_num_t)config->a_gpio_number) == ESP_OK, ESP_FAIL, NULL, "GPIO pullup disable fail.");
ZH_ERROR_CHECK(gpio_pullup_dis((gpio_num_t)config->b_gpio_number) == ESP_OK, ESP_FAIL, NULL, "GPIO pullup disable fail.");
}
{ZH_ERROR_CHECK_CONT(pcnt_unit_disable(pcnt_unit_handle) == ESP_OK, NULL, "PCNT unit disable fail.")};
{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
{ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
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;