feat!: main structure of handle changed to double pointer
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@@ -1,20 +1,22 @@
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# ESP32 ESP-IDF component for inclinometer (via optical rotary encoder)
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## Tested on
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1. [ESP32 ESP-IDF v6.0.0](https://docs.espressif.com/projects/esp-idf/en/v6.0/esp32/index.html)
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## SAST Tools
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[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.
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## Features
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1. Support up to 8 inclinometers on one device.
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1. Quadrature encoder support with configurable GPIO pins
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2. Configurable pull-up resistor enablement for encoder channels
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3. Support for both clockwise and counter-clockwise rotation directions
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4. Configurable pulses per revolution for accurate angle calculation
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5. Position tracking with get and reset operations
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6. PCNT glitch filter for noise rejection (1000ns)
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7. Multiple inclinometer instances support
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## Attention
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## Note
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1. For correct operation, please enable the following settings in the menuconfig:
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Enable the following settings in menuconfig:
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```text
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PCNT_CTRL_FUNC_IN_IRAM
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@@ -25,7 +27,7 @@ PCNT_ISR_IRAM_SAF
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In an existing project, run the following command to install the components:
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```text
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```bash
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cd ../your_project/components
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git clone https://github.com/aZholtikov/zh_inclinometer
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```
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@@ -36,12 +38,12 @@ In the application, add the component:
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#include "zh_inclinometer.h"
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```
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## Examples
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## Example
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```c
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#include "zh_inclinometer.h"
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zh_inclinometer_handle_t inclinometer_handle = {0};
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zh_inclinometer_handle_t *inclinometer_handle = NULL;
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void app_main(void)
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{
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@@ -0,0 +1,8 @@
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description: ESP32 ESP-IDF component for inclinometer (via optical rotary encoder)
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url: https://github.com/aZholtikov/zh_inclinometer
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version: "3.0.0"
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license: "Apache-2.0"
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maintainers:
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- "Alexey Zholtikov <alexey.zholtikov@yandex.ru>"
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dependencies:
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idf: ">=5.0"
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+92
-46
@@ -1,5 +1,21 @@
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/**
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* @file zh_inclinometer.h
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*
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* @brief Header file for the zh_inclinometer library providing encoder-based
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* angle measurement and position tracking functionality.
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*
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* This library implements an inclinometer interface based on a quadrature
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* encoder connected to two GPIO pins. It uses the ESP-IDF pulse counter
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* (pcnt) driver to count encoder pulses and calculate the current angular
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* position. The library supports configurable GPIO pins, pull-up enablement,
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* rotation direction, and pulses per revolution.
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*
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* Key features:
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* - Quadrature encoder support with configurable GPIO pins
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* - Configurable pull-up resistor enablement
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* - Support for both clockwise and counter-clockwise rotation directions
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* - Configurable pulses per revolution for accurate angle calculation
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* - Position tracking with get and reset operations
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*/
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#pragma once
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@@ -10,9 +26,6 @@
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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/**
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* @brief Inclinometer initial default values.
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*/
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#define ZH_INCLINOMETER_INIT_CONFIG_DEFAULT() \
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{ \
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.a_gpio_number = GPIO_NUM_MAX, \
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@@ -27,73 +40,106 @@ extern "C"
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#endif
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/**
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* @brief Structure for initial initialization of inclinometer.
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* @brief Opaque handle to the inclinometer internal state.
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*
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* This handle is returned by zh_inclinometer_init() and must be passed
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* to all subsequent API functions to operate on the same inclinometer
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* instance. The handle is freed by zh_inclinometer_deinit().
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*/
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typedef struct _zh_inclinometer_handle_t zh_inclinometer_handle_t;
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/**
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* @brief Structure for initial configuration of the inclinometer.
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*
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* This structure holds all parameters required to initialize the
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* inclinometer, including GPIO pin assignments, electrical configuration,
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* rotation direction, and encoder resolution.
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*
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* @note Both GPIO pins must be assigned before initialization.
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* Use GPIO_NUM_MAX to indicate an unassigned pin.
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* @warning The encoder_pulses field must be set to a non-zero value
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* representing the actual number of pulses per one full rotation
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* of the encoder shaft.
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*/
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typedef struct
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{
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uint8_t a_gpio_number; /*!< Encoder A GPIO number. */
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uint8_t b_gpio_number; /*!< Encoder B GPIO number. */
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bool pullup; /*!< Pullup GPIO enable/disable. */
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bool rotation; /*!< Encoder rotation (true - positive for CW rotation, false - positive for CCW rotation). */
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uint16_t encoder_pulses; /*!< Number of pulses per one rotation. */
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uint8_t a_gpio_number; /*!< Encoder A channel GPIO number */
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uint8_t b_gpio_number; /*!< Encoder B channel GPIO number */
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bool pullup; /*!< GPIO pull-up resistor enable (true) or disable (false) */
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bool rotation; /*!< Rotation direction: true - positive for CW, false - positive for CCW */
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uint16_t encoder_pulses; /*!< Number of encoder pulses per one full rotation */
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} zh_inclinometer_init_config_t;
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/**
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* @brief Inclinometer handle.
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* @brief Initialize the inclinometer.
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*
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* Allocates memory for the inclinometer handle, validates the configuration,
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* initializes the PCNT unit with two channels for quadrature decoding,
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* and starts the pulse counter.
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*
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* @param[in] config Pointer to the inclinometer initialization configuration
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* structure. Can point to a temporary variable (must not be NULL)
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* @param[out] handle Pointer to the unique inclinometer handle (must be NULL)
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*
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* @return ESP_OK on success
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* @return ESP_ERR_INVALID_ARG if config or handle is NULL
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* @return ESP_ERR_INVALID_STATE if the inclinometer is already initialized
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* @return ESP_ERR_NO_MEM if memory allocation failed
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* @return ESP_FAIL if PCNT initialization or configuration failed
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*/
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typedef struct
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{
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pcnt_unit_handle_t pcnt_unit_handle; /*!< Inclinometer unique pcnt unit handle. */
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pcnt_channel_handle_t pcnt_channel_a_handle; /*!< Inclinometer unique pcnt channel handle. */
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pcnt_channel_handle_t pcnt_channel_b_handle; /*!< Inclinometer unique pcnt channel handle. */
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float degrees_per_pulse; /*!< Number of degrees per pulse. */
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bool rotation; /*!< Encoder rotation. */
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bool is_initialized; /*!< Inclinometer initialization flag. */
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} zh_inclinometer_handle_t;
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esp_err_t zh_inclinometer_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_handle_t **handle);
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/**
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* @brief Initialize inclinometer.
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* @brief Deinitialize the inclinometer.
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*
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* @param[in] config Pointer to inclinometer initialized configuration structure. Can point to a temporary variable.
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* @param[out] handle Pointer to unique inclinometer handle.
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* Stops and disables the PCNT unit, deletes both encoder channels and the
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* PCNT unit, frees the inclinometer handle memory, and sets the handle to
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* NULL.
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*
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* @note Before initialize the inclinometer recommend initialize zh_inclinometer_init_config_t structure with default values.
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* @param[in, out] handle Pointer to the unique inclinometer handle (must not be NULL)
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*
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* @code zh_inclinometer_init_config_t config = ZH_INCLINOMETER_INIT_CONFIG_DEFAULT() @endcode
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* @note After deinitialization, the handle is invalidated and must not be
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* used. Call zh_inclinometer_init() again to reinitialize.
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*
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* @return ESP_OK if success or an error code otherwise.
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* @return ESP_OK on success
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* @return ESP_ERR_INVALID_ARG if handle or *handle is NULL
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* @return ESP_FAIL if PCNT stop, disable, or deletion failed
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*/
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esp_err_t zh_inclinometer_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_handle_t *handle);
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esp_err_t zh_inclinometer_deinit(zh_inclinometer_handle_t **handle);
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/**
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* @brief Deinitialize inclinometer.
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* @brief Get the current inclinometer position.
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*
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* @param[in, out] handle Pointer to unique inclinometer handle.
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* Reads the PCNT counter value and converts it to an angle in degrees
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* using the configured degrees-per-pulse factor. The sign of the angle
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* depends on the configured rotation direction.
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*
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* @return ESP_OK if success or an error code otherwise.
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* @param[in] handle Pointer to the unique inclinometer handle (must not be NULL)
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* @param[out] angle Pointer to a float variable that receives the current
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* angle in degrees (must not be NULL)
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*
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* @return ESP_OK on success
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* @return ESP_ERR_INVALID_ARG if handle, *handle, or angle is NULL
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* @return ESP_FAIL if reading the PCNT counter failed
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*/
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esp_err_t zh_inclinometer_deinit(zh_inclinometer_handle_t *handle);
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esp_err_t zh_inclinometer_get(zh_inclinometer_handle_t **handle, float *angle);
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/**
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* @brief Get inclinometer position.
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* @brief Reset the inclinometer position to zero.
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*
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* @param[in] handle Pointer to unique inclinometer handle.
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* @param[out] position Inclinometer position.
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* Clears the PCNT counter, setting the current position to 0 degrees.
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* The inclinometer continues counting from the new zero position.
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*
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* @return ESP_OK if success or an error code otherwise.
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* @param[in] handle Pointer to the unique inclinometer handle (must not be NULL)
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*
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* @note This does not affect the PCNT unit state (enabled/disabled).
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* The unit remains running after reset.
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*
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* @return ESP_OK on success
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* @return ESP_ERR_INVALID_ARG if handle or *handle is NULL
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* @return ESP_FAIL if clearing the PCNT counter failed
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*/
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esp_err_t zh_inclinometer_get(zh_inclinometer_handle_t *handle, float *angle);
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/**
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* @brief Reset inclinometer position.
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*
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* @note The inclinometer will be set to 0 position.
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*
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* @param[in] handle Pointer to unique inclinometer handle.
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*
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* @return ESP_OK if success or an error code otherwise.
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*/
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esp_err_t zh_inclinometer_reset(zh_inclinometer_handle_t *handle);
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esp_err_t zh_inclinometer_reset(zh_inclinometer_handle_t **handle);
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#ifdef __cplusplus
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}
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+1
-1
@@ -1 +1 @@
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2.2.0
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3.0.0
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+89
-50
@@ -13,57 +13,96 @@
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return err; \
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}
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/**
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* @brief Internal structure holding the inclinometer instance state.
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*
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* This structure contains all resources and configuration needed to operate
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* a single inclinometer instance, including PCNT unit and channel handles,
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* the calculated angle per pulse, and the configured rotation direction.
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*/
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struct _zh_inclinometer_handle_t
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{
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pcnt_unit_handle_t pcnt_unit_handle; /*!< PCNT unit handle for the encoder */
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pcnt_channel_handle_t pcnt_channel_a_handle; /*!< PCNT channel A handle (encoder A pin) */
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pcnt_channel_handle_t pcnt_channel_b_handle; /*!< PCNT channel B handle (encoder B pin) */
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float degrees_per_pulse; /*!< Degrees per single encoder pulse */
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bool rotation; /*!< Rotation direction flag (true - CW positive) */
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};
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/**
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* @brief Validate the inclinometer initialization configuration.
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*
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* Checks that all required configuration parameters are within valid ranges.
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*
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* @param config Pointer to the initialization configuration structure.
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*
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* @return ESP_OK if the configuration is valid
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* @return ESP_ERR_INVALID_ARG if encoder_pulses is zero or negative
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*/
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static esp_err_t _zh_inclinometer_validate_config(const zh_inclinometer_init_config_t *config);
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/**
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* @brief Initialize PCNT unit and channels for the inclinometer.
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*
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* Configures the pulse counter unit with two channels for quadrature
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* decoding, sets up glitch filtering, and starts the counter.
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*
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* @param config Pointer to the initialization configuration structure
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* @param handle Pointer to the inclinometer handle to store PCNT resources
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*
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* @return ESP_OK on success
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* @return ESP_ERR_INVALID_ARG if GPIO pins are invalid or identical
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* @return ESP_FAIL if PCNT resource allocation or configuration fails
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*/
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static esp_err_t _zh_inclinometer_pcnt_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_handle_t *handle);
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esp_err_t zh_inclinometer_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_handle_t *handle) // -V2008
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esp_err_t zh_inclinometer_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_handle_t **handle) // -V2008
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{
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ZH_LOGI("Inclinometer initialization started.");
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ZH_ERROR_CHECK(config != NULL && handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer initialization failed. Invalid argument.");
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ZH_ERROR_CHECK(handle->is_initialized == false, ESP_ERR_INVALID_STATE, NULL, "Inclinometer initialization failed. Inclinometer is already initialized.");
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ZH_ERROR_CHECK(*handle == NULL, ESP_ERR_INVALID_STATE, NULL, "Inclinometer initialization failed. Inclinometer is already initialized.");
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ZH_ERROR_CHECK(_zh_inclinometer_validate_config(config) == ESP_OK, ESP_FAIL, NULL, "Inclinometer initialization failed. Initial configuration check failed.");
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ZH_ERROR_CHECK(_zh_inclinometer_pcnt_init(config, handle) == ESP_OK, ESP_FAIL, NULL, "Inclinometer initialization failed. PCNT initialization failed.");
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handle->degrees_per_pulse = 360.0 / config->encoder_pulses;
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handle->rotation = config->rotation;
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handle->is_initialized = true;
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*handle = heap_caps_calloc(1, sizeof(zh_inclinometer_handle_t), MALLOC_CAP_8BIT);
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ZH_ERROR_CHECK(*handle != NULL, ESP_ERR_NO_MEM, NULL, "Inclinometer initialization failed. Failed to allocate inclinometer handle.");
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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.");
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(*handle)->degrees_per_pulse = 360.0 / config->encoder_pulses;
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(*handle)->rotation = config->rotation;
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ZH_LOGI("Inclinometer initialization completed successfully.");
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return ESP_OK;
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}
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esp_err_t zh_inclinometer_deinit(zh_inclinometer_handle_t *handle) // -V2008
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esp_err_t zh_inclinometer_deinit(zh_inclinometer_handle_t **handle) // -V2008
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{
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ZH_LOGI("Inclinometer deinitialization started.");
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ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer deinitialization failed. Invalid argument.");
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ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Inclinometer deinitialization failed. Inclinometer not initialized.");
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ZH_ERROR_CHECK(pcnt_unit_stop(handle->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Inclinometer 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, "Inclinometer deinitialization failed. PCNT unit disable fail.");
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ZH_ERROR_CHECK(pcnt_del_channel(handle->pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "Inclinometer 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, "Inclinometer 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, "Inclinometer deinitialization failed. PCNT delete unit fail.");
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handle->is_initialized = false;
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ZH_ERROR_CHECK(handle != NULL && *handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer deinitialization failed. Invalid argument.");
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ZH_ERROR_CHECK(pcnt_unit_stop((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Inclinometer 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, "Inclinometer deinitialization failed. PCNT unit disable fail.");
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ZH_ERROR_CHECK(pcnt_del_channel((*handle)->pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "Inclinometer 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, "Inclinometer 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, "Inclinometer deinitialization failed. PCNT delete unit fail.");
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heap_caps_free(*handle);
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*handle = NULL;
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ZH_LOGI("Inclinometer deinitialization completed successfully.");
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return ESP_OK;
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}
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esp_err_t zh_inclinometer_get(zh_inclinometer_handle_t *handle, float *angle)
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esp_err_t zh_inclinometer_get(zh_inclinometer_handle_t **handle, float *angle)
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{
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ZH_LOGI("Inclinometer get position started.");
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ZH_ERROR_CHECK(handle != NULL && angle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer get position failed. Invalid argument.");
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ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Inclinometer get position failed. Inclinometer not initialized.");
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ZH_ERROR_CHECK(handle != NULL && *handle != NULL && angle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer get position failed. Invalid argument.");
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int pcnt_count = 0;
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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.");
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float angle_temp = pcnt_count * handle->degrees_per_pulse;
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*angle = (handle->rotation == true) ? angle_temp : ((angle_temp == 0) ? angle_temp : -angle_temp);
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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.");
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float angle_temp = pcnt_count * (*handle)->degrees_per_pulse;
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*angle = ((*handle)->rotation == true) ? angle_temp : ((angle_temp == 0) ? angle_temp : -angle_temp); // -V550
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ZH_LOGI("Inclinometer get position completed successfully.");
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return ESP_OK;
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}
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esp_err_t zh_inclinometer_reset(zh_inclinometer_handle_t *handle)
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esp_err_t zh_inclinometer_reset(zh_inclinometer_handle_t **handle)
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{
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ZH_LOGI("Inclinometer reset started.");
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ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer reset failed. Invalid argument.");
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ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Inclinometer reset failed. Inclinometer not initialized.");
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ZH_ERROR_CHECK(pcnt_unit_clear_count(handle->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Inclinometer reset failed. PCNT unit clear count fail.");
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ZH_ERROR_CHECK(handle != NULL && *handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer reset failed. Invalid argument.");
|
||||
ZH_ERROR_CHECK(pcnt_unit_clear_count((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Inclinometer reset failed. PCNT unit clear count fail.");
|
||||
ZH_LOGI("Inclinometer reset completed successfully.");
|
||||
return ESP_OK;
|
||||
}
|
||||
@@ -102,38 +141,38 @@ static esp_err_t _zh_inclinometer_pcnt_init(const zh_inclinometer_init_config_t
|
||||
};
|
||||
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_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_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_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_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_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_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_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_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_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(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.");
|
||||
{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.");
|
||||
|
||||
Reference in new issue
Block a user