From d20d338c812552d75255ca2ca247fd2d79028a99 Mon Sep 17 00:00:00 2001 From: Alexey Zholtikov Date: Sun, 15 Mar 2026 07:35:03 +0300 Subject: [PATCH] perf: updated error checks --- zh_inclinometer.c | 78 ++++++++++++++++++++++++++++++++++------------- 1 file changed, 56 insertions(+), 22 deletions(-) diff --git a/zh_inclinometer.c b/zh_inclinometer.c index 4c6e136..6c27ba6 100644 --- a/zh_inclinometer.c +++ b/zh_inclinometer.c @@ -32,16 +32,21 @@ esp_err_t zh_inclinometer_init(const zh_inclinometer_init_config_t *config, zh_i return ESP_OK; } -esp_err_t zh_inclinometer_deinit(zh_inclinometer_handle_t *handle) +esp_err_t zh_inclinometer_deinit(zh_inclinometer_handle_t *handle) // -V2008 { ZH_LOGI("Inclinometer deinitialization started."); ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer deinitialization failed. Invalid argument."); ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Inclinometer deinitialization failed. Inclinometer not initialized."); - pcnt_unit_stop(handle->pcnt_unit_handle); - pcnt_unit_disable(handle->pcnt_unit_handle); - pcnt_del_channel(handle->pcnt_channel_a_handle); - pcnt_del_channel(handle->pcnt_channel_b_handle); - pcnt_del_unit(handle->pcnt_unit_handle); + esp_err_t err = pcnt_unit_stop(handle->pcnt_unit_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Inclinometer deinitialization failed. PCNT unit stop fail."); + err = pcnt_unit_disable(handle->pcnt_unit_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Inclinometer deinitialization failed. PCNT unit disable fail."); + err = pcnt_del_channel(handle->pcnt_channel_a_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Inclinometer deinitialization failed. PCNT delete channel fail."); + err = pcnt_del_channel(handle->pcnt_channel_b_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Inclinometer deinitialization failed. PCNT delete channel fail."); + err = pcnt_del_unit(handle->pcnt_unit_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Inclinometer deinitialization failed. PCNT delete unit fail."); handle->is_initialized = false; ZH_LOGI("Inclinometer deinitialization completed successfully."); return ESP_OK; @@ -53,7 +58,8 @@ esp_err_t zh_inclinometer_get(zh_inclinometer_handle_t *handle, float *angle) ZH_ERROR_CHECK(handle != NULL && angle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer get position failed. Invalid argument."); ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Inclinometer get position failed. Inclinometer not initialized."); int pcnt_count = 0; - pcnt_unit_get_count(handle->pcnt_unit_handle, &pcnt_count); + esp_err_t err = pcnt_unit_get_count(handle->pcnt_unit_handle, &pcnt_count); + ZH_ERROR_CHECK(err == ESP_OK, err, 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); ZH_LOGI("Inclinometer get position completed successfully."); @@ -65,7 +71,8 @@ esp_err_t zh_inclinometer_reset(zh_inclinometer_handle_t *handle) ZH_LOGI("Inclinometer reset started."); ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer reset failed. Invalid argument."); ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Inclinometer reset failed. Inclinometer not initialized."); - pcnt_unit_clear_count(handle->pcnt_unit_handle); + esp_err_t err = pcnt_unit_clear_count(handle->pcnt_unit_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Inclinometer reset failed. PCNT unit clear count fail."); ZH_LOGI("Inclinometer reset completed successfully."); return ESP_OK; } @@ -91,41 +98,68 @@ static esp_err_t _zh_inclinometer_pcnt_init(const zh_inclinometer_init_config_t .max_glitch_ns = 1000, }; err = pcnt_unit_set_glitch_filter(pcnt_unit_handle, &pcnt_glitch_filter_config); - ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed."); + ZH_ERROR_CHECK(err == ESP_OK, err, err = pcnt_del_unit(pcnt_unit_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, 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; err = pcnt_new_channel(pcnt_unit_handle, &pcnt_chan_a_config, &pcnt_channel_a_handle); - ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed."); + ZH_ERROR_CHECK(err == ESP_OK, err, err = pcnt_del_unit(pcnt_unit_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, 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; err = pcnt_new_channel(pcnt_unit_handle, &pcnt_chan_b_config, &pcnt_channel_b_handle); - ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed."); + ZH_ERROR_CHECK(err == ESP_OK, err, err = pcnt_del_channel(pcnt_channel_a_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT delete channel fail."); err = pcnt_del_unit(pcnt_unit_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT delete unit fail."), "PCNT initialization failed."); err = pcnt_channel_set_edge_action(pcnt_channel_a_handle, PCNT_CHANNEL_EDGE_ACTION_DECREASE, PCNT_CHANNEL_EDGE_ACTION_HOLD); - ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_channel(pcnt_channel_b_handle); pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed."); + ZH_ERROR_CHECK(err == ESP_OK, err, err = pcnt_del_channel(pcnt_channel_a_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT delete channel fail."); err = pcnt_del_channel(pcnt_channel_b_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT delete channel fail."); err = pcnt_del_unit(pcnt_unit_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT delete unit fail."), "PCNT initialization failed."); err = pcnt_channel_set_level_action(pcnt_channel_a_handle, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_HOLD); - ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_channel(pcnt_channel_b_handle); pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed."); + ZH_ERROR_CHECK(err == ESP_OK, err, err = pcnt_del_channel(pcnt_channel_a_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT delete channel fail."); err = pcnt_del_channel(pcnt_channel_b_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT delete channel fail."); err = pcnt_del_unit(pcnt_unit_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT delete unit fail."), "PCNT initialization failed."); err = pcnt_channel_set_edge_action(pcnt_channel_b_handle, PCNT_CHANNEL_EDGE_ACTION_INCREASE, PCNT_CHANNEL_EDGE_ACTION_HOLD); - ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_channel(pcnt_channel_b_handle); pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed."); + ZH_ERROR_CHECK(err == ESP_OK, err, err = pcnt_del_channel(pcnt_channel_a_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT delete channel fail."); err = pcnt_del_channel(pcnt_channel_b_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT delete channel fail."); err = pcnt_del_unit(pcnt_unit_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT delete unit fail."), "PCNT initialization failed."); err = pcnt_channel_set_level_action(pcnt_channel_b_handle, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_HOLD); - ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_channel(pcnt_channel_b_handle); pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed."); + ZH_ERROR_CHECK(err == ESP_OK, err, err = pcnt_del_channel(pcnt_channel_a_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT delete channel fail."); err = pcnt_del_channel(pcnt_channel_b_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT delete channel fail."); err = pcnt_del_unit(pcnt_unit_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT delete unit fail."), "PCNT initialization failed."); err = pcnt_unit_enable(pcnt_unit_handle); - ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_channel(pcnt_channel_b_handle); pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed."); + ZH_ERROR_CHECK(err == ESP_OK, err, err = pcnt_del_channel(pcnt_channel_a_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT delete channel fail."); err = pcnt_del_channel(pcnt_channel_b_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT delete channel fail."); err = pcnt_del_unit(pcnt_unit_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT delete unit fail."), "PCNT initialization failed."); err = pcnt_unit_clear_count(pcnt_unit_handle); - ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_unit_disable(pcnt_unit_handle); pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_channel(pcnt_channel_b_handle); - pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed."); + ZH_ERROR_CHECK(err == ESP_OK, err, err = pcnt_unit_disable(pcnt_unit_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT unit disable fail."); err = pcnt_del_channel(pcnt_channel_a_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT delete channel fail."); err = pcnt_del_channel(pcnt_channel_b_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT delete channel fail."); err = pcnt_del_unit(pcnt_unit_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT delete unit fail."), "PCNT initialization failed."); err = pcnt_unit_start(pcnt_unit_handle); - ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_unit_disable(pcnt_unit_handle); pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_channel(pcnt_channel_b_handle); - pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed."); + ZH_ERROR_CHECK(err == ESP_OK, err, err = pcnt_unit_disable(pcnt_unit_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT unit disable fail."); err = pcnt_del_channel(pcnt_channel_a_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT delete channel fail."); err = pcnt_del_channel(pcnt_channel_b_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT delete channel fail."); err = pcnt_del_unit(pcnt_unit_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT delete unit fail."), "PCNT initialization failed."); if (config->pullup == false) { - gpio_pullup_dis((gpio_num_t)config->a_gpio_number); - gpio_pullup_dis((gpio_num_t)config->b_gpio_number); + err = gpio_pullup_dis((gpio_num_t)config->a_gpio_number); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Gpio pullup disable fail."); + err = gpio_pullup_dis((gpio_num_t)config->b_gpio_number); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Gpio pullup disable fail."); } handle->pcnt_unit_handle = pcnt_unit_handle; handle->pcnt_channel_a_handle = pcnt_channel_a_handle;