aZholtikov/zh_inclinometer
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perf: updated error checks

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aZholtikov committed 2026-03-15 07:35:03 +03:00
1 parent 58a63d2f7d
commit d20d338c81
1 file changed
+56 -22
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zh_inclinometer.c
+56 -22
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@@ -32,16 +32,21 @@ 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) esp_err_t zh_inclinometer_deinit(zh_inclinometer_handle_t *handle) // -V2008
{ {
ZH_LOGI("Inclinometer deinitialization started."); ZH_LOGI("Inclinometer deinitialization started.");
ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer deinitialization failed. Invalid argument."); 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."); ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Inclinometer deinitialization failed. Inclinometer not initialized.");
pcnt_unit_stop(handle->pcnt_unit_handle); esp_err_t err = pcnt_unit_stop(handle->pcnt_unit_handle);
pcnt_unit_disable(handle->pcnt_unit_handle); ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Inclinometer deinitialization failed. PCNT unit stop fail.");
pcnt_del_channel(handle->pcnt_channel_a_handle); err = pcnt_unit_disable(handle->pcnt_unit_handle);
pcnt_del_channel(handle->pcnt_channel_b_handle); ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Inclinometer deinitialization failed. PCNT unit disable fail.");
pcnt_del_unit(handle->pcnt_unit_handle); 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; handle->is_initialized = false;
ZH_LOGI("Inclinometer deinitialization completed successfully."); ZH_LOGI("Inclinometer deinitialization completed successfully.");
return ESP_OK; 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 != 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."); ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Inclinometer get position failed. Inclinometer not initialized.");
int pcnt_count = 0; 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; 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 == 0) ? angle_temp : -angle_temp);
ZH_LOGI("Inclinometer get position completed successfully."); 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_LOGI("Inclinometer reset started.");
ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer reset failed. Invalid argument."); 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."); 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."); ZH_LOGI("Inclinometer reset completed successfully.");
return ESP_OK; 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, .max_glitch_ns = 1000,
}; };
err = pcnt_unit_set_glitch_filter(pcnt_unit_handle, &pcnt_glitch_filter_config); 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 = { pcnt_chan_config_t pcnt_chan_a_config = {
.edge_gpio_num = config->a_gpio_number, .edge_gpio_num = config->a_gpio_number,
.level_gpio_num = config->b_gpio_number, .level_gpio_num = config->b_gpio_number,
}; };
pcnt_channel_handle_t pcnt_channel_a_handle = NULL; pcnt_channel_handle_t pcnt_channel_a_handle = NULL;
err = pcnt_new_channel(pcnt_unit_handle, &pcnt_chan_a_config, &pcnt_channel_a_handle); 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 = { pcnt_chan_config_t pcnt_chan_b_config = {
.edge_gpio_num = config->b_gpio_number, .edge_gpio_num = config->b_gpio_number,
.level_gpio_num = config->a_gpio_number, .level_gpio_num = config->a_gpio_number,
}; };
pcnt_channel_handle_t pcnt_channel_b_handle = NULL; pcnt_channel_handle_t pcnt_channel_b_handle = NULL;
err = pcnt_new_channel(pcnt_unit_handle, &pcnt_chan_b_config, &pcnt_channel_b_handle); 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); 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); 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); 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); 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); 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); 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); ZH_ERROR_CHECK(err == ESP_OK, err, err = pcnt_unit_disable(pcnt_unit_handle);
pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed."); 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); 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); ZH_ERROR_CHECK(err == ESP_OK, err, err = pcnt_unit_disable(pcnt_unit_handle);
pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed."); 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) if (config->pullup == false)
{ {
gpio_pullup_dis((gpio_num_t)config->a_gpio_number); err = gpio_pullup_dis((gpio_num_t)config->a_gpio_number);
gpio_pullup_dis((gpio_num_t)config->b_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_unit_handle = pcnt_unit_handle;
handle->pcnt_channel_a_handle = pcnt_channel_a_handle; handle->pcnt_channel_a_handle = pcnt_channel_a_handle;