72 lines
1.9 KiB
Markdown
72 lines
1.9 KiB
Markdown
# ESP32 ESP-IDF component for inclinometer (via optical rotary encoder)
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## Features
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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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1. The maximum value of encoder_pulses is 8191, limited by the PCNT counter range of +/-32767.
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## Using
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In an existing project, run the following command to install the component:
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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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In the application, add the component:
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```c
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#include "zh_inclinometer.h"
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```
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## Examples
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### Basic Example
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```c
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#include "zh_inclinometer.h"
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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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esp_log_level_set("zh_inclinometer", ESP_LOG_ERROR);
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zh_inclinometer_init_config_t config = ZH_INCLINOMETER_INIT_CONFIG_DEFAULT();
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config.a_gpio_number = GPIO_NUM_26;
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config.b_gpio_number = GPIO_NUM_27;
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config.encoder_pulses = 3600;
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esp_err_t ret = zh_inclinometer_init(&config, &inclinometer_handle);
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if (ret != ESP_OK)
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{
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printf("Inclinometer initialization error: %s\n", esp_err_to_name(ret));
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return;
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}
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ret = zh_inclinometer_reset(&inclinometer_handle);
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if (ret == ESP_OK)
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{
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printf("Inclinometer position reset to zero.\n");
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}
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for (;;)
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{
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float angle = 0;
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ret = zh_inclinometer_get(&inclinometer_handle, &angle);
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if (ret == ESP_OK)
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{
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printf("Inclinometer position is %0.2f degrees.\n", angle);
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}
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vTaskDelay(100 / portTICK_PERIOD_MS);
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}
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zh_inclinometer_deinit(&inclinometer_handle);
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}
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```
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