From 28df73c779c8770ff7e5c0f3457dba2816cd8d45 Mon Sep 17 00:00:00 2001 From: Alexey Zholtikov Date: Sat, 14 Mar 2026 12:08:11 +0300 Subject: [PATCH] perf: updated error checks --- zh_tachometer.c | 122 ++++++++++++++++++++++++++++++++++++------------ 1 file changed, 91 insertions(+), 31 deletions(-) diff --git a/zh_tachometer.c b/zh_tachometer.c index 3dc3cf6..19f23fe 100644 --- a/zh_tachometer.c +++ b/zh_tachometer.c @@ -28,7 +28,9 @@ esp_err_t zh_tachometer_init(const zh_tachometer_init_config_t *config, zh_tacho err = _zh_tachometer_timer_init(handle); ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Tachometer initialization failed. Timer initialization failed."); err = _zh_tachometer_pcnt_init(config, handle); - ZH_ERROR_CHECK(err == ESP_OK, err, esp_timer_stop(handle->esp_timer_handle); esp_timer_delete(handle->esp_timer_handle), "Tachometer initialization failed. PCNT initialization failed."); + ZH_ERROR_CHECK(err == ESP_OK, err, err = esp_timer_stop(handle->esp_timer_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Timer stop fail."); err = esp_timer_delete(handle->esp_timer_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Timer delete fail."), "Tachometer initialization failed. PCNT initialization failed."); handle->encoder_pulses = config->encoder_pulses; handle->is_initialized = true; ZH_LOGI("Tachometer initialization completed successfully."); @@ -40,15 +42,24 @@ esp_err_t zh_tachometer_deinit(zh_tachometer_handle_t *handle) ZH_LOGI("Tachometer deinitialization started."); ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Tachometer deinitialization failed. Invalid argument."); ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Tachometer deinitialization failed. Tachometer not initialized."); - pcnt_unit_stop(handle->pcnt_unit_handle); - pcnt_unit_disable(handle->pcnt_unit_handle); - pcnt_unit_remove_watch_point(handle->pcnt_unit_handle, 32767); - pcnt_unit_remove_watch_point(handle->pcnt_unit_handle, -32767); - pcnt_del_channel(handle->pcnt_channel_a_handle); - pcnt_del_channel(handle->pcnt_channel_b_handle); - pcnt_del_unit(handle->pcnt_unit_handle); - esp_timer_stop(handle->esp_timer_handle); - esp_timer_delete(handle->esp_timer_handle); + esp_err_t err = pcnt_unit_stop(handle->pcnt_unit_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Tachometer deinitialization failed. PCNT unit stop fail."); + err = pcnt_unit_disable(handle->pcnt_unit_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Tachometer deinitialization failed. PCNT unit disable fail."); + err = pcnt_unit_remove_watch_point(handle->pcnt_unit_handle, 32767); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Tachometer deinitialization failed. PCNT unit remove watch point fail."); + err = pcnt_unit_remove_watch_point(handle->pcnt_unit_handle, -32767); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Tachometer deinitialization failed. PCNT unit remove watch point fail."); + err = pcnt_del_channel(handle->pcnt_channel_a_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Tachometer deinitialization failed. PCNT delete channel fail."); + err = pcnt_del_channel(handle->pcnt_channel_b_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Tachometer deinitialization failed. PCNT delete channel fail."); + err = pcnt_del_unit(handle->pcnt_unit_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Tachometer deinitialization failed. PCNT delete unit fail."); + err = esp_timer_stop(handle->esp_timer_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Tachometer deinitialization failed. Timer stop fail."); + err = esp_timer_delete(handle->esp_timer_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Tachometer deinitialization failed. Timer delete fail."); handle->is_initialized = false; ZH_LOGI("Tachometer deinitialization completed successfully."); return ESP_OK; @@ -86,47 +97,85 @@ static esp_err_t _zh_tachometer_pcnt_init(const zh_tachometer_init_config_t *con .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_add_watch_point(pcnt_unit_handle, 32767); - 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_add_watch_point(pcnt_unit_handle, -32767); - ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_unit_remove_watch_point(pcnt_unit_handle, 32767); 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_remove_watch_point(pcnt_unit_handle, 32767); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT unit remove watch point 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_enable(pcnt_unit_handle); - ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_unit_remove_watch_point(pcnt_unit_handle, 32767); pcnt_unit_remove_watch_point(pcnt_unit_handle, -32767); 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_remove_watch_point(pcnt_unit_handle, 32767); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT unit remove watch point fail."); err = pcnt_unit_remove_watch_point(pcnt_unit_handle, -32767); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT unit remove watch point 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_clear_count(pcnt_unit_handle); - ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_unit_disable(pcnt_unit_handle); pcnt_unit_remove_watch_point(pcnt_unit_handle, 32767); pcnt_unit_remove_watch_point(pcnt_unit_handle, -32767); - 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_unit_remove_watch_point(pcnt_unit_handle, 32767); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT unit remove watch point fail."); err = pcnt_unit_remove_watch_point(pcnt_unit_handle, -32767); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT unit remove watch point 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_unit_remove_watch_point(pcnt_unit_handle, 32767); pcnt_unit_remove_watch_point(pcnt_unit_handle, -32767); - 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_unit_remove_watch_point(pcnt_unit_handle, 32767); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT unit remove watch point fail."); err = pcnt_unit_remove_watch_point(pcnt_unit_handle, -32767); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT unit remove watch point 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); + esp_err_t 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; @@ -143,7 +192,8 @@ static esp_err_t _zh_tachometer_timer_init(zh_tachometer_handle_t *handle) esp_err_t err = esp_timer_create(&timer_args, &handle->esp_timer_handle); ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Timer initialization failed."); err = esp_timer_start_periodic(handle->esp_timer_handle, 10000); - ZH_ERROR_CHECK(err == ESP_OK, err, esp_timer_delete(handle->esp_timer_handle), "Timer initialization failed."); + ZH_ERROR_CHECK(err == ESP_OK, err, err = esp_timer_delete(handle->esp_timer_handle); + ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Timer delete fail."), "Timer initialization failed."); return ESP_OK; } @@ -151,8 +201,18 @@ static void IRAM_ATTR _zh_tachometer_timer_on_alarm_cb(void *arg) { zh_tachometer_handle_t *handle = (zh_tachometer_handle_t *)arg; int pcnt_count = 0; - pcnt_unit_get_count(handle->pcnt_unit_handle, &pcnt_count); - pcnt_unit_clear_count(handle->pcnt_unit_handle); + esp_err_t err = pcnt_unit_get_count(handle->pcnt_unit_handle, &pcnt_count); + if (err != ESP_OK) + { + ZH_LOGE("PCNT internal error.", err); + return; + } + err = pcnt_unit_clear_count(handle->pcnt_unit_handle); + if (err != ESP_OK) + { + ZH_LOGE("PCNT internal error.", err); + return; + } float value_temp = ((pcnt_count * 100.0) / handle->encoder_pulses) * 60; handle->value = (value_temp < 0) ? -(uint16_t)value_temp : (uint16_t)value_temp; // -V2004 } \ No newline at end of file