diff --git a/README.md b/README.md index f1bd5c5..a8e068e 100755 --- a/README.md +++ b/README.md @@ -10,15 +10,6 @@ 6. Watch points at ±32767 for overflow detection. 7. Multiple tachometers supported — each requires its own PCNT unit and timer. -## Note - -Enable the following settings in menuconfig: - -```text -PCNT_CTRL_FUNC_IN_IRAM -PCNT_ISR_IRAM_SAF -``` - ## Using In an existing project, run the following command to install the components: @@ -39,32 +30,22 @@ In the application, add the component: ```c #include "zh_tachometer.h" -static zh_tachometer_handle_t *tachometer_handle = NULL; +zh_tachometer_handle_t *tachometer_handle = NULL; void app_main(void) { esp_log_level_set("zh_tachometer", ESP_LOG_ERROR); - zh_tachometer_init_config_t config = ZH_TACHOMETER_INIT_CONFIG_DEFAULT(); config.a_gpio_number = GPIO_NUM_26; config.b_gpio_number = GPIO_NUM_27; config.encoder_pulses = 3600; - - esp_err_t ret = zh_tachometer_init(&config, &tachometer_handle); - if (ret != ESP_OK) { - ESP_LOG_ERROR("zh_tachometer", "Initialization failed: %s", esp_err_to_name(ret)); - return; - } - - for (;;) { - uint16_t rpm = 0; - ret = zh_tachometer_get(&tachometer_handle, &rpm); - if (ret == ESP_OK) { - printf("Tachometer value is %d rpm.\n", rpm); - } + zh_tachometer_init(&config, &tachometer_handle); + for (;;) + { + uint16_t value = 0; + zh_tachometer_get(&tachometer_handle, &value); + printf("Tachometer value is %d rpm.\n", value); vTaskDelay(100 / portTICK_PERIOD_MS); } - - zh_tachometer_deinit(&tachometer_handle); } ``` diff --git a/include/zh_tachometer.h b/include/zh_tachometer.h index 9537746..ccc9f8d 100644 --- a/include/zh_tachometer.h +++ b/include/zh_tachometer.h @@ -62,10 +62,10 @@ extern "C" */ typedef struct { - uint8_t a_gpio_number; /*!< Encoder A phase GPIO number */ - uint8_t b_gpio_number; /*!< Encoder B phase GPIO number */ - bool pullup; /*!< Enable or disable GPIO pull-up resistors */ - uint16_t encoder_pulses; /*!< Number of pulses per one full rotation */ + gpio_num_t a_gpio_number; /*!< Encoder A phase GPIO number */ + gpio_num_t b_gpio_number; /*!< Encoder B phase GPIO number */ + bool pullup; /*!< Enable or disable GPIO pull-up resistors */ + uint16_t encoder_pulses; /*!< Number of pulses per one full rotation */ } zh_tachometer_init_config_t; /** @@ -78,7 +78,7 @@ extern "C" * @param[out] handle Pointer to receive the created tachometer handle (must be NULL) * * @return ESP_OK on success - * @return ESP_ERR_INVALID_ARG if `config` or `handle` is NULL, or `encoder_pulses` is zero + * @return ESP_ERR_INVALID_ARG if `config` or `handle` is NULL, `encoder_pulses` is zero, or GPIO numbers are invalid or identical * @return ESP_ERR_INVALID_STATE if the handle is already initialized * @return ESP_ERR_NO_MEM if memory allocation fails * @return ESP_FAIL if PCNT initialization or configuration failed @@ -110,11 +110,11 @@ extern "C" * The value represents absolute RPM (direction is discarded); negative * rotation is reported as a positive value. * - * @param[in] handle Pointer to the tachometer handle (must not be NULL) + * @param[in] handle Pointer to the tachometer handle (must not be NULL, and *handle must not be NULL) * @param[out] value Pointer to receive the RPM value (must not be NULL) * * @return ESP_OK on success - * @return ESP_ERR_INVALID_ARG if `handle` or `value` is NULL + * @return ESP_ERR_INVALID_ARG if `handle`, `*handle`, or `value` is NULL * * @note This function is non-blocking and returns the most recent value * without accessing the PCNT peripheral directly. diff --git a/zh_tachometer.c b/zh_tachometer.c index 2c251f6..3e10e7f 100644 --- a/zh_tachometer.c +++ b/zh_tachometer.c @@ -21,6 +21,13 @@ return; \ } +#define ZH_ERROR_CHECK_CONT(cond, cleanup, msg, ...) \ + if (!(cond)) \ + { \ + ZH_LOGE(msg, ESP_FAIL, ##__VA_ARGS__); \ + cleanup; \ + } + /** * @brief Internal handle structure for the tachometer driver. * @@ -30,8 +37,10 @@ * * @note This structure is opaque to callers and must only be accessed * through the public API functions. - * @warning The timer callback runs from ISR context and must not call - * blocking or long-running operations. + * @warning The timer callback runs from the esp_timer service task context + * (default ESP_TIMER_TASK dispatch method), not from an ISR. Blocking + * or long-running operations in the callback will delay other esp_timer + * callbacks and must be avoided. */ struct _zh_tachometer_handle_t { @@ -39,7 +48,7 @@ struct _zh_tachometer_handle_t pcnt_channel_handle_t pcnt_channel_a_handle; /*!< PCNT channel A handle (edge detector) */ pcnt_channel_handle_t pcnt_channel_b_handle; /*!< PCNT channel B handle (edge detector) */ esp_timer_handle_t esp_timer_handle; /*!< ESP-Timer handle for 100 Hz RPM sampling */ - uint16_t value; /*!< Last computed RPM value (absolute) */ + volatile uint16_t value; /*!< Last computed RPM value (absolute) */ uint16_t encoder_pulses; /*!< Pulses per one full rotation */ }; @@ -61,7 +70,7 @@ static esp_err_t _zh_tachometer_validate_config(const zh_tachometer_init_config_ * Configures the PCNT unit with accumulation mode, glitch filter (1000 ns), * two channels for encoder phases A and B, edge/level actions for direction * counting, and watch points at ±32767. Starts the unit and clears the - * counter. Optionally disables GPIO pull-ups if configured. + * counter. Configures GPIO pull-ups according to the `pullup` setting. * * @param config Pointer to the initialization configuration * @param handle Pointer to the initialized tachometer handle @@ -88,11 +97,13 @@ static esp_err_t _zh_tachometer_timer_init(zh_tachometer_handle_t *handle); /** * @brief ESP-Timer alarm callback for RPM sampling. * - * Executed every 10 ms from ISR context. Reads the accumulated PCNT count, + * Executed every 10 ms from the esp_timer service task context (default + * ESP_TIMER_TASK dispatch method). Reads the accumulated PCNT count, * clears it, and converts it to RPM using the formula: * - * RPM = (count * 100.0 / pulses_per_rev) * 60 + * RPM = (count * 100.0 / (4 * pulses_per_rev)) * 60 * + * The factor of 4 accounts for quadrature encoding (4 edges per cycle). * The result is stored as an absolute value (direction discarded). * * @param arg Pointer to the tachometer handle @@ -108,11 +119,11 @@ esp_err_t zh_tachometer_init(const zh_tachometer_init_config_t *config, zh_tacho *handle = heap_caps_calloc(1, sizeof(zh_tachometer_handle_t), MALLOC_CAP_8BIT); ZH_ERROR_CHECK(*handle != NULL, ESP_ERR_NO_MEM, NULL, "Tachometer initialization failed. Failed to allocate tachometer handle."); ZH_ERROR_CHECK(_zh_tachometer_timer_init(*handle) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "Tachometer initialization failed. Timer initialization failed."); - ZH_ERROR_CHECK(_zh_tachometer_pcnt_init(config, *handle) == ESP_OK, ESP_FAIL, - {ZH_ERROR_CHECK(esp_timer_stop((*handle)->esp_timer_handle) == ESP_OK, ESP_FAIL, NULL, "Timer stop fail.")}; - {ZH_ERROR_CHECK(esp_timer_delete((*handle)->esp_timer_handle) == ESP_OK, ESP_FAIL, NULL, "Timer delete fail.")}; - heap_caps_free(*handle); *handle = NULL, "Tachometer initialization failed. PCNT initialization failed."); (*handle)->encoder_pulses = config->encoder_pulses; + ZH_ERROR_CHECK(_zh_tachometer_pcnt_init(config, *handle) == ESP_OK, ESP_FAIL, + {ZH_ERROR_CHECK_CONT(esp_timer_stop((*handle)->esp_timer_handle) == ESP_OK, NULL, "Timer stop fail.")}; + {ZH_ERROR_CHECK_CONT(esp_timer_delete((*handle)->esp_timer_handle) == ESP_OK, NULL, "Timer delete fail.")}; + heap_caps_free(*handle); *handle = NULL, "Tachometer initialization failed. PCNT initialization failed."); ZH_LOGI("Tachometer initialization completed successfully."); return ESP_OK; } @@ -121,15 +132,15 @@ esp_err_t zh_tachometer_deinit(zh_tachometer_handle_t **handle) { ZH_LOGI("Tachometer deinitialization started."); ZH_ERROR_CHECK(handle != NULL && *handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Tachometer deinitialization failed. Invalid argument."); - ZH_ERROR_CHECK(pcnt_unit_stop((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Tachometer deinitialization failed. PCNT unit stop fail."); - ZH_ERROR_CHECK(pcnt_unit_disable((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Tachometer deinitialization failed. PCNT unit disable fail."); - ZH_ERROR_CHECK(pcnt_unit_remove_watch_point((*handle)->pcnt_unit_handle, 32767) == ESP_OK, ESP_FAIL, NULL, "Tachometer deinitialization failed. PCNT unit remove watch point fail."); - ZH_ERROR_CHECK(pcnt_unit_remove_watch_point((*handle)->pcnt_unit_handle, -32767) == ESP_OK, ESP_FAIL, NULL, "Tachometer deinitialization failed. PCNT unit remove watch point fail."); - ZH_ERROR_CHECK(pcnt_del_channel((*handle)->pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "Tachometer deinitialization failed. PCNT delete channel fail."); - ZH_ERROR_CHECK(pcnt_del_channel((*handle)->pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "Tachometer deinitialization failed. PCNT delete channel fail."); - ZH_ERROR_CHECK(pcnt_del_unit((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Tachometer deinitialization failed. PCNT delete unit fail."); - ZH_ERROR_CHECK(esp_timer_stop((*handle)->esp_timer_handle) == ESP_OK, ESP_FAIL, NULL, "Tachometer deinitialization failed. Timer stop fail."); - ZH_ERROR_CHECK(esp_timer_delete((*handle)->esp_timer_handle) == ESP_OK, ESP_FAIL, NULL, "Tachometer deinitialization failed. Timer delete fail."); + ZH_ERROR_CHECK_CONT(esp_timer_stop((*handle)->esp_timer_handle) == ESP_OK, NULL, "Tachometer deinitialization failed. Timer stop fail."); + ZH_ERROR_CHECK_CONT(esp_timer_delete((*handle)->esp_timer_handle) == ESP_OK, NULL, "Tachometer deinitialization failed. Timer delete fail."); + ZH_ERROR_CHECK_CONT(pcnt_unit_stop((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "Tachometer deinitialization failed. PCNT unit stop fail."); + ZH_ERROR_CHECK_CONT(pcnt_unit_disable((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "Tachometer deinitialization failed. PCNT unit disable fail."); + ZH_ERROR_CHECK_CONT(pcnt_unit_remove_watch_point((*handle)->pcnt_unit_handle, 32767) == ESP_OK, NULL, "Tachometer deinitialization failed. PCNT unit remove watch point fail."); + ZH_ERROR_CHECK_CONT(pcnt_unit_remove_watch_point((*handle)->pcnt_unit_handle, -32767) == ESP_OK, NULL, "Tachometer deinitialization failed. PCNT unit remove watch point fail."); + ZH_ERROR_CHECK_CONT(pcnt_del_channel((*handle)->pcnt_channel_a_handle) == ESP_OK, NULL, "Tachometer deinitialization failed. PCNT delete channel fail."); + ZH_ERROR_CHECK_CONT(pcnt_del_channel((*handle)->pcnt_channel_b_handle) == ESP_OK, NULL, "Tachometer deinitialization failed. PCNT delete channel fail."); + ZH_ERROR_CHECK_CONT(pcnt_del_unit((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "Tachometer deinitialization failed. PCNT delete unit fail."); heap_caps_free(*handle); *handle = NULL; ZH_LOGI("Tachometer deinitialization completed successfully."); @@ -138,10 +149,10 @@ esp_err_t zh_tachometer_deinit(zh_tachometer_handle_t **handle) esp_err_t zh_tachometer_get(zh_tachometer_handle_t **handle, uint16_t *value) { - ZH_LOGI("Tachometer get position started."); - ZH_ERROR_CHECK(handle != NULL && *handle != NULL && value != NULL, ESP_ERR_INVALID_ARG, NULL, "Tachometer get position failed. Invalid argument."); + ZH_LOGI("Tachometer get RPM started."); + ZH_ERROR_CHECK(handle != NULL && *handle != NULL && value != NULL, ESP_ERR_INVALID_ARG, NULL, "Tachometer get RPM failed. Invalid argument."); *value = (*handle)->value; - ZH_LOGI("Tachometer get position completed successfully."); + ZH_LOGI("Tachometer get RPM completed successfully."); return ESP_OK; } @@ -153,8 +164,16 @@ static esp_err_t _zh_tachometer_validate_config(const zh_tachometer_init_config_ static esp_err_t _zh_tachometer_pcnt_init(const zh_tachometer_init_config_t *config, zh_tachometer_handle_t *handle) { - ZH_ERROR_CHECK(config->a_gpio_number < GPIO_NUM_MAX && config->b_gpio_number < GPIO_NUM_MAX, ESP_ERR_INVALID_ARG, NULL, "Invalid GPIO number.") - ZH_ERROR_CHECK(config->a_gpio_number != config->b_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Encoder A and B GPIO is same.") + ZH_ERROR_CHECK(config->a_gpio_number < GPIO_NUM_MAX && config->b_gpio_number < GPIO_NUM_MAX, ESP_ERR_INVALID_ARG, NULL, "Invalid GPIO number."); + ZH_ERROR_CHECK(config->a_gpio_number != config->b_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Encoder A and B GPIO is same."); + gpio_config_t io_config = { + .pin_bit_mask = (1ULL << config->a_gpio_number) | (1ULL << config->b_gpio_number), + .mode = GPIO_MODE_INPUT, + .pull_up_en = config->pullup == true ? GPIO_PULLUP_ENABLE : GPIO_PULLUP_DISABLE, + .pull_down_en = GPIO_PULLDOWN_DISABLE, + .intr_type = GPIO_INTR_DISABLE, + }; + ZH_ERROR_CHECK(gpio_config(&io_config) == ESP_OK, ESP_FAIL, NULL, "GPIO initialization failed."); pcnt_unit_config_t pcnt_unit_config = { .high_limit = 32767, .low_limit = -32767, @@ -166,72 +185,67 @@ static esp_err_t _zh_tachometer_pcnt_init(const zh_tachometer_init_config_t *con .max_glitch_ns = 1000, }; ZH_ERROR_CHECK(pcnt_unit_set_glitch_filter(pcnt_unit_handle, &pcnt_glitch_filter_config) == ESP_OK, ESP_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_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, 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; ZH_ERROR_CHECK(pcnt_new_channel(pcnt_unit_handle, &pcnt_chan_a_config, &pcnt_channel_a_handle) == ESP_OK, ESP_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_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, 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; 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_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_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_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_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_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, 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_INCREASE) == ESP_OK, ESP_FAIL, + {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, 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_INVERSE) == ESP_OK, ESP_FAIL, + {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, 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_DECREASE) == ESP_OK, ESP_FAIL, + {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, 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_INVERSE) == ESP_OK, ESP_FAIL, + {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed."); ZH_ERROR_CHECK(pcnt_unit_add_watch_point(pcnt_unit_handle, 32767) == 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_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed."); ZH_ERROR_CHECK(pcnt_unit_add_watch_point(pcnt_unit_handle, -32767) == ESP_OK, ESP_FAIL, - {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, 32767) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point 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_CONT(pcnt_unit_remove_watch_point(pcnt_unit_handle, 32767) == ESP_OK, NULL, "PCNT unit remove watch point fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, 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_unit_remove_watch_point(pcnt_unit_handle, 32767) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")}; - {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, -32767) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point 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_CONT(pcnt_unit_remove_watch_point(pcnt_unit_handle, 32767) == ESP_OK, NULL, "PCNT unit remove watch point fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_unit_remove_watch_point(pcnt_unit_handle, -32767) == ESP_OK, NULL, "PCNT unit remove watch point fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, 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_unit_remove_watch_point(pcnt_unit_handle, 32767) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")}; - {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, -32767) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point 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_CONT(pcnt_unit_disable(pcnt_unit_handle) == ESP_OK, NULL, "PCNT unit disable fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_unit_remove_watch_point(pcnt_unit_handle, 32767) == ESP_OK, NULL, "PCNT unit remove watch point fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_unit_remove_watch_point(pcnt_unit_handle, -32767) == ESP_OK, NULL, "PCNT unit remove watch point fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, 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_unit_remove_watch_point(pcnt_unit_handle, 32767) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")}; - {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, -32767) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point 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."); - ZH_ERROR_CHECK(gpio_pullup_dis((gpio_num_t)config->b_gpio_number) == ESP_OK, ESP_FAIL, NULL, "GPIO pullup disable fail."); - } + {ZH_ERROR_CHECK_CONT(pcnt_unit_disable(pcnt_unit_handle) == ESP_OK, NULL, "PCNT unit disable fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_unit_remove_watch_point(pcnt_unit_handle, 32767) == ESP_OK, NULL, "PCNT unit remove watch point fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_unit_remove_watch_point(pcnt_unit_handle, -32767) == ESP_OK, NULL, "PCNT unit remove watch point fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed."); handle->pcnt_unit_handle = pcnt_unit_handle; handle->pcnt_channel_a_handle = pcnt_channel_a_handle; handle->pcnt_channel_b_handle = pcnt_channel_b_handle; @@ -246,16 +260,19 @@ static esp_err_t _zh_tachometer_timer_init(zh_tachometer_handle_t *handle) }; ZH_ERROR_CHECK(esp_timer_create(&timer_args, &handle->esp_timer_handle) == ESP_OK, ESP_FAIL, NULL, "Timer initialization failed."); ZH_ERROR_CHECK(esp_timer_start_periodic(handle->esp_timer_handle, 10000) == ESP_OK, ESP_FAIL, - {ZH_ERROR_CHECK(esp_timer_delete(handle->esp_timer_handle) == ESP_OK, ESP_FAIL, NULL, "Timer delete fail.")}, "Timer initialization failed."); + {ZH_ERROR_CHECK_CONT(esp_timer_delete(handle->esp_timer_handle) == ESP_OK, NULL, "Timer delete fail.")}, "Timer initialization failed."); return ESP_OK; } -static void IRAM_ATTR _zh_tachometer_timer_on_alarm_cb(void *arg) +static void _zh_tachometer_timer_on_alarm_cb(void *arg) { zh_tachometer_handle_t *handle = (zh_tachometer_handle_t *)arg; int pcnt_count = 0; - ZH_ERROR_CHECK_VOID(pcnt_unit_get_count(handle->pcnt_unit_handle, &pcnt_count) == ESP_OK, NULL, "PCNT internal error."); - ZH_ERROR_CHECK_VOID(pcnt_unit_clear_count(handle->pcnt_unit_handle) == ESP_OK, NULL, "PCNT internal error."); - float value_temp = ((pcnt_count * 100.0) / handle->encoder_pulses) * 60; - handle->value = (uint16_t)fabs(value_temp); + if (handle->pcnt_unit_handle != NULL) + { + ZH_ERROR_CHECK_VOID(pcnt_unit_get_count(handle->pcnt_unit_handle, &pcnt_count) == ESP_OK, NULL, "PCNT internal error."); + ZH_ERROR_CHECK_VOID(pcnt_unit_clear_count(handle->pcnt_unit_handle) == ESP_OK, NULL, "PCNT internal error."); + float value_temp = (pcnt_count * 100.0) / (4.0 * handle->encoder_pulses) * 60.0; + handle->value = (uint16_t)fabsf(value_temp); + } } \ No newline at end of file