aZholtikov/zh_tachometer
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feat!: main structure of handle changed to double pointer

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aZholtikov committed 2026-09-05 11:10:41 +03:00
1 parent 935d3b4b97
commit 75134fbb2e
5 files changed
+264 -134
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zh_tachometer.c
+149 -77
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@@ -13,52 +13,132 @@
return err; \
}
#define ZH_ERROR_CHECK_VOID(cond, cleanup, msg, ...) \
if (!(cond)) \
{ \
ZH_LOGE(msg, ESP_FAIL, ##__VA_ARGS__); \
cleanup; \
return; \
}
/**
* @brief Internal handle structure for the tachometer driver.
*
* Holds references to the PCNT unit and channels, the ESP-Timer used for
* periodic RPM sampling, the last computed RPM value, and the encoder's
* pulses-per-revolution configuration.
*
* @note This structure is opaque to callers and must only be accessed
* through the public API functions.
*/
struct _zh_tachometer_handle_t
{
pcnt_unit_handle_t pcnt_unit_handle; /*!< PCNT unit handle for quadrature decoding */
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) */
uint16_t encoder_pulses; /*!< Pulses per one full rotation */
};
/**
* @brief Validate the initialization configuration.
*
* Checks that `encoder_pulses` is greater than zero.
*
* @param config Pointer to the initialization configuration
*
* @return ESP_OK on valid configuration
* @return ESP_ERR_INVALID_ARG if `encoder_pulses` is zero or less
*/
static esp_err_t _zh_tachometer_validate_config(const zh_tachometer_init_config_t *config);
/**
* @brief Initialize the PCNT peripheral in quadrature decoder mode.
*
* 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.
*
* @param config Pointer to the initialization configuration
* @param handle Pointer to the initialized tachometer handle
*
* @return ESP_OK on successful PCNT initialization
* @return ESP_ERR_INVALID_ARG if GPIO numbers are invalid or identical
* @return ESP_FAIL on any PCNT configuration failure
*/
static esp_err_t _zh_tachometer_pcnt_init(const zh_tachometer_init_config_t *config, zh_tachometer_handle_t *handle);
/**
* @brief Initialize the ESP-Timer for periodic RPM sampling.
*
* Creates a periodic timer that fires every 10 ms (100 Hz) and invokes
* the alarm callback to read and convert the PCNT count to RPM.
*
* @param handle Pointer to the initialized tachometer handle
*
* @return ESP_OK on successful timer initialization
* @return ESP_FAIL on timer creation or start failure
*/
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,
* clears it, and converts it to RPM using the formula:
*
* RPM = (count * 100.0 / pulses_per_rev) * 60
*
* The result is stored as an absolute value (direction discarded).
*
* @param arg Pointer to the tachometer handle
*/
static void _zh_tachometer_timer_on_alarm_cb(void *arg);
esp_err_t zh_tachometer_init(const zh_tachometer_init_config_t *config, zh_tachometer_handle_t *handle) // -V2008
esp_err_t zh_tachometer_init(const zh_tachometer_init_config_t *config, zh_tachometer_handle_t **handle) // -V2008
{
ZH_LOGI("Tachometer initialization started.");
ZH_ERROR_CHECK(config != NULL && handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Tachometer initialization failed. Invalid argument.");
ZH_ERROR_CHECK(handle->is_initialized == false, ESP_ERR_INVALID_STATE, NULL, "Tachometer initialization failed. Tachometer is already initialized.");
ZH_ERROR_CHECK(*handle == NULL, ESP_ERR_INVALID_STATE, NULL, "Tachometer initialization failed. Tachometer is already initialized.");
ZH_ERROR_CHECK(_zh_tachometer_validate_config(config) == ESP_OK, ESP_FAIL, NULL, "Tachometer initialization failed. Initial configuration check failed.");
ZH_ERROR_CHECK(_zh_tachometer_timer_init(handle) == ESP_OK, ESP_FAIL, 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."), "Tachometer initialization failed. PCNT initialization failed.");
handle->encoder_pulses = config->encoder_pulses;
handle->is_initialized = true;
*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_LOGI("Tachometer initialization completed successfully.");
return ESP_OK;
}
esp_err_t zh_tachometer_deinit(zh_tachometer_handle_t *handle) // -V2008
esp_err_t zh_tachometer_deinit(zh_tachometer_handle_t **handle) // -V2008
{
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.");
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.");
handle->is_initialized = false;
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.");
heap_caps_free(*handle);
*handle = NULL;
ZH_LOGI("Tachometer deinitialization completed successfully.");
return ESP_OK;
}
esp_err_t zh_tachometer_get(const zh_tachometer_handle_t *handle, uint16_t *value)
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 && value != NULL, ESP_ERR_INVALID_ARG, NULL, "Tachometer get position failed. Invalid argument.");
ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Tachometer get position failed. Tachometer not initialized.");
*value = handle->value;
ZH_ERROR_CHECK(handle != NULL && *handle != NULL && value != NULL, ESP_ERR_INVALID_ARG, NULL, "Tachometer get position failed. Invalid argument.");
*value = (*handle)->value;
ZH_LOGI("Tachometer get position completed successfully.");
return ESP_OK;
}
@@ -84,67 +164,67 @@ 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(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, 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(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, 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_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_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_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_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(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_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(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_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(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(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(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(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(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(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.");
{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.");
@@ -164,7 +244,7 @@ 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(esp_timer_delete(handle->esp_timer_handle) == ESP_OK, ESP_FAIL, NULL, "Timer delete fail.")}, "Timer initialization failed.");
return ESP_OK;
}
@@ -172,16 +252,8 @@ 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;
if (pcnt_unit_get_count(handle->pcnt_unit_handle, &pcnt_count) != ESP_OK)
{
ZH_LOGE("PCNT internal error.", ESP_FAIL);
return;
}
if (pcnt_unit_clear_count(handle->pcnt_unit_handle) != ESP_OK)
{
ZH_LOGE("PCNT internal error.", ESP_FAIL);
return;
}
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 = (value_temp < 0) ? -(uint16_t)value_temp : (uint16_t)value_temp; // -V2004
handle->value = (uint16_t)fabs(value_temp); // -V2004
}