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
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README.md
+28 -16
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@@ -1,20 +1,22 @@
# ESP32 ESP-IDF component for tachometer (via rotary optical encoder)
## Tested on
1. [ESP32 ESP-IDF v6.0.0](https://docs.espressif.com/projects/esp-idf/en/v6.0/esp32/index.html)
## SAST Tools
[PVS-Studio](https://pvs-studio.com/pvs-studio/?utm_source=website&utm_medium=github&utm_campaign=open_source) - static analyzer for C, C++, C#, and Java code.
## Features
1. Support up to 8 tachometers on one device.
1. Quadrature encoder support via ESP-IDF PCNT peripheral in quadrature decoder mode.
2. Automatic RPM calculation based on configurable pulses-per-revolution.
3. Periodic RPM sampling via ESP-Timer at 100 Hz (10 ms interval).
4. Configurable GPIO pull-up resistors for encoder A/B phases.
5. PCNT glitch filter (1000 ns) to reject spurious transitions.
6. Watch points at ±32767 for overflow detection.
7. Multiple tachometers supported — each requires its own PCNT unit and timer.
## Attention
## Note
1. For correct operation, please enable the following settings in the menuconfig:
Enable the following settings in menuconfig:
```text
PCNT_CTRL_FUNC_IN_IRAM
@@ -25,7 +27,7 @@ PCNT_ISR_IRAM_SAF
In an existing project, run the following command to install the components:
```text
```bash
cd ../your_project/components
git clone https://github.com/aZholtikov/zh_tachometer
```
@@ -36,27 +38,37 @@ In the application, add the component:
#include "zh_tachometer.h"
```
## Examples
## Example
```c
#include "zh_tachometer.h"
zh_tachometer_handle_t tachometer_handle = {0};
static 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;
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);
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);
}
vTaskDelay(100 / portTICK_PERIOD_MS);
}
zh_tachometer_deinit(&tachometer_handle);
}
```
idf_component.yml
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description: ESP32 ESP-IDF component for tachometer (via optical rotary encoder)
url: https://github.com/aZholtikov/zh_tachometer
version: "2.0.0"
license: "Apache-2.0"
maintainers:
- "Alexey Zholtikov <alexey.zholtikov@yandex.ru>"
dependencies:
idf: ">=5.0"
include/zh_tachometer.h
+78 -40
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@@ -1,9 +1,28 @@
/**
* @file zh_tachometer.h
*
* @brief ESP-IDF driver for a quadrature encoder-based tachometer using PCNT
* and ESP-Timer to measure rotational speed in RPM.
*
* The module leverages the ESP-IDF PCNT peripheral in quadrature decoder mode
* to count encoder pulses and an ESP-Timer running at 10 Hz to sample the
* accumulated count and compute RPM. The result is a non-blocking, RTOS-friendly
* interface suitable for motor speed monitoring.
*
* Key features:
* - Quadrature encoder support via two GPIO lines (A/B phases)
* - Automatic RPM calculation based on configurable pulses-per-revolution
* - Configurable GPIO pull-up resistors
* - Thread-safe access through FreeRTOS-compatible handles
*
* @note The internal PCNT unit uses accumulation mode with watch points at
* ±32767. RPM values above 32767 may overflow — ensure the encoder
* pulses-per-revolution and expected RPM range stay within safe bounds.
*/
#pragma once
#include "math.h"
#include "esp_log.h"
#include "driver/gpio.h"
#include "driver/pulse_cnt.h"
@@ -11,9 +30,6 @@
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
/**
* @brief Tachometer initial default values.
*/
#define ZH_TACHOMETER_INIT_CONFIG_DEFAULT() \
{ \
.a_gpio_number = GPIO_NUM_MAX, \
@@ -27,62 +43,84 @@ extern "C"
#endif
/**
* @brief Structure for initial initialization of tachometer.
* @brief Opaque handle to the tachometer instance.
*
* Used to identify and access a specific tachometer throughout its
* lifetime. The internal structure is defined in the implementation
* file and must not be accessed directly.
*/
typedef struct _zh_tachometer_handle_t zh_tachometer_handle_t;
/**
* @brief Initialization configuration for the quadrature encoder tachometer.
*
* This structure is passed to `zh_tachometer_init()` to configure the GPIO
* pins, pull-up resistors, and the encoder's pulses-per-revolution ratio.
*
* @note Both GPIO pins must be assigned before initialization.
* Use GPIO_NUM_MAX to indicate an unassigned pin.
*/
typedef struct
{
uint8_t a_gpio_number; /*!< Encoder A GPIO number. */
uint8_t b_gpio_number; /*!< Encoder B GPIO number. */
bool pullup; /*!< Pullup GPIO enable/disable. */
uint16_t encoder_pulses; /*!< Number of pulses per one rotation. */
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 */
} zh_tachometer_init_config_t;
/**
* @brief Tachometer handle.
* @brief Initialize the tachometer with the provided configuration.
*
* Allocates a handle, configures the ESP-Timer (10 Hz sampling), and sets up
* the PCNT peripheral in quadrature decoder mode with glitch filtering.
*
* @param[in] config Pointer to the initialization configuration (must not be NULL)
* @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_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
*
*/
typedef struct
{
pcnt_unit_handle_t pcnt_unit_handle; /*!< Tachometer unique pcnt unit handle. */
pcnt_channel_handle_t pcnt_channel_a_handle; /*!< Tachometer unique pcnt channel handle. */
pcnt_channel_handle_t pcnt_channel_b_handle; /*!< Tachometer unique pcnt channel handle. */
esp_timer_handle_t esp_timer_handle; /*!< Tachometer unique timer handle. */
uint16_t value; /*!< Tachometer value. */
uint16_t encoder_pulses; /*!< Number of pulses per one rotation. */
bool is_initialized; /*!< Tachometer initialization flag. */
} zh_tachometer_handle_t;
esp_err_t zh_tachometer_init(const zh_tachometer_init_config_t *config, zh_tachometer_handle_t **handle);
/**
* @brief Initialize tachometer.
* @brief Deinitialize the tachometer and release all resources.
*
* @param[in] config Pointer to tachometer initialized configuration structure. Can point to a temporary variable.
* @param[out] handle Pointer to unique tachometer handle.
* Stops the PCNT unit, removes channels and watch points, deletes the
* ESP-Timer, and frees the handle memory. The handle pointer is set to
* NULL on success.
*
* @note Before initialize the tachometer recommend initialize zh_tachometer_init_config_t structure with default values.
* @param[in,out] handle Pointer to the tachometer handle (must not be NULL)
*
* @code zh_tachometer_init_config_t config = ZH_TACHOMETER_INIT_CONFIG_DEFAULT() @endcode
* @note After deinitialization, the handle is invalidated and must not be
* used. Call zh_tachometer_init() again to reinitialize.
*
* @return ESP_OK if success or an error code otherwise.
* @return ESP_OK on success
* @return ESP_ERR_INVALID_ARG if `handle` is NULL or `*handle` is NULL
* @return ESP_FAIL if PCNT stop, disable, or deletion failed
*/
esp_err_t zh_tachometer_init(const zh_tachometer_init_config_t *config, zh_tachometer_handle_t *handle);
esp_err_t zh_tachometer_deinit(zh_tachometer_handle_t **handle);
/**
* @brief Deinitialize tachometer.
* @brief Retrieve the current RPM value from the tachometer.
*
* @param[in, out] handle Pointer to unique tachometer handle.
* Returns the last sampled RPM value computed by the timer callback.
* The value represents absolute RPM (direction is discarded); negative
* rotation is reported as a positive value.
*
* @return ESP_OK if success or an error code otherwise.
* @param[in] handle Pointer to the tachometer 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
*
* @note This function is non-blocking and returns the most recent value
* without accessing the PCNT peripheral directly.
*/
esp_err_t zh_tachometer_deinit(zh_tachometer_handle_t *handle);
/**
* @brief Get tachometer value.
*
* @param[in] handle Pointer to unique tachometer handle.
* @param[out] value Tachometer value.
*
* @return ESP_OK if success or an error code otherwise.
*/
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);
#ifdef __cplusplus
}
version.txt
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1.1.0
2.0.0
zh_tachometer.c
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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
}