From 935d3b4b97a3816d2112ce9a5ed362e660c3e5d8 Mon Sep 17 00:00:00 2001 From: Alexey Zholtikov Date: Sun, 29 Mar 2026 07:59:20 +0300 Subject: [PATCH] perf: updated error checks --- README.md | 4 ++ zh_tachometer.c | 183 ++++++++++++++++++++---------------------------- 2 files changed, 80 insertions(+), 107 deletions(-) diff --git a/README.md b/README.md index 87504f4..9b66259 100755 --- a/README.md +++ b/README.md @@ -8,6 +8,10 @@ [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. + ## Attention 1. For correct operation, please enable the following settings in the menuconfig: diff --git a/zh_tachometer.c b/zh_tachometer.c index ba42b48..6b74ce4 100644 --- a/zh_tachometer.c +++ b/zh_tachometer.c @@ -23,14 +23,11 @@ esp_err_t zh_tachometer_init(const zh_tachometer_init_config_t *config, zh_tacho 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."); - esp_err_t err = _zh_tachometer_validate_config(config); - ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Tachometer initialization failed. Initial configuration check failed."); - 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, 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."); + 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; ZH_LOGI("Tachometer initialization completed successfully."); @@ -42,24 +39,15 @@ 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."); - 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."); + 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_LOGI("Tachometer deinitialization completed successfully."); return ESP_OK; @@ -91,91 +79,76 @@ static esp_err_t _zh_tachometer_pcnt_init(const zh_tachometer_init_config_t *con .flags.accum_count = true, }; pcnt_unit_handle_t pcnt_unit_handle = NULL; - esp_err_t err = pcnt_new_unit(&pcnt_unit_config, &pcnt_unit_handle); - ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT initialization failed."); + ZH_ERROR_CHECK(pcnt_new_unit(&pcnt_unit_config, &pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT initialization failed."); pcnt_glitch_filter_config_t pcnt_glitch_filter_config = { .max_glitch_ns = 1000, }; - err = pcnt_unit_set_glitch_filter(pcnt_unit_handle, &pcnt_glitch_filter_config); - 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."); + 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."); 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, err = pcnt_del_unit(pcnt_unit_handle); - ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT delete unit fail."), "PCNT initialization failed."); + 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."); 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, 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, 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, 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, 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, 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, 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, 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, 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, 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, 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."); + 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(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_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_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_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_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) { - 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."); + 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."); } handle->pcnt_unit_handle = pcnt_unit_handle; handle->pcnt_channel_a_handle = pcnt_channel_a_handle; @@ -189,11 +162,9 @@ static esp_err_t _zh_tachometer_timer_init(zh_tachometer_handle_t *handle) .callback = &_zh_tachometer_timer_on_alarm_cb, .arg = 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, err = esp_timer_delete(handle->esp_timer_handle); - ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Timer delete fail."), "Timer initialization failed."); + 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."); return ESP_OK; } @@ -201,16 +172,14 @@ 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; - esp_err_t err = pcnt_unit_get_count(handle->pcnt_unit_handle, &pcnt_count); - if (err != ESP_OK) + if (pcnt_unit_get_count(handle->pcnt_unit_handle, &pcnt_count) != ESP_OK) { - ZH_LOGE("PCNT internal error.", err); + ZH_LOGE("PCNT internal error.", ESP_FAIL); return; } - err = pcnt_unit_clear_count(handle->pcnt_unit_handle); - if (err != ESP_OK) + if (pcnt_unit_clear_count(handle->pcnt_unit_handle) != ESP_OK) { - ZH_LOGE("PCNT internal error.", err); + ZH_LOGE("PCNT internal error.", ESP_FAIL); return; } float value_temp = ((pcnt_count * 100.0) / handle->encoder_pulses) * 60;