aZholtikov/zh_tachometer
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base: aZholtikov/zh_tachometer:ad415b14a4e086bb51b23cad76aeae174605f296
aZholtikov/zh_tachometer:main
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compare: aZholtikov/zh_tachometer:0a9a177289f4a70f31517ff4900772cb1645ab19
aZholtikov/zh_tachometer:main
2 Commits
ad415b14a4 ... 0a9a177289
Author SHA1 Message Date
aZholtikov 0a9a177289 style: updated tag 2026-10-04 22:14:49 +03:00
aZholtikov 50f3af41e7 perf: updated error checks 2026-10-04 12:58:12 +03:00
3 changed files with 107 additions and 109 deletions
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README.md
+7 -26
View File
@@ -10,15 +10,6 @@
6. Watch points at ±32767 for overflow detection. 6. Watch points at ±32767 for overflow detection.
7. Multiple tachometers supported — each requires its own PCNT unit and timer. 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 ## Using
In an existing project, run the following command to install the components: In an existing project, run the following command to install the components:
@@ -39,32 +30,22 @@ In the application, add the component:
```c ```c
#include "zh_tachometer.h" #include "zh_tachometer.h"
static zh_tachometer_handle_t *tachometer_handle = NULL; zh_tachometer_handle_t *tachometer_handle = NULL;
void app_main(void) void app_main(void)
{ {
esp_log_level_set("zh_tachometer", ESP_LOG_ERROR); esp_log_level_set("zh_tachometer", ESP_LOG_ERROR);
zh_tachometer_init_config_t config = ZH_TACHOMETER_INIT_CONFIG_DEFAULT(); zh_tachometer_init_config_t config = ZH_TACHOMETER_INIT_CONFIG_DEFAULT();
config.a_gpio_number = GPIO_NUM_26; config.a_gpio_number = GPIO_NUM_26;
config.b_gpio_number = GPIO_NUM_27; config.b_gpio_number = GPIO_NUM_27;
config.encoder_pulses = 3600; config.encoder_pulses = 3600;
zh_tachometer_init(&config, &tachometer_handle);
esp_err_t ret = zh_tachometer_init(&config, &tachometer_handle); for (;;)
if (ret != ESP_OK) { {
ESP_LOG_ERROR("zh_tachometer", "Initialization failed: %s", esp_err_to_name(ret)); uint16_t value = 0;
return; zh_tachometer_get(&tachometer_handle, &value);
} printf("Tachometer value is %d rpm.\n", value);
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); vTaskDelay(100 / portTICK_PERIOD_MS);
} }
zh_tachometer_deinit(&tachometer_handle);
} }
``` ```
include/zh_tachometer.h
+5 -5
View File
@@ -62,8 +62,8 @@ extern "C"
*/ */
typedef struct typedef struct
{ {
uint8_t a_gpio_number; /*!< Encoder A phase GPIO number */ gpio_num_t a_gpio_number; /*!< Encoder A phase GPIO number */
uint8_t b_gpio_number; /*!< Encoder B phase GPIO number */ gpio_num_t b_gpio_number; /*!< Encoder B phase GPIO number */
bool pullup; /*!< Enable or disable GPIO pull-up resistors */ bool pullup; /*!< Enable or disable GPIO pull-up resistors */
uint16_t encoder_pulses; /*!< Number of pulses per one full rotation */ uint16_t encoder_pulses; /*!< Number of pulses per one full rotation */
} zh_tachometer_init_config_t; } zh_tachometer_init_config_t;
@@ -78,7 +78,7 @@ extern "C"
* @param[out] handle Pointer to receive the created tachometer handle (must be NULL) * @param[out] handle Pointer to receive the created tachometer handle (must be NULL)
* *
* @return ESP_OK on success * @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_INVALID_STATE if the handle is already initialized
* @return ESP_ERR_NO_MEM if memory allocation fails * @return ESP_ERR_NO_MEM if memory allocation fails
* @return ESP_FAIL if PCNT initialization or configuration failed * @return ESP_FAIL if PCNT initialization or configuration failed
@@ -110,11 +110,11 @@ extern "C"
* The value represents absolute RPM (direction is discarded); negative * The value represents absolute RPM (direction is discarded); negative
* rotation is reported as a positive value. * 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) * @param[out] value Pointer to receive the RPM value (must not be NULL)
* *
* @return ESP_OK on success * @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 * @note This function is non-blocking and returns the most recent value
* without accessing the PCNT peripheral directly. * without accessing the PCNT peripheral directly.
zh_tachometer.c
+95 -78
View File
@@ -1,6 +1,6 @@
#include "zh_tachometer.h" #include "zh_tachometer.h"
#define TAG "zh_tachometer" static const char *TAG = "zh_tachometer";
#define ZH_LOGI(msg, ...) ESP_LOGI(TAG, msg, ##__VA_ARGS__) #define ZH_LOGI(msg, ...) ESP_LOGI(TAG, msg, ##__VA_ARGS__)
#define ZH_LOGE(msg, err, ...) ESP_LOGE(TAG, "[%s:%d:%s] " msg, __FILE__, __LINE__, esp_err_to_name(err), ##__VA_ARGS__) #define ZH_LOGE(msg, err, ...) ESP_LOGE(TAG, "[%s:%d:%s] " msg, __FILE__, __LINE__, esp_err_to_name(err), ##__VA_ARGS__)
@@ -21,6 +21,13 @@
return; \ 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. * @brief Internal handle structure for the tachometer driver.
* *
@@ -30,8 +37,10 @@
* *
* @note This structure is opaque to callers and must only be accessed * @note This structure is opaque to callers and must only be accessed
* through the public API functions. * through the public API functions.
* @warning The timer callback runs from ISR context and must not call * @warning The timer callback runs from the esp_timer service task context
* blocking or long-running operations. * (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 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_a_handle; /*!< PCNT channel A handle (edge detector) */
pcnt_channel_handle_t pcnt_channel_b_handle; /*!< PCNT channel B 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 */ 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 */ 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), * Configures the PCNT unit with accumulation mode, glitch filter (1000 ns),
* two channels for encoder phases A and B, edge/level actions for direction * 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 * 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 config Pointer to the initialization configuration
* @param handle Pointer to the initialized tachometer handle * @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. * @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: * 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). * The result is stored as an absolute value (direction discarded).
* *
* @param arg Pointer to the tachometer handle * @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); *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(*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_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; (*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."); ZH_LOGI("Tachometer initialization completed successfully.");
return ESP_OK; return ESP_OK;
} }
@@ -121,15 +132,15 @@ esp_err_t zh_tachometer_deinit(zh_tachometer_handle_t **handle)
{ {
ZH_LOGI("Tachometer deinitialization started."); 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(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_CONT(esp_timer_stop((*handle)->esp_timer_handle) == ESP_OK, NULL, "Tachometer deinitialization failed. Timer 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_CONT(esp_timer_delete((*handle)->esp_timer_handle) == ESP_OK, NULL, "Tachometer deinitialization failed. Timer delete 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_CONT(pcnt_unit_stop((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "Tachometer deinitialization failed. PCNT unit stop 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_CONT(pcnt_unit_disable((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "Tachometer deinitialization failed. PCNT unit disable 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_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(pcnt_del_channel((*handle)->pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "Tachometer deinitialization failed. PCNT delete channel 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(pcnt_del_unit((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Tachometer deinitialization failed. PCNT delete unit 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(esp_timer_stop((*handle)->esp_timer_handle) == ESP_OK, ESP_FAIL, NULL, "Tachometer deinitialization failed. Timer stop 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(esp_timer_delete((*handle)->esp_timer_handle) == ESP_OK, ESP_FAIL, NULL, "Tachometer deinitialization failed. Timer delete 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); heap_caps_free(*handle);
*handle = NULL; *handle = NULL;
ZH_LOGI("Tachometer deinitialization completed successfully."); 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) esp_err_t zh_tachometer_get(zh_tachometer_handle_t **handle, uint16_t *value)
{ {
ZH_LOGI("Tachometer get position started."); ZH_LOGI("Tachometer get RPM started.");
ZH_ERROR_CHECK(handle != NULL && *handle != NULL && value != NULL, ESP_ERR_INVALID_ARG, NULL, "Tachometer get position failed. Invalid argument."); ZH_ERROR_CHECK(handle != NULL && *handle != NULL && value != NULL, ESP_ERR_INVALID_ARG, NULL, "Tachometer get RPM failed. Invalid argument.");
*value = (*handle)->value; *value = (*handle)->value;
ZH_LOGI("Tachometer get position completed successfully."); ZH_LOGI("Tachometer get RPM completed successfully.");
return ESP_OK; 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) 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 < 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 != 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 = { pcnt_unit_config_t pcnt_unit_config = {
.high_limit = 32767, .high_limit = 32767,
.low_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, .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_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 = { pcnt_chan_config_t pcnt_chan_a_config = {
.edge_gpio_num = config->a_gpio_number, .edge_gpio_num = config->a_gpio_number,
.level_gpio_num = config->b_gpio_number, .level_gpio_num = config->b_gpio_number,
}; };
pcnt_channel_handle_t pcnt_channel_a_handle = NULL; 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_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 = { pcnt_chan_config_t pcnt_chan_b_config = {
.edge_gpio_num = config->b_gpio_number, .edge_gpio_num = config->b_gpio_number,
.level_gpio_num = config->a_gpio_number, .level_gpio_num = config->a_gpio_number,
}; };
pcnt_channel_handle_t pcnt_channel_b_handle = NULL; 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_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_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, 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_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_HOLD) == ESP_OK, ESP_FAIL, 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(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")}; {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, 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_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, 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_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_HOLD) == ESP_OK, ESP_FAIL, 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(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")}; {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, 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_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, 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_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_HOLD) == ESP_OK, ESP_FAIL, 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(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")}; {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, 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_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, 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_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_HOLD) == ESP_OK, ESP_FAIL, 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(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")}; {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, 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_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, 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_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_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_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, 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_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, 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_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_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_CONT(pcnt_unit_remove_watch_point(pcnt_unit_handle, 32767) == ESP_OK, 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_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, 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_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, 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_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_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_CONT(pcnt_unit_remove_watch_point(pcnt_unit_handle, 32767) == ESP_OK, 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_CONT(pcnt_unit_remove_watch_point(pcnt_unit_handle, -32767) == ESP_OK, 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_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, 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_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, 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_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_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_CONT(pcnt_unit_disable(pcnt_unit_handle) == ESP_OK, 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_CONT(pcnt_unit_remove_watch_point(pcnt_unit_handle, 32767) == ESP_OK, 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_CONT(pcnt_unit_remove_watch_point(pcnt_unit_handle, -32767) == ESP_OK, 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_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, 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_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, 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_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_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_CONT(pcnt_unit_disable(pcnt_unit_handle) == ESP_OK, 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_CONT(pcnt_unit_remove_watch_point(pcnt_unit_handle, 32767) == ESP_OK, 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_CONT(pcnt_unit_remove_watch_point(pcnt_unit_handle, -32767) == ESP_OK, 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_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, 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_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, 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_unit(pcnt_unit_handle) == ESP_OK, 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.");
}
handle->pcnt_unit_handle = pcnt_unit_handle; handle->pcnt_unit_handle = pcnt_unit_handle;
handle->pcnt_channel_a_handle = pcnt_channel_a_handle; handle->pcnt_channel_a_handle = pcnt_channel_a_handle;
handle->pcnt_channel_b_handle = pcnt_channel_b_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_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_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; 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; zh_tachometer_handle_t *handle = (zh_tachometer_handle_t *)arg;
int pcnt_count = 0; int pcnt_count = 0;
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_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."); 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; float value_temp = (pcnt_count * 100.0) / (4.0 * handle->encoder_pulses) * 60.0;
handle->value = (uint16_t)fabs(value_temp); handle->value = (uint16_t)fabsf(value_temp);
}
} }