278 lines
18 KiB
C
278 lines
18 KiB
C
#include "zh_tachometer.h"
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static const char *TAG = "zh_tachometer";
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#define ZH_LOGI(msg, ...) ESP_LOGI(TAG, msg, ##__VA_ARGS__)
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#define ZH_LOGE(msg, err, ...) ESP_LOGE(TAG, "[%s:%d:%s] " msg, __FILE__, __LINE__, esp_err_to_name(err), ##__VA_ARGS__)
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#define ZH_ERROR_CHECK(cond, err, cleanup, msg, ...) \
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if (!(cond)) \
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{ \
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ZH_LOGE(msg, err, ##__VA_ARGS__); \
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cleanup; \
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return err; \
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}
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#define ZH_ERROR_CHECK_VOID(cond, cleanup, msg, ...) \
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if (!(cond)) \
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{ \
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ZH_LOGE(msg, ESP_FAIL, ##__VA_ARGS__); \
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cleanup; \
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return; \
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}
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#define ZH_ERROR_CHECK_CONT(cond, cleanup, msg, ...) \
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if (!(cond)) \
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{ \
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ZH_LOGE(msg, ESP_FAIL, ##__VA_ARGS__); \
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cleanup; \
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}
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/**
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* @brief Internal handle structure for the tachometer driver.
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*
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* Holds references to the PCNT unit and channels, the ESP-Timer used for
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* periodic RPM sampling, the last computed RPM value, and the encoder's
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* pulses-per-revolution configuration.
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*
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* @note This structure is opaque to callers and must only be accessed
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* through the public API functions.
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* @warning The timer callback runs from the esp_timer service task context
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* (default ESP_TIMER_TASK dispatch method), not from an ISR. Blocking
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* or long-running operations in the callback will delay other esp_timer
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* callbacks and must be avoided.
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*/
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struct _zh_tachometer_handle_t
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{
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pcnt_unit_handle_t pcnt_unit_handle; /*!< PCNT unit handle for quadrature decoding */
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pcnt_channel_handle_t pcnt_channel_a_handle; /*!< PCNT channel A handle (edge detector) */
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pcnt_channel_handle_t pcnt_channel_b_handle; /*!< PCNT channel B handle (edge detector) */
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esp_timer_handle_t esp_timer_handle; /*!< ESP-Timer handle for 100 Hz RPM sampling */
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volatile uint16_t value; /*!< Last computed RPM value (absolute) */
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uint16_t encoder_pulses; /*!< Pulses per one full rotation */
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};
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/**
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* @brief Validate the initialization configuration.
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*
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* Checks that `encoder_pulses` is greater than zero.
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*
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* @param config Pointer to the initialization configuration
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*
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* @return ESP_OK on valid configuration
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* @return ESP_ERR_INVALID_ARG if `encoder_pulses` is zero or less
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*/
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static esp_err_t _zh_tachometer_validate_config(const zh_tachometer_init_config_t *config);
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/**
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* @brief Initialize the PCNT peripheral in quadrature decoder mode.
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*
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* Configures the PCNT unit with accumulation mode, glitch filter (1000 ns),
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* two channels for encoder phases A and B, edge/level actions for direction
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* counting, and watch points at ±32767. Starts the unit and clears the
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* counter. Configures GPIO pull-ups according to the `pullup` setting.
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*
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* @param config Pointer to the initialization configuration
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* @param handle Pointer to the initialized tachometer handle
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*
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* @return ESP_OK on successful PCNT initialization
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* @return ESP_ERR_INVALID_ARG if GPIO numbers are invalid or identical
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* @return ESP_FAIL on any PCNT configuration failure
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*/
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static esp_err_t _zh_tachometer_pcnt_init(const zh_tachometer_init_config_t *config, zh_tachometer_handle_t *handle);
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/**
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* @brief Initialize the ESP-Timer for periodic RPM sampling.
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*
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* Creates a periodic timer that fires every 10 ms (100 Hz) and invokes
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* the alarm callback to read and convert the PCNT count to RPM.
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*
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* @param handle Pointer to the initialized tachometer handle
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*
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* @return ESP_OK on successful timer initialization
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* @return ESP_FAIL on timer creation or start failure
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*/
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static esp_err_t _zh_tachometer_timer_init(zh_tachometer_handle_t *handle);
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/**
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* @brief ESP-Timer alarm callback for RPM sampling.
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*
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* Executed every 10 ms from the esp_timer service task context (default
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* ESP_TIMER_TASK dispatch method). Reads the accumulated PCNT count,
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* clears it, and converts it to RPM using the formula:
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*
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* RPM = (count * 100.0 / (4 * pulses_per_rev)) * 60
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*
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* The factor of 4 accounts for quadrature encoding (4 edges per cycle).
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* The result is stored as an absolute value (direction discarded).
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*
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* @param arg Pointer to the tachometer handle
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*/
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static void _zh_tachometer_timer_on_alarm_cb(void *arg);
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esp_err_t zh_tachometer_init(const zh_tachometer_init_config_t *config, zh_tachometer_handle_t **handle)
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{
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ZH_LOGI("Tachometer initialization started.");
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ZH_ERROR_CHECK(config != NULL && handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Tachometer initialization failed. Invalid argument.");
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ZH_ERROR_CHECK(*handle == NULL, ESP_ERR_INVALID_STATE, NULL, "Tachometer initialization failed. Tachometer is already initialized.");
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ZH_ERROR_CHECK(_zh_tachometer_validate_config(config) == ESP_OK, ESP_FAIL, NULL, "Tachometer initialization failed. Initial configuration check failed.");
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*handle = heap_caps_calloc(1, sizeof(zh_tachometer_handle_t), MALLOC_CAP_8BIT);
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ZH_ERROR_CHECK(*handle != NULL, ESP_ERR_NO_MEM, NULL, "Tachometer initialization failed. Failed to allocate tachometer handle.");
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ZH_ERROR_CHECK(_zh_tachometer_timer_init(*handle) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "Tachometer initialization failed. Timer initialization failed.");
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(*handle)->encoder_pulses = config->encoder_pulses;
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ZH_ERROR_CHECK(_zh_tachometer_pcnt_init(config, *handle) == ESP_OK, ESP_FAIL,
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{ZH_ERROR_CHECK_CONT(esp_timer_stop((*handle)->esp_timer_handle) == ESP_OK, NULL, "Timer stop fail.")};
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{ZH_ERROR_CHECK_CONT(esp_timer_delete((*handle)->esp_timer_handle) == ESP_OK, NULL, "Timer delete fail.")};
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heap_caps_free(*handle); *handle = NULL, "Tachometer initialization failed. PCNT initialization failed.");
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ZH_LOGI("Tachometer initialization completed successfully.");
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return ESP_OK;
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}
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esp_err_t zh_tachometer_deinit(zh_tachometer_handle_t **handle)
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{
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ZH_LOGI("Tachometer deinitialization started.");
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ZH_ERROR_CHECK(handle != NULL && *handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Tachometer deinitialization failed. Invalid argument.");
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ZH_ERROR_CHECK_CONT(esp_timer_stop((*handle)->esp_timer_handle) == ESP_OK, NULL, "Tachometer deinitialization failed. Timer stop fail.");
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ZH_ERROR_CHECK_CONT(esp_timer_delete((*handle)->esp_timer_handle) == ESP_OK, NULL, "Tachometer deinitialization failed. Timer delete fail.");
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ZH_ERROR_CHECK_CONT(pcnt_unit_stop((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "Tachometer deinitialization failed. PCNT unit stop fail.");
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ZH_ERROR_CHECK_CONT(pcnt_unit_disable((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "Tachometer deinitialization failed. PCNT unit disable fail.");
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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.");
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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.");
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ZH_ERROR_CHECK_CONT(pcnt_del_channel((*handle)->pcnt_channel_a_handle) == ESP_OK, NULL, "Tachometer deinitialization failed. PCNT delete channel fail.");
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ZH_ERROR_CHECK_CONT(pcnt_del_channel((*handle)->pcnt_channel_b_handle) == ESP_OK, NULL, "Tachometer deinitialization failed. PCNT delete channel fail.");
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ZH_ERROR_CHECK_CONT(pcnt_del_unit((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "Tachometer deinitialization failed. PCNT delete unit fail.");
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heap_caps_free(*handle);
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*handle = NULL;
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ZH_LOGI("Tachometer deinitialization completed successfully.");
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return ESP_OK;
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}
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esp_err_t zh_tachometer_get(zh_tachometer_handle_t **handle, uint16_t *value)
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{
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ZH_LOGI("Tachometer get RPM started.");
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ZH_ERROR_CHECK(handle != NULL && *handle != NULL && value != NULL, ESP_ERR_INVALID_ARG, NULL, "Tachometer get RPM failed. Invalid argument.");
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*value = (*handle)->value;
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ZH_LOGI("Tachometer get RPM completed successfully.");
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return ESP_OK;
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}
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static esp_err_t _zh_tachometer_validate_config(const zh_tachometer_init_config_t *config)
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{
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ZH_ERROR_CHECK(config->encoder_pulses > 0, ESP_ERR_INVALID_ARG, NULL, "Invalid encoder pulses.");
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return ESP_OK;
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}
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static esp_err_t _zh_tachometer_pcnt_init(const zh_tachometer_init_config_t *config, zh_tachometer_handle_t *handle)
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{
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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.");
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ZH_ERROR_CHECK(config->a_gpio_number != config->b_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Encoder A and B GPIO is same.");
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gpio_config_t io_config = {
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.pin_bit_mask = (1ULL << config->a_gpio_number) | (1ULL << config->b_gpio_number),
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.mode = GPIO_MODE_INPUT,
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.pull_up_en = config->pullup == true ? GPIO_PULLUP_ENABLE : GPIO_PULLUP_DISABLE,
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.pull_down_en = GPIO_PULLDOWN_DISABLE,
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.intr_type = GPIO_INTR_DISABLE,
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};
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ZH_ERROR_CHECK(gpio_config(&io_config) == ESP_OK, ESP_FAIL, NULL, "GPIO initialization failed.");
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pcnt_unit_config_t pcnt_unit_config = {
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.high_limit = 32767,
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.low_limit = -32767,
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.flags.accum_count = true,
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};
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pcnt_unit_handle_t pcnt_unit_handle = NULL;
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ZH_ERROR_CHECK(pcnt_new_unit(&pcnt_unit_config, &pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT initialization failed.");
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pcnt_glitch_filter_config_t pcnt_glitch_filter_config = {
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.max_glitch_ns = 1000,
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};
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ZH_ERROR_CHECK(pcnt_unit_set_glitch_filter(pcnt_unit_handle, &pcnt_glitch_filter_config) == ESP_OK, ESP_FAIL,
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{ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
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pcnt_chan_config_t pcnt_chan_a_config = {
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.edge_gpio_num = config->a_gpio_number,
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.level_gpio_num = config->b_gpio_number,
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};
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pcnt_channel_handle_t pcnt_channel_a_handle = NULL;
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ZH_ERROR_CHECK(pcnt_new_channel(pcnt_unit_handle, &pcnt_chan_a_config, &pcnt_channel_a_handle) == ESP_OK, ESP_FAIL,
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{ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
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pcnt_chan_config_t pcnt_chan_b_config = {
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.edge_gpio_num = config->b_gpio_number,
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.level_gpio_num = config->a_gpio_number,
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};
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pcnt_channel_handle_t pcnt_channel_b_handle = NULL;
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ZH_ERROR_CHECK(pcnt_new_channel(pcnt_unit_handle, &pcnt_chan_b_config, &pcnt_channel_b_handle) == ESP_OK, ESP_FAIL,
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{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
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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,
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{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
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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,
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{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
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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,
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{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
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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,
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{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
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ZH_ERROR_CHECK(pcnt_unit_add_watch_point(pcnt_unit_handle, 32767) == ESP_OK, ESP_FAIL,
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{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
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ZH_ERROR_CHECK(pcnt_unit_add_watch_point(pcnt_unit_handle, -32767) == ESP_OK, ESP_FAIL,
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{ZH_ERROR_CHECK_CONT(pcnt_unit_remove_watch_point(pcnt_unit_handle, 32767) == ESP_OK, NULL, "PCNT unit remove watch point fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
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ZH_ERROR_CHECK(pcnt_unit_enable(pcnt_unit_handle) == ESP_OK, ESP_FAIL,
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{ZH_ERROR_CHECK_CONT(pcnt_unit_remove_watch_point(pcnt_unit_handle, 32767) == ESP_OK, NULL, "PCNT unit remove watch point fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_unit_remove_watch_point(pcnt_unit_handle, -32767) == ESP_OK, NULL, "PCNT unit remove watch point fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
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ZH_ERROR_CHECK(pcnt_unit_clear_count(pcnt_unit_handle) == ESP_OK, ESP_FAIL,
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{ZH_ERROR_CHECK_CONT(pcnt_unit_disable(pcnt_unit_handle) == ESP_OK, NULL, "PCNT unit disable fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_unit_remove_watch_point(pcnt_unit_handle, 32767) == ESP_OK, NULL, "PCNT unit remove watch point fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_unit_remove_watch_point(pcnt_unit_handle, -32767) == ESP_OK, NULL, "PCNT unit remove watch point fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
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ZH_ERROR_CHECK(pcnt_unit_start(pcnt_unit_handle) == ESP_OK, ESP_FAIL,
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{ZH_ERROR_CHECK_CONT(pcnt_unit_disable(pcnt_unit_handle) == ESP_OK, NULL, "PCNT unit disable fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_unit_remove_watch_point(pcnt_unit_handle, 32767) == ESP_OK, NULL, "PCNT unit remove watch point fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_unit_remove_watch_point(pcnt_unit_handle, -32767) == ESP_OK, NULL, "PCNT unit remove watch point fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
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{ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
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handle->pcnt_unit_handle = pcnt_unit_handle;
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handle->pcnt_channel_a_handle = pcnt_channel_a_handle;
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handle->pcnt_channel_b_handle = pcnt_channel_b_handle;
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return ESP_OK;
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}
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static esp_err_t _zh_tachometer_timer_init(zh_tachometer_handle_t *handle)
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{
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const esp_timer_create_args_t timer_args = {
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.callback = &_zh_tachometer_timer_on_alarm_cb,
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.arg = handle,
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};
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ZH_ERROR_CHECK(esp_timer_create(&timer_args, &handle->esp_timer_handle) == ESP_OK, ESP_FAIL, NULL, "Timer initialization failed.");
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ZH_ERROR_CHECK(esp_timer_start_periodic(handle->esp_timer_handle, 10000) == ESP_OK, ESP_FAIL,
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{ZH_ERROR_CHECK_CONT(esp_timer_delete(handle->esp_timer_handle) == ESP_OK, NULL, "Timer delete fail.")}, "Timer initialization failed.");
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return ESP_OK;
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}
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static void _zh_tachometer_timer_on_alarm_cb(void *arg)
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{
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zh_tachometer_handle_t *handle = (zh_tachometer_handle_t *)arg;
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int pcnt_count = 0;
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if (handle->pcnt_unit_handle != NULL)
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{
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ZH_ERROR_CHECK_VOID(pcnt_unit_get_count(handle->pcnt_unit_handle, &pcnt_count) == ESP_OK, NULL, "PCNT internal error.");
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ZH_ERROR_CHECK_VOID(pcnt_unit_clear_count(handle->pcnt_unit_handle) == ESP_OK, NULL, "PCNT internal error.");
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float value_temp = (pcnt_count * 100.0) / (4.0 * handle->encoder_pulses) * 60.0;
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handle->value = (uint16_t)fabsf(value_temp);
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}
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} |