119 lines
4.8 KiB
C
119 lines
4.8 KiB
C
#pragma once
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#include "FreeRTOS.h"
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#include "semphr.h"
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#include "avr_err.h"
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#include "avr_port.h"
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#include "stdbool.h"
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#include "avr/interrupt.h"
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#include "avr/pgmspace.h"
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#define ZH_AVR_ENCODER_INIT_CONFIG_DEFAULT() \
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{ \
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.task_priority = configMAX_PRIORITIES, \
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.stack_size = 124, \
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.queue_size = 1, \
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.gpio_port = 0, \
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.a_gpio_number = 0, \
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.b_gpio_number = 0, \
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.pullup = false, \
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.encoder_min_value = -100, \
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.encoder_max_value = 100, \
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.encoder_step = 1, \
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.encoder_number = 0}
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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typedef struct // Structure for initial initialization of encoder.
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{
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uint8_t task_priority; // Task priority for the encoder isr processing. @note It is not recommended to set a value less than configMAX_PRIORITIES.
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uint16_t stack_size; // Stack size for task for the encoder isr processing processing. @note The minimum size is 124 bytes.
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uint8_t queue_size; // Queue size for task for the encoder processing. Depends on the number of encoders.
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uint8_t gpio_port; // Encoder GPIO port. @note Must be same for A and B GPIO.
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uint8_t a_gpio_number; // Encoder A GPIO number.
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uint8_t b_gpio_number; // Encoder B GPIO number.
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bool pullup; // Using internal pullup resistors.
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int32_t encoder_min_value; // Encoder min value. @note Must be less than encoder_max_value.
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int32_t encoder_max_value; // Encoder max value. @note Must be greater than encoder_min_value.
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double encoder_step; // Encoder step. @note Must be greater than 0.
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uint8_t encoder_number; // Unique encoder number.
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} zh_avr_encoder_init_config_t;
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typedef struct // Encoder handle.
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{
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uint8_t gpio_port; // Encoder GPIO port.
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uint8_t a_gpio_number; // Encoder A GPIO number.
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uint8_t b_gpio_number; // Encoder B GPIO number.
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int32_t encoder_min_value; // Encoder min value.
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int32_t encoder_max_value; // Encoder max value.
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double encoder_step; // Encoder step.
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double encoder_position; // Encoder position.
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uint8_t encoder_number; // Encoder unique number.
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uint8_t encoder_state; // Encoder internal state.
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bool is_initialized; // Encoder initialization flag.
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} zh_avr_encoder_handle_t;
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typedef struct // Structure for sending data to the event handler when cause an interrupt. @note Should be used with zh_avr_encoder event base.
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{
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uint8_t encoder_number; // Encoder unique number.
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double encoder_position; // Encoder current position.
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} zh_avr_encoder_event_on_isr_t;
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/**
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* @brief Initialize encoder.
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*
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* @note The encoder will be set to the position (encoder_min_value + encoder_max_value)/2.
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*
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* @param[in] config Pointer to encoder initialized configuration structure. Can point to a temporary variable.
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* @param[out] handle Pointer to unique encoder handle.
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*
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* @note Before initialize the encoder recommend initialize zh_avr_encoder_init_config_t structure with default values.
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*
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* @code zh_avr_encoder_init_config_t config = ZH_AVR_ENCODER_INIT_CONFIG_DEFAULT() @endcode
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*
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* @return AVR_OK if success or an error code otherwise.
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*/
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avr_err_t zh_avr_encoder_init(const zh_avr_encoder_init_config_t *config, zh_avr_encoder_handle_t *handle);
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/**
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* @brief Set encoder position.
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*
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* @param[in, out] handle Pointer to unique encoder handle.
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* @param[in] position Encoder position (must be between encoder_min_value and encoder_max_value).
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*
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* @return AVR_OK if success or an error code otherwise.
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*/
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avr_err_t zh_avr_encoder_set(zh_avr_encoder_handle_t *handle, double position);
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/**
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* @brief Get encoder position.
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*
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* @param[in] handle Pointer to unique encoder handle.
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* @param[out] position Encoder position.
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*
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* @return AVR_OK if success or an error code otherwise.
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*/
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avr_err_t zh_avr_encoder_get(const zh_avr_encoder_handle_t *handle, double *position);
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/**
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* @brief Reset encoder position.
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*
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* @note The encoder will be set to the position (encoder_min_value + encoder_max_value)/2.
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*
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* @param[in, out] handle Pointer to unique encoder handle.
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*
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* @return AVR_OK if success or an error code otherwise.
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*/
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avr_err_t zh_avr_encoder_reset(zh_avr_encoder_handle_t *handle);
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/**
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* @brief Encoder ISR handler.
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*/
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BaseType_t zh_avr_encoder_isr_handler(zh_avr_encoder_handle_t *handle);
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#ifdef __cplusplus
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}
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#endif |