218 lines
9.9 KiB
C
218 lines
9.9 KiB
C
#include "zh_encoder.h"
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#define TAG "zh_encoder"
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#define ZH_ENCODER_LOGI(msg, ...) ESP_LOGI(TAG, msg, ##__VA_ARGS__)
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#define ZH_ENCODER_LOGW(msg, ...) ESP_LOGW(TAG, msg, ##__VA_ARGS__)
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#define ZH_ENCODER_LOGE(msg, ...) ESP_LOGE(TAG, msg, ##__VA_ARGS__)
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#define ZH_ENCODER_LOGE_ERR(msg, err, ...) ESP_LOGE(TAG, "[%s:%d:%s] " msg, __FILE__, __LINE__, esp_err_to_name(err), ##__VA_ARGS__)
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#define ZH_ENCODER_CHECK(cond, err, msg, ...) \
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if (!(cond)) \
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{ \
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ZH_ENCODER_LOGE_ERR(msg, err); \
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return err; \
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}
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#define ZH_ENCODER_DIRECTION_CW 0x10
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#define ZH_ENCODER_DIRECTION_CCW 0x20
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static const uint8_t _encoder_matrix[7][4] = {
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{0x03, 0x02, 0x01, 0x00},
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{0x23, 0x00, 0x01, 0x00},
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{0x13, 0x02, 0x00, 0x00},
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{0x03, 0x05, 0x04, 0x00},
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{0x03, 0x03, 0x04, 0x00},
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{0x03, 0x05, 0x03, 0x00},
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};
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static QueueHandle_t _queue_handle = NULL;
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static bool _is_initialized = false;
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static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *config);
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static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config);
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static esp_err_t _zh_encoder_configure_interrupts(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
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static esp_err_t _zh_encoder_init_resources(const zh_encoder_init_config_t *config);
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static esp_err_t _zh_encoder_create_task(const zh_encoder_init_config_t *config);
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static void _zh_encoder_isr_handler(void *arg);
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static void _zh_encoder_isr_processing_task(void *pvParameter);
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ESP_EVENT_DEFINE_BASE(ZH_ENCODER);
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esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle)
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{
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ZH_ENCODER_LOGI("Encoder initialization started.");
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esp_err_t err = _zh_encoder_validate_config(config);
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ZH_ENCODER_CHECK(err == ESP_OK, err, "Encoder initialization failed. Initial configuration check failed.");
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ZH_ENCODER_LOGI("Encoder initial configuration check completed successfully.");
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handle->encoder_number = config->encoder_number;
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handle->encoder_min_value = config->encoder_min_value;
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handle->encoder_max_value = config->encoder_max_value;
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handle->encoder_step = config->encoder_step;
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handle->encoder_position = (handle->encoder_min_value + handle->encoder_max_value) / 2;
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err = _zh_encoder_gpio_init(config);
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ZH_ENCODER_CHECK(err == ESP_OK, err, "Encoder initialization failed. GPIO initialization failed.");
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ZH_ENCODER_LOGI("Encoder GPIO initialization completed successfully.");
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handle->a_gpio_number = config->a_gpio_number;
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handle->b_gpio_number = config->b_gpio_number;
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err = _zh_encoder_configure_interrupts(config, handle);
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ZH_ENCODER_CHECK(err == ESP_OK, err, "Encoder initialization failed. Interrupt initialization failed.");
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ZH_ENCODER_LOGI("Encoder interrupt initialization completed successfully.");
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err = _zh_encoder_init_resources(config);
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ZH_ENCODER_CHECK(err == ESP_OK, err, "Encoder initialization failed. Resources initialization failed.");
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ZH_ENCODER_LOGI("Encoder resources initialization completed successfully.");
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err = _zh_encoder_create_task(config);
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ZH_ENCODER_CHECK(err == ESP_OK, err, "Encoder initialization failed. Processing task initialization failed.");
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ZH_ENCODER_LOGI("Encoder processing task initialization completed successfully.");
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handle->is_initialized = true;
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_is_initialized = true;
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ZH_ENCODER_LOGI("Encoder initialization completed successfully.");
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return ESP_OK;
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}
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esp_err_t zh_encoder_set(zh_encoder_handle_t *handle, double position)
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{
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ZH_ENCODER_LOGI("Encoder set position started.");
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ZH_ENCODER_CHECK(handle->is_initialized == true, ESP_FAIL, "Encoder set position failed. Encoder not initialized.");
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ZH_ENCODER_CHECK(position <= handle->encoder_max_value && position >= handle->encoder_min_value, ESP_ERR_INVALID_ARG, "Encoder set position failed. Invalid argument.");
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handle->encoder_position = position;
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ZH_ENCODER_LOGI("Encoder set position completed successfully.");
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return ESP_OK;
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}
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esp_err_t zh_encoder_get(const zh_encoder_handle_t *handle, double *position)
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{
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ZH_ENCODER_LOGI("Encoder get position started.");
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ZH_ENCODER_CHECK(handle->is_initialized == true, ESP_FAIL, "Encoder get position failed. Encoder not initialized.");
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*position = handle->encoder_position;
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ZH_ENCODER_LOGI("Encoder get position completed successfully.");
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return ESP_OK;
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}
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esp_err_t zh_encoder_reset(zh_encoder_handle_t *handle)
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{
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ZH_ENCODER_LOGI("Encoder reset started.");
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ZH_ENCODER_CHECK(handle->is_initialized == true, ESP_FAIL, "Encoder reset failed. Encoder not initialized.");
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handle->encoder_position = (handle->encoder_min_value + handle->encoder_max_value) / 2;
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ZH_ENCODER_LOGI("Encoder reset completed successfully.");
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return ESP_OK;
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}
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static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *config)
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{
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ZH_ENCODER_CHECK(config != NULL, ESP_ERR_INVALID_ARG, "Invalid configuration.");
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ZH_ENCODER_CHECK(config->task_priority >= 10 && config->stack_size >= 3072, ESP_ERR_INVALID_ARG, "Invalid task settings.");
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ZH_ENCODER_CHECK(config->queue_size >= 10, ESP_ERR_INVALID_ARG, "Invalid queue size.");
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ZH_ENCODER_CHECK(config->encoder_max_value > config->encoder_min_value, ESP_ERR_INVALID_ARG, "Invalid encoder min/max value.");
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ZH_ENCODER_CHECK(config->encoder_step > 0, ESP_ERR_INVALID_ARG, "Invalid encoder step.");
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return ESP_OK;
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}
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static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config)
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{
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ZH_ENCODER_CHECK(config->a_gpio_number < GPIO_NUM_MAX || config->b_gpio_number < GPIO_NUM_MAX, ESP_ERR_INVALID_ARG, "Invalid GPIO number.")
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ZH_ENCODER_CHECK(config->a_gpio_number != config->b_gpio_number, ESP_ERR_INVALID_ARG, "Invalid GPIO number.")
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gpio_config_t pin_config = {
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.mode = GPIO_MODE_INPUT,
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.pin_bit_mask = (1ULL << config->a_gpio_number) | (1ULL << config->b_gpio_number),
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.pull_up_en = GPIO_PULLUP_ENABLE,
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.intr_type = GPIO_INTR_ANYEDGE};
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esp_err_t err = gpio_config(&pin_config);
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ZH_ENCODER_CHECK(err == ESP_OK, err, "GPIO initialization failed.");
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return ESP_OK;
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}
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static esp_err_t _zh_encoder_configure_interrupts(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle)
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{
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gpio_install_isr_service(0);
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esp_err_t err = gpio_isr_handler_add(config->a_gpio_number, _zh_encoder_isr_handler, handle);
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ZH_ENCODER_CHECK(err == ESP_OK, err, "Interrupt initialization failed.");
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err = gpio_isr_handler_add(config->b_gpio_number, _zh_encoder_isr_handler, handle);
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ZH_ENCODER_CHECK(err == ESP_OK, err, "Interrupt initialization failed.");
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return ESP_OK;
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}
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static esp_err_t _zh_encoder_init_resources(const zh_encoder_init_config_t *config)
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{
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if (_is_initialized == false)
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{
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_queue_handle = xQueueCreate(config->queue_size, sizeof(zh_encoder_handle_t));
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ZH_ENCODER_CHECK(_queue_handle != NULL, ESP_FAIL, "Queue creation failed.");
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}
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return ESP_OK;
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}
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static esp_err_t _zh_encoder_create_task(const zh_encoder_init_config_t *config)
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{
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if (_is_initialized == false)
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{
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BaseType_t err = xTaskCreatePinnedToCore(
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&_zh_encoder_isr_processing_task,
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"zh_encoder_isr_processing",
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config->stack_size,
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NULL,
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config->task_priority,
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NULL,
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tskNO_AFFINITY);
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ZH_ENCODER_CHECK(err == pdPASS, ESP_FAIL, "Task creation failed.");
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}
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return ESP_OK;
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}
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static void IRAM_ATTR _zh_encoder_isr_handler(void *arg)
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{
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zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)arg;
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BaseType_t xHigherPriorityTaskWoken = pdFALSE;
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encoder_handle->encoder_state = _encoder_matrix[encoder_handle->encoder_state & 0x0F]
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[(gpio_get_level(encoder_handle->b_gpio_number) << 1) | gpio_get_level(encoder_handle->a_gpio_number)];
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switch (encoder_handle->encoder_state & 0x30)
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{
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case ZH_ENCODER_DIRECTION_CW:
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if (encoder_handle->encoder_position < encoder_handle->encoder_max_value)
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{
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encoder_handle->encoder_position = encoder_handle->encoder_position + encoder_handle->encoder_step;
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if (encoder_handle->encoder_position > encoder_handle->encoder_max_value)
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{
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encoder_handle->encoder_position = encoder_handle->encoder_max_value;
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}
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xQueueSendFromISR(_queue_handle, encoder_handle, &xHigherPriorityTaskWoken);
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}
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break;
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case ZH_ENCODER_DIRECTION_CCW:
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if (encoder_handle->encoder_position > encoder_handle->encoder_min_value)
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{
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encoder_handle->encoder_position = encoder_handle->encoder_position - encoder_handle->encoder_step;
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if (encoder_handle->encoder_position < encoder_handle->encoder_min_value)
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{
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encoder_handle->encoder_position = encoder_handle->encoder_min_value;
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}
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xQueueSendFromISR(_queue_handle, encoder_handle, &xHigherPriorityTaskWoken);
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}
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break;
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default:
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break;
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}
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if (xHigherPriorityTaskWoken == pdTRUE)
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{
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portYIELD_FROM_ISR();
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};
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}
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static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter)
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{
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zh_encoder_handle_t queue = {0};
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zh_encoder_event_on_isr_t encoder_data = {0};
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while (xQueueReceive(_queue_handle, &queue, portMAX_DELAY) == pdTRUE)
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{
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ZH_ENCODER_LOGI("Encoder isr processing begin.");
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encoder_data.encoder_number = queue.encoder_number;
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encoder_data.encoder_position = queue.encoder_position;
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esp_err_t err = esp_event_post(ZH_ENCODER, 0, &encoder_data, sizeof(zh_encoder_event_on_isr_t), portTICK_PERIOD_MS);
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if (err != ESP_OK)
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{
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ZH_ENCODER_LOGE_ERR("Encoder isr processing failed. Failed to post interrupt event.", err);
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}
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ZH_ENCODER_LOGI("Encoder isr processing completed successfully.");
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}
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vTaskDelete(NULL);
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} |