Files
zh_encoder/zh_encoder.c
2025-06-14 15:04:47 +03:00

218 lines
9.9 KiB
C

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