esp_components/zh_encoder
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feat!: changed driver on pcnt

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This commit is contained in:
Alexey Zholtikov
2026-01-24 10:17:43 +03:00
parent db86633155
commit 121ba14a49
4 changed files with 244 additions and 220 deletions
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78
include/zh_encoder.h
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@@ -6,6 +6,7 @@
#include "esp_log.h"
#include "driver/gpio.h"
#include "driver/pulse_cnt.h"
#include "esp_timer.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
@@ -22,8 +23,9 @@
.a_gpio_number = GPIO_NUM_MAX, \
.b_gpio_number = GPIO_NUM_MAX, \
.s_gpio_number = GPIO_NUM_MAX, \
.encoder_min_value = -100, \
.encoder_max_value = 100, \
.s_gpio_debounce_time = 10, \
.encoder_min_value = -10, \
.encoder_max_value = 10, \
.encoder_step = 1, \
.encoder_number = 0}
@@ -32,23 +34,24 @@ extern "C"
{
#endif
extern TaskHandle_t zh_encoder; /*!< Unique encoder Task Handle. */
extern TaskHandle_t zh_encoder; /*!< Encoder Task Handle. */
/**
* @brief Structure for initial initialization of encoder.
*/
typedef struct
{
double encoder_step; /*!< Encoder step. @note Must be greater than 0. */
double encoder_min_value; /*!< Encoder min value. @note Must be less than encoder_max_value. */
double encoder_max_value; /*!< Encoder max value. @note Must be greater than encoder_min_value. */
uint8_t task_priority; /*!< Task priority for the encoder isr processing. @note Minimum value is 1. */
uint8_t queue_size; /*!< Queue size for task for the encoder processing. @note Minimum value is 1. */
uint8_t a_gpio_number; /*!< Encoder A GPIO number. */
uint8_t b_gpio_number; /*!< Encoder B GPIO number. */
uint8_t s_gpio_number; /*!< Encoder button GPIO number. */
uint8_t encoder_number; /*!< Unique encoder number. @note Must be greater than 0. */
uint16_t stack_size; /*!< Stack size for task for the encoder isr processing processing. @note The minimum size is configMINIMAL_STACK_SIZE. */
double encoder_step; /*!< Encoder step. @note Must be greater than 0. */
double encoder_min_value; /*!< Encoder min value. @note Must be less than encoder_max_value. */
double encoder_max_value; /*!< Encoder max value. @note Must be greater than encoder_min_value. */
uint8_t task_priority; /*!< Task priority for the encoder isr processing. @note Minimum value is 1. */
uint8_t queue_size; /*!< Queue size for task for the encoder processing. @note Minimum value is 1. */
uint8_t a_gpio_number; /*!< Encoder A GPIO number. */
uint8_t b_gpio_number; /*!< Encoder B GPIO number. */
uint8_t s_gpio_number; /*!< Encoder button GPIO number. */
uint16_t s_gpio_debounce_time; /*!< Encoder button debounce_time. @note In microseconds. */
uint8_t encoder_number; /*!< Unique encoder number. @note Must be greater than 0. */
uint16_t stack_size; /*!< Stack size for task for the encoder isr processing processing. @note The minimum size is configMINIMAL_STACK_SIZE. */
} zh_encoder_init_config_t;
/**
@@ -56,17 +59,19 @@ extern "C"
*/
typedef struct // -V802
{
double encoder_step; /*!< Encoder step. */
double encoder_position; /*!< Encoder position. */
double encoder_min_value; /*!< Encoder min value. */
double encoder_max_value; /*!< Encoder max value. */
uint8_t a_gpio_number; /*!< Encoder A GPIO number. */
uint8_t b_gpio_number; /*!< Encoder B GPIO number. */
uint8_t s_gpio_number; /*!< Encoder button GPIO number. */
uint8_t encoder_number; /*!< Encoder unique number. */
uint8_t encoder_state; /*!< Encoder internal state. */
bool button_status; /*!< Encoder button status. */
bool is_initialized; /*!< Encoder initialization flag. */
pcnt_unit_handle_t pcnt_unit_handle; /*!< Encoder unique pcnt unit handle. */
pcnt_channel_handle_t pcnt_channel_a_handle; /*!< Encoder unique pcnt channel handle. */
pcnt_channel_handle_t pcnt_channel_b_handle; /*!< Encoder unique pcnt channel handle. */
double encoder_step; /*!< Encoder step. */
double encoder_position; /*!< Encoder position. */
double encoder_min_value; /*!< Encoder min value. */
double encoder_max_value; /*!< Encoder max value. */
uint8_t encoder_number; /*!< Encoder unique number. */
uint8_t s_gpio_number; /*!< Encoder button GPIO number. */
uint16_t s_gpio_debounce_time; /*!< Encoder button debounce_time. */
uint64_t s_gpio_prev_time; /*!< Encoder button prev interrupt time. */
bool s_gpio_status; /*!< Encoder button status. */
bool is_initialized; /*!< Encoder initialization flag. */
} zh_encoder_handle_t;
/**
@@ -79,20 +84,39 @@ extern "C"
uint32_t min_stack_size; /*!< Minimum free stack size. */
} zh_encoder_stats_t;
/**
* @brief Enumeration of encoder event ID.
*/
typedef enum
{
ZH_BUTTON_EVENT, /*!< Button event. */
ZH_ENCODER_EVENT /*!< Encoder event. */
} zh_encoder_event_id_t;
ESP_EVENT_DECLARE_BASE(ZH_ENCODER);
/**
* @brief Structure for sending data to the event handler when cause an interrupt.
* @brief Structure for sending data to the event handler when cause encoder interrupt.
*
* @note Should be used with ZH_ENCODER event base.
* @note Should be used with ZH_ENCODER event base and ZH_ENCODER_EVENT event ID.
*/
typedef struct
{
double encoder_position; /*!< Encoder current position. */
uint8_t encoder_number; /*!< Encoder unique number. */
bool button_status; /*!< Encoder button status. */
} zh_encoder_event_on_isr_t;
/**
* @brief Structure for sending data to the event handler when cause encoder button interrupt.
*
* @note Should be used with ZH_ENCODER event base and ZH_BUTTON_EVENT event ID.
*/
typedef struct
{
uint8_t encoder_number; /*!< Encoder unique number. */
bool button_status; /*!< Encoder button status. */
} zh_encoder_button_event_on_isr_t;
/**
* @brief Initialize encoder.
*