esp_components/zh_encoder
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feat: added statistics

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This commit is contained in:
Alexey Zholtikov
2025-12-24 12:30:14 +03:00
parent deb882beb6
commit 2060a56b55
4 changed files with 56 additions and 3 deletions
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27
zh_encoder.c
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@@ -29,6 +29,7 @@ TaskHandle_t zh_encoder = NULL;
static QueueHandle_t _queue_handle = NULL;
static bool _is_initialized = false;
static bool _is_prev_gpio_isr_handler = false;
static zh_encoder_stats_t _stats = {0};
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, zh_encoder_handle_t *handle);
@@ -109,6 +110,20 @@ esp_err_t zh_encoder_reset(zh_encoder_handle_t *handle)
return ESP_OK;
}
const zh_encoder_stats_t *zh_encoder_get_stats(void)
{
return &_stats;
}
void zh_encoder_reset_stats(void)
{
ZH_LOGI("Error statistic reset started.");
_stats.event_post_error = 0;
_stats.queue_overflow_error = 0;
_stats.min_stack_size = 0;
ZH_LOGI("Error statistic reset successfully.");
}
static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *config)
{
ZH_ERROR_CHECK(config != NULL, ESP_ERR_INVALID_ARG, NULL, "Invalid configuration.");
@@ -188,7 +203,10 @@ static void IRAM_ATTR _zh_encoder_isr_handler(void *arg)
{
encoder_handle->encoder_position = encoder_handle->encoder_max_value;
}
xQueueSendFromISR(_queue_handle, encoder_handle, &xHigherPriorityTaskWoken);
if (xQueueSendFromISR(_queue_handle, encoder_handle, &xHigherPriorityTaskWoken) != pdTRUE)
{
++_stats.queue_overflow_error;
}
}
break;
case ZH_ENCODER_DIRECTION_CCW:
@@ -199,7 +217,10 @@ static void IRAM_ATTR _zh_encoder_isr_handler(void *arg)
{
encoder_handle->encoder_position = encoder_handle->encoder_min_value;
}
xQueueSendFromISR(_queue_handle, encoder_handle, &xHigherPriorityTaskWoken);
if (xQueueSendFromISR(_queue_handle, encoder_handle, &xHigherPriorityTaskWoken) != pdTRUE)
{
++_stats.queue_overflow_error;
}
}
break;
default:
@@ -222,8 +243,10 @@ static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter)
esp_err_t err = esp_event_post(ZH_ENCODER, 0, &encoder_data, sizeof(zh_encoder_event_on_isr_t), 1000 / portTICK_PERIOD_MS);
if (err != ESP_OK)
{
++_stats.event_post_error;
ZH_LOGE("Encoder isr processing failed. Failed to post interrupt event.", err);
}
_stats.min_stack_size = (uint32_t)uxTaskGetStackHighWaterMark(NULL);
}
vTaskDelete(NULL);
}