wip:
This commit is contained in:
@@ -2,14 +2,233 @@
|
||||
|
||||
#include "esp_log.h"
|
||||
#include "driver/gpio.h"
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
#include "esp_event.h"
|
||||
|
||||
#define ZH_ENCODER_INIT_CONFIG_DEFAULT() \
|
||||
{ \
|
||||
.task_priority = 10, \
|
||||
.stack_size = 2048, \
|
||||
.queue_size = 10, \
|
||||
.a_gpio_number = 0, \
|
||||
.b_gpio_number = 0, \
|
||||
.encoder_min_value = -100, \
|
||||
.encoder_max_value = 100, \
|
||||
.encoder_step = 1, \
|
||||
.encoder_number = 0}
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C"
|
||||
{
|
||||
#endif
|
||||
|
||||
|
||||
typedef struct // Structure for initial initialization of encoder.
|
||||
{
|
||||
uint8_t task_priority; // Task priority for the encoder isr processing. @note It is not recommended to set a value less than 10.
|
||||
uint16_t stack_size; // Stack size for task for the encoder isr processing processing. @note The minimum size is 2048 bytes.
|
||||
uint8_t queue_size; // Queue size for task for the encoder processing. @note It is not recommended to set a value less than 10.
|
||||
uint8_t a_gpio_number; // Encoder A GPIO number.
|
||||
uint8_t b_gpio_number; // Encoder B GPIO number.
|
||||
int32_t encoder_min_value; // Encoder min value. @note Must be less than encoder_max_value.
|
||||
int32_t encoder_max_value; // Encoder max value. @note Must be greater than encoder_min_value.
|
||||
float encoder_step; // Encoder step. @note Must be greater than 0.
|
||||
uint8_t encoder_number; // Unique encoder number.
|
||||
} zh_encoder_init_config_t;
|
||||
|
||||
typedef struct // Encoder handle.
|
||||
{
|
||||
uint8_t a_gpio_number; // Encoder A GPIO number.
|
||||
uint8_t b_gpio_number; // Encoder B GPIO number.
|
||||
int32_t encoder_min_value; // Encoder min value. @note Must be less than encoder_max_value.
|
||||
int32_t encoder_max_value; // Encoder max value. @note Must be greater than encoder_min_value.
|
||||
float encoder_step; // Encoder step. @note Must be greater than 0.
|
||||
float encoder_position; // Encoder position.
|
||||
uint8_t encoder_number; // Encoder unique number.
|
||||
bool is_initialized; // Encoder initialization flag.
|
||||
|
||||
} zh_encoder_handle_t;
|
||||
|
||||
ESP_EVENT_DECLARE_BASE(ZH_ENCODER);
|
||||
|
||||
typedef struct // Structure for sending data to the event handler when cause an interrupt. @note Should be used with ZH_ENCODER event base.
|
||||
{
|
||||
uint8_t encoder_number; // Encoder unique number.
|
||||
float encoder_position; // Encoder current position.
|
||||
} zh_encoder_event_on_isr_t;
|
||||
|
||||
/**
|
||||
* @brief Initialize encoder.
|
||||
*
|
||||
* @note The encoder will be set to the position (encoder_min_value + encoder_max_value)/2.
|
||||
*
|
||||
* @param[in] config Pointer to encoder initialized configuration structure. Can point to a temporary variable.
|
||||
* @param[out] handle Pointer to unique encoder handle.
|
||||
*
|
||||
* @note Before initialize the expander recommend initialize zh_encoder_init_config_t structure with default values.
|
||||
*
|
||||
* @code zh_encoder_init_config_t config = ZH_ENCODER_INIT_CONFIG_DEFAULT() @endcode
|
||||
*
|
||||
* @return ESP_OK if success or an error code otherwise.
|
||||
*/
|
||||
esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
|
||||
|
||||
/**
|
||||
* @brief Set encoder position.
|
||||
*
|
||||
* @param[in, out] handle Pointer to unique encoder handle.
|
||||
* @param[in] position Encoder position (must be between encoder_min_value and encoder_max_value).
|
||||
*
|
||||
* @return ESP_OK if success or an error code otherwise.
|
||||
*/
|
||||
esp_err_t zh_encoder_set(zh_encoder_handle_t *handle, float position);
|
||||
|
||||
/**
|
||||
* @brief Reset encoder position.
|
||||
*
|
||||
* @note The encoder will be set to the position (encoder_min_value + encoder_max_value)/2.
|
||||
*
|
||||
* @param[in, out] handle Pointer to unique encoder handle.
|
||||
*
|
||||
* @return ESP_OK if success or an error code otherwise.
|
||||
*/
|
||||
esp_err_t zh_encoder_reset(zh_encoder_handle_t *handle);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// #ifndef ROTARY_ENCODER_H
|
||||
// #define ROTARY_ENCODER_H
|
||||
|
||||
// #include <stdbool.h>
|
||||
// #include <stdint.h>
|
||||
|
||||
// #include "freertos/FreeRTOS.h"
|
||||
// #include "freertos/queue.h"
|
||||
// #include "esp_err.h"
|
||||
// #include "driver/gpio.h"
|
||||
|
||||
// #ifdef __cplusplus
|
||||
// extern "C" {
|
||||
// #endif
|
||||
|
||||
// typedef int32_t rotary_encoder_position_t;
|
||||
|
||||
// /**
|
||||
// * @brief Enum representing the direction of rotation.
|
||||
// */
|
||||
// typedef enum
|
||||
// {
|
||||
// ROTARY_ENCODER_DIRECTION_NOT_SET = 0, ///< Direction not yet known (stationary since reset)
|
||||
// ROTARY_ENCODER_DIRECTION_CLOCKWISE,
|
||||
// ROTARY_ENCODER_DIRECTION_COUNTER_CLOCKWISE,
|
||||
// } rotary_encoder_direction_t;
|
||||
|
||||
// // Used internally
|
||||
// ///@cond INTERNAL
|
||||
// #define TABLE_COLS 4
|
||||
// typedef uint8_t table_row_t[TABLE_COLS];
|
||||
// ///@endcond
|
||||
|
||||
// /**
|
||||
// * @brief Struct represents the current state of the device in terms of incremental position and direction of last movement
|
||||
// */
|
||||
// typedef struct
|
||||
// {
|
||||
// rotary_encoder_position_t position; ///< Numerical position since reset. This value increments on clockwise rotation, and decrements on counter-clockewise rotation. Counts full or half steps depending on mode. Set to zero on reset.
|
||||
// rotary_encoder_direction_t direction; ///< Direction of last movement. Set to NOT_SET on reset.
|
||||
// } rotary_encoder_state_t;
|
||||
|
||||
// /**
|
||||
// * @brief Struct carries all the information needed by this driver to manage the rotary encoder device.
|
||||
// * The fields of this structure should not be accessed directly.
|
||||
// */
|
||||
// typedef struct
|
||||
// {
|
||||
// gpio_num_t pin_a; ///< GPIO for Signal A from the rotary encoder device
|
||||
// gpio_num_t pin_b; ///< GPIO for Signal B from the rotary encoder device
|
||||
// QueueHandle_t queue; ///< Handle for event queue, created by ::rotary_encoder_create_queue
|
||||
// const table_row_t * table; ///< Pointer to active state transition table
|
||||
// uint8_t table_state; ///< Internal state
|
||||
// volatile rotary_encoder_state_t state; ///< Device state
|
||||
// } rotary_encoder_info_t;
|
||||
|
||||
// /**
|
||||
// * @brief Struct represents a queued event, used to communicate current position to a waiting task
|
||||
// */
|
||||
// typedef struct
|
||||
// {
|
||||
// rotary_encoder_state_t state; ///< The device state corresponding to this event
|
||||
// } rotary_encoder_event_t;
|
||||
|
||||
// /**
|
||||
// * @brief Initialise the rotary encoder device with the specified GPIO pins and full step increments.
|
||||
// * This function will set up the GPIOs as needed,
|
||||
// * Note: this function assumes that gpio_install_isr_service(0) has already been called.
|
||||
// * @param[in, out] info Pointer to allocated rotary encoder info structure.
|
||||
// * @param[in] pin_a GPIO number for rotary encoder output A.
|
||||
// * @param[in] pin_b GPIO number for rotary encoder output B.
|
||||
// * @return ESP_OK if successful, ESP_FAIL or ESP_ERR_* if an error occurred.
|
||||
// */
|
||||
// esp_err_t rotary_encoder_init(rotary_encoder_info_t * info, gpio_num_t pin_a, gpio_num_t pin_b);
|
||||
|
||||
// /**
|
||||
// * @brief Enable half-stepping mode. This generates twice as many counted steps per rotation.
|
||||
// * @param[in] info Pointer to initialised rotary encoder info structure.
|
||||
// * @param[in] enable If true, count half steps. If false, only count full steps.
|
||||
// * @return ESP_OK if successful, ESP_FAIL or ESP_ERR_* if an error occurred.
|
||||
// */
|
||||
// esp_err_t rotary_encoder_enable_half_steps(rotary_encoder_info_t * info, bool enable);
|
||||
|
||||
// /**
|
||||
// * @brief Reverse (flip) the sense of the direction.
|
||||
// * Use this if clockwise/counterclockwise are not what you expect.
|
||||
// * @param[in] info Pointer to initialised rotary encoder info structure.
|
||||
// * @return ESP_OK if successful, ESP_FAIL or ESP_ERR_* if an error occurred.
|
||||
// */
|
||||
// esp_err_t rotary_encoder_flip_direction(rotary_encoder_info_t * info);
|
||||
|
||||
// /**
|
||||
// * @brief Remove the interrupt handlers installed by ::rotary_encoder_init.
|
||||
// * Note: GPIOs will be left in the state they were configured by ::rotary_encoder_init.
|
||||
// * @param[in] info Pointer to initialised rotary encoder info structure.
|
||||
// * @return ESP_OK if successful, ESP_FAIL or ESP_ERR_* if an error occurred.
|
||||
// */
|
||||
// esp_err_t rotary_encoder_uninit(rotary_encoder_info_t * info);
|
||||
|
||||
// /**
|
||||
// * @brief Create a queue handle suitable for use as an event queue.
|
||||
// * @return A handle to a new queue suitable for use as an event queue.
|
||||
// */
|
||||
// QueueHandle_t rotary_encoder_create_queue(void);
|
||||
|
||||
// /**
|
||||
// * @brief Set the driver to use the specified queue as an event queue.
|
||||
// * It is recommended that a queue constructed by ::rotary_encoder_create_queue is used.
|
||||
// * @param[in] info Pointer to initialised rotary encoder info structure.
|
||||
// * @param[in] queue Handle to queue suitable for use as an event queue. See ::rotary_encoder_create_queue.
|
||||
// * @return ESP_OK if successful, ESP_FAIL or ESP_ERR_* if an error occurred.
|
||||
// */
|
||||
// esp_err_t rotary_encoder_set_queue(rotary_encoder_info_t * info, QueueHandle_t queue);
|
||||
|
||||
// /**
|
||||
// * @brief Get the current position of the rotary encoder.
|
||||
// * @param[in] info Pointer to initialised rotary encoder info structure.
|
||||
// * @param[in, out] state Pointer to an allocated rotary_encoder_state_t struct that will
|
||||
// * @return ESP_OK if successful, ESP_FAIL or ESP_ERR_* if an error occurred.
|
||||
// */
|
||||
// esp_err_t rotary_encoder_get_state(const rotary_encoder_info_t * info, rotary_encoder_state_t * state);
|
||||
|
||||
// /**
|
||||
// * @brief Reset the current position of the rotary encoder to zero.
|
||||
// * @param[in] info Pointer to initialised rotary encoder info structure.
|
||||
// * @return ESP_OK if successful, ESP_FAIL or ESP_ERR_* if an error occurred.
|
||||
// */
|
||||
// esp_err_t rotary_encoder_reset(rotary_encoder_info_t * info);
|
||||
|
||||
// #ifdef __cplusplus
|
||||
// }
|
||||
// #endif
|
||||
|
||||
// #endif // ROTARY_ENCODER_H
|
||||
|
||||
Reference in New Issue
Block a user