esp_components/zh_encoder
1
1
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

refactor: minor refactoring

Browse Source
This commit is contained in:
Alexey Zholtikov
2025-12-21 22:55:29 +03:00
parent d5c94158c2
commit 5087b9b743
1 changed files with 15 additions and 38 deletions
Download Patch File Download Diff File Expand all files Collapse all files

53
zh_encoder.c
View File

@@ -30,10 +30,9 @@ 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 esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
static esp_err_t _zh_encoder_resources_init(const zh_encoder_init_config_t *config);
static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config);
static void _zh_encoder_isr_handler(void *arg);
static void _zh_encoder_isr_processing_task(void *pvParameter);
@@ -44,26 +43,19 @@ esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_han
ZH_LOGI("Encoder initialization started.");
esp_err_t err = _zh_encoder_validate_config(config);
ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. Initial configuration check failed.");
ZH_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);
err = _zh_encoder_gpio_init(config, handle);
ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. GPIO initialization failed.");
ZH_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_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. Interrupt initialization failed.");
ZH_LOGI("Encoder interrupt initialization completed successfully.");
err = _zh_encoder_init_resources(config);
err = _zh_encoder_resources_init(config);
ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. Resources initialization failed.");
ZH_LOGI("Encoder resources initialization completed successfully.");
err = _zh_encoder_create_task(config);
err = _zh_encoder_task_init(config);
ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. Processing task initialization failed.");
ZH_LOGI("Encoder processing task initialization completed successfully.");
handle->is_initialized = true;
_is_initialized = true;
ZH_LOGI("Encoder initialization completed successfully.");
@@ -108,7 +100,7 @@ static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *con
return ESP_OK;
}
static esp_err_t _zh_encoder_gpio_init(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)
{
ZH_ERROR_CHECK(config->a_gpio_number < GPIO_NUM_MAX || config->b_gpio_number < GPIO_NUM_MAX, ESP_ERR_INVALID_ARG, NULL, "Invalid GPIO number.")
ZH_ERROR_CHECK(config->a_gpio_number != config->b_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Invalid GPIO number.")
@@ -119,42 +111,30 @@ static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config)
.intr_type = GPIO_INTR_ANYEDGE};
esp_err_t err = gpio_config(&pin_config);
ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "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);
err = gpio_isr_handler_add(config->a_gpio_number, _zh_encoder_isr_handler, handle);
ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Interrupt initialization failed.");
err = gpio_isr_handler_add(config->b_gpio_number, _zh_encoder_isr_handler, handle);
ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Interrupt initialization failed.");
return ESP_OK;
}
static esp_err_t _zh_encoder_init_resources(const zh_encoder_init_config_t *config)
static esp_err_t _zh_encoder_resources_init(const zh_encoder_init_config_t *config)
{
if (_is_initialized == false)
{
_queue_handle = xQueueCreate(config->queue_size, sizeof(zh_encoder_handle_t));
ZH_ERROR_CHECK(_queue_handle != NULL, ESP_FAIL, NULL, "Queue creation failed.");
ZH_ERROR_CHECK(_queue_handle != NULL, ESP_FAIL, NULL, "Failed to create queue.");
}
return ESP_OK;
}
static esp_err_t _zh_encoder_create_task(const zh_encoder_init_config_t *config)
static esp_err_t _zh_encoder_task_init(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,
&zh_encoder,
tskNO_AFFINITY);
ZH_ERROR_CHECK(err == pdPASS, ESP_FAIL, NULL, "Task creation failed.");
BaseType_t err = xTaskCreatePinnedToCore(&_zh_encoder_isr_processing_task, "zh_encoder_isr_processing", config->stack_size, NULL, config->task_priority, &zh_encoder, tskNO_AFFINITY);
ZH_ERROR_CHECK(err == pdPASS, ESP_FAIL, NULL, "Failed to create isr processing task.");
}
return ESP_OK;
}
@@ -163,8 +143,7 @@ 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)];
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:
@@ -204,15 +183,13 @@ static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter)
zh_encoder_event_on_isr_t encoder_data = {0};
while (xQueueReceive(_queue_handle, &queue, portMAX_DELAY) == pdTRUE)
{
ZH_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);
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)
{
ZH_LOGE("Encoder isr processing failed. Failed to post interrupt event.", err);
}
ZH_LOGI("Encoder isr processing completed successfully.");
}
vTaskDelete(NULL);
}