esp_components/zh_encoder
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feat!: changed encoder position to float

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This commit is contained in:
Alexey Zholtikov
2026-01-27 12:26:28 +03:00
parent f2d1822ab4
commit 8b946d7576
4 changed files with 53 additions and 54 deletions
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81
zh_encoder.c
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@@ -28,7 +28,7 @@ static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *con
static esp_err_t _zh_encoder_pcnt_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
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 esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
static bool _zh_encoder_isr_handler(pcnt_unit_handle_t unit, const pcnt_watch_event_data_t *edata, void *user_ctx);
static void _zh_encoder_isr_processing_task(void *pvParameter);
static void _zh_encoder_button_isr_handler(void *arg);
@@ -44,7 +44,7 @@ esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_han
ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. Initial configuration check failed.");
err = _zh_encoder_resources_init(config);
ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. Resources initialization failed.");
err = _zh_encoder_task_init(config);
err = _zh_encoder_task_init(config, handle);
ZH_ERROR_CHECK(err == ESP_OK, err, vQueueDelete(_queue_handle); _queue_handle = NULL, "Encoder initialization failed. Processing task initialization failed.");
err = _zh_encoder_pcnt_init(config, handle);
ZH_ERROR_CHECK(err == ESP_OK, err, vQueueDelete(_queue_handle); _queue_handle = NULL; vTaskDelete(zh_encoder); zh_encoder = NULL,
@@ -103,7 +103,7 @@ esp_err_t zh_encoder_deinit(zh_encoder_handle_t *handle)
return ESP_OK;
}
esp_err_t zh_encoder_reinit(zh_encoder_handle_t *handle, double min, double max, double step) // -V2008
esp_err_t zh_encoder_reinit(zh_encoder_handle_t *handle, float min, float max, float step) // -V2008
{
ZH_LOGI("Encoder reinitialization started.");
ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder reinitialization failed. Invalid argument.");
@@ -120,7 +120,7 @@ esp_err_t zh_encoder_reinit(zh_encoder_handle_t *handle, double min, double max,
return ESP_OK;
}
esp_err_t zh_encoder_set(zh_encoder_handle_t *handle, double position)
esp_err_t zh_encoder_set(zh_encoder_handle_t *handle, float position)
{
ZH_LOGI("Encoder set position started.");
ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder set position failed. Invalid argument.");
@@ -133,7 +133,7 @@ esp_err_t zh_encoder_set(zh_encoder_handle_t *handle, double position)
return ESP_OK;
}
esp_err_t zh_encoder_get(const zh_encoder_handle_t *handle, double *position)
esp_err_t zh_encoder_get(const zh_encoder_handle_t *handle, float *position)
{
ZH_LOGI("Encoder get position started.");
ZH_ERROR_CHECK(handle != NULL && position != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder get position failed. Invalid argument.");
@@ -235,7 +235,7 @@ static esp_err_t _zh_encoder_pcnt_init(const zh_encoder_init_config_t *config, z
pcnt_event_callbacks_t cbs = {
.on_reach = _zh_encoder_isr_handler,
};
err = pcnt_unit_register_event_callbacks(pcnt_unit_handle, &cbs, handle);
err = pcnt_unit_register_event_callbacks(pcnt_unit_handle, &cbs, NULL);
ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_channel(pcnt_channel_b_handle); pcnt_del_unit(pcnt_unit_handle),
"PCNT initialization failed.");
err = pcnt_unit_enable(pcnt_unit_handle);
@@ -287,17 +287,17 @@ static esp_err_t _zh_encoder_resources_init(const zh_encoder_init_config_t *conf
{
if (_encoder_counter == 0)
{
_queue_handle = xQueueCreate(config->queue_size, sizeof(zh_encoder_event_on_isr_t));
_queue_handle = xQueueCreate(config->queue_size, sizeof(int));
ZH_ERROR_CHECK(_queue_handle != NULL, ESP_FAIL, NULL, "Failed to create queue.");
}
return ESP_OK;
}
static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config)
static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle)
{
if (_encoder_counter == 0)
{
BaseType_t err = xTaskCreatePinnedToCore(&_zh_encoder_isr_processing_task, "zh_encoder_isr_processing", config->stack_size, NULL, config->task_priority,
BaseType_t err = xTaskCreatePinnedToCore(&_zh_encoder_isr_processing_task, "zh_encoder_isr_processing", config->stack_size, handle, config->task_priority,
&zh_encoder, tskNO_AFFINITY);
ZH_ERROR_CHECK(err == pdPASS, ESP_FAIL, NULL, "Failed to create isr processing task.");
}
@@ -307,38 +307,8 @@ static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config)
static bool IRAM_ATTR _zh_encoder_isr_handler(pcnt_unit_handle_t unit, const pcnt_watch_event_data_t *edata, void *user_ctx)
{
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)user_ctx;
pcnt_unit_clear_count(unit);
switch (edata->watch_point_value)
{
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;
}
}
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;
}
}
break;
default:
return false;
break;
}
zh_encoder_event_on_isr_t encoder_data = {0};
encoder_data.encoder_number = encoder_handle->encoder_number;
encoder_data.encoder_position = encoder_handle->encoder_position;
if (xQueueSendFromISR(_queue_handle, &encoder_data, &xHigherPriorityTaskWoken) != pdTRUE)
if (xQueueSendFromISR(_queue_handle, &edata->watch_point_value, &xHigherPriorityTaskWoken) != pdTRUE)
{
++_stats.queue_overflow_error;
}
@@ -351,9 +321,38 @@ static bool IRAM_ATTR _zh_encoder_isr_handler(pcnt_unit_handle_t unit, const pcn
static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter)
{
zh_encoder_event_on_isr_t encoder_data = {0};
zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)pvParameter;
int encoder_data = {0};
while (xQueueReceive(_queue_handle, &encoder_data, portMAX_DELAY) == pdTRUE)
{
switch (encoder_data)
{
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;
}
}
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;
}
}
break;
default:
break;
}
zh_encoder_event_on_isr_t encoder_data = {0};
encoder_data.encoder_number = encoder_handle->encoder_number;
encoder_data.encoder_position = encoder_handle->encoder_position;
esp_err_t err = esp_event_post(ZH_ENCODER, ZH_ENCODER_EVENT, &encoder_data, sizeof(zh_encoder_event_on_isr_t), 1000 / portTICK_PERIOD_MS);
if (err != ESP_OK)
{