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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2
README.md
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@@ -67,7 +67,7 @@ void app_main(void)
config.encoder_step = 0.001; config.encoder_step = 0.001;
config.encoder_number = ENCODER_NUMBER; config.encoder_number = ENCODER_NUMBER;
zh_encoder_init(&config, &encoder_handle); zh_encoder_init(&config, &encoder_handle);
double encoder_position = 0; float encoder_position = 0;
zh_encoder_get(&encoder_handle, &encoder_position); zh_encoder_get(&encoder_handle, &encoder_position);
printf("Encoder position %0.3f.\n", encoder_position); printf("Encoder position %0.3f.\n", encoder_position);
for (;;) for (;;)

22
include/zh_encoder.h
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@@ -42,9 +42,9 @@ extern "C"
*/ */
typedef struct typedef struct
{ {
double encoder_step; /*!< Encoder step. @note Must be greater than 0. */ float 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. */ float 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. */ float 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 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 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 a_gpio_number; /*!< Encoder A GPIO number. */
@@ -64,10 +64,10 @@ extern "C"
pcnt_unit_handle_t pcnt_unit_handle; /*!< Encoder unique pcnt unit handle. */ 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_a_handle; /*!< Encoder unique pcnt channel handle. */
pcnt_channel_handle_t pcnt_channel_b_handle; /*!< Encoder unique pcnt channel handle. */ pcnt_channel_handle_t pcnt_channel_b_handle; /*!< Encoder unique pcnt channel handle. */
double encoder_step; /*!< Encoder step. */ float encoder_step; /*!< Encoder step. */
double encoder_position; /*!< Encoder position. */ float encoder_position; /*!< Encoder position. */
double encoder_min_value; /*!< Encoder min value. */ float encoder_min_value; /*!< Encoder min value. */
double encoder_max_value; /*!< Encoder max value. */ float encoder_max_value; /*!< Encoder max value. */
uint8_t encoder_number; /*!< Encoder unique number. */ uint8_t encoder_number; /*!< Encoder unique number. */
uint8_t s_gpio_number; /*!< Encoder button GPIO number. */ uint8_t s_gpio_number; /*!< Encoder button GPIO number. */
uint16_t s_gpio_debounce_time; /*!< Encoder button debounce_time. */ uint16_t s_gpio_debounce_time; /*!< Encoder button debounce_time. */
@@ -104,7 +104,7 @@ extern "C"
*/ */
typedef struct typedef struct
{ {
double encoder_position; /*!< Encoder current position. */ float encoder_position; /*!< Encoder current position. */
uint8_t encoder_number; /*!< Encoder unique number. */ uint8_t encoder_number; /*!< Encoder unique number. */
} zh_encoder_event_on_isr_t; } zh_encoder_event_on_isr_t;
@@ -154,7 +154,7 @@ extern "C"
* *
* @return ESP_OK if success or an error code otherwise. * @return ESP_OK if success or an error code otherwise.
*/ */
esp_err_t zh_encoder_reinit(zh_encoder_handle_t *handle, double min, double max, double step); esp_err_t zh_encoder_reinit(zh_encoder_handle_t *handle, float min, float max, float step);
/** /**
* @brief Set encoder position. * @brief Set encoder position.
@@ -164,7 +164,7 @@ extern "C"
* *
* @return ESP_OK if success or an error code otherwise. * @return ESP_OK if success or an error code otherwise.
*/ */
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);
/** /**
* @brief Get encoder position. * @brief Get encoder position.
@@ -174,7 +174,7 @@ extern "C"
* *
* @return ESP_OK if success or an error code otherwise. * @return ESP_OK if success or an error code otherwise.
*/ */
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);
/** /**
* @brief Reset encoder position. * @brief Reset encoder position.

2
version.txt
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@@ -1 +1 @@
2.1.0 2.2.0

55
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_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_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_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 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_isr_processing_task(void *pvParameter);
static void _zh_encoder_button_isr_handler(void *arg); 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."); ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. Initial configuration check failed.");
err = _zh_encoder_resources_init(config); err = _zh_encoder_resources_init(config);
ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. Resources initialization failed."); 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."); 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); 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, 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; 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_LOGI("Encoder reinitialization started.");
ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder reinitialization failed. Invalid argument."); 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; 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_LOGI("Encoder set position started.");
ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder set position failed. Invalid argument."); 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; 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_LOGI("Encoder get position started.");
ZH_ERROR_CHECK(handle != NULL && position != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder get position failed. Invalid argument."); 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 = { pcnt_event_callbacks_t cbs = {
.on_reach = _zh_encoder_isr_handler, .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), 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."); "PCNT initialization failed.");
err = pcnt_unit_enable(pcnt_unit_handle); 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) 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."); ZH_ERROR_CHECK(_queue_handle != NULL, ESP_FAIL, NULL, "Failed to create queue.");
} }
return ESP_OK; 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) 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_encoder, tskNO_AFFINITY);
ZH_ERROR_CHECK(err == pdPASS, ESP_FAIL, NULL, "Failed to create isr processing task."); ZH_ERROR_CHECK(err == pdPASS, ESP_FAIL, NULL, "Failed to create isr processing task.");
} }
@@ -307,9 +307,25 @@ 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) 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; BaseType_t xHigherPriorityTaskWoken = pdFALSE;
zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)user_ctx;
pcnt_unit_clear_count(unit); pcnt_unit_clear_count(unit);
switch (edata->watch_point_value) if (xQueueSendFromISR(_queue_handle, &edata->watch_point_value, &xHigherPriorityTaskWoken) != pdTRUE)
{
++_stats.queue_overflow_error;
}
if (xHigherPriorityTaskWoken == pdTRUE)
{
return true;
};
return false;
}
static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter)
{
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: case ZH_ENCODER_DIRECTION_CW:
if (encoder_handle->encoder_position < encoder_handle->encoder_max_value) if (encoder_handle->encoder_position < encoder_handle->encoder_max_value)
@@ -332,28 +348,11 @@ static bool IRAM_ATTR _zh_encoder_isr_handler(pcnt_unit_handle_t unit, const pcn
} }
break; break;
default: default:
return false;
break; break;
} }
zh_encoder_event_on_isr_t encoder_data = {0}; zh_encoder_event_on_isr_t encoder_data = {0};
encoder_data.encoder_number = encoder_handle->encoder_number; encoder_data.encoder_number = encoder_handle->encoder_number;
encoder_data.encoder_position = encoder_handle->encoder_position; encoder_data.encoder_position = encoder_handle->encoder_position;
if (xQueueSendFromISR(_queue_handle, &encoder_data, &xHigherPriorityTaskWoken) != pdTRUE)
{
++_stats.queue_overflow_error;
}
if (xHigherPriorityTaskWoken == pdTRUE)
{
return true;
};
return false;
}
static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter)
{
zh_encoder_event_on_isr_t encoder_data = {0};
while (xQueueReceive(_queue_handle, &encoder_data, portMAX_DELAY) == pdTRUE)
{
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); 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) if (err != ESP_OK)
{ {