esp_components/zh_encoder
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This commit is contained in:
Alexey Zholtikov
2025-12-25 11:14:04 +03:00
parent 4368ac9845
commit b614e67b6f
5 changed files with 94 additions and 37 deletions
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7
CMakeLists.txt
View File

@@ -1,6 +1 @@
if(${IDF_TARGET} STREQUAL esp8266) idf_component_register(SRCS "zh_encoder.c" INCLUDE_DIRS "include" REQUIRES esp_event driver esp_timer)
set(requires driver)
else()
set(requires driver esp_event)
endif()
idf_component_register(SRCS "zh_encoder.c" INCLUDE_DIRS "include" REQUIRES ${requires})

41
README.md
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@@ -8,6 +8,10 @@
1. Support some encoders on one device. 1. Support some encoders on one device.
## Attention
1. If the button is not used, specify any free GPIO in the initial configuration.
## Using ## Using
In an existing project, run the following command to install the components: In an existing project, run the following command to install the components:
@@ -30,8 +34,12 @@ One encoder on device:
```c ```c
#include "zh_encoder.h" #include "zh_encoder.h"
#define ENCODER_NUMBER 0x01
zh_encoder_handle_t encoder_handle = {0}; zh_encoder_handle_t encoder_handle = {0};
double encoder_position = 0;
void zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data); void zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data);
void app_main(void) void app_main(void)
@@ -42,19 +50,17 @@ void app_main(void)
zh_encoder_init_config_t encoder_init_config = ZH_ENCODER_INIT_CONFIG_DEFAULT(); zh_encoder_init_config_t encoder_init_config = ZH_ENCODER_INIT_CONFIG_DEFAULT();
encoder_init_config.task_priority = 5; encoder_init_config.task_priority = 5;
encoder_init_config.stack_size = configMINIMAL_STACK_SIZE; encoder_init_config.stack_size = configMINIMAL_STACK_SIZE;
encoder_init_config.queue_size = 3; encoder_init_config.queue_size = 5;
encoder_init_config.a_gpio_number = GPIO_NUM_27; encoder_init_config.a_gpio_number = GPIO_NUM_27;
encoder_init_config.b_gpio_number = GPIO_NUM_26; encoder_init_config.b_gpio_number = GPIO_NUM_26;
encoder_init_config.encoder_min_value = -10; encoder_init_config.s_gpio_number = GPIO_NUM_17;
encoder_init_config.encoder_max_value = 20; encoder_init_config.encoder_min_value = 0;
encoder_init_config.encoder_max_value = 100;
encoder_init_config.encoder_step = 0.1; encoder_init_config.encoder_step = 0.1;
encoder_init_config.encoder_number = 1; encoder_init_config.encoder_number = ENCODER_NUMBER;
zh_encoder_init(&encoder_init_config, &encoder_handle); zh_encoder_init(&encoder_init_config, &encoder_handle);
double position = 0; zh_encoder_get(&encoder_handle, &encoder_position);
zh_encoder_get(&encoder_handle, &position); printf("Encoder position %0.2f.\n", encoder_position);
printf("Encoder position %0.2f.\n", position);
zh_encoder_set(&encoder_handle, 5);
zh_encoder_reset(&encoder_handle);
for (;;) for (;;)
{ {
const zh_encoder_stats_t *stats = zh_encoder_get_stats(); const zh_encoder_stats_t *stats = zh_encoder_get_stats();
@@ -68,6 +74,21 @@ void app_main(void)
void zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data) void zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data)
{ {
zh_encoder_event_on_isr_t *event = event_data; zh_encoder_event_on_isr_t *event = event_data;
printf("Encoder number %d position %0.2f.\n", event->encoder_number, event->encoder_position); switch (event->encoder_number)
{
case ENCODER_NUMBER:
if (encoder_position == event->encoder_position)
{
printf("Encoder number %d button %s.\n", event->encoder_number, event->button_status == 1 ? "released" : "pressed");
}
else
{
encoder_position = event->encoder_position;
printf("Encoder number %d position %0.2f with button %s.\n", event->encoder_number, event->encoder_position, event->button_status == 1 ? "released" : "pressed");
}
break;
default:
break;
}
} }
``` ```

1
include/zh_encoder.h
View File

@@ -6,6 +6,7 @@
#include "esp_log.h" #include "esp_log.h"
#include "driver/gpio.h" #include "driver/gpio.h"
#include "esp_timer.h"
#include "freertos/FreeRTOS.h" #include "freertos/FreeRTOS.h"
#include "freertos/task.h" #include "freertos/task.h"
#include "esp_event.h" #include "esp_event.h"

2
version.txt
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@@ -1 +1 @@
1.2.0 1.3.0

80
zh_encoder.c
View File

@@ -16,6 +16,8 @@
#define ZH_ENCODER_DIRECTION_CW 0x10 #define ZH_ENCODER_DIRECTION_CW 0x10
#define ZH_ENCODER_DIRECTION_CCW 0x20 #define ZH_ENCODER_DIRECTION_CCW 0x20
#define BUTTON_DEBOUNCE_TIME 20
static const uint8_t _encoder_matrix[7][4] = { static const uint8_t _encoder_matrix[7][4] = {
{0x03, 0x02, 0x01, 0x00}, {0x03, 0x02, 0x01, 0x00},
{0x23, 0x00, 0x01, 0x00}, {0x23, 0x00, 0x01, 0x00},
@@ -27,6 +29,8 @@ static const uint8_t _encoder_matrix[7][4] = {
TaskHandle_t zh_encoder = NULL; TaskHandle_t zh_encoder = NULL;
static QueueHandle_t _queue_handle = NULL; static QueueHandle_t _queue_handle = NULL;
static volatile uint64_t _prev_us = 0;
static uint8_t _encoder_counter = 0; static uint8_t _encoder_counter = 0;
static bool _is_prev_gpio_isr_handler = false; static bool _is_prev_gpio_isr_handler = false;
static zh_encoder_stats_t _stats = {0}; static zh_encoder_stats_t _stats = {0};
@@ -51,13 +55,29 @@ esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_han
err = _zh_encoder_resources_init(config); err = _zh_encoder_resources_init(config);
if (_is_prev_gpio_isr_handler == true) if (_is_prev_gpio_isr_handler == true)
{ {
ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number); gpio_reset_pin((gpio_num_t)config->a_gpio_number); if (config->s_gpio_number != GPIO_NUM_MAX)
gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Encoder initialization failed. Resources initialization failed."); {
ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->s_gpio_number);
gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number); gpio_reset_pin((gpio_num_t)config->s_gpio_number), "Encoder initialization failed. Resources initialization failed.");
}
else
{
ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number); gpio_reset_pin((gpio_num_t)config->a_gpio_number);
gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Encoder initialization failed. Resources initialization failed.");
}
} }
else else
{ {
ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number); gpio_uninstall_isr_service(); if (config->s_gpio_number != GPIO_NUM_MAX)
gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Encoder initialization failed. Resources initialization failed."); {
ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->s_gpio_number);
gpio_uninstall_isr_service(); gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number); gpio_reset_pin((gpio_num_t)config->s_gpio_number), "Encoder initialization failed. Resources initialization failed.");
}
else
{
ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number); gpio_uninstall_isr_service();
gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Encoder initialization failed. Resources initialization failed.");
}
} }
err = _zh_encoder_task_init(config); err = _zh_encoder_task_init(config);
if (_is_prev_gpio_isr_handler == true) if (_is_prev_gpio_isr_handler == true)
@@ -72,6 +92,8 @@ esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_han
} }
handle->a_gpio_number = config->a_gpio_number; handle->a_gpio_number = config->a_gpio_number;
handle->b_gpio_number = config->b_gpio_number; handle->b_gpio_number = config->b_gpio_number;
handle->s_gpio_number = config->s_gpio_number;
handle->button_status = gpio_get_level((gpio_num_t)config->s_gpio_number);
handle->encoder_number = config->encoder_number; handle->encoder_number = config->encoder_number;
handle->encoder_min_value = config->encoder_min_value; handle->encoder_min_value = config->encoder_min_value;
handle->encoder_max_value = config->encoder_max_value; handle->encoder_max_value = config->encoder_max_value;
@@ -90,8 +112,10 @@ esp_err_t zh_encoder_deinit(zh_encoder_handle_t *handle)
ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Encoder deinitialization failed. Encoder not initialized."); ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Encoder deinitialization failed. Encoder not initialized.");
gpio_isr_handler_remove((gpio_num_t)handle->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)handle->a_gpio_number);
gpio_isr_handler_remove((gpio_num_t)handle->b_gpio_number); gpio_isr_handler_remove((gpio_num_t)handle->b_gpio_number);
gpio_isr_handler_remove((gpio_num_t)handle->s_gpio_number);
gpio_reset_pin((gpio_num_t)handle->a_gpio_number); gpio_reset_pin((gpio_num_t)handle->a_gpio_number);
gpio_reset_pin((gpio_num_t)handle->b_gpio_number); gpio_reset_pin((gpio_num_t)handle->b_gpio_number);
gpio_reset_pin((gpio_num_t)handle->s_gpio_number);
if (_encoder_counter == 1) if (_encoder_counter == 1)
{ {
vQueueDelete(_queue_handle); vQueueDelete(_queue_handle);
@@ -164,13 +188,12 @@ static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *con
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)
{ {
ZH_ERROR_CHECK(config->a_gpio_number < GPIO_NUM_MAX && config->b_gpio_number < GPIO_NUM_MAX && config->s_gpio_number <= GPIO_NUM_MAX, ESP_ERR_INVALID_ARG, NULL, "Invalid GPIO number.") ZH_ERROR_CHECK(config->a_gpio_number < GPIO_NUM_MAX && config->b_gpio_number < GPIO_NUM_MAX && config->s_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, "Encoder A and B GPIO is same.") ZH_ERROR_CHECK(config->a_gpio_number != config->b_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Encoder A and B GPIO is same.")
ZH_ERROR_CHECK(config->a_gpio_number != config->s_gpio_number && config->b_gpio_number != config->s_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Encoder GPIO and button GPIO is same.") ZH_ERROR_CHECK(config->a_gpio_number != config->s_gpio_number && config->b_gpio_number != config->s_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Encoder GPIO and button GPIO is same.")
uint64_t bit_mask = (config->s_gpio_number == GPIO_NUM_MAX) ? ((1ULL << config->a_gpio_number) | (1ULL << config->b_gpio_number)) : ((1ULL << config->a_gpio_number) | (1ULL << config->b_gpio_number) | (1ULL << config->s_gpio_number));
gpio_config_t pin_config = { gpio_config_t pin_config = {
.mode = GPIO_MODE_INPUT, .mode = GPIO_MODE_INPUT,
.pin_bit_mask = bit_mask, .pin_bit_mask = (1ULL << config->a_gpio_number) | (1ULL << config->b_gpio_number) | (1ULL << config->s_gpio_number),
.pull_up_en = GPIO_PULLUP_ENABLE, .pull_up_en = GPIO_PULLUP_ENABLE,
.intr_type = GPIO_INTR_ANYEDGE}; .intr_type = GPIO_INTR_ANYEDGE};
esp_err_t err = gpio_config(&pin_config); esp_err_t err = gpio_config(&pin_config);
@@ -195,19 +218,16 @@ static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, z
{ {
ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_uninstall_isr_service(); gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Interrupt initialization failed."); ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_uninstall_isr_service(); gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Interrupt initialization failed.");
} }
if (config->s_gpio_number != GPIO_NUM_MAX) err = gpio_isr_handler_add(config->s_gpio_number, _zh_encoder_isr_handler, handle);
if (_is_prev_gpio_isr_handler == true)
{ {
err = gpio_isr_handler_add(config->s_gpio_number, _zh_encoder_isr_handler, handle); ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number);
if (_is_prev_gpio_isr_handler == true) gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Interrupt initialization failed.");
{ }
ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number); else
gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Interrupt initialization failed."); {
} ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number); gpio_uninstall_isr_service();
else gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Interrupt initialization failed.");
{
ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number); gpio_uninstall_isr_service();
gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Interrupt initialization failed.");
}
} }
return ESP_OK; return ESP_OK;
} }
@@ -236,7 +256,19 @@ static void IRAM_ATTR _zh_encoder_isr_handler(void *arg)
{ {
zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)arg; zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)arg;
BaseType_t xHigherPriorityTaskWoken = pdFALSE; 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)]; uint64_t _current_us = esp_timer_get_time();
bool button_flag = false;
if (_current_us - _prev_us >= BUTTON_DEBOUNCE_TIME)
{
bool button_status = gpio_get_level((gpio_num_t)encoder_handle->s_gpio_number);
if (encoder_handle->button_status != button_status)
{
button_flag = true;
encoder_handle->button_status = button_status;
}
}
_prev_us = _current_us;
encoder_handle->encoder_state = _encoder_matrix[encoder_handle->encoder_state & 0x0F][(gpio_get_level((gpio_num_t)encoder_handle->b_gpio_number) << 1) | gpio_get_level((gpio_num_t)encoder_handle->a_gpio_number)];
switch (encoder_handle->encoder_state & 0x30) switch (encoder_handle->encoder_state & 0x30)
{ {
case ZH_ENCODER_DIRECTION_CW: case ZH_ENCODER_DIRECTION_CW:
@@ -268,6 +300,13 @@ static void IRAM_ATTR _zh_encoder_isr_handler(void *arg)
} }
break; break;
default: default:
if (button_flag == true)
{
if (xQueueSendFromISR(_queue_handle, encoder_handle, &xHigherPriorityTaskWoken) != pdTRUE)
{
++_stats.queue_overflow_error;
}
}
break; break;
} }
if (xHigherPriorityTaskWoken == pdTRUE) if (xHigherPriorityTaskWoken == pdTRUE)
@@ -284,6 +323,7 @@ static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter)
{ {
encoder_data.encoder_number = queue.encoder_number; encoder_data.encoder_number = queue.encoder_number;
encoder_data.encoder_position = queue.encoder_position; encoder_data.encoder_position = queue.encoder_position;
encoder_data.button_status = queue.button_status;
esp_err_t err = esp_event_post(ZH_ENCODER, 0, &encoder_data, sizeof(zh_encoder_event_on_isr_t), 1000 / 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) if (err != ESP_OK)
{ {