esp_components/zh_encoder
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feat: added button

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This commit is contained in:
Alexey Zholtikov
2025-12-25 11:16:30 +03:00
parent 5ef3913eb9
commit be29ff31f7
5 changed files with 103 additions and 25 deletions
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72
zh_encoder.c
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@@ -16,6 +16,8 @@
#define ZH_ENCODER_DIRECTION_CW 0x10
#define ZH_ENCODER_DIRECTION_CCW 0x20
#define BUTTON_DEBOUNCE_TIME 20
static const uint8_t _encoder_matrix[7][4] = {
{0x03, 0x02, 0x01, 0x00},
{0x23, 0x00, 0x01, 0x00},
@@ -27,6 +29,8 @@ static const uint8_t _encoder_matrix[7][4] = {
TaskHandle_t zh_encoder = NULL;
static QueueHandle_t _queue_handle = NULL;
static volatile uint64_t _prev_us = 0;
static uint8_t _encoder_counter = 0;
static bool _is_prev_gpio_isr_handler = false;
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);
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);
gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Encoder initialization failed. Resources initialization failed.");
if (config->s_gpio_number != GPIO_NUM_MAX)
{
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
{
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.");
if (config->s_gpio_number != GPIO_NUM_MAX)
{
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);
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->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_min_value = config->encoder_min_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.");
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->s_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->s_gpio_number);
if (_encoder_counter == 1)
{
vQueueDelete(_queue_handle);
@@ -164,11 +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)
{
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, "Both GPIO is same.")
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->s_gpio_number && config->b_gpio_number != config->s_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Encoder GPIO and button GPIO is same.")
gpio_config_t pin_config = {
.mode = GPIO_MODE_INPUT,
.pin_bit_mask = (1ULL << config->a_gpio_number) | (1ULL << config->b_gpio_number),
.pin_bit_mask = (1ULL << config->a_gpio_number) | (1ULL << config->b_gpio_number) | (1ULL << config->s_gpio_number),
.pull_up_en = GPIO_PULLUP_ENABLE,
.intr_type = GPIO_INTR_ANYEDGE};
esp_err_t err = gpio_config(&pin_config);
@@ -193,6 +218,17 @@ 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.");
}
err = gpio_isr_handler_add(config->s_gpio_number, _zh_encoder_isr_handler, handle);
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); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Interrupt 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), "Interrupt initialization failed.");
}
return ESP_OK;
}
@@ -220,7 +256,19 @@ 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)];
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)
{
case ZH_ENCODER_DIRECTION_CW:
@@ -252,6 +300,13 @@ static void IRAM_ATTR _zh_encoder_isr_handler(void *arg)
}
break;
default:
if (button_flag == true)
{
if (xQueueSendFromISR(_queue_handle, encoder_handle, &xHigherPriorityTaskWoken) != pdTRUE)
{
++_stats.queue_overflow_error;
}
}
break;
}
if (xHigherPriorityTaskWoken == pdTRUE)
@@ -268,6 +323,7 @@ static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter)
{
encoder_data.encoder_number = queue.encoder_number;
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);
if (err != ESP_OK)
{