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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7
CMakeLists.txt
View File

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

41
README.md
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@@ -8,6 +8,10 @@
1. Support some encoders on one device.
## Attention
1. If the button is not used, specify any free GPIO in the initial configuration.
## Using
In an existing project, run the following command to install the components:
@@ -30,8 +34,12 @@ One encoder on device:
```c
#include "zh_encoder.h"
#define ENCODER_NUMBER 0x01
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 app_main(void)
@@ -42,19 +50,17 @@ void app_main(void)
zh_encoder_init_config_t encoder_init_config = ZH_ENCODER_INIT_CONFIG_DEFAULT();
encoder_init_config.task_priority = 5;
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.b_gpio_number = GPIO_NUM_26;
encoder_init_config.encoder_min_value = -10;
encoder_init_config.encoder_max_value = 20;
encoder_init_config.s_gpio_number = GPIO_NUM_17;
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_number = 1;
encoder_init_config.encoder_number = ENCODER_NUMBER;
zh_encoder_init(&encoder_init_config, &encoder_handle);
double position = 0;
zh_encoder_get(&encoder_handle, &position);
printf("Encoder position %0.2f.\n", position);
zh_encoder_set(&encoder_handle, 5);
zh_encoder_reset(&encoder_handle);
zh_encoder_get(&encoder_handle, &encoder_position);
printf("Encoder position %0.2f.\n", encoder_position);
for (;;)
{
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)
{
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;
}
}
```

6
include/zh_encoder.h
View File

@@ -6,6 +6,7 @@
#include "esp_log.h"
#include "driver/gpio.h"
#include "esp_timer.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_event.h"
@@ -20,6 +21,7 @@
.queue_size = 1, \
.a_gpio_number = GPIO_NUM_MAX, \
.b_gpio_number = GPIO_NUM_MAX, \
.s_gpio_number = GPIO_NUM_MAX, \
.encoder_min_value = -100, \
.encoder_max_value = 100, \
.encoder_step = 1, \
@@ -42,6 +44,7 @@ extern "C"
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 b_gpio_number; /*!< Encoder B GPIO number. */
uint8_t s_gpio_number; /*!< Encoder button GPIO number. */
int32_t encoder_min_value; /*!< Encoder min value. @note Must be less than encoder_max_value. */
int32_t encoder_max_value; /*!< Encoder max value. @note Must be greater than encoder_min_value. */
double encoder_step; /*!< Encoder step. @note Must be greater than 0. */
@@ -55,10 +58,12 @@ extern "C"
{
uint8_t a_gpio_number; /*!< Encoder A GPIO number. */
uint8_t b_gpio_number; /*!< Encoder B GPIO number. */
uint8_t s_gpio_number; /*!< Encoder button GPIO number. */
int32_t encoder_min_value; /*!< Encoder min value. */
int32_t encoder_max_value; /*!< Encoder max value. */
double encoder_step; /*!< Encoder step. */
double encoder_position; /*!< Encoder position. */
bool button_status; /*!< Encoder button status. */
uint8_t encoder_number; /*!< Encoder unique number. */
uint8_t encoder_state; /*!< Encoder internal state. */
bool is_initialized; /*!< Encoder initialization flag. */
@@ -85,6 +90,7 @@ extern "C"
{
uint8_t encoder_number; /*!< Encoder unique number. */
double encoder_position; /*!< Encoder current position. */
bool button_status; /*!< Encoder button status. */
} zh_encoder_event_on_isr_t;
/**

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

64
zh_encoder.c
View File

@@ -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};
@@ -50,15 +54,31 @@ 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. GPIO initialization failed.");
err = _zh_encoder_resources_init(config);
if (_is_prev_gpio_isr_handler == true)
{
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
{
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)
{