esp_components/zh_encoder
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perf: updated error checks

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This commit is contained in:
Alexey Zholtikov
2025-12-03 10:42:51 +03:00
parent e133e5a807
commit d5c94158c2
1 changed files with 45 additions and 46 deletions
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85
zh_encoder.c
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@@ -2,15 +2,14 @@
#define TAG "zh_encoder" #define TAG "zh_encoder"
#define ZH_ENCODER_LOGI(msg, ...) ESP_LOGI(TAG, msg, ##__VA_ARGS__) #define ZH_LOGI(msg, ...) ESP_LOGI(TAG, msg, ##__VA_ARGS__)
#define ZH_ENCODER_LOGW(msg, ...) ESP_LOGW(TAG, msg, ##__VA_ARGS__) #define ZH_LOGE(msg, err, ...) ESP_LOGE(TAG, "[%s:%d:%s] " msg, __FILE__, __LINE__, esp_err_to_name(err), ##__VA_ARGS__)
#define ZH_ENCODER_LOGE(msg, ...) ESP_LOGE(TAG, msg, ##__VA_ARGS__)
#define ZH_ENCODER_LOGE_ERR(msg, err, ...) ESP_LOGE(TAG, "[%s:%d:%s] " msg, __FILE__, __LINE__, esp_err_to_name(err), ##__VA_ARGS__)
#define ZH_ENCODER_CHECK(cond, err, msg, ...) \ #define ZH_ERROR_CHECK(cond, err, cleanup, msg, ...) \
if (!(cond)) \ if (!(cond)) \
{ \ { \
ZH_ENCODER_LOGE_ERR(msg, err); \ ZH_LOGE(msg, err, ##__VA_ARGS__); \
cleanup; \
return err; \ return err; \
} }
@@ -42,84 +41,84 @@ ESP_EVENT_DEFINE_BASE(ZH_ENCODER);
esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle) esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle)
{ {
ZH_ENCODER_LOGI("Encoder initialization started."); ZH_LOGI("Encoder initialization started.");
esp_err_t err = _zh_encoder_validate_config(config); esp_err_t err = _zh_encoder_validate_config(config);
ZH_ENCODER_CHECK(err == ESP_OK, err, "Encoder initialization failed. Initial configuration check failed."); ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. Initial configuration check failed.");
ZH_ENCODER_LOGI("Encoder initial configuration check completed successfully."); ZH_LOGI("Encoder initial configuration check completed successfully.");
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;
handle->encoder_step = config->encoder_step; handle->encoder_step = config->encoder_step;
handle->encoder_position = (handle->encoder_min_value + handle->encoder_max_value) / 2; handle->encoder_position = (handle->encoder_min_value + handle->encoder_max_value) / 2;
err = _zh_encoder_gpio_init(config); err = _zh_encoder_gpio_init(config);
ZH_ENCODER_CHECK(err == ESP_OK, err, "Encoder initialization failed. GPIO initialization failed."); ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. GPIO initialization failed.");
ZH_ENCODER_LOGI("Encoder GPIO initialization completed successfully."); ZH_LOGI("Encoder GPIO initialization completed successfully.");
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;
err = _zh_encoder_configure_interrupts(config, handle); err = _zh_encoder_configure_interrupts(config, handle);
ZH_ENCODER_CHECK(err == ESP_OK, err, "Encoder initialization failed. Interrupt initialization failed."); ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. Interrupt initialization failed.");
ZH_ENCODER_LOGI("Encoder interrupt initialization completed successfully."); ZH_LOGI("Encoder interrupt initialization completed successfully.");
err = _zh_encoder_init_resources(config); err = _zh_encoder_init_resources(config);
ZH_ENCODER_CHECK(err == ESP_OK, err, "Encoder initialization failed. Resources initialization failed."); ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. Resources initialization failed.");
ZH_ENCODER_LOGI("Encoder resources initialization completed successfully."); ZH_LOGI("Encoder resources initialization completed successfully.");
err = _zh_encoder_create_task(config); err = _zh_encoder_create_task(config);
ZH_ENCODER_CHECK(err == ESP_OK, err, "Encoder initialization failed. Processing task initialization failed."); ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. Processing task initialization failed.");
ZH_ENCODER_LOGI("Encoder processing task initialization completed successfully."); ZH_LOGI("Encoder processing task initialization completed successfully.");
handle->is_initialized = true; handle->is_initialized = true;
_is_initialized = true; _is_initialized = true;
ZH_ENCODER_LOGI("Encoder initialization completed successfully."); ZH_LOGI("Encoder initialization completed successfully.");
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, double position)
{ {
ZH_ENCODER_LOGI("Encoder set position started."); ZH_LOGI("Encoder set position started.");
ZH_ENCODER_CHECK(handle->is_initialized == true, ESP_FAIL, "Encoder set position failed. Encoder not initialized."); ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Encoder set position failed. Encoder not initialized.");
ZH_ENCODER_CHECK(position <= handle->encoder_max_value && position >= handle->encoder_min_value, ESP_ERR_INVALID_ARG, "Encoder set position failed. Invalid argument."); ZH_ERROR_CHECK(position <= handle->encoder_max_value && position >= handle->encoder_min_value, ESP_ERR_INVALID_ARG, NULL, "Encoder set position failed. Invalid argument.");
handle->encoder_position = position; handle->encoder_position = position;
ZH_ENCODER_LOGI("Encoder set position completed successfully."); ZH_LOGI("Encoder set position completed successfully.");
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, double *position)
{ {
ZH_ENCODER_LOGI("Encoder get position started."); ZH_LOGI("Encoder get position started.");
ZH_ENCODER_CHECK(handle->is_initialized == true, ESP_FAIL, "Encoder get position failed. Encoder not initialized."); ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Encoder get position failed. Encoder not initialized.");
*position = handle->encoder_position; *position = handle->encoder_position;
ZH_ENCODER_LOGI("Encoder get position completed successfully."); ZH_LOGI("Encoder get position completed successfully.");
return ESP_OK; return ESP_OK;
} }
esp_err_t zh_encoder_reset(zh_encoder_handle_t *handle) esp_err_t zh_encoder_reset(zh_encoder_handle_t *handle)
{ {
ZH_ENCODER_LOGI("Encoder reset started."); ZH_LOGI("Encoder reset started.");
ZH_ENCODER_CHECK(handle->is_initialized == true, ESP_FAIL, "Encoder reset failed. Encoder not initialized."); ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Encoder reset failed. Encoder not initialized.");
handle->encoder_position = (handle->encoder_min_value + handle->encoder_max_value) / 2; handle->encoder_position = (handle->encoder_min_value + handle->encoder_max_value) / 2;
ZH_ENCODER_LOGI("Encoder reset completed successfully."); ZH_LOGI("Encoder reset completed successfully.");
return ESP_OK; return ESP_OK;
} }
static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *config) static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *config)
{ {
ZH_ENCODER_CHECK(config != NULL, ESP_ERR_INVALID_ARG, "Invalid configuration."); ZH_ERROR_CHECK(config != NULL, ESP_ERR_INVALID_ARG, NULL, "Invalid configuration.");
ZH_ENCODER_CHECK(config->task_priority >= 10 && config->stack_size >= 3072, ESP_ERR_INVALID_ARG, "Invalid task settings."); ZH_ERROR_CHECK(config->task_priority >= 10 && config->stack_size >= 3072, ESP_ERR_INVALID_ARG, NULL, "Invalid task settings.");
ZH_ENCODER_CHECK(config->queue_size >= 10, ESP_ERR_INVALID_ARG, "Invalid queue size."); ZH_ERROR_CHECK(config->queue_size >= 10, ESP_ERR_INVALID_ARG, NULL, "Invalid queue size.");
ZH_ENCODER_CHECK(config->encoder_max_value > config->encoder_min_value, ESP_ERR_INVALID_ARG, "Invalid encoder min/max value."); ZH_ERROR_CHECK(config->encoder_max_value > config->encoder_min_value, ESP_ERR_INVALID_ARG, NULL, "Invalid encoder min/max value.");
ZH_ENCODER_CHECK(config->encoder_step > 0, ESP_ERR_INVALID_ARG, "Invalid encoder step."); ZH_ERROR_CHECK(config->encoder_step > 0, ESP_ERR_INVALID_ARG, NULL, "Invalid encoder step.");
return ESP_OK; return ESP_OK;
} }
static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config) static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config)
{ {
ZH_ENCODER_CHECK(config->a_gpio_number < GPIO_NUM_MAX || config->b_gpio_number < GPIO_NUM_MAX, ESP_ERR_INVALID_ARG, "Invalid GPIO number.") 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_ENCODER_CHECK(config->a_gpio_number != config->b_gpio_number, ESP_ERR_INVALID_ARG, "Invalid GPIO number.") ZH_ERROR_CHECK(config->a_gpio_number != config->b_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Invalid GPIO number.")
gpio_config_t pin_config = { gpio_config_t pin_config = {
.mode = GPIO_MODE_INPUT, .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),
.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);
ZH_ENCODER_CHECK(err == ESP_OK, err, "GPIO initialization failed."); ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "GPIO initialization failed.");
return ESP_OK; return ESP_OK;
} }
@@ -127,9 +126,9 @@ static esp_err_t _zh_encoder_configure_interrupts(const zh_encoder_init_config_t
{ {
gpio_install_isr_service(0); gpio_install_isr_service(0);
esp_err_t err = gpio_isr_handler_add(config->a_gpio_number, _zh_encoder_isr_handler, handle); esp_err_t err = gpio_isr_handler_add(config->a_gpio_number, _zh_encoder_isr_handler, handle);
ZH_ENCODER_CHECK(err == ESP_OK, err, "Interrupt initialization failed."); ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Interrupt initialization failed.");
err = gpio_isr_handler_add(config->b_gpio_number, _zh_encoder_isr_handler, handle); err = gpio_isr_handler_add(config->b_gpio_number, _zh_encoder_isr_handler, handle);
ZH_ENCODER_CHECK(err == ESP_OK, err, "Interrupt initialization failed."); ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Interrupt initialization failed.");
return ESP_OK; return ESP_OK;
} }
@@ -138,7 +137,7 @@ static esp_err_t _zh_encoder_init_resources(const zh_encoder_init_config_t *conf
if (_is_initialized == false) if (_is_initialized == false)
{ {
_queue_handle = xQueueCreate(config->queue_size, sizeof(zh_encoder_handle_t)); _queue_handle = xQueueCreate(config->queue_size, sizeof(zh_encoder_handle_t));
ZH_ENCODER_CHECK(_queue_handle != NULL, ESP_FAIL, "Queue creation failed."); ZH_ERROR_CHECK(_queue_handle != NULL, ESP_FAIL, NULL, "Queue creation failed.");
} }
return ESP_OK; return ESP_OK;
} }
@@ -155,7 +154,7 @@ static esp_err_t _zh_encoder_create_task(const zh_encoder_init_config_t *config)
config->task_priority, config->task_priority,
&zh_encoder, &zh_encoder,
tskNO_AFFINITY); tskNO_AFFINITY);
ZH_ENCODER_CHECK(err == pdPASS, ESP_FAIL, "Task creation failed."); ZH_ERROR_CHECK(err == pdPASS, ESP_FAIL, NULL, "Task creation failed.");
} }
return ESP_OK; return ESP_OK;
} }
@@ -205,15 +204,15 @@ static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter)
zh_encoder_event_on_isr_t encoder_data = {0}; zh_encoder_event_on_isr_t encoder_data = {0};
while (xQueueReceive(_queue_handle, &queue, portMAX_DELAY) == pdTRUE) while (xQueueReceive(_queue_handle, &queue, portMAX_DELAY) == pdTRUE)
{ {
ZH_ENCODER_LOGI("Encoder isr processing begin."); ZH_LOGI("Encoder isr processing begin.");
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;
esp_err_t err = esp_event_post(ZH_ENCODER, 0, &encoder_data, sizeof(zh_encoder_event_on_isr_t), portTICK_PERIOD_MS); esp_err_t err = esp_event_post(ZH_ENCODER, 0, &encoder_data, sizeof(zh_encoder_event_on_isr_t), portTICK_PERIOD_MS);
if (err != ESP_OK) if (err != ESP_OK)
{ {
ZH_ENCODER_LOGE_ERR("Encoder isr processing failed. Failed to post interrupt event.", err); ZH_LOGE("Encoder isr processing failed. Failed to post interrupt event.", err);
} }
ZH_ENCODER_LOGI("Encoder isr processing completed successfully."); ZH_LOGI("Encoder isr processing completed successfully.");
} }
vTaskDelete(NULL); vTaskDelete(NULL);
} }