esp_components/zh_encoder
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feat: added deinit

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This commit is contained in:
Alexey Zholtikov
2025-12-24 15:17:50 +03:00
parent 6b2ed520d0
commit d8c6e2679f
3 changed files with 37 additions and 6 deletions
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7
include/zh_encoder.h
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@@ -103,6 +103,13 @@ extern "C"
*/
esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
/**
* @brief Deinitialize encoder.
*
* @return ESP_OK if success or an error code otherwise.
*/
esp_err_t zh_encoder_deinit(zh_encoder_handle_t *handle);
/**
* @brief Set encoder position.
*

2
version.txt
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@@ -1 +1 @@
1.1.0
1.2.0

34
zh_encoder.c
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@@ -27,7 +27,7 @@ static const uint8_t _encoder_matrix[7][4] = {
TaskHandle_t zh_encoder = NULL;
static QueueHandle_t _queue_handle = NULL;
static bool _is_initialized = false;
static uint8_t _encoder_counter = 0;
static bool _is_prev_gpio_isr_handler = false;
static zh_encoder_stats_t _stats = {0};
@@ -78,11 +78,35 @@ esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_han
handle->encoder_step = config->encoder_step;
handle->encoder_position = (handle->encoder_min_value + handle->encoder_max_value) / 2;
handle->is_initialized = true;
_is_initialized = true;
++_encoder_counter;
ZH_LOGI("Encoder initialization completed successfully.");
return ESP_OK;
}
esp_err_t zh_encoder_deinit(zh_encoder_handle_t *handle)
{
ZH_LOGI("Encoder deinitialization started.");
ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder deinitialization failed. Invalid argument.");
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_reset_pin((gpio_num_t)handle->a_gpio_number);
gpio_reset_pin((gpio_num_t)handle->b_gpio_number);
if (_encoder_counter == 1)
{
vQueueDelete(_queue_handle);
vTaskDelete(zh_encoder);
if (_is_prev_gpio_isr_handler == false)
{
gpio_uninstall_isr_service();
}
}
handle->is_initialized = false;
--_encoder_counter;
ZH_LOGI("Encoder deinitialization completed successfully.");
return ESP_OK;
}
esp_err_t zh_encoder_set(zh_encoder_handle_t *handle, double position)
{
ZH_LOGI("Encoder set position started.");
@@ -149,7 +173,7 @@ static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, z
.intr_type = GPIO_INTR_ANYEDGE};
esp_err_t err = gpio_config(&pin_config);
ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "GPIO initialization failed.");
if (_is_initialized == false)
if (_encoder_counter == 0)
{
err = gpio_install_isr_service(ESP_INTR_FLAG_LOWMED);
ZH_ERROR_CHECK(err == ESP_OK || err == ESP_ERR_INVALID_STATE, err, gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Failed install isr service.");
@@ -174,7 +198,7 @@ static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, z
static esp_err_t _zh_encoder_resources_init(const zh_encoder_init_config_t *config)
{
if (_is_initialized == false)
if (_encoder_counter == 0)
{
_queue_handle = xQueueCreate(config->queue_size, sizeof(zh_encoder_handle_t));
ZH_ERROR_CHECK(_queue_handle != NULL, ESP_FAIL, NULL, "Failed to create queue.");
@@ -184,7 +208,7 @@ static esp_err_t _zh_encoder_resources_init(const zh_encoder_init_config_t *conf
static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config)
{
if (_is_initialized == false)
if (_encoder_counter == 0)
{
BaseType_t err = xTaskCreatePinnedToCore(&_zh_encoder_isr_processing_task, "zh_encoder_isr_processing", config->stack_size, NULL, config->task_priority, &zh_encoder, tskNO_AFFINITY);
ZH_ERROR_CHECK(err == pdPASS, ESP_FAIL, NULL, "Failed to create isr processing task.");