esp_components/zh_encoder
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This commit is contained in:
Alexey Zholtikov
2025-06-14 08:33:02 +03:00
parent 1b872f8b82
commit db0e997aad
2 changed files with 167 additions and 10 deletions
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129
zh_encoder.c
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@@ -104,9 +104,15 @@ esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_han
{
_zh_encoder_validate_config(config);
_zh_encoder_gpio_init(config);
handle->a_gpio_number = config->a_gpio_number;
handle->b_gpio_number = config->b_gpio_number;
_zh_encoder_configure_interrupts(config, handle);
_zh_encoder_init_resources(config);
_zh_encoder_create_task(config);
handle->table = &_encoder_matrix[0]; // enable_half_step ? &_ttable_half[0] : &_ttable_full[0];
handle->table_state = R_START;
handle->state.position = 0;
handle->state.direction = ROTARY_ENCODER_DIRECTION_NOT_SET;
return ESP_OK;
}
@@ -365,6 +371,8 @@ static esp_err_t _zh_encoder_configure_interrupts(const zh_encoder_init_config_t
ZH_ENCODER_CHECK(err == ESP_OK, err, "Interrupt initialization failed.");
err = gpio_isr_handler_add(config->b_gpio_number, _zh_encoder_isr_handler, handle);
ZH_ENCODER_CHECK(err == ESP_OK, err, "Interrupt initialization failed.");
// printf("queue.b_gpio_number %d\n", handle->b_gpio_number);
// printf("queue.q_gpio_number %d\n", handle->a_gpio_number);
return ESP_OK;
}
@@ -397,8 +405,36 @@ static esp_err_t _zh_encoder_create_task(const zh_encoder_init_config_t *config)
static void _zh_encoder_isr_handler(void *arg)
{
zh_encoder_handle_t *queue = (zh_encoder_handle_t *)arg;
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
xQueueSendFromISR(_queue_handle, arg, &xHigherPriorityTaskWoken);
uint8_t pin_state = (gpio_get_level(queue->b_gpio_number) << 1) | gpio_get_level(queue->a_gpio_number);
// printf("pin_state %d\n", pin_state);
queue->table_state = queue->table[queue->table_state & 0xf][pin_state];
uint8_t event = queue->table_state & 0x30;
switch (event)
{
case DIR_CW:
++queue->state.position;
queue->state.direction = ROTARY_ENCODER_DIRECTION_CLOCKWISE;
// printf("event %d\n", event);
// send_event = true;
// printf("state.position %ld\n", queue->state.position);
xQueueSendFromISR(_queue_handle, queue, &xHigherPriorityTaskWoken);
break;
case DIR_CCW:
--queue->state.position;
queue->state.direction = ROTARY_ENCODER_DIRECTION_COUNTER_CLOCKWISE;
// printf("event %d\n", event);
// send_event = true;
// printf("state.position %ld\n", queue.state.position);
xQueueSendFromISR(_queue_handle, queue, &xHigherPriorityTaskWoken);
break;
default:
break;
}
// BaseType_t xHigherPriorityTaskWoken = pdFALSE;
// xQueueSendFromISR(_queue_handle, queue, &xHigherPriorityTaskWoken);
if (xHigherPriorityTaskWoken == pdTRUE)
{
portYIELD_FROM_ISR();
@@ -407,4 +443,95 @@ static void _zh_encoder_isr_handler(void *arg)
static void _zh_encoder_isr_processing_task(void *pvParameter)
{
zh_encoder_handle_t queue = {0};
while (xQueueReceive(_queue_handle, &queue, portMAX_DELAY) == pdTRUE)
{
// printf("queue.b_gpio_number %d\n", queue.b_gpio_number);
// printf("queue.q_gpio_number %d\n", queue.a_gpio_number);
// uint8_t pin_state = (gpio_get_level(queue.b_gpio_number) << 1) | gpio_get_level(queue.a_gpio_number);
// // printf("pin_state %d\n", pin_state);
// queue.table_state = queue.table[queue.table_state & 0xf][pin_state];
// uint8_t event = queue.table_state & 0x30;
// switch (event)
// {
// case DIR_CW:
// ++queue.state.position;
// queue.state.direction = ROTARY_ENCODER_DIRECTION_CLOCKWISE;
// printf("event %d\n", event);
// // send_event = true;
// printf("state.position %ld\n", queue.state.position);
// break;
// case DIR_CCW:
// --queue.state.position;
// queue.state.direction = ROTARY_ENCODER_DIRECTION_COUNTER_CLOCKWISE;
// printf("event %d\n", event);
// // send_event = true;
// printf("state.position %ld\n", queue.state.position);
// break;
// default:
// break;
// }
printf("state.position %ld\n", queue.state.position);
}
vTaskDelete(NULL);
// rotary_encoder_info_t *info = (rotary_encoder_info_t *)args;
// uint8_t event = 0;
// if (info != NULL)
// {
// // Get state of input pins.
// uint8_t pin_state = (gpio_get_level(info->pin_b) << 1) | gpio_get_level(info->pin_a);
// // Determine new state from the pins and state table.
// #ifdef ROTARY_ENCODER_DEBUG
// uint8_t old_state = info->table_state;
// #endif
// queue.table_state = queue.table[queue.table_state & 0xf][pin_state];
// // Return emit bits, i.e. the generated event.
// event = queue.table_state & 0x30;
// #ifdef ROTARY_ENCODER_DEBUG
// ESP_EARLY_LOGD(TAG, "BA %d%d, state 0x%02x, new state 0x%02x, event 0x%02x",
// pin_state >> 1, pin_state & 1, old_state, info->table_state, event);
// #endif
// }
// return event;
// uint8_t event = _process(info);
// bool send_event = false;
// switch (event)
// {
// case DIR_CW:
// ++info->state.position;
// info->state.direction = ROTARY_ENCODER_DIRECTION_CLOCKWISE;
// // send_event = true;
// break;
// case DIR_CCW:
// --info->state.position;
// info->state.direction = ROTARY_ENCODER_DIRECTION_COUNTER_CLOCKWISE;
// send_event = true;
// break;
// default:
// break;
// }
// if (send_event && info->queue)
// {
// rotary_encoder_event_t queue_event =
// {
// .state =
// {
// .position = info->state.position,
// .direction = info->state.direction,
// },
// };
// BaseType_t task_woken = pdFALSE;
// xQueueSendFromISR(info->queue, &queue_event, &task_woken);
// if (task_woken)
// {
// portYIELD_FROM_ISR();
// }
// }
}