esp_components/zh_encoder
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This commit is contained in:
Alexey Zholtikov
2025-06-14 10:40:16 +03:00
parent db0e997aad
commit f4ec446606
2 changed files with 78 additions and 562 deletions
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453
zh_encoder.c
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@@ -14,12 +14,8 @@
return err; \
}
#define TABLE_ROWS 7
#define TABLE_COLS 4
#define DIR_NONE 0x0 // No complete step yet.
#define DIR_CW 0x10 // Clockwise step.
#define DIR_CCW 0x20 // Anti-clockwise step.
#define ZH_ENCODER_DIRECTION_CW 0x10
#define ZH_ENCODER_DIRECTION_CCW 0x20
// Create the half-step state table (emits a code at 00 and 11)
#define R_START 0x0
@@ -29,7 +25,7 @@
#define H_CW_BEGIN_M 0x4
#define H_CCW_BEGIN_M 0x5
static const uint8_t _encoder_matrix[TABLE_ROWS][TABLE_COLS] = {
static const uint8_t _encoder_matrix[7][4] = {
// 00 01 10 11 // BA
{H_START_M, H_CW_BEGIN, H_CCW_BEGIN, R_START}, // R_START (00)
{H_START_M | DIR_CCW, R_START, H_CCW_BEGIN, R_START}, // H_CCW_BEGIN
@@ -42,54 +38,6 @@ static const uint8_t _encoder_matrix[TABLE_ROWS][TABLE_COLS] = {
static QueueHandle_t _queue_handle = NULL;
static bool _is_initialized = false;
// #define ROTARY_ENCODER_DEBUG
// Use a single-item queue so that the last value can be easily overwritten by the interrupt handler
// #define EVENT_QUEUE_LENGTH 10
// #define TABLE_ROWS 7
// #define DIR_NONE 0x0 // No complete step yet.
// #define DIR_CW 0x10 // Clockwise step.
// #define DIR_CCW 0x20 // Anti-clockwise step.
// // Create the half-step state table (emits a code at 00 and 11)
// #define R_START 0x0
// #define H_CCW_BEGIN 0x1
// #define H_CW_BEGIN 0x2
// #define H_START_M 0x3
// #define H_CW_BEGIN_M 0x4
// #define H_CCW_BEGIN_M 0x5
// static const uint8_t _ttable_half[TABLE_ROWS][TABLE_COLS] = {
// // 00 01 10 11 // BA
// {H_START_M, H_CW_BEGIN, H_CCW_BEGIN, R_START}, // R_START (00)
// {H_START_M | DIR_CCW, R_START, H_CCW_BEGIN, R_START}, // H_CCW_BEGIN
// {H_START_M | DIR_CW, H_CW_BEGIN, R_START, R_START}, // H_CW_BEGIN
// {H_START_M, H_CCW_BEGIN_M, H_CW_BEGIN_M, R_START}, // H_START_M (11)
// {H_START_M, H_START_M, H_CW_BEGIN_M, R_START | DIR_CW}, // H_CW_BEGIN_M
// {H_START_M, H_CCW_BEGIN_M, H_START_M, R_START | DIR_CCW}, // H_CCW_BEGIN_M
// };
// // Create the full-step state table (emits a code at 00 only)
// #define F_CW_FINAL 0x1
// #define F_CW_BEGIN 0x2
// #define F_CW_NEXT 0x3
// #define F_CCW_BEGIN 0x4
// #define F_CCW_FINAL 0x5
// #define F_CCW_NEXT 0x6
// static const uint8_t _ttable_full[TABLE_ROWS][TABLE_COLS] = {
// // 00 01 10 11 // BA
// {R_START, F_CW_BEGIN, F_CCW_BEGIN, R_START}, // R_START
// {F_CW_NEXT, R_START, F_CW_FINAL, R_START | DIR_CW}, // F_CW_FINAL
// {F_CW_NEXT, F_CW_BEGIN, R_START, R_START}, // F_CW_BEGIN
// {F_CW_NEXT, F_CW_BEGIN, F_CW_FINAL, R_START}, // F_CW_NEXT
// {F_CCW_NEXT, R_START, F_CCW_BEGIN, R_START}, // F_CCW_BEGIN
// {F_CCW_NEXT, F_CCW_FINAL, R_START, R_START | DIR_CCW}, // F_CCW_FINAL
// {F_CCW_NEXT, F_CCW_FINAL, F_CCW_BEGIN, R_START}, // F_CCW_NEXT
// };
static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *config);
static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config);
static esp_err_t _zh_encoder_configure_interrupts(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
@@ -102,21 +50,36 @@ ESP_EVENT_DEFINE_BASE(ZH_ENCODER);
esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle)
{
_zh_encoder_validate_config(config);
_zh_encoder_gpio_init(config);
ZH_ENCODER_LOGI("Encoder initialization started.");
esp_err_t err = _zh_encoder_validate_config(config);
ZH_ENCODER_CHECK(err == ESP_OK, err, "Encoder initialization failed. Initial configuration check failed.");
ZH_ENCODER_LOGI("Encoder initial configuration check completed successfully.");
handle->encoder_number = config->encoder_number;
handle->encoder_min_value = config->encoder_min_value;
handle->encoder_max_value = config->encoder_max_value;
handle->encoder_step = config->encoder_step;
handle->encoder_position = (handle->encoder_min_value + handle->encoder_max_value) / 2;
err = _zh_encoder_gpio_init(config);
ZH_ENCODER_CHECK(err == ESP_OK, err, "Encoder initialization failed. GPIO initialization failed.");
ZH_ENCODER_LOGI("Encoder GPIO initialization completed successfully.");
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;
err = _zh_encoder_configure_interrupts(config, handle);
ZH_ENCODER_CHECK(err == ESP_OK, err, "Encoder initialization failed. Interrupt initialization failed.");
ZH_ENCODER_LOGI("Encoder interrupt initialization completed successfully.");
err = _zh_encoder_init_resources(config);
ZH_ENCODER_CHECK(err == ESP_OK, err, "Encoder initialization failed. Resources initialization failed.");
ZH_ENCODER_LOGI("Encoder resources initialization completed successfully.");
err = _zh_encoder_create_task(config);
ZH_ENCODER_CHECK(err == ESP_OK, err, "Encoder initialization failed. Processing task initialization failed.");
ZH_ENCODER_LOGI("Encoder processing task initialization completed successfully.");
handle->is_initialized = true;
_is_initialized = true;
ZH_ENCODER_LOGI("Encoder initialization completed successfully.");
return ESP_OK;
}
esp_err_t zh_encoder_set(zh_encoder_handle_t *handle, float position)
esp_err_t zh_encoder_set(zh_encoder_handle_t *handle, double position)
{
ZH_ENCODER_LOGI("Encoder set position started.");
ZH_ENCODER_CHECK(handle->is_initialized == true, ESP_FAIL, "Encoder set position failed. Encoder not initialized.");
@@ -134,219 +97,14 @@ esp_err_t zh_encoder_reset(zh_encoder_handle_t *handle)
ZH_ENCODER_LOGI("Encoder reset completed successfully.");
return ESP_OK;
}
// static uint8_t _process(rotary_encoder_info_t *info)
// {
// 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
// info->table_state = info->table[info->table_state & 0xf][pin_state];
// // Return emit bits, i.e. the generated event.
// event = info->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;
// }
// static void IRAM_ATTR _isr_rotenc(void *args)
// {
// rotary_encoder_info_t *info = (rotary_encoder_info_t *)args;
// 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();
// }
// }
// }
// esp_err_t rotary_encoder_init(rotary_encoder_info_t *info, gpio_num_t pin_a, gpio_num_t pin_b)
// {
// esp_err_t err = ESP_OK;
// if (info)
// {
// info->pin_a = pin_a;
// info->pin_b = pin_b;
// info->table = &_ttable_full[0]; // enable_half_step ? &_ttable_half[0] : &_ttable_full[0];
// info->table_state = R_START;
// info->state.position = 0;
// info->state.direction = ROTARY_ENCODER_DIRECTION_NOT_SET;
// gpio_config_t pin_config = {
// .mode = GPIO_MODE_INPUT,
// .pin_bit_mask = (1ULL << info->pin_a) | (1ULL << info->pin_b),
// .pull_up_en = GPIO_PULLUP_ENABLE,
// .intr_type = GPIO_INTR_ANYEDGE};
// gpio_config(&pin_config);
// // configure GPIOs
// // gpio_pad_select_gpio(info->pin_a);
// // gpio_set_pull_mode(info->pin_a, GPIO_PULLUP_ONLY);
// // gpio_set_direction(info->pin_a, GPIO_MODE_INPUT);
// // gpio_set_intr_type(info->pin_a, GPIO_INTR_ANYEDGE);
// // gpio_pad_select_gpio(info->pin_b);
// // gpio_set_pull_mode(info->pin_b, GPIO_PULLUP_ONLY);
// // gpio_set_direction(info->pin_b, GPIO_MODE_INPUT);
// // gpio_set_intr_type(info->pin_b, GPIO_INTR_ANYEDGE);
// // install interrupt handlers
// gpio_isr_handler_add(info->pin_a, _isr_rotenc, info);
// gpio_isr_handler_add(info->pin_b, _isr_rotenc, info);
// }
// else
// {
// ESP_LOGE(TAG, "info is NULL");
// err = ESP_ERR_INVALID_ARG;
// }
// return err;
// }
// esp_err_t rotary_encoder_enable_half_steps(rotary_encoder_info_t *info, bool enable)
// {
// esp_err_t err = ESP_OK;
// if (info)
// {
// info->table = enable ? &_ttable_half[0] : &_ttable_full[0];
// info->table_state = R_START;
// }
// else
// {
// ESP_LOGE(TAG, "info is NULL");
// err = ESP_ERR_INVALID_ARG;
// }
// return err;
// }
// esp_err_t rotary_encoder_flip_direction(rotary_encoder_info_t *info)
// {
// esp_err_t err = ESP_OK;
// if (info)
// {
// gpio_num_t temp = info->pin_a;
// info->pin_a = info->pin_b;
// info->pin_b = temp;
// }
// else
// {
// ESP_LOGE(TAG, "info is NULL");
// err = ESP_ERR_INVALID_ARG;
// }
// return err;
// }
// esp_err_t rotary_encoder_uninit(rotary_encoder_info_t *info)
// {
// esp_err_t err = ESP_OK;
// if (info)
// {
// gpio_isr_handler_remove(info->pin_a);
// gpio_isr_handler_remove(info->pin_b);
// }
// else
// {
// ESP_LOGE(TAG, "info is NULL");
// err = ESP_ERR_INVALID_ARG;
// }
// return err;
// }
// QueueHandle_t rotary_encoder_create_queue(void)
// {
// return xQueueCreate(EVENT_QUEUE_LENGTH, sizeof(rotary_encoder_event_t));
// }
// esp_err_t rotary_encoder_set_queue(rotary_encoder_info_t *info, QueueHandle_t queue)
// {
// esp_err_t err = ESP_OK;
// if (info)
// {
// info->queue = queue;
// }
// else
// {
// ESP_LOGE(TAG, "info is NULL");
// err = ESP_ERR_INVALID_ARG;
// }
// return err;
// }
// esp_err_t rotary_encoder_get_state(const rotary_encoder_info_t *info, rotary_encoder_state_t *state)
// {
// esp_err_t err = ESP_OK;
// if (info && state)
// {
// // make a snapshot of the state
// state->position = info->state.position;
// state->direction = info->state.direction;
// }
// else
// {
// ESP_LOGE(TAG, "info and/or state is NULL");
// err = ESP_ERR_INVALID_ARG;
// }
// return err;
// }
// esp_err_t rotary_encoder_reset(rotary_encoder_info_t *info)
// {
// esp_err_t err = ESP_OK;
// if (info)
// {
// info->state.position = 0;
// info->state.direction = ROTARY_ENCODER_DIRECTION_NOT_SET;
// }
// else
// {
// ESP_LOGE(TAG, "info is NULL");
// err = ESP_ERR_INVALID_ARG;
// }
// return err;
// }
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_ENCODER_CHECK(config->task_priority >= 10 && config->stack_size >= 2048, ESP_ERR_INVALID_ARG, "Invalid task settings.");
ZH_ENCODER_CHECK(config->task_priority >= 10 && config->stack_size >= 3072, ESP_ERR_INVALID_ARG, "Invalid task settings.");
ZH_ENCODER_CHECK(config->queue_size >= 10, ESP_ERR_INVALID_ARG, "Invalid queue size.");
ZH_ENCODER_CHECK(config->encoder_max_value > config->encoder_min_value, ESP_ERR_INVALID_ARG, "Invalid encoder min/max value.");
ZH_ENCODER_CHECK(config->encoder_step > 0, ESP_ERR_INVALID_ARG, "Invalid encoder step.");
return ESP_OK;
}
@@ -371,8 +129,6 @@ 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;
}
@@ -403,135 +159,60 @@ static esp_err_t _zh_encoder_create_task(const zh_encoder_init_config_t *config)
return ESP_OK;
}
static void _zh_encoder_isr_handler(void *arg)
static void IRAM_ATTR _zh_encoder_isr_handler(void *arg)
{
zh_encoder_handle_t *queue = (zh_encoder_handle_t *)arg;
zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)arg;
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
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)
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)];
switch (encoder_handle->encoder_state & 0x30)
{
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);
case ZH_ENCODER_DIRECTION_CW:
if (encoder_handle->encoder_position < encoder_handle->encoder_max_value)
{
encoder_handle->encoder_position = encoder_handle->encoder_position + encoder_handle->encoder_step;
if (encoder_handle->encoder_position > encoder_handle->encoder_max_value)
{
encoder_handle->encoder_position = encoder_handle->encoder_max_value;
}
xQueueSendFromISR(_queue_handle, encoder_handle, &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);
case ZH_ENCODER_DIRECTION_CCW:
if (encoder_handle->encoder_position > encoder_handle->encoder_min_value)
{
encoder_handle->encoder_position = encoder_handle->encoder_position - encoder_handle->encoder_step;
if (encoder_handle->encoder_position < encoder_handle->encoder_min_value)
{
encoder_handle->encoder_position = encoder_handle->encoder_min_value;
}
xQueueSendFromISR(_queue_handle, encoder_handle, &xHigherPriorityTaskWoken);
}
break;
default:
break;
}
// BaseType_t xHigherPriorityTaskWoken = pdFALSE;
// xQueueSendFromISR(_queue_handle, queue, &xHigherPriorityTaskWoken);
if (xHigherPriorityTaskWoken == pdTRUE)
{
portYIELD_FROM_ISR();
};
}
static void _zh_encoder_isr_processing_task(void *pvParameter)
static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter)
{
zh_encoder_handle_t queue = {0};
zh_encoder_event_on_isr_t encoder_data = {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);
ZH_ENCODER_LOGI("Encoder isr processing begin.");
encoder_data.encoder_number = queue.encoder_number;
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);
if (err != ESP_OK)
{
ZH_ENCODER_LOGE_ERR("Encoder isr processing failed. Failed to post interrupt event.", err);
}
ZH_ENCODER_LOGI("Encoder isr processing completed successfully.");
}
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();
// }
// }
}