perf: updated error checks

include/zh_encoder.h

@@ -47,7 +47,7 @@ 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. */
-        uint8_t encoder_number;   /*!< Unique encoder number. */
+        uint8_t encoder_number;   /*!< Unique encoder number. @note Must be greater than 0. */
         uint16_t stack_size;      /*!< Stack size for task for the encoder isr processing processing. @note The minimum size is configMINIMAL_STACK_SIZE. */
     } zh_encoder_init_config_t;
 

version.txt

@@ -1 +1 @@
-1.4.0
+1.5.0

zh_encoder.c

@@ -35,6 +35,7 @@ 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};
+static uint8_t _encoder_number_matrix[10] = {0};
 
 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, zh_encoder_handle_t *handle);
@@ -56,40 +57,29 @@ esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_han
     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.");
-        }
+        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
     {
-        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.");
-        }
+        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.");
     }
     err = _zh_encoder_task_init(config);
     if (_is_prev_gpio_isr_handler == true)
     {
-        ZH_ERROR_CHECK(err == ESP_OK, err, vQueueDelete(_queue_handle); _queue_handle = NULL; 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. Processing task initialization failed.");
+        ZH_ERROR_CHECK(err == ESP_OK, err, vQueueDelete(_queue_handle); _queue_handle = NULL; 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. Processing task initialization failed.");
     }
     else
     {
-        ZH_ERROR_CHECK(err == ESP_OK, err, vQueueDelete(_queue_handle); _queue_handle = NULL; 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. Processing task initialization failed.");
+        ZH_ERROR_CHECK(err == ESP_OK, err, vQueueDelete(_queue_handle); _queue_handle = NULL; 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. Processing task initialization failed.");
     }
     handle->a_gpio_number = config->a_gpio_number;
     handle->b_gpio_number = config->b_gpio_number;
@@ -102,6 +92,14 @@ esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_han
     handle->encoder_position = (handle->encoder_min_value + handle->encoder_max_value) / 2;
     handle->is_initialized = true;
     ++_encoder_counter;
+    for (uint8_t i = 0; i < sizeof(_encoder_number_matrix); ++i)
+    {
+        if (_encoder_number_matrix[i] == 0)
+        {
+            _encoder_number_matrix[i] = handle->encoder_number;
+            break;
+        }
+    }
     ZH_LOGI("Encoder initialization completed successfully.");
     return ESP_OK;
 }
@@ -128,11 +126,19 @@ esp_err_t zh_encoder_deinit(zh_encoder_handle_t *handle)
     }
     handle->is_initialized = false;
     --_encoder_counter;
+    for (uint8_t i = 0; i < sizeof(_encoder_number_matrix); ++i)
+    {
+        if (_encoder_number_matrix[i] == handle->encoder_number)
+        {
+            _encoder_number_matrix[i] = 0;
+            break;
+        }
+    }
     ZH_LOGI("Encoder deinitialization completed successfully.");
     return ESP_OK;
 }
 
-esp_err_t zh_encoder_reinit(zh_encoder_handle_t *handle, double min, double max, double step)
+esp_err_t zh_encoder_reinit(zh_encoder_handle_t *handle, double min, double max, double step) // -V2008
 {
     ZH_LOGI("Encoder reinitialization started.");
     ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder reinitialization failed. Invalid argument.");
@@ -198,13 +204,18 @@ void zh_encoder_reset_stats(void)
     ZH_LOGI("Error statistic reset successfully.");
 }
 
-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) // -V2008
 {
     ZH_ERROR_CHECK(config != NULL, ESP_ERR_INVALID_ARG, NULL, "Invalid configuration.");
     ZH_ERROR_CHECK(config->task_priority >= 1 && config->stack_size >= configMINIMAL_STACK_SIZE, ESP_ERR_INVALID_ARG, NULL, "Invalid task settings.");
     ZH_ERROR_CHECK(config->queue_size >= 1, ESP_ERR_INVALID_ARG, NULL, "Invalid queue size.");
     ZH_ERROR_CHECK(config->encoder_max_value > config->encoder_min_value, ESP_ERR_INVALID_ARG, NULL, "Invalid encoder min/max value.");
     ZH_ERROR_CHECK(config->encoder_step > 0, ESP_ERR_INVALID_ARG, NULL, "Invalid encoder step.");
+    ZH_ERROR_CHECK(config->encoder_number > 0, ESP_ERR_INVALID_ARG, NULL, "Invalid encoder number.");
+    for (uint8_t i = 0; i < sizeof(_encoder_number_matrix); ++i)
+    {
+        ZH_ERROR_CHECK(config->encoder_number != _encoder_number_matrix[i], ESP_ERR_INVALID_ARG, NULL, "Encoder number already present.");
+    }
     return ESP_OK;
 }
 
@@ -223,33 +234,47 @@ static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, z
     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.");
+        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);
+                       gpio_reset_pin((gpio_num_t)config->s_gpio_number), "Failed install isr service.");
         if (err == ESP_ERR_INVALID_STATE)
         {
             _is_prev_gpio_isr_handler = true;
         }
     }
     err = gpio_isr_handler_add((gpio_num_t)config->a_gpio_number, _zh_encoder_isr_handler, handle);
-    ZH_ERROR_CHECK(err == ESP_OK, err, 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((gpio_num_t)config->b_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_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Interrupt initialization failed.");
+        ZH_ERROR_CHECK(err == ESP_OK, err, 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), "Interrupt initialization failed.");
     }
     else
     {
-        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.");
+        ZH_ERROR_CHECK(err == ESP_OK, err, 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), "Interrupt initialization failed.");
+    }
+    err = gpio_isr_handler_add((gpio_num_t)config->b_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_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), "Interrupt initialization failed.");
+    }
+    else
+    {
+        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); gpio_reset_pin((gpio_num_t)config->s_gpio_number), "Interrupt initialization failed.");
     }
     err = gpio_isr_handler_add((gpio_num_t)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.");
+                       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),
+                                                                                                                             "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.");
+        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);
+                       gpio_reset_pin((gpio_num_t)config->s_gpio_number), "Interrupt initialization failed.");
     }
     return ESP_OK;
 }
@@ -290,7 +315,8 @@ static void IRAM_ATTR _zh_encoder_isr_handler(void *arg)
         }
     }
     _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)];
+    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: