esp_components/zh_encoder
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base: esp_components:fca6da29cc1fbd0548f00e36583fc6816d8c4add
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esp_components:main esp_components:dev
esp_components:v1.5.0 esp_components:v1.4.0 esp_components:v1.3.0 esp_components:v1.2.0 esp_components:v1.1.0 esp_components:v1.0.0
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compare: esp_components:dev
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esp_components:dev esp_components:main
esp_components:v1.5.0 esp_components:v1.4.0 esp_components:v1.3.0 esp_components:v1.2.0 esp_components:v1.1.0 esp_components:v1.0.0

2 Commits
fca6da29cc ... dev

Author SHA1 Message Date
Alexey Zholtikov
db86633155 perf: updated error checks 2026-01-02 13:32:10 +03:00
Alexey Zholtikov
6787373e82 doc: updated connection schematic 2025-12-31 11:01:55 +03:00
2 changed files with 40 additions and 36 deletions
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6
Schematic.pdf Normal file → Executable file
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@@ -1307,7 +1307,7 @@ BT
9.73 TL 9.73 TL
0.000 g 0.000 g
330.69 14.10 Td 330.69 14.10 Td
(A4) Tj (A5) Tj
ET ET
1 J 1 J
1 j 1 j
@@ -2911,7 +2911,7 @@ endobj
42 0 obj 42 0 obj
<< <<
/Producer (jsPDF 0.0.0) /Producer (jsPDF 0.0.0)
/CreationDate (D:20251231100056+03'00') /CreationDate (D:20251231105816+03'00')
>> >>
endobj endobj
43 0 obj 43 0 obj
@@ -2974,7 +2974,7 @@ trailer
/Size 44 /Size 44
/Root 43 0 R /Root 43 0 R
/Info 42 0 R /Info 42 0 R
/ID [ <1BE0131AF88B9A27EED42EFC07EE7CC2> <1BE0131AF88B9A27EED42EFC07EE7CC2> ] /ID [ <42A93F09CAB8D78D64C9C494A01CA191> <42A93F09CAB8D78D64C9C494A01CA191> ]
>> >>
startxref startxref
41020 41020

70
zh_encoder.c
View File

@@ -57,40 +57,29 @@ esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_han
err = _zh_encoder_resources_init(config); err = _zh_encoder_resources_init(config);
if (_is_prev_gpio_isr_handler == true) 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);
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->s_gpio_number), "Encoder initialization failed. Resources 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), "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.");
}
} }
else 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);
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->b_gpio_number); gpio_reset_pin((gpio_num_t)config->s_gpio_number), "Encoder initialization failed. Resources initialization failed.");
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.");
}
} }
err = _zh_encoder_task_init(config); err = _zh_encoder_task_init(config);
if (_is_prev_gpio_isr_handler == true) 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); 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_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."); 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 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); 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_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."); 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->a_gpio_number = config->a_gpio_number;
handle->b_gpio_number = config->b_gpio_number; handle->b_gpio_number = config->b_gpio_number;
@@ -245,33 +234,47 @@ static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, z
if (_encoder_counter == 0) if (_encoder_counter == 0)
{ {
err = gpio_install_isr_service(ESP_INTR_FLAG_LOWMED); 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) if (err == ESP_ERR_INVALID_STATE)
{ {
_is_prev_gpio_isr_handler = true; _is_prev_gpio_isr_handler = true;
} }
} }
err = gpio_isr_handler_add((gpio_num_t)config->a_gpio_number, _zh_encoder_isr_handler, handle); 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) 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 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); err = gpio_isr_handler_add((gpio_num_t)config->s_gpio_number, _zh_encoder_isr_handler, handle);
if (_is_prev_gpio_isr_handler == true) 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); 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 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(); 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_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; return ESP_OK;
} }
@@ -312,7 +315,8 @@ static void IRAM_ATTR _zh_encoder_isr_handler(void *arg)
} }
} }
_prev_us = _current_us; _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) switch (encoder_handle->encoder_state & 0x30)
{ {
case ZH_ENCODER_DIRECTION_CW: case ZH_ENCODER_DIRECTION_CW: