wip:

README.md

@@ -1,44 +1,20 @@
-# ESP32 ESP-IDF and ESP8266 RTOS SDK component for rotary encoder
+# esp_component_template
 
-## Tested on
+esp_component_template
 
-1. [ESP8266 RTOS_SDK v3.4](https://docs.espressif.com/projects/esp8266-rtos-sdk/en/latest/index.html#)
-2. [ESP32 ESP-IDF v5.4](https://docs.espressif.com/projects/esp-idf/en/release-v5.4/esp32/index.html)
-
-## Features
-
-1. Support some encoders on one device.
-
-## Note
-
-1. Encoder pins must be pull up to the VCC via 0.1 µf capacitors.
-
-## Using
-
-In an existing project, run the following command to install the components:
-
-```text
-cd ../your_project/components
-git clone http://git.zh.com.ru/alexey.zholtikov/zh_encoder
-```
-
-In the application, add the component:
-
-```c
-#include "zh_encoder.h"
-```
-
-## Examples
-
-One encoder on device:
-
-```c
 #include "zh_encoder.h"
 
 zh_encoder_handle_t encoder_handle = {0};
 
 void zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data);
 
+// #define ROT_ENC_A_GPIO (CONFIG_ROT_ENC_A_GPIO)
+// #define ROT_ENC_B_GPIO (CONFIG_ROT_ENC_B_GPIO)
+
+// #define ENABLE_HALF_STEPS false  // Set to true to enable tracking of rotary encoder at half step resolution
+// #define RESET_AT          0      // Set to a positive non-zero number to reset the position if this value is exceeded
+// #define FLIP_DIRECTION    false  // Set to true to reverse the clockwise/counterclockwise sense
+
 void app_main(void)
 {
     esp_log_level_set("zh_encoder", ESP_LOG_NONE); // For ESP8266 first enable "Component config -> Log output -> Enable log set level" via menuconfig.
@@ -49,23 +25,64 @@ void app_main(void)
     esp_event_handler_instance_register(ZH_ENCODER, ESP_EVENT_ANY_ID, &zh_encoder_event_handler, NULL, NULL);
 #endif
     zh_encoder_init_config_t encoder_init_config = ZH_ENCODER_INIT_CONFIG_DEFAULT();
-    encoder_init_config.a_gpio_number = GPIO_NUM_27;
+    encoder_init_config.a_gpio_number = GPIO_NUM_26;
-    encoder_init_config.b_gpio_number = GPIO_NUM_26;
+    encoder_init_config.b_gpio_number = GPIO_NUM_27;
-    // encoder_init_config.encoder_min_value = -10; // Just for example.
+    encoder_init_config.encoder_min_value = -10; // Just for example.
-    // encoder_init_config.encoder_max_value = 20;  // Just for example.
+    encoder_init_config.encoder_max_value = 20;  // Just for example.
-    // encoder_init_config.encoder_step = 0.1;      // Just for example.
+    encoder_init_config.encoder_step = 0.1;      // Just for example.
     encoder_init_config.encoder_number = 1;
     zh_encoder_init(&encoder_init_config, &encoder_handle);
-    double position = 0;
+    zh_encoder_reset(&encoder_handle);  // Just for example.
-    zh_encoder_get(&encoder_handle, &position);
+    zh_encoder_set(&encoder_handle, 5); // Just for example.
-    printf("Encoder position %0.2f.\n", position); // For ESP8266 first disable "Component config -> Newlib -> Enable ‘nano’ formatting options for printf/scanf family" via menuconfig.
+
-    // zh_encoder_set(&encoder_handle, 5); // Just for example.
+    // esp32-rotary-encoder requires that the GPIO ISR service is installed before calling rotary_encoder_register()
-    // zh_encoder_reset(&encoder_handle);  // Just for example.
+    //     ESP_ERROR_CHECK(gpio_install_isr_service(0));
+
+    //     // Initialise the rotary encoder device with the GPIOs for A and B signals
+    //     rotary_encoder_info_t info = { 0 };
+    //     ESP_ERROR_CHECK(rotary_encoder_init(&info, ROT_ENC_A_GPIO, ROT_ENC_B_GPIO));
+    //     ESP_ERROR_CHECK(rotary_encoder_enable_half_steps(&info, ENABLE_HALF_STEPS));
+    // #ifdef FLIP_DIRECTION
+    //     // ESP_ERROR_CHECK(rotary_encoder_flip_direction(&info));
+    // #endif
+
+    //     // Create a queue for events from the rotary encoder driver.
+    //     // Tasks can read from this queue to receive up to date position information.
+    //     QueueHandle_t event_queue = rotary_encoder_create_queue();
+    //     ESP_ERROR_CHECK(rotary_encoder_set_queue(&info, event_queue));
+
+    //     while (1)
+    //     {
+    //         // Wait for incoming events on the event queue.
+    //         rotary_encoder_event_t event = { 0 };
+    //         if (xQueueReceive(event_queue, &event, portMAX_DELAY) == pdTRUE)
+    //         {
+    //             ESP_LOGI(TAG, "Event: position %ld, direction %s", event.state.position,
+    //                      event.state.direction ? (event.state.direction == ROTARY_ENCODER_DIRECTION_CLOCKWISE ? "CW" : "CCW") : "NOT_SET");
+    //         }
+    //         // else
+    // {
+    //     // Poll current position and direction
+    //     rotary_encoder_state_t state = { 0 };
+    //     ESP_ERROR_CHECK(rotary_encoder_get_state(&info, &state));
+    //     ESP_LOGI(TAG, "Poll: position %ld, direction %s", state.position,
+    //              state.direction ? (state.direction == ROTARY_ENCODER_DIRECTION_CLOCKWISE ? "CW" : "CCW") : "NOT_SET");
+
+    //     // Reset the device
+    //     if (RESET_AT && (state.position >= RESET_AT || state.position <= -RESET_AT))
+    //     {
+    //         ESP_LOGI(TAG, "Reset");
+    //         ESP_ERROR_CHECK(rotary_encoder_reset(&info));
+    //     }
+    // }
+    // }
+    // ESP_LOGE(TAG, "queue receive failed");
+
+    // ESP_ERROR_CHECK(rotary_encoder_uninit(&info));
 }
 
 void zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data)
 {
     zh_encoder_event_on_isr_t *event = event_data;
-    printf("Encoder number %d position %.2f.\n", event->encoder_number, event->encoder_position); // For ESP8266 first disable "Component config -> Newlib -> Enable ‘nano’ formatting options for printf/scanf family" via menuconfig.
+    printf("Uncoder number %d position %f.\n", event->encoder_number, event->encoder_position);
 }
-```

include/zh_encoder.h

@@ -40,9 +40,9 @@ extern "C"
     {
         uint8_t a_gpio_number;     // Encoder A GPIO number.
         uint8_t b_gpio_number;     // Encoder B GPIO number.
-        int32_t encoder_min_value; // Encoder min value.
+        int32_t encoder_min_value; // Encoder min value. @note Must be less than encoder_max_value.
-        int32_t encoder_max_value; // Encoder max value.
+        int32_t encoder_max_value; // Encoder max value. @note Must be greater than encoder_min_value.
-        double encoder_step;       // Encoder step.
+        double encoder_step;       // Encoder step. @note Must be greater than 0.
         double encoder_position;   // Encoder position.
         uint8_t encoder_number;    // Encoder unique number.
         uint8_t encoder_state;     // Encoder internal state.
@@ -83,16 +83,6 @@ extern "C"
      */
     esp_err_t zh_encoder_set(zh_encoder_handle_t *handle, double position);
 
-    /**
-     * @brief Get encoder position.
-     *
-     * @param[in] handle Pointer to unique encoder handle.
-     * @param[out] position Encoder position.
-     *
-     * @return ESP_OK if success or an error code otherwise.
-     */
-    esp_err_t zh_encoder_get(const zh_encoder_handle_t *handle, double *position);
-
     /**
      * @brief Reset encoder position.
      *

zh_encoder.c

@@ -17,13 +17,22 @@
 #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
+#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 _encoder_matrix[7][4] = {
-    {0x03, 0x02, 0x01, 0x00},
+    // 00                  01              10            11                   // BA
-    {0x23, 0x00, 0x01, 0x00},
+    {H_START_M, H_CW_BEGIN, H_CCW_BEGIN, R_START},            // R_START (00)
-    {0x13, 0x02, 0x00, 0x00},
+    {H_START_M | DIR_CCW, R_START, H_CCW_BEGIN, R_START},     // H_CCW_BEGIN
-    {0x03, 0x05, 0x04, 0x00},
+    {H_START_M | DIR_CW, H_CW_BEGIN, R_START, R_START},       // H_CW_BEGIN
-    {0x03, 0x03, 0x04, 0x00},
+    {H_START_M, H_CCW_BEGIN_M, H_CW_BEGIN_M, R_START},        // H_START_M (11)
-    {0x03, 0x05, 0x03, 0x00},
+    {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
 };
 
 static QueueHandle_t _queue_handle = NULL;
@@ -80,15 +89,6 @@ esp_err_t zh_encoder_set(zh_encoder_handle_t *handle, double position)
     return ESP_OK;
 }
 
-esp_err_t zh_encoder_get(const zh_encoder_handle_t *handle, double *position)
-{
-    ZH_ENCODER_LOGI("Encoder get position started.");
-    ZH_ENCODER_CHECK(handle->is_initialized == true, ESP_FAIL, "Encoder get position failed. Encoder not initialized.");
-    *position = handle->encoder_position;
-    ZH_ENCODER_LOGI("Encoder get position completed successfully.");
-    return ESP_OK;
-}
-
 esp_err_t zh_encoder_reset(zh_encoder_handle_t *handle)
 {
     ZH_ENCODER_LOGI("Encoder reset started.");