feat: removed event with no changed value

README.md

@@ -55,19 +55,19 @@ void app_main(void)
     esp_log_level_set("zh_encoder", ESP_LOG_ERROR);
     esp_event_loop_create_default();
     esp_event_handler_instance_register(ZH_ENCODER, ESP_EVENT_ANY_ID, &zh_encoder_event_handler, NULL, NULL);
-    zh_encoder_init_config_t encoder_init_config = ZH_ENCODER_INIT_CONFIG_DEFAULT();
+    zh_encoder_init_config_t config = ZH_ENCODER_INIT_CONFIG_DEFAULT();
-    encoder_init_config.task_priority = 5;
+    config.task_priority = 5;
-    encoder_init_config.stack_size = configMINIMAL_STACK_SIZE;
+    config.stack_size = configMINIMAL_STACK_SIZE;
-    encoder_init_config.queue_size = 5;
+    config.queue_size = 5;
-    encoder_init_config.a_gpio_number = GPIO_NUM_4;
+    config.a_gpio_number = GPIO_NUM_4;
-    encoder_init_config.b_gpio_number = GPIO_NUM_16;
+    config.b_gpio_number = GPIO_NUM_16;
-    encoder_init_config.s_gpio_number = GPIO_NUM_15;
+    config.s_gpio_number = GPIO_NUM_15;
-    encoder_init_config.encoder_min_value = -10;
+    config.encoder_min_value = -10;
-    encoder_init_config.encoder_max_value = 10;
+    config.encoder_max_value = 10;
-    encoder_init_config.encoder_step = 0.001;
+    config.encoder_step = 0.001;
-    encoder_init_config.encoder_number = ENCODER_NUMBER;
+    config.encoder_number = ENCODER_NUMBER;
-    zh_encoder_init(&encoder_init_config, &encoder_handle);
+    zh_encoder_init(&config, &encoder_handle);
-    double encoder_position = 0;
+    float encoder_position = 0;
     zh_encoder_get(&encoder_handle, &encoder_position);
     printf("Encoder position %0.3f.\n", encoder_position);
     for (;;)
@@ -86,7 +86,7 @@ void zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t ev
     {
     case ZH_BUTTON_EVENT:
         zh_encoder_button_event_on_isr_t *button_event = event_data;
-        printf("Encoder number %d button %s.\n", button_event->encoder_number, button_event->button_status == 1 ? "released" : "pressed");
+        printf("Encoder number %d button %s.\n", button_event->encoder_number, (button_event->button_status == 1) ? "released" : "pressed");
         break;
     case ZH_ENCODER_EVENT:
         zh_encoder_event_on_isr_t *encoder_event = event_data;

include/zh_encoder.h

@@ -24,6 +24,7 @@
         .b_gpio_number = GPIO_NUM_MAX,          \
         .s_gpio_number = GPIO_NUM_MAX,          \
         .s_gpio_debounce_time = 10,             \
+        .pullup = true,                         \
         .encoder_min_value = -10,               \
         .encoder_max_value = 10,                \
         .encoder_step = 1,                      \
@@ -41,14 +42,15 @@ extern "C"
      */
     typedef struct
     {
-        double encoder_step;           /*!< Encoder step. @note Must be greater than 0. */
+        float encoder_step;            /*!< Encoder step. @note Must be greater than 0. */
-        double encoder_min_value;      /*!< Encoder min value. @note Must be less than encoder_max_value. */
+        float encoder_min_value;       /*!< Encoder min value. @note Must be less than encoder_max_value. */
-        double encoder_max_value;      /*!< Encoder max value. @note Must be greater than encoder_min_value. */
+        float encoder_max_value;       /*!< Encoder max value. @note Must be greater than encoder_min_value. */
         uint8_t task_priority;         /*!< Task priority for the encoder isr processing. @note Minimum value is 1. */
         uint8_t queue_size;            /*!< Queue size for task for the encoder processing. @note Minimum value is 1. */
         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. */
+        bool pullup;                   /*!< Pullup GPIO enable/disable. */
         uint16_t s_gpio_debounce_time; /*!< Encoder button debounce_time. @note In microseconds. */
         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. */
@@ -57,21 +59,22 @@ extern "C"
     /**
      * @brief Encoder handle.
      */
-    typedef struct // -V802
+    typedef struct
     {
-        pcnt_unit_handle_t pcnt_unit_handle;         /*!< Encoder unique pcnt unit handle. */
+        bool s_gpio_status;                          /*!< Encoder button status. */
-        pcnt_channel_handle_t pcnt_channel_a_handle; /*!< Encoder unique pcnt channel handle. */
+        bool is_initialized;                         /*!< Encoder initialization flag. */
-        pcnt_channel_handle_t pcnt_channel_b_handle; /*!< Encoder unique pcnt channel handle. */
-        double encoder_step;                         /*!< Encoder step. */
-        double encoder_position;                     /*!< Encoder position. */
-        double encoder_min_value;                    /*!< Encoder min value. */
-        double encoder_max_value;                    /*!< Encoder max value. */
         uint8_t encoder_number;                      /*!< Encoder unique number. */
         uint8_t s_gpio_number;                       /*!< Encoder button GPIO number. */
         uint16_t s_gpio_debounce_time;               /*!< Encoder button debounce_time. */
         uint64_t s_gpio_prev_time;                   /*!< Encoder button prev interrupt time. */
-        bool s_gpio_status;                          /*!< Encoder button status. */
+        float encoder_step;                          /*!< Encoder step. */
-        bool is_initialized;                         /*!< Encoder initialization flag. */
+        float encoder_position;                      /*!< Encoder position. */
+        float encoder_min_value;                     /*!< Encoder min value. */
+        float encoder_max_value;                     /*!< Encoder max value. */
+        pcnt_unit_handle_t pcnt_unit_handle;         /*!< Encoder unique pcnt unit handle. */
+        pcnt_channel_handle_t pcnt_channel_a_handle; /*!< Encoder unique pcnt channel handle. */
+        pcnt_channel_handle_t pcnt_channel_b_handle; /*!< Encoder unique pcnt channel handle. */
+
     } zh_encoder_handle_t;
 
     /**
@@ -102,8 +105,8 @@ extern "C"
      */
     typedef struct
     {
-        double encoder_position; /*!< Encoder current position. */
+        float encoder_position; /*!< Encoder current position. */
-        uint8_t encoder_number;  /*!< Encoder unique number. */
+        uint8_t encoder_number; /*!< Encoder unique number. */
     } zh_encoder_event_on_isr_t;
 
     /**
@@ -136,6 +139,8 @@ extern "C"
     /**
      * @brief Deinitialize encoder.
      *
+     * @param[in, out] handle Pointer to unique encoder handle.
+     *
      * @return ESP_OK if success or an error code otherwise.
      */
     esp_err_t zh_encoder_deinit(zh_encoder_handle_t *handle);
@@ -152,7 +157,7 @@ extern "C"
      *
      * @return ESP_OK if success or an error code otherwise.
      */
-    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, float min, float max, float step);
 
     /**
      * @brief Set encoder position.
@@ -162,7 +167,7 @@ extern "C"
      *
      * @return ESP_OK if success or an error code otherwise.
      */
-    esp_err_t zh_encoder_set(zh_encoder_handle_t *handle, double position);
+    esp_err_t zh_encoder_set(zh_encoder_handle_t *handle, float position);
 
     /**
      * @brief Get encoder position.
@@ -172,7 +177,7 @@ extern "C"
      *
      * @return ESP_OK if success or an error code otherwise.
      */
-    esp_err_t zh_encoder_get(const zh_encoder_handle_t *handle, double *position);
+    esp_err_t zh_encoder_get(const zh_encoder_handle_t *handle, float *position);
 
     /**
      * @brief Reset encoder position.

version.txt

@@ -1 +1 @@
-2.0.0
+2.3.0

zh_encoder.c

@@ -28,7 +28,7 @@ static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *con
 static esp_err_t _zh_encoder_pcnt_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
 static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
 static esp_err_t _zh_encoder_resources_init(const zh_encoder_init_config_t *config);
-static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config);
+static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
 static bool _zh_encoder_isr_handler(pcnt_unit_handle_t unit, const pcnt_watch_event_data_t *edata, void *user_ctx);
 static void _zh_encoder_isr_processing_task(void *pvParameter);
 static void _zh_encoder_button_isr_handler(void *arg);
@@ -39,12 +39,13 @@ esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_han
 {
     ZH_LOGI("Encoder initialization started.");
     ZH_ERROR_CHECK(config != NULL && handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder initialization failed. Invalid argument.");
+    ZH_ERROR_CHECK(handle->is_initialized == false, ESP_ERR_INVALID_STATE, NULL, "Encoder initialization failed. Encoder is already initialized.");
     ZH_ERROR_CHECK(_encoder_counter < sizeof(_encoder_number_matrix), ESP_ERR_INVALID_ARG, NULL, "Encoder initialization failed. Maximum quantity reached.");
     esp_err_t err = _zh_encoder_validate_config(config, handle);
     ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. Initial configuration check failed.");
     err = _zh_encoder_resources_init(config);
     ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. Resources initialization failed.");
-    err = _zh_encoder_task_init(config);
+    err = _zh_encoder_task_init(config, handle);
     ZH_ERROR_CHECK(err == ESP_OK, err, vQueueDelete(_queue_handle); _queue_handle = NULL, "Encoder initialization failed. Processing task initialization failed.");
     err = _zh_encoder_pcnt_init(config, handle);
     ZH_ERROR_CHECK(err == ESP_OK, err, vQueueDelete(_queue_handle); _queue_handle = NULL; vTaskDelete(zh_encoder); zh_encoder = NULL,
@@ -103,7 +104,7 @@ esp_err_t zh_encoder_deinit(zh_encoder_handle_t *handle)
     return ESP_OK;
 }
 
-esp_err_t zh_encoder_reinit(zh_encoder_handle_t *handle, double min, double max, double step) // -V2008
+esp_err_t zh_encoder_reinit(zh_encoder_handle_t *handle, float min, float max, float step) // -V2008
 {
     ZH_LOGI("Encoder reinitialization started.");
     ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder reinitialization failed. Invalid argument.");
@@ -120,7 +121,7 @@ esp_err_t zh_encoder_reinit(zh_encoder_handle_t *handle, double min, double max,
     return ESP_OK;
 }
 
-esp_err_t zh_encoder_set(zh_encoder_handle_t *handle, double position)
+esp_err_t zh_encoder_set(zh_encoder_handle_t *handle, float position)
 {
     ZH_LOGI("Encoder set position started.");
     ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder set position failed. Invalid argument.");
@@ -133,7 +134,7 @@ 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)
+esp_err_t zh_encoder_get(const zh_encoder_handle_t *handle, float *position)
 {
     ZH_LOGI("Encoder get position started.");
     ZH_ERROR_CHECK(handle != NULL && position != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder get position failed. Invalid argument.");
@@ -171,7 +172,6 @@ void zh_encoder_reset_stats(void)
 
 static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle) // -V2008
 {
-    ZH_ERROR_CHECK(config != NULL && handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Invalid argument.");
     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.");
@@ -191,7 +191,6 @@ static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *con
 
 static esp_err_t _zh_encoder_pcnt_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle) // -V2008
 {
-    ZH_ERROR_CHECK(config != NULL && handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Invalid argument.");
     ZH_ERROR_CHECK(config->a_gpio_number < GPIO_NUM_MAX && config->b_gpio_number < GPIO_NUM_MAX, ESP_ERR_INVALID_ARG, NULL, "Invalid GPIO number.")
     ZH_ERROR_CHECK(config->a_gpio_number != config->b_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Encoder A and B GPIO is same.")
     pcnt_unit_config_t pcnt_unit_config = {
@@ -235,7 +234,7 @@ static esp_err_t _zh_encoder_pcnt_init(const zh_encoder_init_config_t *config, z
     pcnt_event_callbacks_t cbs = {
         .on_reach = _zh_encoder_isr_handler,
     };
-    err = pcnt_unit_register_event_callbacks(pcnt_unit_handle, &cbs, handle);
+    err = pcnt_unit_register_event_callbacks(pcnt_unit_handle, &cbs, NULL);
     ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_channel(pcnt_channel_b_handle); pcnt_del_unit(pcnt_unit_handle),
                                                                                                                          "PCNT initialization failed.");
     err = pcnt_unit_enable(pcnt_unit_handle);
@@ -247,6 +246,11 @@ static esp_err_t _zh_encoder_pcnt_init(const zh_encoder_init_config_t *config, z
     err = pcnt_unit_start(pcnt_unit_handle);
     ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_unit_disable(pcnt_unit_handle); pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_channel(pcnt_channel_b_handle);
                    pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed.");
+    if (config->pullup == false)
+    {
+        gpio_pullup_dis((gpio_num_t)config->a_gpio_number);
+        gpio_pullup_dis((gpio_num_t)config->b_gpio_number);
+    }
     handle->pcnt_unit_handle = pcnt_unit_handle;
     handle->pcnt_channel_a_handle = pcnt_channel_a_handle;
     handle->pcnt_channel_b_handle = pcnt_channel_b_handle;
@@ -255,13 +259,13 @@ static esp_err_t _zh_encoder_pcnt_init(const zh_encoder_init_config_t *config, z
 
 static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle) // -V2008
 {
-    ZH_ERROR_CHECK(config != NULL && handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Invalid argument.");
     ZH_ERROR_CHECK(config->s_gpio_number <= GPIO_NUM_MAX, ESP_ERR_INVALID_ARG, NULL, "Invalid GPIO number.")
     ZH_ERROR_CHECK(config->a_gpio_number != config->s_gpio_number && config->b_gpio_number != config->s_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Encoder GPIO and button GPIO is same.")
     if (config->s_gpio_number != GPIO_NUM_MAX)
     {
         gpio_config_t pin_config = {
             .mode = GPIO_MODE_INPUT,
+            .pull_up_en = (config->pullup == true) ? GPIO_PULLUP_ENABLE : GPIO_PULLUP_DISABLE,
             .pin_bit_mask = (1ULL << config->s_gpio_number),
             .intr_type = GPIO_INTR_ANYEDGE};
         esp_err_t err = gpio_config(&pin_config);
@@ -281,17 +285,17 @@ static esp_err_t _zh_encoder_resources_init(const zh_encoder_init_config_t *conf
 {
     if (_encoder_counter == 0)
     {
-        _queue_handle = xQueueCreate(config->queue_size, sizeof(zh_encoder_event_on_isr_t));
+        _queue_handle = xQueueCreate(config->queue_size, sizeof(int));
         ZH_ERROR_CHECK(_queue_handle != NULL, ESP_FAIL, NULL, "Failed to create queue.");
     }
     return ESP_OK;
 }
 
-static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config)
+static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle)
 {
     if (_encoder_counter == 0)
     {
-        BaseType_t err = xTaskCreatePinnedToCore(&_zh_encoder_isr_processing_task, "zh_encoder_isr_processing", config->stack_size, NULL, config->task_priority,
+        BaseType_t err = xTaskCreatePinnedToCore(&_zh_encoder_isr_processing_task, "zh_encoder_isr_processing", config->stack_size, handle, config->task_priority,
                                                  &zh_encoder, tskNO_AFFINITY);
         ZH_ERROR_CHECK(err == pdPASS, ESP_FAIL, NULL, "Failed to create isr processing task.");
     }
@@ -301,38 +305,8 @@ static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config)
 static bool IRAM_ATTR _zh_encoder_isr_handler(pcnt_unit_handle_t unit, const pcnt_watch_event_data_t *edata, void *user_ctx)
 {
     BaseType_t xHigherPriorityTaskWoken = pdFALSE;
-    zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)user_ctx;
     pcnt_unit_clear_count(unit);
-    switch (edata->watch_point_value)
+    if (xQueueSendFromISR(_queue_handle, &edata->watch_point_value, &xHigherPriorityTaskWoken) != pdTRUE)
-    {
-    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;
-            }
-        }
-        break;
-    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;
-            }
-        }
-        break;
-    default:
-        return false;
-        break;
-    }
-    zh_encoder_event_on_isr_t encoder_data = {0};
-    encoder_data.encoder_number = encoder_handle->encoder_number;
-    encoder_data.encoder_position = encoder_handle->encoder_position;
-    if (xQueueSendFromISR(_queue_handle, &encoder_data, &xHigherPriorityTaskWoken) != pdTRUE)
     {
         ++_stats.queue_overflow_error;
     }
@@ -345,14 +319,50 @@ static bool IRAM_ATTR _zh_encoder_isr_handler(pcnt_unit_handle_t unit, const pcn
 
 static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter)
 {
-    zh_encoder_event_on_isr_t encoder_data = {0};
+    zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)pvParameter;
-    while (xQueueReceive(_queue_handle, &encoder_data, portMAX_DELAY) == pdTRUE)
+    int pcnt_count = {0};
+    bool is_value_changed = false;
+    while (xQueueReceive(_queue_handle, &pcnt_count, portMAX_DELAY) == pdTRUE)
     {
-        esp_err_t err = esp_event_post(ZH_ENCODER, ZH_ENCODER_EVENT, &encoder_data, sizeof(zh_encoder_event_on_isr_t), 1000 / portTICK_PERIOD_MS);
+        switch (pcnt_count)
-        if (err != ESP_OK)
         {
-            ++_stats.event_post_error;
+        case ZH_ENCODER_DIRECTION_CW:
-            ZH_LOGE("Encoder isr processing failed. Failed to post interrupt event.", err);
+            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;
+                }
+                is_value_changed = true;
+            }
+            break;
+        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;
+                }
+                is_value_changed = true;
+            }
+            break;
+        default:
+            break;
+        }
+        if (is_value_changed == true)
+        {
+            is_value_changed = false;
+            zh_encoder_event_on_isr_t encoder_data = {0};
+            encoder_data.encoder_number = encoder_handle->encoder_number;
+            encoder_data.encoder_position = encoder_handle->encoder_position;
+            esp_err_t err = esp_event_post(ZH_ENCODER, ZH_ENCODER_EVENT, &encoder_data, sizeof(zh_encoder_event_on_isr_t), 1000 / portTICK_PERIOD_MS);
+            if (err != ESP_OK)
+            {
+                ++_stats.event_post_error;
+                ZH_LOGE("Encoder isr processing failed. Failed to post interrupt event.", err);
+            }
         }
         _stats.min_stack_size = (uint32_t)uxTaskGetStackHighWaterMark(NULL);
     }