feat!: changed encoder position to float

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 (;;)

include/zh_encoder.h

@@ -42,9 +42,9 @@ 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. */
@@ -64,10 +64,10 @@ extern "C"
         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. */
-        double encoder_step;                         /*!< Encoder step. */
+        float encoder_step;                         /*!< Encoder step. */
-        double encoder_position;                     /*!< Encoder position. */
+        float encoder_position;                     /*!< Encoder position. */
-        double encoder_min_value;                    /*!< Encoder min value. */
+        float encoder_min_value;                    /*!< Encoder min value. */
-        double encoder_max_value;                    /*!< Encoder max value. */
+        float 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. */
@@ -104,7 +104,7 @@ extern "C"
      */
     typedef struct
     {
-        double encoder_position; /*!< Encoder current position. */
+        float encoder_position; /*!< Encoder current position. */
         uint8_t encoder_number;  /*!< Encoder unique number. */
     } zh_encoder_event_on_isr_t;
 
@@ -154,7 +154,7 @@ 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.
@@ -164,7 +164,7 @@ 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.
@@ -174,7 +174,7 @@ 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 @@
-2.1.0
+2.2.0

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);
@@ -44,7 +44,7 @@ esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_han
     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 +103,7 @@ 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 +120,7 @@ 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 +133,7 @@ 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.");
@@ -235,7 +235,7 @@ 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);
@@ -287,17 +287,17 @@ 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.");
     }
@@ -307,9 +307,25 @@ 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)
+    {
+        ++_stats.queue_overflow_error;
+    }
+    if (xHigherPriorityTaskWoken == pdTRUE)
+    {
+        return true;
+    };
+    return false;
+}
+
+static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter)
+{
+    zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)pvParameter;
+    int encoder_data = {0};
+    while (xQueueReceive(_queue_handle, &encoder_data, portMAX_DELAY) == pdTRUE)
+    {
+        switch (encoder_data)
         {
         case ZH_ENCODER_DIRECTION_CW:
             if (encoder_handle->encoder_position < encoder_handle->encoder_max_value)
@@ -332,28 +348,11 @@ static bool IRAM_ATTR _zh_encoder_isr_handler(pcnt_unit_handle_t unit, const pcn
             }
             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;
-    }
-    if (xHigherPriorityTaskWoken == pdTRUE)
-    {
-        return true;
-    };
-    return false;
-}
-
-static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter)
-{
-    zh_encoder_event_on_isr_t encoder_data = {0};
-    while (xQueueReceive(_queue_handle, &encoder_data, 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);
         if (err != ESP_OK)
         {