# ESP32 ESP-IDF component for rotary encoder

## Tested on

1. [ESP32 ESP-IDF v5.5.1](https://docs.espressif.com/projects/esp-idf/en/v5.5.1/esp32/index.html)

## SAST Tools

[PVS-Studio](https://pvs-studio.com/pvs-studio/?utm_source=website&utm_medium=github&utm_campaign=open_source) - static analyzer for C, C++, C#, and Java code.

## Features

1. Support some encoders on one device.

## Attention

1. If the button is not used, specify any free GPIO in the initial configuration.
2. For correct operation, please enable the following settings in the menuconfig:

```text
GPIO_CTRL_FUNC_IN_IRAM
```

## 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/esp_components/zh_encoder
```

In the application, add the component:

```c
#include "zh_encoder.h"
```

## Examples

One encoder on device:

```c
#include "zh_encoder.h"

#define ENCODER_NUMBER 0x01

zh_encoder_handle_t encoder_handle = {0};

double encoder_position = 0;

void zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data);

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 config = ZH_ENCODER_INIT_CONFIG_DEFAULT();
    config.task_priority = 5;
    config.stack_size = configMINIMAL_STACK_SIZE;
    config.queue_size = 5;
    config.a_gpio_number = GPIO_NUM_27;
    config.b_gpio_number = GPIO_NUM_26;
    config.s_gpio_number = GPIO_NUM_17;
    config.encoder_min_value = 0;
    config.encoder_max_value = 100;
    config.encoder_step = 0.1;
    config.encoder_number = ENCODER_NUMBER;
    zh_encoder_init(&config, &encoder_handle);
    zh_encoder_get(&encoder_handle, &encoder_position);
    printf("Encoder position %0.2f.\n", encoder_position);
    for (;;)
    {
        const zh_encoder_stats_t *stats = zh_encoder_get_stats();
        printf("Number of event post error: %ld.\n", stats->event_post_error);
        printf("Number of queue overflow error: %ld.\n", stats->queue_overflow_error);
        printf("Minimum free stack size: %ld.\n", stats->min_stack_size);
        vTaskDelay(60000 / portTICK_PERIOD_MS);
    }
}

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;
    switch (event->encoder_number)
    {
    case ENCODER_NUMBER:
        if (encoder_position == event->encoder_position)
        {
            printf("Encoder number %d button %s.\n", event->encoder_number, event->button_status == 1 ? "released" : "pressed");
        }
        else
        {
            encoder_position = event->encoder_position;
            printf("Encoder number %d position %0.2f with button %s.\n", event->encoder_number, event->encoder_position, event->button_status == 1 ? "released" : "pressed");
        }
        break;
    default:
        break;
    }
}
```