127 lines
4.6 KiB
C
127 lines
4.6 KiB
C
/**
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* @file zh_encoder.h
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*/
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#pragma once
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#include "esp_log.h"
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#include "driver/gpio.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_event.h"
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/**
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* @brief Encoder initial default values.
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*/
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#define ZH_ENCODER_INIT_CONFIG_DEFAULT() \
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{ \
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.task_priority = 10, \
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.stack_size = 3072, \
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.queue_size = 10, \
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.a_gpio_number = 0, \
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.b_gpio_number = 0, \
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.encoder_min_value = -100, \
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.encoder_max_value = 100, \
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.encoder_step = 1, \
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.encoder_number = 0}
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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/**
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* @brief Structure for initial initialization of encoder.
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*/
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typedef struct
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{
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uint8_t task_priority; /*!< Task priority for the encoder isr processing. @note It is not recommended to set a value less than 10. */
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uint16_t stack_size; /*!< Stack size for task for the encoder isr processing processing. @note The minimum size is 3072 bytes. */
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uint8_t queue_size; /*!< Queue size for task for the encoder processing. @note It is not recommended to set a value less than 10. */
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uint8_t a_gpio_number; /*!< Encoder A GPIO number. */
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uint8_t b_gpio_number; /*!< Encoder B GPIO number. */
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int32_t encoder_min_value; /*!< Encoder min value. @note Must be less than encoder_max_value. */
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int32_t encoder_max_value; /*!< Encoder max value. @note Must be greater than encoder_min_value. */
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double encoder_step; /*!< Encoder step. @note Must be greater than 0. */
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uint8_t encoder_number; /*!< Unique encoder number. */
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} zh_encoder_init_config_t;
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/**
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* @brief Encoder handle.
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*/
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typedef struct
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{
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uint8_t a_gpio_number; /*!< Encoder A GPIO number. */
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uint8_t b_gpio_number; /*!< Encoder B GPIO number. */
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int32_t encoder_min_value; /*!< Encoder min value. */
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int32_t encoder_max_value; /*!< Encoder max value. */
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double encoder_step; /*!< Encoder step. */
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double encoder_position; /*!< Encoder position. */
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uint8_t encoder_number; /*!< Encoder unique number. */
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uint8_t encoder_state; /*!< Encoder internal state. */
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bool is_initialized; /*!< Encoder initialization flag. */
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} zh_encoder_handle_t;
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ESP_EVENT_DECLARE_BASE(ZH_ENCODER);
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/**
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* @brief Structure for sending data to the event handler when cause an interrupt.
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*
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* @note Should be used with ZH_ENCODER event base.
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*/
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typedef struct
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{
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uint8_t encoder_number; /*!< Encoder unique number. */
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double encoder_position; /*!< Encoder current position. */
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} zh_encoder_event_on_isr_t;
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/**
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* @brief Initialize encoder.
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*
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* @note The encoder will be set to the position (encoder_min_value + encoder_max_value)/2.
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*
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* @param[in] config Pointer to encoder initialized configuration structure. Can point to a temporary variable.
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* @param[out] handle Pointer to unique encoder handle.
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*
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* @note Before initialize the encoder recommend initialize zh_encoder_init_config_t structure with default values.
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*
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* @code zh_encoder_init_config_t config = ZH_ENCODER_INIT_CONFIG_DEFAULT() @endcode
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*
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* @return ESP_OK if success or an error code otherwise.
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*/
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esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
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/**
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* @brief Set encoder position.
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*
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* @param[in, out] handle Pointer to unique encoder handle.
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* @param[in] position Encoder position (must be between encoder_min_value and encoder_max_value).
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*
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* @return ESP_OK if success or an error code otherwise.
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*/
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esp_err_t zh_encoder_set(zh_encoder_handle_t *handle, double position);
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/**
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* @brief Get encoder position.
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*
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* @param[in] handle Pointer to unique encoder handle.
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* @param[out] position Encoder position.
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*
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* @return ESP_OK if success or an error code otherwise.
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*/
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esp_err_t zh_encoder_get(const zh_encoder_handle_t *handle, double *position);
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/**
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* @brief Reset encoder position.
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*
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* @note The encoder will be set to the position (encoder_min_value + encoder_max_value)/2.
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*
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* @param[in, out] handle Pointer to unique encoder handle.
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*
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* @return ESP_OK if success or an error code otherwise.
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*/
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esp_err_t zh_encoder_reset(zh_encoder_handle_t *handle);
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#ifdef __cplusplus
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}
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#endif |