410 lines
14 KiB
C
410 lines
14 KiB
C
#include "zh_encoder.h"
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#define TAG "zh_encoder"
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#define ZH_ENCODER_LOGI(msg, ...) ESP_LOGI(TAG, msg, ##__VA_ARGS__)
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#define ZH_ENCODER_LOGW(msg, ...) ESP_LOGW(TAG, msg, ##__VA_ARGS__)
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#define ZH_ENCODER_LOGE(msg, ...) ESP_LOGE(TAG, msg, ##__VA_ARGS__)
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#define ZH_ENCODER_LOGE_ERR(msg, err, ...) ESP_LOGE(TAG, "[%s:%d:%s] " msg, __FILE__, __LINE__, esp_err_to_name(err), ##__VA_ARGS__)
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#define ZH_ENCODER_CHECK(cond, err, msg, ...) \
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if (!(cond)) \
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{ \
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ZH_ENCODER_LOGE_ERR(msg, err); \
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return err; \
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}
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#define TABLE_ROWS 7
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#define TABLE_COLS 4
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#define DIR_NONE 0x0 // No complete step yet.
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#define DIR_CW 0x10 // Clockwise step.
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#define DIR_CCW 0x20 // Anti-clockwise step.
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// Create the half-step state table (emits a code at 00 and 11)
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#define R_START 0x0
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#define H_CCW_BEGIN 0x1
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#define H_CW_BEGIN 0x2
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#define H_START_M 0x3
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#define H_CW_BEGIN_M 0x4
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#define H_CCW_BEGIN_M 0x5
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static const uint8_t _encoder_matrix[TABLE_ROWS][TABLE_COLS] = {
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// 00 01 10 11 // BA
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{H_START_M, H_CW_BEGIN, H_CCW_BEGIN, R_START}, // R_START (00)
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{H_START_M | DIR_CCW, R_START, H_CCW_BEGIN, R_START}, // H_CCW_BEGIN
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{H_START_M | DIR_CW, H_CW_BEGIN, R_START, R_START}, // H_CW_BEGIN
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{H_START_M, H_CCW_BEGIN_M, H_CW_BEGIN_M, R_START}, // H_START_M (11)
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{H_START_M, H_START_M, H_CW_BEGIN_M, R_START | DIR_CW}, // H_CW_BEGIN_M
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{H_START_M, H_CCW_BEGIN_M, H_START_M, R_START | DIR_CCW}, // H_CCW_BEGIN_M
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};
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static QueueHandle_t _queue_handle = NULL;
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static bool _is_initialized = false;
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// #define ROTARY_ENCODER_DEBUG
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// Use a single-item queue so that the last value can be easily overwritten by the interrupt handler
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// #define EVENT_QUEUE_LENGTH 10
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// #define TABLE_ROWS 7
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// #define DIR_NONE 0x0 // No complete step yet.
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// #define DIR_CW 0x10 // Clockwise step.
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// #define DIR_CCW 0x20 // Anti-clockwise step.
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// // Create the half-step state table (emits a code at 00 and 11)
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// #define R_START 0x0
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// #define H_CCW_BEGIN 0x1
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// #define H_CW_BEGIN 0x2
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// #define H_START_M 0x3
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// #define H_CW_BEGIN_M 0x4
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// #define H_CCW_BEGIN_M 0x5
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// static const uint8_t _ttable_half[TABLE_ROWS][TABLE_COLS] = {
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// // 00 01 10 11 // BA
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// {H_START_M, H_CW_BEGIN, H_CCW_BEGIN, R_START}, // R_START (00)
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// {H_START_M | DIR_CCW, R_START, H_CCW_BEGIN, R_START}, // H_CCW_BEGIN
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// {H_START_M | DIR_CW, H_CW_BEGIN, R_START, R_START}, // H_CW_BEGIN
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// {H_START_M, H_CCW_BEGIN_M, H_CW_BEGIN_M, R_START}, // H_START_M (11)
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// {H_START_M, H_START_M, H_CW_BEGIN_M, R_START | DIR_CW}, // H_CW_BEGIN_M
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// {H_START_M, H_CCW_BEGIN_M, H_START_M, R_START | DIR_CCW}, // H_CCW_BEGIN_M
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// };
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// // Create the full-step state table (emits a code at 00 only)
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// #define F_CW_FINAL 0x1
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// #define F_CW_BEGIN 0x2
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// #define F_CW_NEXT 0x3
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// #define F_CCW_BEGIN 0x4
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// #define F_CCW_FINAL 0x5
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// #define F_CCW_NEXT 0x6
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// static const uint8_t _ttable_full[TABLE_ROWS][TABLE_COLS] = {
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// // 00 01 10 11 // BA
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// {R_START, F_CW_BEGIN, F_CCW_BEGIN, R_START}, // R_START
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// {F_CW_NEXT, R_START, F_CW_FINAL, R_START | DIR_CW}, // F_CW_FINAL
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// {F_CW_NEXT, F_CW_BEGIN, R_START, R_START}, // F_CW_BEGIN
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// {F_CW_NEXT, F_CW_BEGIN, F_CW_FINAL, R_START}, // F_CW_NEXT
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// {F_CCW_NEXT, R_START, F_CCW_BEGIN, R_START}, // F_CCW_BEGIN
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// {F_CCW_NEXT, F_CCW_FINAL, R_START, R_START | DIR_CCW}, // F_CCW_FINAL
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// {F_CCW_NEXT, F_CCW_FINAL, F_CCW_BEGIN, R_START}, // F_CCW_NEXT
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// };
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static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *config);
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static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config);
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static esp_err_t _zh_encoder_configure_interrupts(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
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static esp_err_t _zh_encoder_init_resources(const zh_encoder_init_config_t *config);
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static esp_err_t _zh_encoder_create_task(const zh_encoder_init_config_t *config);
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static void _zh_encoder_isr_handler(void *arg);
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static void _zh_encoder_isr_processing_task(void *pvParameter);
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ESP_EVENT_DEFINE_BASE(ZH_ENCODER);
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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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_zh_encoder_validate_config(config);
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_zh_encoder_gpio_init(config);
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_zh_encoder_configure_interrupts(config, handle);
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_zh_encoder_init_resources(config);
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_zh_encoder_create_task(config);
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return ESP_OK;
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}
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esp_err_t zh_encoder_set(zh_encoder_handle_t *handle, float position)
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{
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ZH_ENCODER_LOGI("Encoder set position started.");
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ZH_ENCODER_CHECK(handle->is_initialized == true, ESP_FAIL, "Encoder set position failed. Encoder not initialized.");
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ZH_ENCODER_CHECK(position <= handle->encoder_max_value && position >= handle->encoder_min_value, ESP_ERR_INVALID_ARG, "Encoder set position failed. Invalid argument.");
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handle->encoder_position = position;
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ZH_ENCODER_LOGI("Encoder set position completed successfully.");
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return ESP_OK;
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}
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esp_err_t zh_encoder_reset(zh_encoder_handle_t *handle)
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{
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ZH_ENCODER_LOGI("Encoder reset started.");
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ZH_ENCODER_CHECK(handle->is_initialized == true, ESP_FAIL, "Encoder reset failed. Encoder not initialized.");
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handle->encoder_position = (handle->encoder_min_value + handle->encoder_max_value) / 2;
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ZH_ENCODER_LOGI("Encoder reset completed successfully.");
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return ESP_OK;
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}
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// static uint8_t _process(rotary_encoder_info_t *info)
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// {
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// uint8_t event = 0;
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// if (info != NULL)
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// {
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// // Get state of input pins.
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// uint8_t pin_state = (gpio_get_level(info->pin_b) << 1) | gpio_get_level(info->pin_a);
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// // Determine new state from the pins and state table.
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// #ifdef ROTARY_ENCODER_DEBUG
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// uint8_t old_state = info->table_state;
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// #endif
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// info->table_state = info->table[info->table_state & 0xf][pin_state];
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// // Return emit bits, i.e. the generated event.
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// event = info->table_state & 0x30;
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// #ifdef ROTARY_ENCODER_DEBUG
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// ESP_EARLY_LOGD(TAG, "BA %d%d, state 0x%02x, new state 0x%02x, event 0x%02x",
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// pin_state >> 1, pin_state & 1, old_state, info->table_state, event);
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// #endif
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// }
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// return event;
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// }
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// static void IRAM_ATTR _isr_rotenc(void *args)
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// {
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// rotary_encoder_info_t *info = (rotary_encoder_info_t *)args;
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// uint8_t event = _process(info);
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// bool send_event = false;
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// switch (event)
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// {
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// case DIR_CW:
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// ++info->state.position;
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// info->state.direction = ROTARY_ENCODER_DIRECTION_CLOCKWISE;
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// send_event = true;
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// break;
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// case DIR_CCW:
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// --info->state.position;
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// info->state.direction = ROTARY_ENCODER_DIRECTION_COUNTER_CLOCKWISE;
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// send_event = true;
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// break;
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// default:
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// break;
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// }
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// if (send_event && info->queue)
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// {
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// rotary_encoder_event_t queue_event =
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// {
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// .state =
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// {
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// .position = info->state.position,
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// .direction = info->state.direction,
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// },
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// };
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// BaseType_t task_woken = pdFALSE;
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// xQueueSendFromISR(info->queue, &queue_event, &task_woken);
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// if (task_woken)
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// {
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// portYIELD_FROM_ISR();
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// }
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// }
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// }
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// esp_err_t rotary_encoder_init(rotary_encoder_info_t *info, gpio_num_t pin_a, gpio_num_t pin_b)
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// {
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// esp_err_t err = ESP_OK;
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// if (info)
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// {
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// info->pin_a = pin_a;
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// info->pin_b = pin_b;
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// info->table = &_ttable_full[0]; // enable_half_step ? &_ttable_half[0] : &_ttable_full[0];
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// info->table_state = R_START;
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// info->state.position = 0;
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// info->state.direction = ROTARY_ENCODER_DIRECTION_NOT_SET;
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// gpio_config_t pin_config = {
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// .mode = GPIO_MODE_INPUT,
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// .pin_bit_mask = (1ULL << info->pin_a) | (1ULL << info->pin_b),
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// .pull_up_en = GPIO_PULLUP_ENABLE,
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// .intr_type = GPIO_INTR_ANYEDGE};
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// gpio_config(&pin_config);
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// // configure GPIOs
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// // gpio_pad_select_gpio(info->pin_a);
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// // gpio_set_pull_mode(info->pin_a, GPIO_PULLUP_ONLY);
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// // gpio_set_direction(info->pin_a, GPIO_MODE_INPUT);
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// // gpio_set_intr_type(info->pin_a, GPIO_INTR_ANYEDGE);
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// // gpio_pad_select_gpio(info->pin_b);
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// // gpio_set_pull_mode(info->pin_b, GPIO_PULLUP_ONLY);
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// // gpio_set_direction(info->pin_b, GPIO_MODE_INPUT);
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// // gpio_set_intr_type(info->pin_b, GPIO_INTR_ANYEDGE);
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// // install interrupt handlers
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// gpio_isr_handler_add(info->pin_a, _isr_rotenc, info);
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// gpio_isr_handler_add(info->pin_b, _isr_rotenc, info);
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// }
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// else
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// {
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// ESP_LOGE(TAG, "info is NULL");
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// err = ESP_ERR_INVALID_ARG;
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// }
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// return err;
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// }
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// esp_err_t rotary_encoder_enable_half_steps(rotary_encoder_info_t *info, bool enable)
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// {
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// esp_err_t err = ESP_OK;
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// if (info)
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// {
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// info->table = enable ? &_ttable_half[0] : &_ttable_full[0];
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// info->table_state = R_START;
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// }
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// else
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// {
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// ESP_LOGE(TAG, "info is NULL");
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// err = ESP_ERR_INVALID_ARG;
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// }
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// return err;
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// }
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// esp_err_t rotary_encoder_flip_direction(rotary_encoder_info_t *info)
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// {
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// esp_err_t err = ESP_OK;
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// if (info)
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// {
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// gpio_num_t temp = info->pin_a;
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// info->pin_a = info->pin_b;
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// info->pin_b = temp;
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// }
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// else
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// {
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// ESP_LOGE(TAG, "info is NULL");
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// err = ESP_ERR_INVALID_ARG;
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// }
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// return err;
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// }
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// esp_err_t rotary_encoder_uninit(rotary_encoder_info_t *info)
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// {
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// esp_err_t err = ESP_OK;
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// if (info)
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// {
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// gpio_isr_handler_remove(info->pin_a);
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// gpio_isr_handler_remove(info->pin_b);
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// }
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// else
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// {
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// ESP_LOGE(TAG, "info is NULL");
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// err = ESP_ERR_INVALID_ARG;
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// }
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// return err;
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// }
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// QueueHandle_t rotary_encoder_create_queue(void)
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// {
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// return xQueueCreate(EVENT_QUEUE_LENGTH, sizeof(rotary_encoder_event_t));
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// }
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// esp_err_t rotary_encoder_set_queue(rotary_encoder_info_t *info, QueueHandle_t queue)
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// {
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// esp_err_t err = ESP_OK;
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// if (info)
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// {
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// info->queue = queue;
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// }
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// else
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// {
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// ESP_LOGE(TAG, "info is NULL");
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// err = ESP_ERR_INVALID_ARG;
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// }
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// return err;
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// }
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// esp_err_t rotary_encoder_get_state(const rotary_encoder_info_t *info, rotary_encoder_state_t *state)
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// {
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// esp_err_t err = ESP_OK;
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// if (info && state)
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// {
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// // make a snapshot of the state
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// state->position = info->state.position;
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// state->direction = info->state.direction;
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// }
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// else
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// {
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// ESP_LOGE(TAG, "info and/or state is NULL");
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// err = ESP_ERR_INVALID_ARG;
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// }
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// return err;
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// }
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// esp_err_t rotary_encoder_reset(rotary_encoder_info_t *info)
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// {
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// esp_err_t err = ESP_OK;
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// if (info)
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// {
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// info->state.position = 0;
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// info->state.direction = ROTARY_ENCODER_DIRECTION_NOT_SET;
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// }
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// else
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// {
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// ESP_LOGE(TAG, "info is NULL");
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// err = ESP_ERR_INVALID_ARG;
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// }
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// return err;
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// }
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static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *config)
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{
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ZH_ENCODER_CHECK(config != NULL, ESP_ERR_INVALID_ARG, "Invalid configuration.");
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ZH_ENCODER_CHECK(config->task_priority >= 10 && config->stack_size >= 2048, ESP_ERR_INVALID_ARG, "Invalid task settings.");
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ZH_ENCODER_CHECK(config->queue_size >= 10, ESP_ERR_INVALID_ARG, "Invalid queue size.");
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return ESP_OK;
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}
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static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config)
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{
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ZH_ENCODER_CHECK(config->a_gpio_number < GPIO_NUM_MAX || config->b_gpio_number < GPIO_NUM_MAX, ESP_ERR_INVALID_ARG, "Invalid GPIO number.")
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ZH_ENCODER_CHECK(config->a_gpio_number != config->b_gpio_number, ESP_ERR_INVALID_ARG, "Invalid GPIO number.")
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gpio_config_t pin_config = {
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.mode = GPIO_MODE_INPUT,
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.pin_bit_mask = (1ULL << config->a_gpio_number) | (1ULL << config->b_gpio_number),
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.pull_up_en = GPIO_PULLUP_ENABLE,
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.intr_type = GPIO_INTR_ANYEDGE};
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esp_err_t err = gpio_config(&pin_config);
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ZH_ENCODER_CHECK(err == ESP_OK, err, "GPIO initialization failed.");
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return ESP_OK;
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}
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static esp_err_t _zh_encoder_configure_interrupts(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle)
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{
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gpio_install_isr_service(0);
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esp_err_t err = gpio_isr_handler_add(config->a_gpio_number, _zh_encoder_isr_handler, handle);
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ZH_ENCODER_CHECK(err == ESP_OK, err, "Interrupt initialization failed.");
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err = gpio_isr_handler_add(config->b_gpio_number, _zh_encoder_isr_handler, handle);
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ZH_ENCODER_CHECK(err == ESP_OK, err, "Interrupt initialization failed.");
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return ESP_OK;
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}
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static esp_err_t _zh_encoder_init_resources(const zh_encoder_init_config_t *config)
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{
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if (_is_initialized == false)
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{
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_queue_handle = xQueueCreate(config->queue_size, sizeof(zh_encoder_handle_t));
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ZH_ENCODER_CHECK(_queue_handle != NULL, ESP_FAIL, "Queue creation failed.");
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}
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return ESP_OK;
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}
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static esp_err_t _zh_encoder_create_task(const zh_encoder_init_config_t *config)
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{
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if (_is_initialized == false)
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{
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BaseType_t err = xTaskCreatePinnedToCore(
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&_zh_encoder_isr_processing_task,
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"zh_encoder_isr_processing",
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config->stack_size,
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NULL,
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config->task_priority,
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NULL,
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tskNO_AFFINITY);
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ZH_ENCODER_CHECK(err == pdPASS, ESP_FAIL, "Task creation failed.");
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}
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return ESP_OK;
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}
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static void _zh_encoder_isr_handler(void *arg)
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{
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BaseType_t xHigherPriorityTaskWoken = pdFALSE;
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xQueueSendFromISR(_queue_handle, arg, &xHigherPriorityTaskWoken);
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if (xHigherPriorityTaskWoken == pdTRUE)
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{
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portYIELD_FROM_ISR();
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};
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}
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static void _zh_encoder_isr_processing_task(void *pvParameter)
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{
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} |