384 lines
19 KiB
C
384 lines
19 KiB
C
#include "zh_encoder.h"
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#define TAG "zh_encoder"
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#define ZH_LOGI(msg, ...) ESP_LOGI(TAG, msg, ##__VA_ARGS__)
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#define ZH_LOGE(msg, err, ...) ESP_LOGE(TAG, "[%s:%d:%s] " msg, __FILE__, __LINE__, esp_err_to_name(err), ##__VA_ARGS__)
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#define ZH_ERROR_CHECK(cond, err, cleanup, msg, ...) \
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if (!(cond)) \
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{ \
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ZH_LOGE(msg, err, ##__VA_ARGS__); \
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cleanup; \
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return err; \
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}
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#define ZH_ENCODER_DIRECTION_CW 0x10
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#define ZH_ENCODER_DIRECTION_CCW 0x20
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#define BUTTON_DEBOUNCE_TIME 20
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static const uint8_t _encoder_matrix[7][4] = {
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{0x03, 0x02, 0x01, 0x00},
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{0x23, 0x00, 0x01, 0x00},
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{0x13, 0x02, 0x00, 0x00},
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{0x03, 0x05, 0x04, 0x00},
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{0x03, 0x03, 0x04, 0x00},
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{0x03, 0x05, 0x03, 0x00},
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};
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TaskHandle_t zh_encoder = NULL;
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static QueueHandle_t _queue_handle = NULL;
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static portMUX_TYPE _spinlock = portMUX_INITIALIZER_UNLOCKED;
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static volatile uint64_t _prev_us = 0;
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static uint8_t _encoder_counter = 0;
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static bool _is_prev_gpio_isr_handler = false;
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static zh_encoder_stats_t _stats = {0};
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static uint8_t _encoder_number_matrix[10] = {0};
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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, zh_encoder_handle_t *handle);
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static esp_err_t _zh_encoder_resources_init(const zh_encoder_init_config_t *config);
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static esp_err_t _zh_encoder_task_init(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) // -V2008
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{
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ZH_LOGI("Encoder initialization started.");
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ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder initialization failed. Invalid argument.");
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esp_err_t err = _zh_encoder_validate_config(config);
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ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. Initial configuration check failed.");
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err = _zh_encoder_gpio_init(config, handle);
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ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. GPIO initialization failed.");
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err = _zh_encoder_resources_init(config);
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if (_is_prev_gpio_isr_handler == true)
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{
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ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number);
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gpio_isr_handler_remove((gpio_num_t)config->s_gpio_number); gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number);
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gpio_reset_pin((gpio_num_t)config->s_gpio_number), "Encoder initialization failed. Resources initialization failed.");
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}
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else
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{
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ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number);
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gpio_isr_handler_remove((gpio_num_t)config->s_gpio_number); gpio_uninstall_isr_service(); gpio_reset_pin((gpio_num_t)config->a_gpio_number);
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gpio_reset_pin((gpio_num_t)config->b_gpio_number); gpio_reset_pin((gpio_num_t)config->s_gpio_number), "Encoder initialization failed. Resources initialization failed.");
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}
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err = _zh_encoder_task_init(config);
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if (_is_prev_gpio_isr_handler == true)
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{
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ZH_ERROR_CHECK(err == ESP_OK, err, vQueueDelete(_queue_handle); _queue_handle = NULL; gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number);
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gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number); gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number),
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"Encoder initialization failed. Processing task initialization failed.");
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}
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else
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{
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ZH_ERROR_CHECK(err == ESP_OK, err, vQueueDelete(_queue_handle); _queue_handle = NULL; gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number);
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gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->s_gpio_number); gpio_uninstall_isr_service();
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gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number); gpio_reset_pin((gpio_num_t)config->s_gpio_number),
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"Encoder initialization failed. Processing task initialization failed.");
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}
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handle->a_gpio_number = config->a_gpio_number;
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handle->b_gpio_number = config->b_gpio_number;
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handle->s_gpio_number = config->s_gpio_number;
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handle->button_status = gpio_get_level((gpio_num_t)config->s_gpio_number);
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handle->encoder_number = config->encoder_number;
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handle->encoder_min_value = config->encoder_min_value;
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handle->encoder_max_value = config->encoder_max_value;
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handle->encoder_step = config->encoder_step;
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handle->encoder_position = (handle->encoder_min_value + handle->encoder_max_value) / 2;
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handle->is_initialized = true;
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++_encoder_counter;
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for (uint8_t i = 0; i < sizeof(_encoder_number_matrix); ++i)
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{
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if (_encoder_number_matrix[i] == 0)
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{
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_encoder_number_matrix[i] = handle->encoder_number;
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break;
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}
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}
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ZH_LOGI("Encoder initialization completed successfully.");
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return ESP_OK;
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}
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esp_err_t zh_encoder_deinit(zh_encoder_handle_t *handle)
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{
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ZH_LOGI("Encoder deinitialization started.");
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ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder deinitialization failed. Invalid argument.");
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ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Encoder deinitialization failed. Encoder not initialized.");
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gpio_isr_handler_remove((gpio_num_t)handle->a_gpio_number);
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gpio_isr_handler_remove((gpio_num_t)handle->b_gpio_number);
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gpio_isr_handler_remove((gpio_num_t)handle->s_gpio_number);
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gpio_reset_pin((gpio_num_t)handle->a_gpio_number);
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gpio_reset_pin((gpio_num_t)handle->b_gpio_number);
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gpio_reset_pin((gpio_num_t)handle->s_gpio_number);
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if (_encoder_counter == 1)
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{
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vQueueDelete(_queue_handle);
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vTaskDelete(zh_encoder);
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if (_is_prev_gpio_isr_handler == false)
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{
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gpio_uninstall_isr_service();
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}
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}
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handle->is_initialized = false;
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--_encoder_counter;
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for (uint8_t i = 0; i < sizeof(_encoder_number_matrix); ++i)
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{
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if (_encoder_number_matrix[i] == handle->encoder_number)
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{
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_encoder_number_matrix[i] = 0;
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break;
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}
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}
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ZH_LOGI("Encoder deinitialization completed successfully.");
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return ESP_OK;
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}
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esp_err_t zh_encoder_reinit(zh_encoder_handle_t *handle, double min, double max, double step) // -V2008
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{
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ZH_LOGI("Encoder reinitialization started.");
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ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder reinitialization failed. Invalid argument.");
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ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Encoder reinitialization failed. Encoder not initialized.");
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ZH_ERROR_CHECK(max > min, ESP_ERR_INVALID_ARG, NULL, "Encoder reinitialization failed. Invalid encoder min/max value.");
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ZH_ERROR_CHECK(step > 0, ESP_ERR_INVALID_ARG, NULL, "Encoder reinitialization failed. Invalid encoder step.");
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taskENTER_CRITICAL(&_spinlock);
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handle->encoder_min_value = min;
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handle->encoder_max_value = max;
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handle->encoder_step = step;
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handle->encoder_position = (handle->encoder_min_value + handle->encoder_max_value) / 2;
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taskEXIT_CRITICAL(&_spinlock);
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ZH_LOGI("Encoder reinitialization completed successfully.");
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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, double position)
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{
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ZH_LOGI("Encoder set position started.");
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ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder set position failed. Invalid argument.");
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ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Encoder set position failed. Encoder not initialized.");
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ZH_ERROR_CHECK(position <= handle->encoder_max_value && position >= handle->encoder_min_value, ESP_ERR_INVALID_ARG, NULL, "Encoder set position failed. Invalid argument.");
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taskENTER_CRITICAL(&_spinlock);
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handle->encoder_position = position;
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taskEXIT_CRITICAL(&_spinlock);
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ZH_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_get(const zh_encoder_handle_t *handle, double *position)
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{
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ZH_LOGI("Encoder get position started.");
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ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder get position failed. Invalid argument.");
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ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Encoder get position failed. Encoder not initialized.");
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*position = handle->encoder_position;
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ZH_LOGI("Encoder get 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_LOGI("Encoder reset started.");
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ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder reset failed. Invalid argument.");
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ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Encoder reset failed. Encoder not initialized.");
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taskENTER_CRITICAL(&_spinlock);
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handle->encoder_position = (handle->encoder_min_value + handle->encoder_max_value) / 2;
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taskEXIT_CRITICAL(&_spinlock);
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ZH_LOGI("Encoder reset completed successfully.");
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return ESP_OK;
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}
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const zh_encoder_stats_t *zh_encoder_get_stats(void)
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{
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return &_stats;
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}
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void zh_encoder_reset_stats(void)
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{
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ZH_LOGI("Error statistic reset started.");
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_stats.event_post_error = 0;
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_stats.queue_overflow_error = 0;
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_stats.min_stack_size = 0;
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ZH_LOGI("Error statistic reset successfully.");
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}
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static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *config) // -V2008
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{
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ZH_ERROR_CHECK(config != NULL, ESP_ERR_INVALID_ARG, NULL, "Invalid configuration.");
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ZH_ERROR_CHECK(config->task_priority >= 1 && config->stack_size >= configMINIMAL_STACK_SIZE, ESP_ERR_INVALID_ARG, NULL, "Invalid task settings.");
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ZH_ERROR_CHECK(config->queue_size >= 1, ESP_ERR_INVALID_ARG, NULL, "Invalid queue size.");
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ZH_ERROR_CHECK(config->encoder_max_value > config->encoder_min_value, ESP_ERR_INVALID_ARG, NULL, "Invalid encoder min/max value.");
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ZH_ERROR_CHECK(config->encoder_step > 0, ESP_ERR_INVALID_ARG, NULL, "Invalid encoder step.");
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ZH_ERROR_CHECK(config->encoder_number > 0, ESP_ERR_INVALID_ARG, NULL, "Invalid encoder number.");
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for (uint8_t i = 0; i < sizeof(_encoder_number_matrix); ++i)
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{
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ZH_ERROR_CHECK(config->encoder_number != _encoder_number_matrix[i], ESP_ERR_INVALID_ARG, NULL, "Encoder number already present.");
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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_gpio_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle) // -V2008
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{
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ZH_ERROR_CHECK(config->a_gpio_number < GPIO_NUM_MAX && config->b_gpio_number < GPIO_NUM_MAX && config->s_gpio_number < GPIO_NUM_MAX, ESP_ERR_INVALID_ARG, NULL, "Invalid GPIO number.")
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ZH_ERROR_CHECK(config->a_gpio_number != config->b_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Encoder A and B GPIO is same.")
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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.")
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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) | (1ULL << config->s_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_ERROR_CHECK(err == ESP_OK, err, NULL, "GPIO initialization failed.");
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if (_encoder_counter == 0)
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{
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err = gpio_install_isr_service(ESP_INTR_FLAG_LOWMED);
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ZH_ERROR_CHECK(err == ESP_OK || err == ESP_ERR_INVALID_STATE, err, gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number);
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gpio_reset_pin((gpio_num_t)config->s_gpio_number), "Failed install isr service.");
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if (err == ESP_ERR_INVALID_STATE)
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{
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_is_prev_gpio_isr_handler = true;
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}
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}
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err = gpio_isr_handler_add((gpio_num_t)config->a_gpio_number, _zh_encoder_isr_handler, handle);
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if (_is_prev_gpio_isr_handler == true)
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{
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ZH_ERROR_CHECK(err == ESP_OK, err, gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number);
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gpio_reset_pin((gpio_num_t)config->s_gpio_number), "Interrupt initialization failed.");
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}
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else
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{
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ZH_ERROR_CHECK(err == ESP_OK, err, gpio_uninstall_isr_service(); gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number);
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gpio_reset_pin((gpio_num_t)config->s_gpio_number), "Interrupt initialization failed.");
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}
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err = gpio_isr_handler_add((gpio_num_t)config->b_gpio_number, _zh_encoder_isr_handler, handle);
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if (_is_prev_gpio_isr_handler == true)
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{
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ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->a_gpio_number);
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gpio_reset_pin((gpio_num_t)config->b_gpio_number); gpio_reset_pin((gpio_num_t)config->s_gpio_number), "Interrupt initialization failed.");
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}
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else
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{
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ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_uninstall_isr_service(); gpio_reset_pin((gpio_num_t)config->a_gpio_number);
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gpio_reset_pin((gpio_num_t)config->b_gpio_number); gpio_reset_pin((gpio_num_t)config->s_gpio_number), "Interrupt initialization failed.");
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}
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err = gpio_isr_handler_add((gpio_num_t)config->s_gpio_number, _zh_encoder_isr_handler, handle);
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if (_is_prev_gpio_isr_handler == true)
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{
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ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number);
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gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number); gpio_reset_pin((gpio_num_t)config->s_gpio_number),
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"Interrupt initialization failed.");
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}
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else
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{
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ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number);
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gpio_uninstall_isr_service(); gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number);
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gpio_reset_pin((gpio_num_t)config->s_gpio_number), "Interrupt initialization 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_resources_init(const zh_encoder_init_config_t *config)
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{
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if (_encoder_counter == 0)
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{
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_queue_handle = xQueueCreate(config->queue_size, sizeof(zh_encoder_handle_t));
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ZH_ERROR_CHECK(_queue_handle != NULL, ESP_FAIL, NULL, "Failed to create queue.");
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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_task_init(const zh_encoder_init_config_t *config)
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{
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if (_encoder_counter == 0)
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{
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BaseType_t err = xTaskCreatePinnedToCore(&_zh_encoder_isr_processing_task, "zh_encoder_isr_processing", config->stack_size, NULL, config->task_priority, &zh_encoder, tskNO_AFFINITY);
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ZH_ERROR_CHECK(err == pdPASS, ESP_FAIL, NULL, "Failed to create isr processing task.");
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}
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return ESP_OK;
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}
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static void IRAM_ATTR _zh_encoder_isr_handler(void *arg)
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{
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zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)arg;
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BaseType_t xHigherPriorityTaskWoken = pdFALSE;
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uint64_t _current_us = esp_timer_get_time();
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bool button_flag = false;
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if (_current_us - _prev_us >= BUTTON_DEBOUNCE_TIME)
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{
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bool button_status = gpio_get_level((gpio_num_t)encoder_handle->s_gpio_number);
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if (encoder_handle->button_status != button_status)
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{
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button_flag = true;
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encoder_handle->button_status = button_status;
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}
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}
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_prev_us = _current_us;
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encoder_handle->encoder_state = _encoder_matrix[encoder_handle->encoder_state & 0x0F]
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[(gpio_get_level((gpio_num_t)encoder_handle->b_gpio_number) << 1) | gpio_get_level((gpio_num_t)encoder_handle->a_gpio_number)];
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switch (encoder_handle->encoder_state & 0x30)
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{
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case ZH_ENCODER_DIRECTION_CW:
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if (encoder_handle->encoder_position < encoder_handle->encoder_max_value)
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{
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encoder_handle->encoder_position = encoder_handle->encoder_position + encoder_handle->encoder_step;
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if (encoder_handle->encoder_position > encoder_handle->encoder_max_value)
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{
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encoder_handle->encoder_position = encoder_handle->encoder_max_value;
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}
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if (xQueueSendFromISR(_queue_handle, encoder_handle, &xHigherPriorityTaskWoken) != pdTRUE)
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{
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++_stats.queue_overflow_error;
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}
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}
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break;
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case ZH_ENCODER_DIRECTION_CCW:
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if (encoder_handle->encoder_position > encoder_handle->encoder_min_value)
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{
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encoder_handle->encoder_position = encoder_handle->encoder_position - encoder_handle->encoder_step;
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if (encoder_handle->encoder_position < encoder_handle->encoder_min_value)
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{
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encoder_handle->encoder_position = encoder_handle->encoder_min_value;
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}
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if (xQueueSendFromISR(_queue_handle, encoder_handle, &xHigherPriorityTaskWoken) != pdTRUE)
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{
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++_stats.queue_overflow_error;
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}
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}
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break;
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default:
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if (button_flag == true)
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{
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if (xQueueSendFromISR(_queue_handle, encoder_handle, &xHigherPriorityTaskWoken) != pdTRUE)
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|
{
|
|
++_stats.queue_overflow_error;
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
if (xHigherPriorityTaskWoken == pdTRUE)
|
|
{
|
|
portYIELD_FROM_ISR();
|
|
};
|
|
}
|
|
|
|
static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter)
|
|
{
|
|
zh_encoder_handle_t queue = {0};
|
|
zh_encoder_event_on_isr_t encoder_data = {0};
|
|
while (xQueueReceive(_queue_handle, &queue, portMAX_DELAY) == pdTRUE)
|
|
{
|
|
encoder_data.encoder_number = queue.encoder_number;
|
|
encoder_data.encoder_position = queue.encoder_position;
|
|
encoder_data.button_status = queue.button_status;
|
|
esp_err_t err = esp_event_post(ZH_ENCODER, 0, &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);
|
|
}
|
|
vTaskDelete(NULL);
|
|
} |