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