feat: added encoder positive rotation select

include/zh_inclinometer.h

@@ -18,6 +18,7 @@
         .a_gpio_number = GPIO_NUM_MAX,        \
         .b_gpio_number = GPIO_NUM_MAX,        \
         .pullup = true,                       \
+        .rotation = true,                     \
         .encoder_pulses = 0}
 
 #ifdef __cplusplus
@@ -33,6 +34,7 @@ extern "C"
         uint8_t a_gpio_number;   /*!< Encoder A GPIO number. */
         uint8_t b_gpio_number;   /*!< Encoder B GPIO number. */
         bool pullup;             /*!< Pullup GPIO enable/disable. */
+        bool rotation;           /*!< Encoder rotation (true - positive for CW rotation, false - positive for CCW rotation). */
         uint16_t encoder_pulses; /*!< Number of pulses per one rotation. */
     } zh_inclinometer_init_config_t;
 
@@ -45,6 +47,7 @@ extern "C"
         pcnt_channel_handle_t pcnt_channel_a_handle; /*!< Inclinometer unique pcnt channel handle. */
         pcnt_channel_handle_t pcnt_channel_b_handle; /*!< Inclinometer unique pcnt channel handle. */
         float degrees_per_pulse;                     /*!< Number of degrees per pulse. */
+        bool rotation;                               /*!< Encoder rotation. */
         bool is_initialized;                         /*!< Inclinometer initialization flag. */
     } zh_inclinometer_handle_t;
 

version.txt

@@ -1 +1 @@
-2.0.0
+2.1.0

zh_inclinometer.c

@@ -26,6 +26,7 @@ esp_err_t zh_inclinometer_init(const zh_inclinometer_init_config_t *config, zh_i
     err = _zh_inclinometer_pcnt_init(config, handle);
     ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Inclinometer initialization failed. PCNT initialization failed.");
     handle->degrees_per_pulse = 360.0 / config->encoder_pulses;
+    handle->rotation = config->rotation;
     handle->is_initialized = true;
     ZH_LOGI("Inclinometer initialization completed successfully.");
     return ESP_OK;
@@ -54,7 +55,7 @@ esp_err_t zh_inclinometer_get(zh_inclinometer_handle_t *handle, float *angle)
     int pcnt_count = 0;
     pcnt_unit_get_count(handle->pcnt_unit_handle, &pcnt_count);
     float angle_temp = pcnt_count * handle->degrees_per_pulse;
-    *angle = (angle_temp < 0) ? -angle_temp : angle_temp;
+    *angle = (handle->rotation == true) ? angle_temp : -angle_temp;
     ZH_LOGI("Inclinometer get position completed successfully.");
     return ESP_OK;
 }