esp_components/zh_inclinometer
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feat: added encoder positive rotation select

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This commit is contained in:
Alexey Zholtikov
2026-02-09 11:36:49 +03:00
parent d73d399255
commit 2c51e244a7
3 changed files with 6 additions and 2 deletions
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zh_inclinometer.c
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@@ -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;
}