esp_components/zh_inclinometer
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feat!: changed driver on pcnt

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This commit is contained in:
Alexey Zholtikov
2026-01-27 16:01:24 +03:00
parent 33d5c41f23
commit e45143ec66
4 changed files with 113 additions and 103 deletions
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31
include/zh_inclinometer.h
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@@ -6,6 +6,7 @@
#include "esp_log.h"
#include "driver/gpio.h"
#include "driver/pulse_cnt.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
@@ -16,6 +17,7 @@
{ \
.a_gpio_number = GPIO_NUM_MAX, \
.b_gpio_number = GPIO_NUM_MAX, \
.pullup = true, \
.encoder_pulses = 0}
#ifdef __cplusplus
@@ -30,13 +32,27 @@ 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. */
uint16_t encoder_pulses; /*!< Number of pulses per one rotation. */
} zh_inclinometer_init_config_t;
/**
* @brief Inclinometer handle.
*/
typedef struct
{
pcnt_unit_handle_t pcnt_unit_handle; /*!< Inclinometer unique pcnt unit handle. */
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 is_initialized; /*!< Inclinometer initialization flag. */
} zh_inclinometer_handle_t;
/**
* @brief Initialize inclinometer.
*
* @param[in] config Pointer to inclinometer initialized configuration structure. Can point to a temporary variable.
* @param[out] handle Pointer to unique inclinometer handle.
*
* @note Before initialize the inclinometer recommend initialize zh_inclinometer_init_config_t structure with default values.
*
@@ -44,32 +60,37 @@ extern "C"
*
* @return ESP_OK if success or an error code otherwise.
*/
esp_err_t zh_inclinometer_init(const zh_inclinometer_init_config_t *config);
esp_err_t zh_inclinometer_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_handle_t *handle);
/**
* @brief Deinitialize inclinometer.
*
* @param[in, out] handle Pointer to unique inclinometer handle.
*
* @return ESP_OK if success or an error code otherwise.
*/
esp_err_t zh_inclinometer_deinit(void);
esp_err_t zh_inclinometer_deinit(zh_inclinometer_handle_t *handle);
/**
* @brief Get inclinometer position.
*
* @param[out] position inclinometer position.
* @param[in] handle Pointer to unique inclinometer handle.
* @param[out] position Inclinometer position.
*
* @return ESP_OK if success or an error code otherwise.
*/
esp_err_t zh_inclinometer_get(double *position);
esp_err_t zh_inclinometer_get(zh_inclinometer_handle_t *handle, float *angle);
/**
* @brief Reset inclinometer position.
*
* @note The inclinometer will be set to 0 position.
*
* @param[in] handle Pointer to unique inclinometer handle.
*
* @return ESP_OK if success or an error code otherwise.
*/
esp_err_t zh_inclinometer_reset(void);
esp_err_t zh_inclinometer_reset(zh_inclinometer_handle_t *handle);
#ifdef __cplusplus
}