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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169
zh_inclinometer.c
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@@ -13,82 +13,57 @@
return err; \
}
#define ZH_ENCODER_DIRECTION_CW 0x10
#define ZH_ENCODER_DIRECTION_CCW 0x20
static const uint8_t _encoder_matrix[7][4] = {
{0x03, 0x02, 0x01, 0x00},
{0x23, 0x00, 0x01, 0x00},
{0x13, 0x02, 0x00, 0x00},
{0x03, 0x05, 0x04, 0x00},
{0x03, 0x03, 0x04, 0x00},
{0x03, 0x05, 0x03, 0x00},
};
static portMUX_TYPE _spinlock = portMUX_INITIALIZER_UNLOCKED;
static double _encoder_step;
volatile static double _encoder_position;
volatile static uint8_t _encoder_state;
static uint8_t _a_gpio_number;
static uint8_t _b_gpio_number;
static bool _is_initialized = false;
static bool _is_prev_gpio_isr_handler = false;
static esp_err_t _zh_inclinometer_validate_config(const zh_inclinometer_init_config_t *config);
static esp_err_t _zh_inclinometer_gpio_init(const zh_inclinometer_init_config_t *config);
static void _zh_inclinometer_isr_handler(void *arg);
static esp_err_t _zh_inclinometer_pcnt_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_handle_t *handle);
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)
{
ZH_LOGI("Inclinometer initialization started.");
ZH_ERROR_CHECK(config != NULL && handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer initialization failed. Invalid argument.");
esp_err_t err = _zh_inclinometer_validate_config(config);
ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Inclinometer initialization failed. Initial configuration check failed.");
err = _zh_inclinometer_gpio_init(config);
ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Inclinometer initialization failed. GPIO initialization failed.");
_encoder_position = 0;
_encoder_step = 360.0 / (double)config->encoder_pulses;
_a_gpio_number = config->a_gpio_number;
_b_gpio_number = config->b_gpio_number;
_is_initialized = true;
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->is_initialized = true;
ZH_LOGI("Inclinometer initialization completed successfully.");
return ESP_OK;
}
esp_err_t zh_inclinometer_deinit(void)
esp_err_t zh_inclinometer_deinit(zh_inclinometer_handle_t *handle)
{
ZH_LOGI("Inclinometer deinitialization started.");
ZH_ERROR_CHECK(_is_initialized == true, ESP_FAIL, NULL, "Inclinometer deinitialization failed. Inclinometer not initialized.");
gpio_isr_handler_remove((gpio_num_t)_a_gpio_number);
gpio_isr_handler_remove((gpio_num_t)_b_gpio_number);
gpio_reset_pin((gpio_num_t)_a_gpio_number);
gpio_reset_pin((gpio_num_t)_b_gpio_number);
if (_is_prev_gpio_isr_handler == false)
{
gpio_uninstall_isr_service();
}
_is_initialized = false;
ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer deinitialization failed. Invalid argument.");
ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Inclinometer deinitialization failed. Inclinometer not initialized.");
pcnt_unit_stop(handle->pcnt_unit_handle);
pcnt_unit_disable(handle->pcnt_unit_handle);
pcnt_del_channel(handle->pcnt_channel_a_handle);
pcnt_del_channel(handle->pcnt_channel_b_handle);
pcnt_del_unit(handle->pcnt_unit_handle);
handle->is_initialized = false;
ZH_LOGI("Inclinometer deinitialization completed successfully.");
return ESP_OK;
}
esp_err_t zh_inclinometer_get(double *position)
esp_err_t zh_inclinometer_get(zh_inclinometer_handle_t *handle, float *angle)
{
ZH_LOGI("Inclinometer get position started.");
ZH_ERROR_CHECK(position != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer get position failed. Invalid argument.");
ZH_ERROR_CHECK(_is_initialized == true, ESP_FAIL, NULL, "Inclinometer get position failed. Inclinometer not initialized.");
*position = _encoder_position;
ZH_ERROR_CHECK(handle != NULL && angle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer get position failed. Invalid argument.");
ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Inclinometer get position failed. Inclinometer not initialized.");
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;
ZH_LOGI("Inclinometer get position completed successfully.");
return ESP_OK;
}
esp_err_t zh_inclinometer_reset(void)
esp_err_t zh_inclinometer_reset(zh_inclinometer_handle_t *handle)
{
ZH_LOGI("Inclinometer reset started.");
ZH_ERROR_CHECK(_is_initialized == true, ESP_FAIL, NULL, "Inclinometer reset failed. Inclinometer not initialized.");
taskENTER_CRITICAL(&_spinlock);
_encoder_position = 0;
taskEXIT_CRITICAL(&_spinlock);
ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer reset failed. Invalid argument.");
ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Inclinometer reset failed. Inclinometer not initialized.");
pcnt_unit_clear_count(handle->pcnt_unit_handle);
ZH_LOGI("Inclinometer reset completed successfully.");
return ESP_OK;
}
@@ -100,49 +75,61 @@ static esp_err_t _zh_inclinometer_validate_config(const zh_inclinometer_init_con
return ESP_OK;
}
static esp_err_t _zh_inclinometer_gpio_init(const zh_inclinometer_init_config_t *config) // -V2008
static esp_err_t _zh_inclinometer_pcnt_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_handle_t *handle)
{
ZH_ERROR_CHECK(config != NULL && handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Invalid argument.");
ZH_ERROR_CHECK(config->a_gpio_number < GPIO_NUM_MAX && config->b_gpio_number < GPIO_NUM_MAX, ESP_ERR_INVALID_ARG, NULL, "Invalid GPIO number.")
ZH_ERROR_CHECK(config->a_gpio_number != config->b_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Encoder A and B GPIO is same.")
gpio_config_t pin_config = {
.mode = GPIO_MODE_INPUT,
.pin_bit_mask = (1ULL << config->a_gpio_number) | (1ULL << config->b_gpio_number),
.pull_up_en = GPIO_PULLUP_ENABLE,
.intr_type = GPIO_INTR_ANYEDGE};
esp_err_t err = gpio_config(&pin_config);
ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "GPIO initialization failed.");
err = gpio_install_isr_service(ESP_INTR_FLAG_LOWMED);
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), "Failed install isr service.");
if (err == ESP_ERR_INVALID_STATE)
pcnt_unit_config_t pcnt_unit_config = {
.high_limit = config->encoder_pulses,
.low_limit = -config->encoder_pulses,
};
pcnt_unit_handle_t pcnt_unit_handle = NULL;
esp_err_t err = pcnt_new_unit(&pcnt_unit_config, &pcnt_unit_handle);
ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT initialization failed.");
pcnt_glitch_filter_config_t pcnt_glitch_filter_config = {
.max_glitch_ns = 1000,
};
err = pcnt_unit_set_glitch_filter(pcnt_unit_handle, &pcnt_glitch_filter_config);
ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed.");
pcnt_chan_config_t pcnt_chan_a_config = {
.edge_gpio_num = config->a_gpio_number,
.level_gpio_num = config->b_gpio_number,
};
pcnt_channel_handle_t pcnt_channel_a_handle = NULL;
err = pcnt_new_channel(pcnt_unit_handle, &pcnt_chan_a_config, &pcnt_channel_a_handle);
ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed.");
pcnt_chan_config_t pcnt_chan_b_config = {
.edge_gpio_num = config->b_gpio_number,
.level_gpio_num = config->a_gpio_number,
};
pcnt_channel_handle_t pcnt_channel_b_handle = NULL;
err = pcnt_new_channel(pcnt_unit_handle, &pcnt_chan_b_config, &pcnt_channel_b_handle);
ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed.");
err = pcnt_channel_set_edge_action(pcnt_channel_a_handle, PCNT_CHANNEL_EDGE_ACTION_DECREASE, PCNT_CHANNEL_EDGE_ACTION_HOLD);
ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_channel(pcnt_channel_b_handle); pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed.");
err = pcnt_channel_set_level_action(pcnt_channel_a_handle, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_HOLD);
ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_channel(pcnt_channel_b_handle); pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed.");
err = pcnt_channel_set_edge_action(pcnt_channel_b_handle, PCNT_CHANNEL_EDGE_ACTION_INCREASE, PCNT_CHANNEL_EDGE_ACTION_HOLD);
ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_channel(pcnt_channel_b_handle); pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed.");
err = pcnt_channel_set_level_action(pcnt_channel_b_handle, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_HOLD);
ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_channel(pcnt_channel_b_handle); pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed.");
err = pcnt_unit_enable(pcnt_unit_handle);
ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_channel(pcnt_channel_b_handle); pcnt_del_unit(pcnt_unit_handle),
"PCNT initialization failed.");
err = pcnt_unit_clear_count(pcnt_unit_handle);
ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_unit_disable(pcnt_unit_handle); pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_channel(pcnt_channel_b_handle);
pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed.");
err = pcnt_unit_start(pcnt_unit_handle);
ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_unit_disable(pcnt_unit_handle); pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_channel(pcnt_channel_b_handle);
pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed.");
if (config->pullup == false)
{
_is_prev_gpio_isr_handler = true;
}
err = gpio_isr_handler_add((gpio_num_t)config->a_gpio_number, _zh_inclinometer_isr_handler, NULL);
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), "Interrupt initialization failed.");
err = gpio_isr_handler_add((gpio_num_t)config->b_gpio_number, _zh_inclinometer_isr_handler, NULL);
if (_is_prev_gpio_isr_handler == true)
{
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); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Interrupt initialization failed.");
}
else
{
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); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Interrupt initialization failed.");
gpio_pullup_dis((gpio_num_t)config->a_gpio_number);
gpio_pullup_dis((gpio_num_t)config->b_gpio_number);
}
handle->pcnt_unit_handle = pcnt_unit_handle;
handle->pcnt_channel_a_handle = pcnt_channel_a_handle;
handle->pcnt_channel_b_handle = pcnt_channel_b_handle;
return ESP_OK;
}
static void IRAM_ATTR _zh_inclinometer_isr_handler(void *arg)
{
_encoder_state = _encoder_matrix[_encoder_state & 0x0F][(gpio_get_level((gpio_num_t)_b_gpio_number) << 1) | gpio_get_level((gpio_num_t)_a_gpio_number)];
switch (_encoder_state & 0x30)
{
case ZH_ENCODER_DIRECTION_CW:
_encoder_position = _encoder_position + _encoder_step;
break;
case ZH_ENCODER_DIRECTION_CCW:
_encoder_position = _encoder_position - _encoder_step;
break;
default:
break;
}
}