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

@@ -16,15 +16,17 @@
 static esp_err_t _zh_inclinometer_validate_config(const zh_inclinometer_init_config_t *config);
 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, zh_inclinometer_handle_t *handle)
+esp_err_t zh_inclinometer_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_handle_t *handle) // -V2008
 {
     ZH_LOGI("Inclinometer initialization started.");
     ZH_ERROR_CHECK(config != NULL && handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer initialization failed. Invalid argument.");
+    ZH_ERROR_CHECK(handle->is_initialized == false, ESP_ERR_INVALID_STATE, NULL, "Inclinometer initialization failed. Inclinometer is already initialized.");
     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_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;
@@ -53,7 +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;
 }
@@ -70,14 +72,12 @@ esp_err_t zh_inclinometer_reset(zh_inclinometer_handle_t *handle)
 
 static esp_err_t _zh_inclinometer_validate_config(const zh_inclinometer_init_config_t *config)
 {
-    ZH_ERROR_CHECK(config != NULL, ESP_ERR_INVALID_ARG, NULL, "Invalid configuration.");
     ZH_ERROR_CHECK(config->encoder_pulses > 0, ESP_ERR_INVALID_ARG, NULL, "Invalid encoder pulses.");
     return ESP_OK;
 }
 
-static esp_err_t _zh_inclinometer_pcnt_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_handle_t *handle)
+static esp_err_t _zh_inclinometer_pcnt_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_handle_t *handle) // -V2008
 {
-    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.")
     pcnt_unit_config_t pcnt_unit_config = {
@@ -115,8 +115,7 @@ static esp_err_t _zh_inclinometer_pcnt_init(const zh_inclinometer_init_config_t
     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.");
+    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.");