feat!: changed driver on pcnt

README.md

@@ -2,7 +2,7 @@
 
 ## Tested on
 
-1. [ESP32 ESP-IDF v5.5.1](https://docs.espressif.com/projects/esp-idf/en/v5.5.1/esp32/index.html)
+1. [ESP32 ESP-IDF v5.5.2](https://docs.espressif.com/projects/esp-idf/en/v5.5.2/esp32/index.html)
 
 ## SAST Tools
 
@@ -13,7 +13,8 @@
 1. For correct operation, please enable the following settings in the menuconfig:
 
 ```text
-GPIO_CTRL_FUNC_IN_IRAM
+PCNT_CTRL_FUNC_IN_IRAM
+PCNT_ISR_IRAM_SAF
 ```
 
 ## Using
@@ -36,7 +37,7 @@ In the application, add the component:
 ```c
 #include "zh_inclinometer.h"
 
-double inclinometer_position = 0;
+zh_inclinometer_handle_t inclinometer_handle = {0};
 
 void app_main(void)
 {
@@ -45,11 +46,12 @@ void app_main(void)
     config.a_gpio_number = GPIO_NUM_26;
     config.b_gpio_number = GPIO_NUM_27;
     config.encoder_pulses = 3600;
-    zh_inclinometer_init(&config);
+    zh_inclinometer_init(&config, &inclinometer_handle);
     for (;;)
     {
-        zh_inclinometer_get(&inclinometer_position);
+        float angle = 0;
-        printf("Inclinometer position is %0.2f degrees.\n", inclinometer_position);
+        zh_inclinometer_get(&inclinometer_handle, &angle);
+        printf("Inclinometer position is %0.2f degrees.\n", angle);
         vTaskDelay(100 / portTICK_PERIOD_MS);
     }
 }

include/zh_inclinometer.h

@@ -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
 }

version.txt

@@ -1 +1 @@
-1.0.0
+2.0.0

zh_inclinometer.c

@@ -13,83 +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 esp_err_t _zh_inclinometer_pcnt_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_handle_t *handle);
-static void _zh_inclinometer_isr_handler(void *arg);
 
-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);
+    err = _zh_inclinometer_pcnt_init(config, handle);
-    ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Inclinometer initialization failed. GPIO initialization failed.");
+    ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Inclinometer initialization failed. PCNT initialization failed.");
-    _encoder_position = 0;
+    handle->degrees_per_pulse = 360.0 / config->encoder_pulses;
-    _encoder_step = 360.0 / (double)config->encoder_pulses;
+    handle->is_initialized = true;
-    printf("_encoder_step is %0.2f degrees.\n", _encoder_step);
-    _a_gpio_number = config->a_gpio_number;
-    _b_gpio_number = config->b_gpio_number;
-    _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.");
+    ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer deinitialization failed. Invalid argument.");
-    gpio_isr_handler_remove((gpio_num_t)_a_gpio_number);
+    ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Inclinometer deinitialization failed. Inclinometer not initialized.");
-    gpio_isr_handler_remove((gpio_num_t)_b_gpio_number);
+    pcnt_unit_stop(handle->pcnt_unit_handle);
-    gpio_reset_pin((gpio_num_t)_a_gpio_number);
+    pcnt_unit_disable(handle->pcnt_unit_handle);
-    gpio_reset_pin((gpio_num_t)_b_gpio_number);
+    pcnt_del_channel(handle->pcnt_channel_a_handle);
-    if (_is_prev_gpio_isr_handler == false)
+    pcnt_del_channel(handle->pcnt_channel_b_handle);
-    {
+    pcnt_del_unit(handle->pcnt_unit_handle);
-        gpio_uninstall_isr_service();
+    handle->is_initialized = false;
-    }
-    _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(handle != NULL && angle != 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.");
+    ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Inclinometer get position failed. Inclinometer not initialized.");
-    *position = _encoder_position;
+    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.");
+    ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer reset failed. Invalid argument.");
-    taskENTER_CRITICAL(&_spinlock);
+    ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Inclinometer reset failed. Inclinometer not initialized.");
-    _encoder_position = 0;
+    pcnt_unit_clear_count(handle->pcnt_unit_handle);
-    taskEXIT_CRITICAL(&_spinlock);
     ZH_LOGI("Inclinometer reset completed successfully.");
     return ESP_OK;
 }
@@ -101,49 +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 = {
+    pcnt_unit_config_t pcnt_unit_config = {
-        .mode = GPIO_MODE_INPUT,
+        .high_limit = config->encoder_pulses,
-        .pin_bit_mask = (1ULL << config->a_gpio_number) | (1ULL << config->b_gpio_number),
+        .low_limit = -config->encoder_pulses,
-        .pull_up_en = GPIO_PULLUP_ENABLE,
+    };
-        .intr_type = GPIO_INTR_ANYEDGE};
+    pcnt_unit_handle_t pcnt_unit_handle = NULL;
-    esp_err_t err = gpio_config(&pin_config);
+    esp_err_t err = pcnt_new_unit(&pcnt_unit_config, &pcnt_unit_handle);
-    ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "GPIO initialization failed.");
+    ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT initialization failed.");
-    err = gpio_install_isr_service(ESP_INTR_FLAG_LOWMED);
+    pcnt_glitch_filter_config_t pcnt_glitch_filter_config = {
-    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.");
+        .max_glitch_ns = 1000,
-    if (err == ESP_ERR_INVALID_STATE)
+    };
+    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;
+        gpio_pullup_dis((gpio_num_t)config->a_gpio_number);
-    }
+        gpio_pullup_dis((gpio_num_t)config->b_gpio_number);
-    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.");
     }
+    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;
-    }
 }