148 lines
6.5 KiB
C
148 lines
6.5 KiB
C
#include "zh_inclinometer.h"
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#define TAG "zh_inclinometer"
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#define ZH_LOGI(msg, ...) ESP_LOGI(TAG, msg, ##__VA_ARGS__)
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#define ZH_LOGE(msg, err, ...) ESP_LOGE(TAG, "[%s:%d:%s] " msg, __FILE__, __LINE__, esp_err_to_name(err), ##__VA_ARGS__)
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#define ZH_ERROR_CHECK(cond, err, cleanup, msg, ...) \
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if (!(cond)) \
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{ \
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ZH_LOGE(msg, err, ##__VA_ARGS__); \
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cleanup; \
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return err; \
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}
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#define ZH_ENCODER_DIRECTION_CW 0x10
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#define ZH_ENCODER_DIRECTION_CCW 0x20
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static const uint8_t _encoder_matrix[7][4] = {
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{0x03, 0x02, 0x01, 0x00},
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{0x23, 0x00, 0x01, 0x00},
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{0x13, 0x02, 0x00, 0x00},
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{0x03, 0x05, 0x04, 0x00},
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{0x03, 0x03, 0x04, 0x00},
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{0x03, 0x05, 0x03, 0x00},
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};
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static portMUX_TYPE _spinlock = portMUX_INITIALIZER_UNLOCKED;
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static double _encoder_step;
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volatile static double _encoder_position;
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volatile static uint8_t _encoder_state;
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static uint8_t _a_gpio_number;
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static uint8_t _b_gpio_number;
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static bool _is_initialized = false;
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static bool _is_prev_gpio_isr_handler = false;
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static esp_err_t _zh_inclinometer_validate_config(const zh_inclinometer_init_config_t *config);
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static esp_err_t _zh_inclinometer_gpio_init(const zh_inclinometer_init_config_t *config);
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static void _zh_inclinometer_isr_handler(void *arg);
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esp_err_t zh_inclinometer_init(const zh_inclinometer_init_config_t *config)
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{
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ZH_LOGI("Inclinometer initialization started.");
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esp_err_t err = _zh_inclinometer_validate_config(config);
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ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Inclinometer initialization failed. Initial configuration check failed.");
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err = _zh_inclinometer_gpio_init(config);
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ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Inclinometer initialization failed. GPIO initialization failed.");
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_encoder_position = 0;
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_encoder_step = 360.0 / (double)config->encoder_pulses;
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_a_gpio_number = config->a_gpio_number;
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_b_gpio_number = config->b_gpio_number;
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_is_initialized = true;
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ZH_LOGI("Inclinometer initialization completed successfully.");
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return ESP_OK;
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}
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esp_err_t zh_inclinometer_deinit(void)
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{
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ZH_LOGI("Inclinometer deinitialization started.");
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ZH_ERROR_CHECK(_is_initialized == true, ESP_FAIL, NULL, "Inclinometer deinitialization failed. Inclinometer not initialized.");
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gpio_isr_handler_remove((gpio_num_t)_a_gpio_number);
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gpio_isr_handler_remove((gpio_num_t)_b_gpio_number);
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gpio_reset_pin((gpio_num_t)_a_gpio_number);
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gpio_reset_pin((gpio_num_t)_b_gpio_number);
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if (_is_prev_gpio_isr_handler == false)
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{
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gpio_uninstall_isr_service();
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}
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_is_initialized = false;
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ZH_LOGI("Inclinometer deinitialization completed successfully.");
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return ESP_OK;
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}
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esp_err_t zh_inclinometer_get(double *position)
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{
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ZH_LOGI("Inclinometer get position started.");
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ZH_ERROR_CHECK(position != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer get position failed. Invalid argument.");
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ZH_ERROR_CHECK(_is_initialized == true, ESP_FAIL, NULL, "Inclinometer get position failed. Inclinometer not initialized.");
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*position = _encoder_position;
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ZH_LOGI("Inclinometer get position completed successfully.");
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return ESP_OK;
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}
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esp_err_t zh_inclinometer_reset(void)
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{
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ZH_LOGI("Inclinometer reset started.");
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ZH_ERROR_CHECK(_is_initialized == true, ESP_FAIL, NULL, "Inclinometer reset failed. Inclinometer not initialized.");
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taskENTER_CRITICAL(&_spinlock);
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_encoder_position = 0;
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taskEXIT_CRITICAL(&_spinlock);
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ZH_LOGI("Inclinometer reset completed successfully.");
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return ESP_OK;
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}
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static esp_err_t _zh_inclinometer_validate_config(const zh_inclinometer_init_config_t *config)
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{
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ZH_ERROR_CHECK(config != NULL, ESP_ERR_INVALID_ARG, NULL, "Invalid configuration.");
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ZH_ERROR_CHECK(config->encoder_pulses > 0, ESP_ERR_INVALID_ARG, NULL, "Invalid encoder pulses.");
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return ESP_OK;
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}
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static esp_err_t _zh_inclinometer_gpio_init(const zh_inclinometer_init_config_t *config) // -V2008
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{
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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.")
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ZH_ERROR_CHECK(config->a_gpio_number != config->b_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Encoder A and B GPIO is same.")
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gpio_config_t pin_config = {
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.mode = GPIO_MODE_INPUT,
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.pin_bit_mask = (1ULL << config->a_gpio_number) | (1ULL << config->b_gpio_number),
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.pull_up_en = GPIO_PULLUP_ENABLE,
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.intr_type = GPIO_INTR_ANYEDGE};
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esp_err_t err = gpio_config(&pin_config);
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ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "GPIO initialization failed.");
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err = gpio_install_isr_service(ESP_INTR_FLAG_LOWMED);
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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.");
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if (err == ESP_ERR_INVALID_STATE)
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{
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_is_prev_gpio_isr_handler = true;
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}
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err = gpio_isr_handler_add((gpio_num_t)config->a_gpio_number, _zh_inclinometer_isr_handler, NULL);
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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.");
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err = gpio_isr_handler_add((gpio_num_t)config->b_gpio_number, _zh_inclinometer_isr_handler, NULL);
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if (_is_prev_gpio_isr_handler == true)
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{
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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.");
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}
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else
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{
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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.");
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}
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return ESP_OK;
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}
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static void IRAM_ATTR _zh_inclinometer_isr_handler(void *arg)
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{
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_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)];
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switch (_encoder_state & 0x30)
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{
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case ZH_ENCODER_DIRECTION_CW:
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_encoder_position = _encoder_position + _encoder_step;
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break;
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case ZH_ENCODER_DIRECTION_CCW:
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_encoder_position = _encoder_position - _encoder_step;
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break;
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default:
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break;
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}
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} |