133 lines
8.1 KiB
C
133 lines
8.1 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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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_pcnt_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_handle_t *handle);
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esp_err_t zh_inclinometer_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_handle_t *handle)
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{
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ZH_LOGI("Inclinometer initialization started.");
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ZH_ERROR_CHECK(config != NULL && handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer initialization failed. Invalid argument.");
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ZH_ERROR_CHECK(handle->is_initialized == false, ESP_ERR_INVALID_STATE, NULL, "Inclinometer initialization failed. Inclinometer is already initialized.");
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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_pcnt_init(config, handle);
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ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Inclinometer initialization failed. PCNT initialization failed.");
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handle->degrees_per_pulse = 360.0 / config->encoder_pulses;
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handle->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(zh_inclinometer_handle_t *handle)
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{
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ZH_LOGI("Inclinometer deinitialization started.");
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ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer deinitialization failed. Invalid argument.");
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ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Inclinometer deinitialization failed. Inclinometer not initialized.");
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pcnt_unit_stop(handle->pcnt_unit_handle);
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pcnt_unit_disable(handle->pcnt_unit_handle);
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pcnt_del_channel(handle->pcnt_channel_a_handle);
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pcnt_del_channel(handle->pcnt_channel_b_handle);
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pcnt_del_unit(handle->pcnt_unit_handle);
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handle->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(zh_inclinometer_handle_t *handle, float *angle)
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{
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ZH_LOGI("Inclinometer get position started.");
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ZH_ERROR_CHECK(handle != NULL && angle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer get position failed. Invalid argument.");
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ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Inclinometer get position failed. Inclinometer not initialized.");
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int pcnt_count = 0;
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pcnt_unit_get_count(handle->pcnt_unit_handle, &pcnt_count);
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float angle_temp = pcnt_count * handle->degrees_per_pulse;
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*angle = (angle_temp < 0) ? -angle_temp : angle_temp;
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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(zh_inclinometer_handle_t *handle)
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{
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ZH_LOGI("Inclinometer reset started.");
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ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer reset failed. Invalid argument.");
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ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Inclinometer reset failed. Inclinometer not initialized.");
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pcnt_unit_clear_count(handle->pcnt_unit_handle);
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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->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_pcnt_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_handle_t *handle) // -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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pcnt_unit_config_t pcnt_unit_config = {
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.high_limit = config->encoder_pulses,
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.low_limit = -config->encoder_pulses,
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};
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pcnt_unit_handle_t pcnt_unit_handle = NULL;
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esp_err_t err = pcnt_new_unit(&pcnt_unit_config, &pcnt_unit_handle);
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ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT initialization failed.");
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pcnt_glitch_filter_config_t pcnt_glitch_filter_config = {
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.max_glitch_ns = 1000,
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};
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err = pcnt_unit_set_glitch_filter(pcnt_unit_handle, &pcnt_glitch_filter_config);
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ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed.");
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pcnt_chan_config_t pcnt_chan_a_config = {
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.edge_gpio_num = config->a_gpio_number,
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.level_gpio_num = config->b_gpio_number,
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};
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pcnt_channel_handle_t pcnt_channel_a_handle = NULL;
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err = pcnt_new_channel(pcnt_unit_handle, &pcnt_chan_a_config, &pcnt_channel_a_handle);
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ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed.");
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pcnt_chan_config_t pcnt_chan_b_config = {
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.edge_gpio_num = config->b_gpio_number,
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.level_gpio_num = config->a_gpio_number,
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};
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pcnt_channel_handle_t pcnt_channel_b_handle = NULL;
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err = pcnt_new_channel(pcnt_unit_handle, &pcnt_chan_b_config, &pcnt_channel_b_handle);
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ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed.");
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err = pcnt_channel_set_edge_action(pcnt_channel_a_handle, PCNT_CHANNEL_EDGE_ACTION_DECREASE, PCNT_CHANNEL_EDGE_ACTION_HOLD);
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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.");
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err = pcnt_channel_set_level_action(pcnt_channel_a_handle, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_HOLD);
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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.");
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err = pcnt_channel_set_edge_action(pcnt_channel_b_handle, PCNT_CHANNEL_EDGE_ACTION_INCREASE, PCNT_CHANNEL_EDGE_ACTION_HOLD);
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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.");
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err = pcnt_channel_set_level_action(pcnt_channel_b_handle, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_HOLD);
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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.");
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err = pcnt_unit_enable(pcnt_unit_handle);
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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.");
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err = pcnt_unit_clear_count(pcnt_unit_handle);
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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);
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pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed.");
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err = pcnt_unit_start(pcnt_unit_handle);
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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);
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pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed.");
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if (config->pullup == false)
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{
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gpio_pullup_dis((gpio_num_t)config->a_gpio_number);
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gpio_pullup_dis((gpio_num_t)config->b_gpio_number);
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}
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handle->pcnt_unit_handle = pcnt_unit_handle;
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handle->pcnt_channel_a_handle = pcnt_channel_a_handle;
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handle->pcnt_channel_b_handle = pcnt_channel_b_handle;
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return ESP_OK;
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} |