97 lines
3.1 KiB
C
97 lines
3.1 KiB
C
/**
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* @file zh_inclinometer.h
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*/
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#pragma once
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#include "esp_log.h"
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#include "driver/gpio.h"
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#include "driver/pulse_cnt.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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/**
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* @brief Inclinometer initial default values.
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*/
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#define ZH_INCLINOMETER_INIT_CONFIG_DEFAULT() \
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{ \
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.a_gpio_number = GPIO_NUM_MAX, \
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.b_gpio_number = GPIO_NUM_MAX, \
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.pullup = true, \
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.encoder_pulses = 0}
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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/**
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* @brief Structure for initial initialization of inclinometer.
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*/
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typedef struct
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{
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uint8_t a_gpio_number; /*!< Encoder A GPIO number. */
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uint8_t b_gpio_number; /*!< Encoder B GPIO number. */
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bool pullup; /*!< Pullup GPIO enable/disable. */
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uint16_t encoder_pulses; /*!< Number of pulses per one rotation. */
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} zh_inclinometer_init_config_t;
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/**
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* @brief Inclinometer handle.
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*/
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typedef struct
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{
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pcnt_unit_handle_t pcnt_unit_handle; /*!< Inclinometer unique pcnt unit handle. */
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pcnt_channel_handle_t pcnt_channel_a_handle; /*!< Inclinometer unique pcnt channel handle. */
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pcnt_channel_handle_t pcnt_channel_b_handle; /*!< Inclinometer unique pcnt channel handle. */
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float degrees_per_pulse; /*!< Number of degrees per pulse. */
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bool is_initialized; /*!< Inclinometer initialization flag. */
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} zh_inclinometer_handle_t;
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/**
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* @brief Initialize inclinometer.
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*
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* @param[in] config Pointer to inclinometer initialized configuration structure. Can point to a temporary variable.
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* @param[out] handle Pointer to unique inclinometer handle.
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*
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* @note Before initialize the inclinometer recommend initialize zh_inclinometer_init_config_t structure with default values.
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*
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* @code zh_inclinometer_init_config_t config = ZH_INCLINOMETER_INIT_CONFIG_DEFAULT() @endcode
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*
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* @return ESP_OK if success or an error code otherwise.
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*/
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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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* @brief Deinitialize inclinometer.
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*
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* @param[in, out] handle Pointer to unique inclinometer handle.
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*
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* @return ESP_OK if success or an error code otherwise.
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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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* @brief Get inclinometer position.
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*
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* @param[in] handle Pointer to unique inclinometer handle.
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* @param[out] position Inclinometer position.
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*
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* @return ESP_OK if success or an error code otherwise.
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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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* @brief Reset inclinometer position.
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*
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* @note The inclinometer will be set to 0 position.
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*
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* @param[in] handle Pointer to unique inclinometer handle.
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*
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* @return ESP_OK if success or an error code otherwise.
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*/
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esp_err_t zh_inclinometer_reset(zh_inclinometer_handle_t *handle);
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#ifdef __cplusplus
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}
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#endif |