esp_components/zh_tachometer
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This commit is contained in:
Alexey Zholtikov
2026-01-31 23:21:25 +03:00
parent 11f07e6629
commit a6e0f2876c
7 changed files with 267 additions and 2 deletions
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2
CMakeLists.txt
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idf_component_register(SRCS "main.c" INCLUDE_DIRS "include") idf_component_register(SRCS "zh_tachometer.c" INCLUDE_DIRS "include" REQUIRES driver esp_timer)

23
README.md
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# esp_component_template # esp_component_template
esp_component_template esp_component_template
#include "zh_tachometer.h"
zh_tachometer_handle_t tachometer_handle = {0};
void app_main(void)
{
esp_log_level_set("zh_tachometer", ESP_LOG_ERROR);
zh_tachometer_init_config_t config = ZH_TACHOMETER_INIT_CONFIG_DEFAULT();
config.a_gpio_number = GPIO_NUM_26;
config.b_gpio_number = GPIO_NUM_27;
config.encoder_pulses = 3600;
zh_tachometer_init(&config, &tachometer_handle);
for (;;)
{
int16_t value = 0;
zh_tachometer_get(&tachometer_handle, &value);
printf("Tachometer value is %d rpm.\n", value);
vTaskDelay(1000 / portTICK_PERIOD_MS);
}
}

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component.mk
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include/main.h
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include/zh_tachometer.h Normal file
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/**
* @file zh_tachometer.h
*/
#pragma once
#include "esp_log.h"
#include "driver/gpio.h"
#include "driver/pulse_cnt.h"
#include "esp_timer.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
/**
* @brief Tachometer initial default values.
*/
#define ZH_TACHOMETER_INIT_CONFIG_DEFAULT() \
{ \
.a_gpio_number = GPIO_NUM_MAX, \
.b_gpio_number = GPIO_NUM_MAX, \
.pullup = true, \
.encoder_pulses = 0}
#ifdef __cplusplus
extern "C"
{
#endif
/**
* @brief Structure for initial initialization of tachometer.
*/
typedef struct
{
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_tachometer_init_config_t;
/**
* @brief Tachometer handle.
*/
typedef struct
{
pcnt_unit_handle_t pcnt_unit_handle; /*!< Tachometer unique pcnt unit handle. */
pcnt_channel_handle_t pcnt_channel_a_handle; /*!< Tachometer unique pcnt channel handle. */
pcnt_channel_handle_t pcnt_channel_b_handle; /*!< Tachometer unique pcnt channel handle. */
esp_timer_handle_t esp_timer_handle; /*!< Tachometer unique timer handle. */
uint16_t value; /*!< Tachometer value. */
bool is_initialized; /*!< Tachometer initialization flag. */
} zh_tachometer_handle_t;
/**
* @brief Initialize tachometer.
*
* @param[in] config Pointer to tachometer initialized configuration structure. Can point to a temporary variable.
* @param[out] handle Pointer to unique tachometer handle.
*
* @note Before initialize the tachometer recommend initialize zh_tachometer_init_config_t structure with default values.
*
* @code zh_tachometer_init_config_t config = ZH_TACHOMETER_INIT_CONFIG_DEFAULT() @endcode
*
* @return ESP_OK if success or an error code otherwise.
*/
esp_err_t zh_tachometer_init(const zh_tachometer_init_config_t *config, zh_tachometer_handle_t *handle);
/**
* @brief Deinitialize tachometer.
*
* @param[in, out] handle Pointer to unique tachometer handle.
*
* @return ESP_OK if success or an error code otherwise.
*/
esp_err_t zh_tachometer_deinit(zh_tachometer_handle_t *handle);
/**
* @brief Get tachometer value.
*
* @param[in] handle Pointer to unique tachometer handle.
* @param[out] value Tachometer value.
*
* @return ESP_OK if success or an error code otherwise.
*/
esp_err_t zh_tachometer_get(const zh_tachometer_handle_t *handle, uint16_t *value);
#ifdef __cplusplus
}
#endif

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main.c
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zh_tachometer.c Normal file
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#include "zh_tachometer.h"
#define TAG "zh_tachometer"
#define ZH_LOGI(msg, ...) ESP_LOGI(TAG, msg, ##__VA_ARGS__)
#define ZH_LOGE(msg, err, ...) ESP_LOGE(TAG, "[%s:%d:%s] " msg, __FILE__, __LINE__, esp_err_to_name(err), ##__VA_ARGS__)
#define ZH_ERROR_CHECK(cond, err, cleanup, msg, ...) \
if (!(cond)) \
{ \
ZH_LOGE(msg, err, ##__VA_ARGS__); \
cleanup; \
return err; \
}
static esp_err_t _zh_tachometer_validate_config(const zh_tachometer_init_config_t *config);
static esp_err_t _zh_tachometer_pcnt_init(const zh_tachometer_init_config_t *config, zh_tachometer_handle_t *handle);
static esp_err_t _zh_tachometer_timer_init(zh_tachometer_handle_t *handle);
static void _zh_tachometer_timer_on_alarm_cb(void *arg);
esp_err_t zh_tachometer_init(const zh_tachometer_init_config_t *config, zh_tachometer_handle_t *handle)
{
ZH_LOGI("Tachometer initialization started.");
ZH_ERROR_CHECK(config != NULL && handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Tachometer initialization failed. Invalid argument.");
ZH_ERROR_CHECK(handle->is_initialized == false, ESP_ERR_INVALID_STATE, NULL, "Tachometer initialization failed. Tachometer is already initialized.");
esp_err_t err = _zh_tachometer_validate_config(config);
ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Tachometer initialization failed. Initial configuration check failed.");
err = _zh_tachometer_timer_init(handle);
ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Tachometer initialization failed. Timer initialization failed.");
err = _zh_tachometer_pcnt_init(config, handle);
ZH_ERROR_CHECK(err == ESP_OK, err, esp_timer_stop(handle->esp_timer_handle); esp_timer_delete(handle->esp_timer_handle), "Tachometer initialization failed. PCNT initialization failed.");
handle->is_initialized = true;
ZH_LOGI("Tachometer initialization completed successfully.");
return ESP_OK;
}
esp_err_t zh_tachometer_deinit(zh_tachometer_handle_t *handle)
{
ZH_LOGI("Tachometer deinitialization started.");
ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Tachometer deinitialization failed. Invalid argument.");
ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Tachometer deinitialization failed. Tachometer not initialized.");
pcnt_unit_stop(handle->pcnt_unit_handle);
pcnt_unit_disable(handle->pcnt_unit_handle);
pcnt_unit_remove_watch_point(handle->pcnt_unit_handle, 32767);
pcnt_unit_remove_watch_point(handle->pcnt_unit_handle, -32767);
pcnt_del_channel(handle->pcnt_channel_a_handle);
pcnt_del_channel(handle->pcnt_channel_b_handle);
pcnt_del_unit(handle->pcnt_unit_handle);
esp_timer_stop(handle->esp_timer_handle);
esp_timer_delete(handle->esp_timer_handle);
handle->is_initialized = false;
ZH_LOGI("Tachometer deinitialization completed successfully.");
return ESP_OK;
}
esp_err_t zh_tachometer_get(const zh_tachometer_handle_t *handle, uint16_t *value)
{
ZH_LOGI("Tachometer get position started.");
ZH_ERROR_CHECK(handle != NULL && value != NULL, ESP_ERR_INVALID_ARG, NULL, "Tachometer get position failed. Invalid argument.");
ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Tachometer get position failed. Tachometer not initialized.");
*value = handle->value;
ZH_LOGI("Tachometer get position completed successfully.");
return ESP_OK;
}
static esp_err_t _zh_tachometer_validate_config(const zh_tachometer_init_config_t *config)
{
ZH_ERROR_CHECK(config->encoder_pulses > 0, ESP_ERR_INVALID_ARG, NULL, "Invalid encoder pulses.");
return ESP_OK;
}
static esp_err_t _zh_tachometer_pcnt_init(const zh_tachometer_init_config_t *config, zh_tachometer_handle_t *handle)
{
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 = {
.high_limit = 32767,
.low_limit = -32767,
.flags.accum_count = true,
};
pcnt_unit_handle_t pcnt_unit_handle = NULL;
esp_err_t err = pcnt_new_unit(&pcnt_unit_config, &pcnt_unit_handle);
ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT initialization failed.");
pcnt_glitch_filter_config_t pcnt_glitch_filter_config = {
.max_glitch_ns = 1000,
};
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_add_watch_point(pcnt_unit_handle, 32767);
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_add_watch_point(pcnt_unit_handle, -32767);
ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_unit_remove_watch_point(pcnt_unit_handle, 32767); 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_unit_remove_watch_point(pcnt_unit_handle, 32767); pcnt_unit_remove_watch_point(pcnt_unit_handle, -32767); 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_unit_remove_watch_point(pcnt_unit_handle, 32767); pcnt_unit_remove_watch_point(pcnt_unit_handle, -32767);
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_unit_remove_watch_point(pcnt_unit_handle, 32767); pcnt_unit_remove_watch_point(pcnt_unit_handle, -32767);
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)
{
gpio_pullup_dis((gpio_num_t)config->a_gpio_number);
gpio_pullup_dis((gpio_num_t)config->b_gpio_number);
}
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 esp_err_t _zh_tachometer_timer_init(zh_tachometer_handle_t *handle)
{
const esp_timer_create_args_t timer_args = {
.callback = &_zh_tachometer_timer_on_alarm_cb,
.arg = handle,
};
esp_err_t err = esp_timer_create(&timer_args, &handle->esp_timer_handle);
ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Timer initialization failed.");
err = esp_timer_start_periodic(handle->esp_timer_handle, 10000); // 0.01 sec.
ZH_ERROR_CHECK(err == ESP_OK, err, esp_timer_delete(handle->esp_timer_handle), "Timer initialization failed.");
return ESP_OK;
}
static void IRAM_ATTR _zh_tachometer_timer_on_alarm_cb(void *arg)
{
zh_tachometer_handle_t *handle = (zh_tachometer_handle_t *)arg;
int pcnt_count = 0;
pcnt_unit_get_count(handle->pcnt_unit_handle, &pcnt_count);
pcnt_unit_clear_count(handle->pcnt_unit_handle);
handle->value = (uint16_t)pcnt_count;
}