156 lines
9.7 KiB
C
156 lines
9.7 KiB
C
#include "zh_tachometer.h"
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#define TAG "zh_tachometer"
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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_tachometer_validate_config(const zh_tachometer_init_config_t *config);
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static esp_err_t _zh_tachometer_pcnt_init(const zh_tachometer_init_config_t *config, zh_tachometer_handle_t *handle);
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static esp_err_t _zh_tachometer_timer_init(zh_tachometer_handle_t *handle);
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static void _zh_tachometer_timer_on_alarm_cb(void *arg);
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esp_err_t zh_tachometer_init(const zh_tachometer_init_config_t *config, zh_tachometer_handle_t *handle)
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{
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ZH_LOGI("Tachometer initialization started.");
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ZH_ERROR_CHECK(config != NULL && handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Tachometer initialization failed. Invalid argument.");
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ZH_ERROR_CHECK(handle->is_initialized == false, ESP_ERR_INVALID_STATE, NULL, "Tachometer initialization failed. Tachometer is already initialized.");
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esp_err_t err = _zh_tachometer_validate_config(config);
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ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Tachometer initialization failed. Initial configuration check failed.");
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err = _zh_tachometer_timer_init(handle);
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ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Tachometer initialization failed. Timer initialization failed.");
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err = _zh_tachometer_pcnt_init(config, handle);
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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.");
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handle->is_initialized = true;
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ZH_LOGI("Tachometer initialization completed successfully.");
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return ESP_OK;
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}
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esp_err_t zh_tachometer_deinit(zh_tachometer_handle_t *handle)
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{
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ZH_LOGI("Tachometer deinitialization started.");
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ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Tachometer deinitialization failed. Invalid argument.");
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ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Tachometer deinitialization failed. Tachometer 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_unit_remove_watch_point(handle->pcnt_unit_handle, 32767);
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pcnt_unit_remove_watch_point(handle->pcnt_unit_handle, -32767);
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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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esp_timer_stop(handle->esp_timer_handle);
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esp_timer_delete(handle->esp_timer_handle);
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handle->is_initialized = false;
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ZH_LOGI("Tachometer deinitialization completed successfully.");
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return ESP_OK;
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}
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esp_err_t zh_tachometer_get(const zh_tachometer_handle_t *handle, uint16_t *value)
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{
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ZH_LOGI("Tachometer get position started.");
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ZH_ERROR_CHECK(handle != NULL && value != NULL, ESP_ERR_INVALID_ARG, NULL, "Tachometer get position failed. Invalid argument.");
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ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Tachometer get position failed. Tachometer not initialized.");
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*value = handle->value;
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ZH_LOGI("Tachometer get position completed successfully.");
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return ESP_OK;
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}
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static esp_err_t _zh_tachometer_validate_config(const zh_tachometer_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_tachometer_pcnt_init(const zh_tachometer_init_config_t *config, zh_tachometer_handle_t *handle)
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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 = 32767,
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.low_limit = -32767,
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.flags.accum_count = true,
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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_add_watch_point(pcnt_unit_handle, 32767);
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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_add_watch_point(pcnt_unit_handle, -32767);
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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);
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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_unit_remove_watch_point(pcnt_unit_handle, 32767); pcnt_unit_remove_watch_point(pcnt_unit_handle, -32767); pcnt_del_channel(pcnt_channel_a_handle);
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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_unit_remove_watch_point(pcnt_unit_handle, 32767); pcnt_unit_remove_watch_point(pcnt_unit_handle, -32767);
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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_start(pcnt_unit_handle);
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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);
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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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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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}
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static esp_err_t _zh_tachometer_timer_init(zh_tachometer_handle_t *handle)
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{
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const esp_timer_create_args_t timer_args = {
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.callback = &_zh_tachometer_timer_on_alarm_cb,
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.arg = handle,
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};
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esp_err_t err = esp_timer_create(&timer_args, &handle->esp_timer_handle);
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ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Timer initialization failed.");
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err = esp_timer_start_periodic(handle->esp_timer_handle, 10000); // 0.01 sec.
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ZH_ERROR_CHECK(err == ESP_OK, err, esp_timer_delete(handle->esp_timer_handle), "Timer initialization failed.");
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return ESP_OK;
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}
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static void IRAM_ATTR _zh_tachometer_timer_on_alarm_cb(void *arg)
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{
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zh_tachometer_handle_t *handle = (zh_tachometer_handle_t *)arg;
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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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pcnt_unit_clear_count(handle->pcnt_unit_handle);
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handle->value = (uint16_t)pcnt_count;
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} |