给 ESP32 接一个旋钮：方向、计数和按压菜单

// SPDX-License-Identifier: MIT
#pragma once
#include <stdint.h>

class Quadrature {
 public:
  explicit Quadrature(uint8_t initial) : prev_(initial&3) {}
  int update(uint8_t ab) {
    static constexpr int8_t delta[16]={0,1,-1,0,-1,0,0,1,1,0,0,-1,0,-1,1,0};
    ab &= 3;
    if ((prev_^ab)==3) { ++invalid_; quarter_=0; prev_=ab; return 0; }
    quarter_ += delta[(prev_<<2)|ab]; prev_=ab;
    if (quarter_>=4) { quarter_=0; return 1; }
    if (quarter_<=-4) { quarter_=0; return -1; }
    return 0;
  }
  uint32_t invalid() const { return invalid_; }
 private:
  uint8_t prev_;
  int8_t quarter_=0;
  uint32_t invalid_=0;
};
class Button {
 public:
  enum Event { NONE, SHORT, LONG };
  Button(bool held,uint32_t now):raw_(held),stable_(held),armed_(!held),changed_(now),pressed_(now) {}
  Event update(bool held,uint32_t now) {
    if (held!=raw_) { raw_=held; changed_=now; }
    if (raw_!=stable_ && uint32_t(now-changed_)>=30) {
      stable_=raw_;
      if (stable_) { pressed_=now; long_sent_=false; }
      else {
        bool send=armed_&&!long_sent_;
        armed_=true;
        return send?SHORT:NONE;
      }
    }
    if (armed_&&stable_&&!long_sent_&&uint32_t(now-pressed_)>=1200) {
      long_sent_=true; return LONG;
    }
    return NONE;
  }
 private:
  bool raw_,stable_,armed_,long_sent_=false;
  uint32_t changed_,pressed_;
};
struct InputModel {
  int count=0;
  bool menu=false;
  int selection=0; // 0 BACK, 1 ZERO
  void rotate(int step) {
    int& value=menu?selection:count;
    value+=step;
    int lo=menu?0:-9999, hi=menu?1:9999;
    if(value<lo)value=lo;
    if(value>hi)value=hi;
  }
  void button(Button::Event e) {
    if(e==Button::LONG){count=0;menu=false;selection=0;}
    if(e==Button::SHORT){
      if(!menu){menu=true;selection=0;}
      else{if(selection==1)count=0;menu=false;}
    }
  }
};

// SPDX-License-Identifier: MIT
#include <inttypes.h>
#include "driver/gpio.h"
#include "esp_err.h"
#include "esp_log.h"
#include "esp_timer.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/queue.h"
#include "InputLogic.h"

static constexpr gpio_num_t PIN_A=GPIO_NUM_6, PIN_B=GPIO_NUM_7, PIN_SW=GPIO_NUM_5;
// If your measured clockwise direction is negative, set to -1 and rebuild.
static constexpr int DIRECTION=1;
static QueueHandle_t snapshots;
struct Snapshot { int count; bool menu; int selection; uint32_t invalid; };
static uint32_t now_ms(){return uint32_t(esp_timer_get_time()/1000);}
static uint8_t read_ab(){return uint8_t((gpio_get_level(PIN_A)<<1)|gpio_get_level(PIN_B));}
static void sample_inputs(void*) {
  Quadrature encoder(read_ab());
  Button button(gpio_get_level(PIN_SW)==0,now_ms());
  InputModel model;
  TickType_t wake=xTaskGetTickCount();
  uint32_t old_invalid=0;
  for(;;){
    int step=encoder.update(read_ab())*DIRECTION;
    auto event=button.update(gpio_get_level(PIN_SW)==0,now_ms());
    if(step)model.rotate(step);
    model.button(event);
    if(step||event!=Button::NONE||encoder.invalid()!=old_invalid){
      old_invalid=encoder.invalid();
      Snapshot s{model.count,model.menu,model.selection,old_invalid};
      xQueueOverwrite(snapshots,&s); // Logger may skip old displays; model keeps each sampled event.
    }
    vTaskDelayUntil(&wake,pdMS_TO_TICKS(1));
  }
}
extern "C" void app_main() {
  gpio_config_t cfg{};
  cfg.pin_bit_mask=(1ULL<<PIN_A)|(1ULL<<PIN_B)|(1ULL<<PIN_SW);
  cfg.mode=GPIO_MODE_INPUT;
  cfg.pull_up_en=GPIO_PULLUP_ENABLE;
  cfg.pull_down_en=GPIO_PULLDOWN_DISABLE;
  cfg.intr_type=GPIO_INTR_DISABLE;
  ESP_ERROR_CHECK(gpio_config(&cfg));
  snapshots=xQueueCreate(1,sizeof(Snapshot));
  if(!snapshots){ESP_LOGE("input","STOP queue allocation failed");return;}
  if(xTaskCreate(sample_inputs,"sample_inputs",3072,nullptr,4,nullptr)!=pdPASS){
    ESP_LOGE("input","STOP task allocation failed");vQueueDelete(snapshots);return;
  }
  ESP_LOGI("input","READY count=0 A=6 B=7 SW=5; short:menu/confirm, hold:zero; poll=1 tick");
  Snapshot s;
  for(;;){
    if(xQueueReceive(snapshots,&s,portMAX_DELAY)==pdTRUE){
      ESP_LOGI("input","count=%d mode=%s select=%s invalid=%" PRIu32,
               s.count,s.menu?"MENU":"COUNT",s.selection?"ZERO":"BACK",s.invalid);
    }
  }
}

idf.py --version
idf.py set-target esp32s3
idf.py build
idf.py -p YOUR_BRIDGE_PORT flash monitor

clang++ -std=c++17 -Wall -Wextra -Werror tests/input_test.cpp -o /tmp/p09-test
/tmp/p09-test