Merge pull request 'fix-v0.2.1' (#19) from fix-v0.2.1 into dev

Reviewed-on: https://kozmotronik.nohost.me/gitea/KozmotronikTech/relay_chn/pulls/19

Kconfig

@@ -17,4 +17,13 @@ menu "Relay Channel Driver Configuration"
         help
             Number of relay channels between 1 and 8.
     
+    config RELAY_CHN_ENABLE_TILTING
+        bool "Enable tilting on relay channels"
+        default n
+        help
+            This option controls enabling tilting on channels. Tilting makes
+            a channel move with a specific pattern moving with small steps
+            at a time. Tilting is specifically designed for controlling some
+            types of curtains that need to be adjusted to let enter specific
+            amount of day light.
 endmenu

README.md

@@ -11,17 +11,23 @@ An ESP-IDF component for controlling relay channels, specifically designed for d
 - Forward/Reverse direction control
 - Direction flipping capability
 - State monitoring and reporting
+- Optional sensitivty adjustable tilting feature
 
 ## Description
 
 Each relay channel consists of 2 output relays controlled by 2 GPIO pins. The component provides APIs to control these relay pairs while ensuring safe operation, particularly for driving bipolar motors. It prevents short-circuits by automatically managing direction changes with configurable inertia timing.
 
+It also provides an optional tilting interface per channel base. Tilting makes a channel move with a specific pattern moving with small steps at a time. Tilting is specifically designed for controlling some types of curtains that need to be adjusted to let enter specific amount of day light.  
+Since it operates on relays, the switching frequency is limited to 10Hz which complies with the most of the general purpose relays' requirements. The minimum frequency is 2Hz and the duty cycle is about 10% in all ranges.  
+The module also handles all the required timing between the movement transitions automatically to ensure reliable operation.
+
 ## Configuration
 
 Configure the component through menuconfig under "Relay Channel Driver Configuration":
 
 - `CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS`: Time to wait before changing direction (200-1500ms, default: 800ms)
 - `CONFIG_RELAY_CHN_COUNT`: Number of relay channels (1-8, default: 1)
+- `CONFIG_RELAY_CHN_ENABLE_TILTING`: Enable tilting interface on all channels. (default: n)
 
 ## Installation
 
@@ -77,6 +83,30 @@ char *state_str = relay_chn_get_state_str(0);
 relay_chn_direction_t direction = relay_chn_get_direction(0);
 ```
 
+### 4. Tilting Interface (if enabled)
+
+```c
+// Assuming CONFIG_RELAY_CHN_ENABLE_TILTING is enabled
+
+// Start tilting automatically (channel 0)
+relay_chn_tilt_auto(0);
+
+// Tilt forward (channel 0)
+relay_chn_tilt_forward(0);
+
+// Tilt reverse (channel 0)
+relay_chn_tilt_reverse(0);
+
+// Stop tilting (channel 0)
+relay_chn_tilt_stop(0);
+
+// Set tilting sensitivity (channel 0, sensitivity as percentage)
+relay_chn_tilt_sensitivity_set(0, 90);
+
+// Get tilting sensitivity (channel 0, sensitivty as percentage)
+uint8_t sensitivity = relay_chn_tilt_sensitivity_get(0);
+
+
 ## License
 
 [MIT License](LICENSE) - Copyright (c) 2025 kozmotronik.

include/relay_chn.h

@@ -54,6 +54,10 @@ enum relay_chn_state_enum {
     RELAY_CHN_STATE_REVERSE,    ///< The relay channel is running in the reverse direction.
     RELAY_CHN_STATE_FORWARD_PENDING,    ///< The relay channel is pending to run in the forward direction.
     RELAY_CHN_STATE_REVERSE_PENDING,    ///< The relay channel is pending to run in the reverse direction.
+#if CONFIG_RELAY_CHN_ENABLE_TILTING == 1
+    RELAY_CHN_STATE_TILT_FORWARD,    ///< The relay channel is tilting for forward.
+    RELAY_CHN_STATE_TILT_REVERSE,    ///< The relay channel is tilting for reverse.
+#endif
 };
 
 /**
@@ -198,6 +202,77 @@ void relay_chn_flip_direction(uint8_t chn_id);
  */
 relay_chn_direction_t relay_chn_get_direction(uint8_t chn_id);
 
+
+#if CONFIG_RELAY_CHN_ENABLE_TILTING == 1
+
+/**
+ * @brief Enables automatic tilting for the specified relay channel.
+ *
+ * This function enables automatic tilting mode for the given relay channel.  The channel will automatically
+ * switch between forward and reverse tilting based on some internal sensing mechanism (not detailed here).  
+ * Requires appropriate hardware support and configuration.
+ *
+ * @param chn_id The ID of the relay channel to enable automatic tilting.
+ */
+void relay_chn_tilt_auto(uint8_t chn_id);
+
+/**
+ * @brief Tilts the specified relay channel forward.
+ *
+ * This function initiates a forward tilting action for the specified relay channel.  This is a manual tilting 
+ * operation, unlike `relay_chn_tilt_auto()`.
+ *
+ * @param chn_id The ID of the relay channel to tilt forward.
+ */
+void relay_chn_tilt_forward(uint8_t chn_id);
+
+/**
+ * @brief Tilts the specified relay channel reverse.
+ *
+ * This function initiates a reverse tilting action for the specified relay channel. This is a manual tilting
+ * operation, unlike `relay_chn_tilt_auto()`.
+ *
+ * @param chn_id The ID of the relay channel to tilt reverse.
+ */
+void relay_chn_tilt_reverse(uint8_t chn_id);
+
+/**
+ * @brief Stops the tilting action on the specified relay channel.
+ *
+ * This function stops any ongoing tilting action (automatic or manual) on the specified relay channel.
+ *
+ * @param chn_id The ID of the relay channel to stop tilting.
+ */
+void relay_chn_tilt_stop(uint8_t chn_id);
+
+/**
+ * @brief Sets the tilting sensitivity for the specified relay channel.
+ *
+ * This function sets the sensitivity for the automatic tilting mechanism. A higher sensitivity value
+ * typically means the channel will react more readily to tilting events.
+ *
+ * @param chn_id The ID of the relay channel to set the sensitivity for.
+ * @param sensitivity The sensitivity in percentage: 0 - 100%.
+ */
+void relay_chn_tilt_sensitivity_set(uint8_t chn_id, uint8_t sensitivity);
+
+/**
+ * @brief Gets the tilting sensitivity for the specified relay channel.
+ *
+ * This function retrieves the currently set sensitivity for the specified relay channel's automatic
+ * tilting mechanism.
+ *
+ * @param chn_id The ID of the relay channel to get the sensitivity for.
+ * @param sensitivity The pointer to the memory in to which the sensitivity values will be copied.
+ * @param length The length of the sensitvity memory.
+ * @return
+ *      - ESP_OK: Success
+ *      - ESP_ERR_INVALID_ARG: Invalid argument
+ */
+esp_err_t relay_chn_tilt_sensitivity_get(uint8_t chn_id, uint8_t *sensitivity, size_t length);
+
+#endif // CONFIG_RELAY_CHN_ENABLE_TILTING
+
 #ifdef __cplusplus
 }
 #endif

src/relay_chn.c

@@ -27,6 +27,7 @@
 
 #define RELAY_CHN_OPPOSITE_INERTIA_MS CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS
 #define RELAY_CHN_COUNT CONFIG_RELAY_CHN_COUNT
+#define RELAY_CHN_ENABLE_TILTING CONFIG_RELAY_CHN_ENABLE_TILTING
 
 static const char *TAG = "relay_chn";
 
@@ -73,6 +74,8 @@ typedef struct relay_chn_type relay_chn_t; // Forward declaration
  */
 typedef void(*relay_chn_cmd_fn_t)(relay_chn_t*);
 
+#if RELAY_CHN_ENABLE_TILTING == 0
+
 /**
  * @brief Structure to hold the state and configuration of a relay channel.
  */
@@ -85,6 +88,84 @@ typedef struct relay_chn_type {
     esp_timer_handle_t inertia_timer;       ///< Timer to handle the opposite direction inertia time.
 } relay_chn_t;
 
+#else
+
+/**
+ * @name Tilt Pattern Timing Definitions
+ * @{
+ * The min and max timing definitions as well as the default timing definitions.
+ * These definitions are used to define and adjust the tilt sensitivity.
+ */
+
+#define RELAY_CHN_TILT_RUN_MIN_MS 50
+#define RELAY_CHN_TILT_RUN_MAX_MS 10
+#define RELAY_CHN_TILT_PAUSE_MIN_MS 450
+#define RELAY_CHN_TILT_PAUSE_MAX_MS 90
+
+#define RELAY_CHN_TILT_DEFAULT_RUN_MS 15
+#define RELAY_CHN_TILT_DEFAULT_PAUSE_MS 150
+
+#define RELAY_CHN_TILT_DEFAULT_SENSITIVITY \
+    ( (RELAY_CHN_TILT_DEFAULT_RUN_MS - RELAY_CHN_TILT_RUN_MIN_MS) \
+    * 100 / (RELAY_CHN_TILT_RUN_MAX_MS - RELAY_CHN_TILT_RUN_MIN_MS) )
+/// @}
+
+/// @brief Tilt commands.
+enum relay_chn_tilt_cmd_enum {
+    RELAY_CHN_TILT_CMD_NONE,    ///< No command.
+    RELAY_CHN_TILT_CMD_FORWARD, ///< Tilt command for forward.
+    RELAY_CHN_TILT_CMD_REVERSE  ///< Tilt command for reverse.
+};
+
+/// @brief Alias for the enum type relay_chn_tilt_cmd_enum.
+typedef enum relay_chn_tilt_cmd_enum relay_chn_tilt_cmd_t;
+
+/// @brief Tilt steps.
+enum relay_chn_tilt_step_enum {
+    RELAY_CHN_TILT_STEP_NONE,   ///< No step.
+    RELAY_CHN_TILT_STEP_RUN,    ///< Run step. Tilt is either driving for forward or reverse.
+    RELAY_CHN_TILT_STEP_PAUSE   ///< Pause step. Tilt is paused.
+};
+
+/// @brief Alias for the enum relay_chn_tilt_step_enum.
+typedef enum relay_chn_tilt_step_enum relay_chn_tilt_step_t;
+
+/// @brief Tilt timing structure to manage tilt pattern timing.
+typedef struct relay_chn_tilt_timing_struct {
+    uint8_t sensitivity;    ///< Tilt sensitivity in percent value (%).
+    uint32_t run_time_ms;   ///< Run time in milliseconds.
+    uint32_t pause_time_ms; ///< Pause time in milliseconds.
+} relay_chn_tilt_timing_t;
+
+/// @brief Tilt control structure to manage tilt operations.
+typedef struct relay_chn_tilt_control_struct {
+    relay_chn_tilt_cmd_t cmd;       ///< Current tilt command.
+    relay_chn_tilt_step_t step;     ///< Current tilt step.
+    relay_chn_tilt_timing_t tilt_timing;    ///< Tilt timing structure.
+    esp_timer_handle_t tilt_timer;          ///< Tilt timer handle.
+} relay_chn_tilt_control_t;
+
+/**
+ * @brief Structure to hold the state and configuration of a relay channel.
+ */
+typedef struct relay_chn_type {
+    uint8_t id; ///< The ID of the relay channel.
+    relay_chn_state_t state;        ///< The current state of the relay channel.
+    relay_chn_run_info_t run_info;  ///< Runtime information of the relay channel.
+    relay_chn_output_t output;      ///< Output configuration of the relay channel.
+    relay_chn_cmd_t pending_cmd;    ///< The command that is pending to be issued
+    esp_timer_handle_t inertia_timer;       ///< Timer to handle the opposite direction inertia time.
+    relay_chn_tilt_control_t tilt_control;
+} relay_chn_t;
+
+static esp_err_t relay_chn_init_tilt_control(relay_chn_t *relay_chn);
+static void relay_chn_tilt_state_handler(uint8_t chn_id, relay_chn_state_t old_state, relay_chn_state_t new_state);
+
+static uint32_t relay_chn_tilting_channels;
+
+#endif // RELAY_CHN_ENABLE_TILTING
+
+
 /**
  * @brief Structure to manage the state change listeners. 
  */
@@ -247,13 +328,20 @@ esp_err_t relay_chn_create(const gpio_num_t* gpio_map, uint8_t gpio_count)
         relay_chn->state = RELAY_CHN_STATE_FREE;
         relay_chn->pending_cmd = RELAY_CHN_CMD_NONE;
         relay_chn->run_info.last_run_cmd = RELAY_CHN_CMD_NONE;
-        ret |= relay_chn_init_timer(relay_chn);// Create direction change inertia timer
+        ret |= relay_chn_init_timer(relay_chn); // Create direction change inertia timer
+#if RELAY_CHN_ENABLE_TILTING == 1
+        ret |= relay_chn_init_tilt_control(relay_chn);
+#endif
         if (ret != ESP_OK) {
             ESP_LOGE(TAG, "Failed to initialize relay channel %d!", i);
             return ret;
         }
     }
 
+#if RELAY_CHN_ENABLE_TILTING == 1
+    relay_chn_tilting_channels = 0;
+#endif
+
     // Create relay channel command event loop
     ret |= relay_chn_create_event_loop();
 
@@ -366,10 +454,8 @@ static void relay_chn_dispatch_cmd(relay_chn_t *relay_chn, relay_chn_cmd_t cmd)
                         sizeof(relay_chn->id), portMAX_DELAY);
 }
 
-
 static esp_err_t relay_chn_start_esp_timer_once(esp_timer_handle_t esp_timer, uint32_t time_ms)
 {
-    // Invalidate the channel's timer if it is active
     esp_err_t ret = esp_timer_start_once(esp_timer, time_ms * 1000);
     if (ret == ESP_ERR_INVALID_STATE) {
         // This timer is already running, stop the timer first
@@ -379,13 +465,25 @@ static esp_err_t relay_chn_start_esp_timer_once(esp_timer_handle_t esp_timer, ui
         }
         ret = esp_timer_start_once(esp_timer, time_ms * 1000);
     }
-    return ESP_OK;
+    return ret;
 }
 
 static void relay_chn_update_state(relay_chn_t *relay_chn, relay_chn_state_t new_state)
 {
     relay_chn_state_t old = relay_chn->state;
     relay_chn->state = new_state;
+
+#if RELAY_CHN_ENABLE_TILTING == 1
+    if (relay_chn->tilt_control.cmd != RELAY_CHN_TILT_CMD_NONE) {
+        // The channel is tilting, pipe the internal state to the tilt state handler
+        // unless the state sent from the tilt module
+        if (relay_chn->state != RELAY_CHN_STATE_TILT_FORWARD && relay_chn->state != RELAY_CHN_STATE_TILT_REVERSE) {
+            relay_chn_tilt_state_handler(relay_chn->id, old, new_state);
+            return;
+        }
+    }
+#endif
+
     for (uint8_t i = 0; i < relay_chn_state_listener_manager.listener_count; i++) {
         relay_chn_state_listener_t listener = relay_chn_state_listener_manager.listeners[i];
         if (listener == NULL) {
@@ -451,7 +549,7 @@ static void relay_chn_issue_cmd(relay_chn_t* relay_chn, relay_chn_cmd_t cmd)
                 // with the pending FREE command
                 esp_timer_stop(relay_chn->inertia_timer);
                 relay_chn->pending_cmd = RELAY_CHN_CMD_NONE;
-                                
+
                 // If this is the first run or the last run command is the same as the current command,
                 // run the command immediately
                 relay_chn_dispatch_cmd(relay_chn, cmd);
@@ -597,14 +695,17 @@ static void relay_chn_execute_stop(relay_chn_t *relay_chn)
     gpio_set_level(relay_chn->output.reverse_pin, 0);
     relay_chn_update_state(relay_chn, RELAY_CHN_STATE_STOPPED);
     
+#if RELAY_CHN_ENABLE_TILTING == 1
+    // Just stop and update state if tilting is active
+    if (relay_chn->tilt_control.cmd != RELAY_CHN_TILT_CMD_NONE) return;
+#endif
     // If there is any pending command, cancel it since the STOP command is issued right after it
     relay_chn->pending_cmd = RELAY_CHN_CMD_NONE;
     // Invalidate the channel's timer if it is active
     esp_timer_stop(relay_chn->inertia_timer);
 
     // If the channel was running, schedule a free command for the channel
-    relay_chn_cmd_t last_run_cmd = relay_chn->run_info.last_run_cmd;
-    if (last_run_cmd == RELAY_CHN_CMD_FORWARD || last_run_cmd == RELAY_CHN_CMD_REVERSE) {
+    if (relay_chn->run_info.last_run_cmd != RELAY_CHN_CMD_NONE) {
         // Record the command's last run time
         relay_chn->run_info.last_run_cmd_time_ms = esp_timer_get_time() / 1000;
         // Schedule a free command for the channel
@@ -717,9 +818,312 @@ char *relay_chn_state_str(relay_chn_state_t state)
             return "FORWARD_PENDING";
         case RELAY_CHN_STATE_REVERSE_PENDING:
             return "REVERSE_PENDING";
+#if RELAY_CHN_ENABLE_TILTING == 1
+        case RELAY_CHN_STATE_TILT_FORWARD:
+            return "TILT_FORWARD";
+        case RELAY_CHN_STATE_TILT_REVERSE:
+            return "TILT_REVERSE";
+#endif
         default:
             return "UNKNOWN";
     }
 }
 
+#if RELAY_CHN_ENABLE_TILTING == 1
+
+// Timer callback for the relay_chn_tilt_control_t::tilt_timer
+static void relay_chn_tilt_timer_cb(void *arg)
+{
+    uint8_t chn_id = *(uint8_t*) arg;
+    if (!relay_chn_is_channel_id_valid(chn_id)) {
+        ESP_LOGE(TAG, "relay_chn_tilt_timer_cb: Invalid relay channel ID!");
+        return;
+    }
+    relay_chn_t* relay_chn = &relay_channels[chn_id];
+    switch (relay_chn->tilt_control.step)
+    {
+        case RELAY_CHN_TILT_STEP_RUN:
+            relay_chn_issue_cmd(relay_chn, RELAY_CHN_CMD_STOP);
+            break;
+
+        case RELAY_CHN_TILT_STEP_PAUSE:
+            if (relay_chn->tilt_control.cmd == RELAY_CHN_TILT_CMD_FORWARD) {
+                relay_chn_issue_cmd(relay_chn, RELAY_CHN_CMD_REVERSE);
+            }
+            else if (relay_chn->tilt_control.cmd == RELAY_CHN_TILT_CMD_REVERSE) {
+                relay_chn_issue_cmd(relay_chn, RELAY_CHN_CMD_FORWARD);
+            }
+            break;
+        
+        default:
+            break;
+    }
+}
+
+// This listener is active until the relay_chn_tilt_stop() is called.
+static void relay_chn_tilt_state_handler(uint8_t chn_id, relay_chn_state_t old_state, relay_chn_state_t new_state)
+{
+   ESP_LOGD(TAG, "relay_chn_tilt_state_listener: #%u, old_state: %s, new_state: %s",
+            chn_id, relay_chn_state_str(old_state), relay_chn_state_str(new_state));
+    
+    relay_chn_t* relay_chn = &relay_channels[chn_id];
+    // Check whether this channel is the one that's been tilting
+    if (relay_chn->tilt_control.cmd == RELAY_CHN_TILT_CMD_NONE) {
+        return;
+    }
+
+    switch (new_state)
+    {
+    case RELAY_CHN_STATE_FORWARD:
+    case RELAY_CHN_STATE_REVERSE:
+        relay_chn->tilt_control.step = RELAY_CHN_TILT_STEP_RUN;
+        // Start the tilt run timer
+        esp_timer_start_once(relay_chn->tilt_control.tilt_timer,
+                        relay_chn->tilt_control.tilt_timing.run_time_ms * 1000);
+        break;
+    case RELAY_CHN_STATE_STOPPED:
+        relay_chn->tilt_control.step = RELAY_CHN_TILT_STEP_PAUSE;
+        esp_timer_start_once(relay_chn->tilt_control.tilt_timer,
+                        relay_chn->tilt_control.tilt_timing.pause_time_ms * 1000);
+        break;
+
+    default:
+        break;
+    }
+}
+
+static void relay_chn_issue_tilt_cmd(uint8_t chn_id, relay_chn_tilt_cmd_t cmd)
+{
+    relay_chn_t* relay_chn = &relay_channels[chn_id];
+
+    if (relay_chn->run_info.last_run_cmd == RELAY_CHN_CMD_NONE) {
+        // Do not tilt if the channel hasn't been run before
+        ESP_LOGD(TAG, "relay_chn_issue_tilt_cmd: Tilt will not be executed since the channel hasn't been run yet");
+        return;
+    }
+    else if (relay_chn->run_info.last_run_cmd == RELAY_CHN_CMD_REVERSE && cmd == RELAY_CHN_TILT_CMD_FORWARD) {
+        ESP_LOGD(TAG, "relay_chn_issue_tilt_cmd: Invalid tilt command: TILT_FORWARD after the REVERSE command issued");
+        return;
+    }
+    else if (relay_chn->run_info.last_run_cmd == RELAY_CHN_CMD_FORWARD && cmd == RELAY_CHN_TILT_CMD_REVERSE) {
+        ESP_LOGD(TAG, "relay_chn_issue_tilt_cmd: Invalid tilt command: TILT_REVERSE after the FORWARD command issued");
+        return;
+    }
+    
+    if (relay_chn->tilt_control.cmd == cmd) {
+        ESP_LOGD(TAG, "relay_chn_issue_tilt_cmd: There is already a tilt command in progress!");
+        return;
+    }
+
+    // Set tilt control parameters
+    relay_chn->tilt_control.cmd = cmd;
+    relay_chn->tilt_control.step = RELAY_CHN_TILT_STEP_NONE;
+
+    // Set channel tilting active flag
+    relay_chn_tilting_channels |= (1 << chn_id);
+
+    if (cmd == RELAY_CHN_TILT_CMD_FORWARD) {
+        relay_chn_issue_cmd(relay_chn, RELAY_CHN_CMD_REVERSE);
+        // Emit the tilt state change for the channel
+        relay_chn_update_state(relay_chn, RELAY_CHN_STATE_TILT_FORWARD);
+    }
+    else if (cmd == RELAY_CHN_TILT_CMD_REVERSE) {
+        relay_chn_issue_cmd(relay_chn, RELAY_CHN_CMD_FORWARD);
+        // Emit the tilt state change for the channel
+        relay_chn_update_state(relay_chn, RELAY_CHN_STATE_TILT_REVERSE);
+    }
+}
+
+static void relay_chn_issue_tilt_cmd_on_all_channels(relay_chn_tilt_cmd_t cmd)
+{
+    for (int i = 0; i < RELAY_CHN_COUNT; i++) {
+        relay_chn_issue_tilt_cmd(i, cmd);
+    }
+}
+
+static void relay_chn_issue_tilt_auto(uint8_t chn_id)
+{
+    relay_chn_t* relay_chn = &relay_channels[chn_id];
+    if (relay_chn->run_info.last_run_cmd == RELAY_CHN_CMD_FORWARD) {
+        relay_chn_issue_tilt_cmd(chn_id, RELAY_CHN_TILT_CMD_FORWARD);
+    }
+    else if (relay_chn->run_info.last_run_cmd == RELAY_CHN_CMD_REVERSE) {
+        relay_chn_issue_tilt_cmd(chn_id, RELAY_CHN_TILT_CMD_REVERSE);
+    }
+}
+
+void relay_chn_tilt_auto(uint8_t chn_id)
+{
+    if (!relay_chn_is_channel_id_valid(chn_id)) {
+        return;
+    }
+
+    // Execute for all channels
+    if (chn_id == RELAY_CHN_ID_ALL) {
+        for (int i = 0; i < RELAY_CHN_COUNT; i++) {
+            relay_chn_issue_tilt_auto(i);
+        }
+        return;
+    }
+    // Execute for a single channel
+    else relay_chn_issue_tilt_auto(chn_id);
+}
+
+void relay_chn_tilt_forward(uint8_t chn_id)
+{
+    if (!relay_chn_is_channel_id_valid(chn_id)) {
+        return;
+    }
+    
+    if (chn_id == RELAY_CHN_ID_ALL) relay_chn_issue_tilt_cmd_on_all_channels(RELAY_CHN_TILT_CMD_FORWARD);
+    else relay_chn_issue_tilt_cmd(chn_id, RELAY_CHN_TILT_CMD_FORWARD);
+}
+
+void relay_chn_tilt_reverse(uint8_t chn_id)
+{
+    if (!relay_chn_is_channel_id_valid(chn_id)) {
+        return;
+    }
+    
+    if (chn_id == RELAY_CHN_ID_ALL) relay_chn_issue_tilt_cmd_on_all_channels(RELAY_CHN_TILT_CMD_REVERSE);
+    else relay_chn_issue_tilt_cmd(chn_id, RELAY_CHN_TILT_CMD_REVERSE);
+}
+
+static void relay_chn_issue_tilt_stop(uint8_t chn_id)
+{
+    relay_chn_t* relay_chn = &relay_channels[chn_id];
+    if (relay_chn->tilt_control.cmd != RELAY_CHN_TILT_CMD_NONE) {
+        // Stop the channel's timer if active
+        esp_timer_stop(relay_chn->tilt_control.tilt_timer);
+        // Invalidate tilt cmd and step
+        relay_chn->tilt_control.cmd = RELAY_CHN_TILT_CMD_NONE;
+        relay_chn->tilt_control.step = RELAY_CHN_TILT_STEP_NONE;
+        // Unset channel tilting active flag
+        relay_chn_tilting_channels &= ~(1 << chn_id);
+        // Stop the channel
+        relay_chn_issue_cmd(relay_chn, RELAY_CHN_CMD_STOP);
+    }
+}
+
+void relay_chn_tilt_stop(uint8_t chn_id)
+{
+    if (!relay_chn_is_channel_id_valid(chn_id)) {
+        return;
+    }
+
+    // Check whether there is an active tilting channel
+    if (!relay_chn_tilting_channels) {
+        // No active tilting channels, so nothing to do
+        return;
+    }
+    
+    if (chn_id == RELAY_CHN_ID_ALL) {
+        // Any channel executing tilt?
+        for (int i = 0; i < RELAY_CHN_COUNT; i++) {
+            relay_chn_issue_tilt_stop(i);
+        }
+    }
+    else {
+        relay_chn_issue_tilt_stop(chn_id);
+    }
+}
+
+static void relay_chn_set_tilt_timing_values(relay_chn_tilt_timing_t *tilt_timing,
+                                             uint8_t sensitivity,
+                                             uint32_t run_time_ms,
+                                             uint32_t pause_time_ms)
+{
+    tilt_timing->sensitivity = sensitivity;
+    tilt_timing->run_time_ms = run_time_ms;
+    tilt_timing->pause_time_ms = pause_time_ms;
+}
+
+static void _relay_chn_tilt_sensitivity_set(relay_chn_t *relay_chn, uint8_t sensitivity)
+{
+    if (sensitivity >= 100) {
+        relay_chn_set_tilt_timing_values(&relay_chn->tilt_control.tilt_timing,
+                                              100,
+                                              RELAY_CHN_TILT_RUN_MAX_MS,
+                                              RELAY_CHN_TILT_PAUSE_MAX_MS);
+    }
+    else if (sensitivity == 0) {
+        relay_chn_set_tilt_timing_values(&relay_chn->tilt_control.tilt_timing,
+                                              0,
+                                              RELAY_CHN_TILT_RUN_MIN_MS,
+                                              RELAY_CHN_TILT_PAUSE_MIN_MS);
+    }
+    else {
+        // Compute the new timing values from the sensitivity percent value by using linear interpolation
+        uint32_t tilt_run_time_ms = 0, tilt_pause_time_ms = 0;
+        tilt_run_time_ms = RELAY_CHN_TILT_RUN_MIN_MS + (sensitivity * (RELAY_CHN_TILT_RUN_MAX_MS - RELAY_CHN_TILT_RUN_MIN_MS) / 100);
+        tilt_pause_time_ms = RELAY_CHN_TILT_PAUSE_MIN_MS + (sensitivity * (RELAY_CHN_TILT_PAUSE_MAX_MS - RELAY_CHN_TILT_PAUSE_MIN_MS) / 100);
+        relay_chn_set_tilt_timing_values(&relay_chn->tilt_control.tilt_timing,
+                                          sensitivity,
+                                          tilt_run_time_ms,
+                                          tilt_pause_time_ms);
+    }
+}
+
+void relay_chn_tilt_sensitivity_set(uint8_t chn_id, uint8_t sensitivity)
+{
+    if (!relay_chn_is_channel_id_valid(chn_id)) {
+        return;
+    }
+    
+    if (chn_id == RELAY_CHN_ID_ALL) {
+        for (int i = 0; i < RELAY_CHN_COUNT; i++) {
+            _relay_chn_tilt_sensitivity_set(&relay_channels[i], sensitivity);
+        }
+    }
+    else {
+        _relay_chn_tilt_sensitivity_set(&relay_channels[chn_id], sensitivity);
+    }
+}
+
+esp_err_t relay_chn_tilt_sensitivity_get(uint8_t chn_id, uint8_t *sensitivity, size_t length)
+{
+    if (!relay_chn_is_channel_id_valid(chn_id)) {
+        return ESP_ERR_INVALID_ARG;
+    }
+    if (sensitivity == NULL) {
+        ESP_LOGD(TAG, "relay_chn_tilt_sensitivity_get: sensitivity is NULL");
+        return ESP_ERR_INVALID_ARG;
+    }
+    if (chn_id == RELAY_CHN_ID_ALL) {
+        if (length < RELAY_CHN_COUNT) {
+            ESP_LOGD(TAG, "relay_chn_tilt_sensitivity_get: length is too short to store all sensitivity values");
+            return ESP_ERR_INVALID_ARG;
+        }
+
+        for (int i = 0; i < RELAY_CHN_COUNT; i++) {
+            sensitivity[i] = relay_channels[i].tilt_control.tilt_timing.sensitivity;
+        }
+        return ESP_OK;
+    }
+    *sensitivity = relay_channels[chn_id].tilt_control.tilt_timing.sensitivity;
+    return ESP_OK;
+}
+
+static esp_err_t relay_chn_init_tilt_control(relay_chn_t *relay_chn)
+{
+    relay_chn_tilt_control_t *tilt_control = &relay_chn->tilt_control;
+    tilt_control->cmd = RELAY_CHN_TILT_CMD_NONE;
+    tilt_control->step = RELAY_CHN_TILT_STEP_NONE;
+    tilt_control->tilt_timing.sensitivity = RELAY_CHN_TILT_DEFAULT_SENSITIVITY;
+    tilt_control->tilt_timing.run_time_ms = RELAY_CHN_TILT_DEFAULT_RUN_MS;
+    tilt_control->tilt_timing.pause_time_ms = RELAY_CHN_TILT_DEFAULT_PAUSE_MS;
+    
+    // Create tilt timer for the channel
+    char timer_name[32];
+    snprintf(timer_name, sizeof(timer_name), "relay_chn_%2d_tilt_timer", relay_chn->id);
+    esp_timer_create_args_t timer_args = {
+        .callback = relay_chn_tilt_timer_cb,
+        .arg = &relay_chn->id,
+        .name = timer_name
+    };
+    return esp_timer_create(&timer_args, &relay_chn->tilt_control.tilt_timer);
+}
+
+#endif // RELAY_CHN_ENABLE_TILTING
+
 /// @}