wip:

.gitignore

@@ -5,3 +5,6 @@ sdkconfig.old
 desktop.ini
 .PVS-Studio
 sdkconfig
+dependencies.lock
+managed_components
+rules.md

.gitmodules

@@ -1,27 +0,0 @@
-[submodule "components/zh_inclinometer"]
-	path = components/zh_inclinometer
-	url = https://github.com/aZholtikov/zh_inclinometer
-[submodule "components/zh_encoder"]
-	path = components/zh_encoder
-	url = https://github.com/aZholtikov/zh_encoder
-[submodule "components/zh_160x_i2c"]
-	path = components/zh_160x_i2c
-	url = https://github.com/aZholtikov/zh_160x_i2c
-[submodule "components/zh_pcf8574"]
-	path = components/zh_pcf8574
-	url = https://github.com/aZholtikov/zh_pcf8574
-[submodule "components/zh_vector"]
-	path = components/zh_vector
-	url = https://github.com/aZholtikov/zh_vector
-[submodule "components/zh_ota_server"]
-	path = components/zh_ota_server
-	url = https://github.com/aZholtikov/zh_ota_server
-[submodule "components/zh_espnow"]
-	path = components/zh_espnow
-	url = https://github.com/aZholtikov/zh_espnow
-[submodule "components/zh_tachometer"]
-	path = components/zh_tachometer
-	url = https://github.com/aZholtikov/zh_tachometer
-[submodule "components/zh_syslog"]
-	path = components/zh_syslog
-	url = https://github.com/aZholtikov/zh_syslog

README.md

@@ -1,18 +1,21 @@
 # Universal Optical 2-Channel Angle Gauge / Tachometer
 
-## Tested on
+## Features
 
-1. [ESP32 ESP-IDF v5.5.3](https://docs.espressif.com/projects/esp-idf/en/v5.5.3/esp32/index.html)
-
-## SAST Tools
-
-[PVS-Studio](https://pvs-studio.com/pvs-studio/?utm_source=website&utm_medium=github&utm_campaign=open_source) - static analyzer for C, C++, C#, and Java code.
+1. Two independent channels supporting optical encoders with 3600 pulses per revolution.
+2. Four operating modes: both inclinometers, both tachometers, mixed angle/tachometer, and remote via ESP-NOW.
+3. 16x2 LCD display (PCF8574 I2C expander) with boot animation, progress bar, and real-time value updates.
+4. Rotary encoder menu with push-button for mode switching and angle reset (long press, 2 seconds).
+5. WiFi AP+STA mode with local access and STA connection for remote logging.
+6. Over-the-Air (OTA) firmware updates via built-in HTTP server.
+7. Remote syslog with periodic logging of task stack usage and driver error counters.
+8. FreeRTOS-based multitasking with separate tasks for each channel, encoder, LCD expander, and statistics monitoring.
 
 ## Build and flash
 
 Run the following command to firmware build and flash module:
 
-```text
+```bash
 cd your_projects_folder
 git clone --recurse-submodules https://github.com/aZholtikov/ate0005
 cd ate0005

main/ate0005.c

@@ -1,22 +1,39 @@
 #include "ate0005.h"
 
+/** @brief Global structure holding minimum free stack sizes for processing tasks. */
 static task_stats_t _task_stats = {A_INCLINOMETER_TASK_STACK_SIZE, B_INCLINOMETER_TASK_STACK_SIZE, A_TACHOMETER_TASK_STACK_SIZE, B_TACHOMETER_TASK_STACK_SIZE};
 
+/** @brief HTTP server handle for OTA and web interface. */
 static httpd_handle_t _http_server_handle = NULL;
 
-static zh_pcf8574_handle_t _lcd_handle = {0};
-static zh_encoder_handle_t _mode_encoder_handle = {0};
-static zh_inclinometer_handle_t _a_inclinometer_handle = {0};
-static zh_inclinometer_handle_t _b_inclinometer_handle = {0};
-static zh_tachometer_handle_t _a_tachometer_handle = {0};
-static zh_tachometer_handle_t _b_tachometer_handle = {0};
+/** @brief PCF8574 handle for LCD I2C expander. */
+static zh_pcf8574_handle_t *_lcd_handle = NULL;
+/** @brief LCD 16x2 display handle wrapper. */
+static zh_160x_i2c_handle_t *_lcd_160x_handle = NULL;
+/** @brief Mode encoder handle for menu navigation. */
+static zh_encoder_handle_t *_mode_encoder_handle = NULL;
+/** @brief Inclinometer handle for channel A. */
+static zh_inclinometer_handle_t *_a_inclinometer_handle = NULL;
+/** @brief Inclinometer handle for channel B. */
+static zh_inclinometer_handle_t *_b_inclinometer_handle = NULL;
+/** @brief Tachometer handle for channel A. */
+static zh_tachometer_handle_t *_a_tachometer_handle = NULL;
+/** @brief Tachometer handle for channel B. */
+static zh_tachometer_handle_t *_b_tachometer_handle = NULL;
+/** @brief ESP timer handle for inclinometer reset timeout. */
 static esp_timer_handle_t _inclinometer_reset_timer_handle = {0};
 
+/** @brief Mutex for protecting LCD access from multiple tasks. */
 static SemaphoreHandle_t _lcd_mutex = NULL;
+/** @brief Task handle for the A inclinometer processing task. */
 static TaskHandle_t _a_inclinometer_task_handle = NULL;
+/** @brief Task handle for the B inclinometer processing task. */
 static TaskHandle_t _b_inclinometer_task_handle = NULL;
+/** @brief Task handle for the A tachometer processing task. */
 static TaskHandle_t _a_tachometer_task_handle = NULL;
+/** @brief Task handle for the B tachometer processing task. */
 static TaskHandle_t _b_tachometer_task_handle = NULL;
+/** @brief Task handle for the statistics logging task. */
 static TaskHandle_t _zh_stats_task_handle = NULL;
 
 static void _zh_wifi_init(void);
@@ -41,6 +58,20 @@ static void _zh_a_tachometer_processing_task(void *pvParameter);
 static void _zh_b_tachometer_processing_task(void *pvParameter);
 static void _zh_stats_processing_task(void *pvParameter);
 
+static const char *_main_menu[] = {MAIN_MENU_ANGLE_ANGLE_NAME, MAIN_MENU_TACHO_TACHO_NAME, MAIN_MENU_ANGLE_TACHO_NAME, MAIN_MENU_REMOTE_NAME};
+/** @brief Flag indicating whether the menu selection mode is active. */
+volatile static bool _is_menu_mode = false;
+/** @brief Flag indicating whether a long button press (reset mode) is detected. */
+volatile static bool _is_reset_mode = false;
+/** @brief Flag indicating that a reset event has occurred and must be cleared. */
+volatile static bool _is_reset_occurred = false;
+/** @brief Index of the currently selected menu mode. */
+volatile static uint8_t _current_menu_value = 0;
+/** @brief Counter for WiFi STA reconnection retry attempts. */
+volatile static uint8_t _wifi_reconnect_retry_num = 0;
+/** @brief Flag indicating whether WiFi STA is connected. */
+volatile static bool _is_wifi_connected = false;
+
 static const char *_main_menu[] = {MAIN_MENU_ANGLE_ANGLE_NAME, MAIN_MENU_TACHO_TACHO_NAME, MAIN_MENU_ANGLE_TACHO_NAME, MAIN_MENU_REMOTE_NAME};
 volatile static bool _is_menu_mode = false;
 volatile static bool _is_reset_mode = false;
@@ -49,37 +80,51 @@ volatile static uint8_t _current_menu_value = 0;
 volatile static uint8_t _wifi_reconnect_retry_num = 0;
 volatile static bool _is_wifi_connected = false;
 
+/**
+ * @brief Application entry point.
+ *
+ * Initializes all system components: LCD, encoder, timers, inclinometers,
+ * WiFi, web server, and ESP-NOW. Checks OTA state and marks firmware
+ * as valid if a pending verification is detected.
+ */
 void app_main(void)
 {
-    _lcd_mutex = xSemaphoreCreateMutex();
-    nvs_flash_init();
-    esp_event_loop_create_default();
-    _zh_pcf8574_init();
-    _zh_system_load();
-    _zh_encoder_init();
-    _zh_timer_init();
-    _zh_a_inclinometer_init();
-    _zh_b_inclinometer_init();
-    _zh_wifi_init();
-    _zh_webserver_init();
-    _zh_espnow_init();
-    const esp_partition_t *running = esp_ota_get_running_partition();
+    _lcd_mutex = xSemaphoreCreateMutex(); /*!< Create mutex for LCD access protection. */
+    nvs_flash_init(); /*!< Initialize NVS flash storage. */
+    esp_event_loop_create_default(); /*!< Create default event loop. */
+    _zh_pcf8574_init(); /*!< Initialize I2C bus and PCF8574 expander for LCD. */
+    _zh_system_load(); /*!< Display boot animation on LCD. */
+    _zh_encoder_init(); /*!< Initialize mode encoder for menu navigation. */
+    _zh_timer_init(); /*!< Initialize inclinometer reset timer. */
+    _zh_a_inclinometer_init(); /*!< Initialize inclinometer for channel A and its task. */
+    _zh_b_inclinometer_init(); /*!< Initialize inclinometer for channel B and its task. */
+    _zh_wifi_init(); /*!< Initialize WiFi in AP+STA mode. */
+    _zh_webserver_init(); /*!< Start HTTP server with OTA endpoint. */
+    _zh_espnow_init(); /*!< Initialize ESP-NOW communication. */
+    const esp_partition_t *running = esp_ota_get_running_partition(); /*!< Get current OTA partition. */
     esp_ota_img_states_t ota_state = {0};
-    esp_ota_get_state_partition(running, &ota_state);
-    if (ota_state == ESP_OTA_IMG_PENDING_VERIFY)
+    esp_ota_get_state_partition(running, &ota_state); /*!< Read OTA image state. */
+    if (ota_state == ESP_OTA_IMG_PENDING_VERIFY) /*!< Check if firmware update is pending verification. */
     {
-        vTaskDelay(60000 / portTICK_PERIOD_MS);
-        esp_ota_mark_app_valid_cancel_rollback();
+        vTaskDelay(60000 / portTICK_PERIOD_MS); /*!< Wait 60 seconds before confirming. */
+        esp_ota_mark_app_valid_cancel_rollback(); /*!< Mark firmware as valid and cancel rollback. */
     }
 }
 
+/**
+ * @brief Initialize WiFi in AP+STA mode.
+ *
+ * Configures and starts WiFi with both AP and STA interfaces.
+ * AP provides local access for device configuration.
+ * STA connects to the configured network for remote logging.
+ */
 static void _zh_wifi_init(void)
 {
-    esp_netif_init();
-    esp_netif_create_default_wifi_ap();
-    esp_netif_create_default_wifi_sta();
+    esp_netif_init(); /*!< Initialize networking stack. */
+    esp_netif_create_default_wifi_ap(); /*!< Create default network interface for AP. */
+    esp_netif_create_default_wifi_sta(); /*!< Create default network interface for STA. */
     wifi_init_config_t wifi_init_config = WIFI_INIT_CONFIG_DEFAULT();
-    esp_wifi_init(&wifi_init_config);
+    esp_wifi_init(&wifi_init_config); /*!< Initialize WiFi driver with default config. */
     wifi_config_t wifi_ap_config = {
         .ap.ssid = WIFI_AP_SSID,
         .ap.password = WIFI_AP_PASS,
@@ -91,144 +136,215 @@ static void _zh_wifi_init(void)
         .sta.ssid = WIFI_STA_SSID,
         .sta.password = WIFI_STA_PASS,
     };
-    esp_wifi_set_mode(WIFI_MODE_APSTA);
-    esp_wifi_set_config(WIFI_IF_AP, &wifi_ap_config);
-    esp_wifi_set_config(WIFI_IF_STA, &wifi_sta_config);
-    esp_event_handler_instance_register(WIFI_EVENT, ESP_EVENT_ANY_ID, &_zh_wifi_event_handler, NULL, NULL);
-    esp_event_handler_instance_register(IP_EVENT, IP_EVENT_STA_GOT_IP, &_zh_wifi_event_handler, NULL, NULL);
-    esp_wifi_start();
+    esp_wifi_set_mode(WIFI_MODE_APSTA); /*!< Set WiFi mode to AP+STA. */
+    esp_wifi_set_config(WIFI_IF_AP, &wifi_ap_config); /*!< Apply AP configuration. */
+    esp_wifi_set_config(WIFI_IF_STA, &wifi_sta_config); /*!< Apply STA configuration. */
+    esp_event_handler_instance_register(WIFI_EVENT, ESP_EVENT_ANY_ID, &_zh_wifi_event_handler, NULL, NULL); /*!< Register WiFi event handler. */
+    esp_event_handler_instance_register(IP_EVENT, IP_EVENT_STA_GOT_IP, &_zh_wifi_event_handler, NULL, NULL); /*!< Register IP event handler. */
+    esp_wifi_start(); /*!< Start WiFi. */
 }
 
+/**
+ * @brief Initialize the HTTP server with OTA support.
+ *
+ * Starts the ESP HTTP server and registers the OTA server
+ * endpoint for over-the-air firmware updates.
+ */
 static void _zh_webserver_init(void)
 {
     httpd_config_t config = HTTPD_DEFAULT_CONFIG();
-    httpd_start(&_http_server_handle, &config);
-    zh_ota_server_init(_http_server_handle, "/");
+    httpd_start(&_http_server_handle, &config); /*!< Start HTTP server. */
+    zh_ota_server_init(_http_server_handle, "/"); /*!< Register OTA endpoint. */
 }
 
+/**
+ * @brief Initialize ESP-NOW communication.
+ *
+ * Currently a placeholder. ESP-NOW initialization is not yet implemented.
+ */
 static void _zh_espnow_init(void)
 {
     // To Do.
 }
 
+/**
+ * @brief Initialize the mode encoder for menu navigation.
+ *
+ * Configures the rotary encoder with GPIO pins, task parameters,
+ * and event handler. Sets encoder range to cover all menu modes.
+ */
 static void _zh_encoder_init(void)
 {
-    esp_event_handler_instance_register(ZH_ENCODER, ESP_EVENT_ANY_ID, &_zh_encoder_event_handler, NULL, NULL);
+    esp_event_handler_instance_register(ZH_ENCODER, ESP_EVENT_ANY_ID, &_zh_encoder_event_handler, NULL, NULL); /*!< Register encoder event handler. */
     zh_encoder_init_config_t config = ZH_ENCODER_INIT_CONFIG_DEFAULT();
-    config.task_priority = ENCODER_TASK_PRIORITY;
-    config.stack_size = ENCODER_TASK_STACK_SIZE;
-    config.queue_size = 5;
-    config.a_gpio_number = MODE_ENCODER_A_GPIO;
-    config.b_gpio_number = MODE_ENCODER_B_GPIO;
-    config.s_gpio_number = MODE_ENCODER_S_GPIO;
-    config.s_gpio_debounce_time = 1000;
-    config.encoder_min_value = 0;
-    config.encoder_max_value = (sizeof(_main_menu) / sizeof(_main_menu[0])) - 1;
-    config.encoder_step = 1;
-    config.encoder_number = MODE_ENCODER_NUMBER;
-    zh_encoder_init(&config, &_mode_encoder_handle);
-    zh_encoder_set(&_mode_encoder_handle, 0);
+    config.task_priority = ENCODER_TASK_PRIORITY; /*!< Set encoder task priority. */
+    config.stack_size = ENCODER_TASK_STACK_SIZE; /*!< Set encoder task stack size. */
+    config.queue_size = 5; /*!< Set event queue size. */
+    config.a_gpio_number = MODE_ENCODER_A_GPIO; /*!< Set A-phase GPIO pin. */
+    config.b_gpio_number = MODE_ENCODER_B_GPIO; /*!< Set B-phase GPIO pin. */
+    config.s_gpio_number = MODE_ENCODER_S_GPIO; /*!< Set switch GPIO pin. */
+    config.s_gpio_debounce_time = 1000; /*!< Set switch debounce time in microseconds. */
+    config.encoder_min_value = 0; /*!< Set minimum encoder value (first menu item). */
+    config.encoder_max_value = (sizeof(_main_menu) / sizeof(_main_menu[0])) - 1; /*!< Set maximum encoder value (last menu item). */
+    config.encoder_step = 1; /*!< Set encoder step size. */
+    config.encoder_number = MODE_ENCODER_NUMBER; /*!< Set encoder instance number. */
+    zh_encoder_init(&config, &_mode_encoder_handle); /*!< Initialize encoder driver. */
+    zh_encoder_set(&_mode_encoder_handle, 0); /*!< Reset encoder to initial position. */
 }
 
+/**
+ * @brief Initialize inclinometer for channel A and create its processing task.
+ *
+ * Configures optical device GPIO pins and encoder pulses (3600).
+ * Creates a FreeRTOS task for processing inclinometer data.
+ */
 static void _zh_a_inclinometer_init(void)
 {
     zh_inclinometer_init_config_t config = ZH_INCLINOMETER_INIT_CONFIG_DEFAULT();
-    config.a_gpio_number = A_OPTICAL_DEVICE_A_GPIO;
-    config.b_gpio_number = A_OPTICAL_DEVICE_B_GPIO;
-    config.encoder_pulses = 3600;
-    zh_inclinometer_init(&config, &_a_inclinometer_handle);
+    config.a_gpio_number = A_OPTICAL_DEVICE_A_GPIO; /*!< Set A-phase GPIO pin. */
+    config.b_gpio_number = A_OPTICAL_DEVICE_B_GPIO; /*!< Set B-phase GPIO pin. */
+    config.encoder_pulses = 3600; /*!< Set encoder pulses per revolution. */
+    zh_inclinometer_init(&config, &_a_inclinometer_handle); /*!< Initialize inclinometer driver. */
     xTaskCreatePinnedToCore(&_zh_a_inclinometer_processing_task, "a_inclinometer_processing_task", A_INCLINOMETER_TASK_STACK_SIZE, NULL, A_INCLINOMETER_TASK_PRIORITY,
-                            &_a_inclinometer_task_handle, tskNO_AFFINITY);
+                            &_a_inclinometer_task_handle, tskNO_AFFINITY); /*!< Create processing task. */
 }
 
+/**
+ * @brief Initialize inclinometer for channel B and create its processing task.
+ *
+ * Configures optical device GPIO pins and encoder pulses (3600).
+ * Creates a FreeRTOS task for processing inclinometer data.
+ */
 static void _zh_b_inclinometer_init(void)
 {
     zh_inclinometer_init_config_t config = ZH_INCLINOMETER_INIT_CONFIG_DEFAULT();
-    config.a_gpio_number = B_OPTICAL_DEVICE_A_GPIO;
-    config.b_gpio_number = B_OPTICAL_DEVICE_B_GPIO;
-    config.encoder_pulses = 3600;
-    zh_inclinometer_init(&config, &_b_inclinometer_handle);
+    config.a_gpio_number = B_OPTICAL_DEVICE_A_GPIO; /*!< Set A-phase GPIO pin. */
+    config.b_gpio_number = B_OPTICAL_DEVICE_B_GPIO; /*!< Set B-phase GPIO pin. */
+    config.encoder_pulses = 3600; /*!< Set encoder pulses per revolution. */
+    zh_inclinometer_init(&config, &_b_inclinometer_handle); /*!< Initialize inclinometer driver. */
     xTaskCreatePinnedToCore(&_zh_b_inclinometer_processing_task, "b_inclinometer_processing_task", B_INCLINOMETER_TASK_STACK_SIZE, NULL, B_INCLINOMETER_TASK_PRIORITY,
-                            &_b_inclinometer_task_handle, tskNO_AFFINITY);
+                            &_b_inclinometer_task_handle, tskNO_AFFINITY); /*!< Create processing task. */
 }
 
+/**
+ * @brief Initialize tachometer for channel A and create its processing task.
+ *
+ * Configures optical device GPIO pins and encoder pulses (3600).
+ * Creates a FreeRTOS task for processing tachometer data.
+ */
 static void _zh_a_tachometer_init(void)
 {
     zh_tachometer_init_config_t config = ZH_TACHOMETER_INIT_CONFIG_DEFAULT();
-    config.a_gpio_number = A_OPTICAL_DEVICE_A_GPIO;
-    config.b_gpio_number = A_OPTICAL_DEVICE_B_GPIO;
-    config.encoder_pulses = 3600;
-    zh_tachometer_init(&config, &_a_tachometer_handle);
+    config.a_gpio_number = A_OPTICAL_DEVICE_A_GPIO; /*!< Set A-phase GPIO pin. */
+    config.b_gpio_number = A_OPTICAL_DEVICE_B_GPIO; /*!< Set B-phase GPIO pin. */
+    config.encoder_pulses = 3600; /*!< Set encoder pulses per revolution. */
+    zh_tachometer_init(&config, &_a_tachometer_handle); /*!< Initialize tachometer driver. */
     xTaskCreatePinnedToCore(&_zh_a_tachometer_processing_task, "a_tachometer_processing_task", A_TACHOMETER_TASK_STACK_SIZE, NULL, A_TACHOMETER_TASK_PRIORITY,
-                            &_a_tachometer_task_handle, tskNO_AFFINITY);
+                            &_a_tachometer_task_handle, tskNO_AFFINITY); /*!< Create processing task. */
 }
 
+/**
+ * @brief Initialize tachometer for channel B and create its processing task.
+ *
+ * Configures optical device GPIO pins and encoder pulses (3600).
+ * Creates a FreeRTOS task for processing tachometer data.
+ */
 static void _zh_b_tachometer_init(void)
 {
     zh_tachometer_init_config_t config = ZH_TACHOMETER_INIT_CONFIG_DEFAULT();
-    config.a_gpio_number = B_OPTICAL_DEVICE_A_GPIO;
-    config.b_gpio_number = B_OPTICAL_DEVICE_B_GPIO;
-    config.encoder_pulses = 3600;
-    zh_tachometer_init(&config, &_b_tachometer_handle);
+    config.a_gpio_number = B_OPTICAL_DEVICE_A_GPIO; /*!< Set A-phase GPIO pin. */
+    config.b_gpio_number = B_OPTICAL_DEVICE_B_GPIO; /*!< Set B-phase GPIO pin. */
+    config.encoder_pulses = 3600; /*!< Set encoder pulses per revolution. */
+    zh_tachometer_init(&config, &_b_tachometer_handle); /*!< Initialize tachometer driver. */
     xTaskCreatePinnedToCore(&_zh_b_tachometer_processing_task, "b_tachometer_processing_task", B_TACHOMETER_TASK_STACK_SIZE, NULL, B_TACHOMETER_TASK_PRIORITY,
-                            &_b_tachometer_task_handle, tskNO_AFFINITY);
+                            &_b_tachometer_task_handle, tskNO_AFFINITY); /*!< Create processing task. */
 }
 
+/**
+ * @brief Initialize I2C bus and PCF8574 expander for LCD display.
+ *
+ * Configures I2C with internal pull-ups and creates the master bus.
+ * Initializes the PCF8574 expander and 16x2 LCD wrapper.
+ */
 static void _zh_pcf8574_init(void)
 {
     i2c_master_bus_handle_t _i2c_bus_handle = NULL;
     i2c_master_bus_config_t i2c_bus_config = {
         .clk_source = I2C_CLK_SRC_DEFAULT,
-        .scl_io_num = I2C_SCL_GPIO,
-        .sda_io_num = I2C_SDA_GPIO,
-        .glitch_ignore_cnt = 7,
-        .flags.enable_internal_pullup = true,
+        .scl_io_num = I2C_SCL_GPIO, /*!< I2C clock GPIO. */
+        .sda_io_num = I2C_SDA_GPIO, /*!< I2C data GPIO. */
+        .glitch_ignore_cnt = 7, /*!< Glitch filter count. */
+        .flags.enable_internal_pullup = true, /*!< Enable internal pull-up resistors. */
     };
-    i2c_new_master_bus(&i2c_bus_config, &_i2c_bus_handle);
+    i2c_new_master_bus(&i2c_bus_config, &_i2c_bus_handle); /*!< Create I2C master bus. */
     zh_pcf8574_init_config_t config = ZH_PCF8574_INIT_CONFIG_DEFAULT();
-    config.task_priority = EXPANDER_TASK_PRIORITY;
-    config.stack_size = EXPANDER_TASK_STACK_SIZE;
-    config.i2c_handle = _i2c_bus_handle;
-    config.i2c_address = LCD_I2C_ADDRESS;
-    zh_pcf8574_init(&config, &_lcd_handle);
-    zh_160x_init(&_lcd_handle, ZH_LCD_16X2);
+    config.task_priority = EXPANDER_TASK_PRIORITY; /*!< Set expander task priority. */
+    config.stack_size = EXPANDER_TASK_STACK_SIZE; /*!< Set expander task stack size. */
+    config.i2c_handle = _i2c_bus_handle; /*!< Assign I2C bus handle. */
+    config.i2c_address = LCD_I2C_ADDRESS; /*!< Set I2C address of PCF8574. */
+    zh_pcf8574_init(&config, &_lcd_handle); /*!< Initialize PCF8574 driver. */
+    zh_160x_init(&_lcd_handle, &_lcd_160x_handle, ZH_LCD_16X2); /*!< Initialize 16x2 LCD wrapper. */
 }
 
+/**
+ * @brief Display system boot animation on LCD.
+ *
+ * Shows company name, project name, and version.
+ * Then displays a progress bar during system loading.
+ * Finally, shows the initial operating mode.
+ */
 static void _zh_system_load(void)
 {
-    zh_160x_set_cursor(&_lcd_handle, 0, 0);
-    zh_160x_print_char(&_lcd_handle, "LLC AEROTECH");
-    zh_160x_set_cursor(&_lcd_handle, 1, 0);
-    const esp_app_desc_t *esp_app_desc = esp_app_get_description();
-    zh_160x_print_char(&_lcd_handle, esp_app_desc->project_name);
-    zh_160x_set_cursor(&_lcd_handle, 1, 8);
-    zh_160x_print_char(&_lcd_handle, "V");
-    zh_160x_print_char(&_lcd_handle, esp_app_desc->version);
-    vTaskDelay(1000 / portTICK_PERIOD_MS);
-    zh_160x_lcd_clear(&_lcd_handle);
-    zh_160x_set_cursor(&_lcd_handle, 0, 0);
-    zh_160x_print_char(&_lcd_handle, "SYSTEM LOADING:");
+    zh_160x_set_cursor(&_lcd_160x_handle, 0, 0); /*!< Set cursor to first row, first column. */
+    zh_160x_print_char(&_lcd_160x_handle, "LLC AEROTECH"); /*!< Display company name. */
+    zh_160x_set_cursor(&_lcd_160x_handle, 1, 0); /*!< Set cursor to second row, first column. */
+    const esp_app_desc_t *esp_app_desc = esp_app_get_description(); /*!< Get application description. */
+    zh_160x_print_char(&_lcd_160x_handle, esp_app_desc->project_name); /*!< Display project name. */
+    zh_160x_set_cursor(&_lcd_160x_handle, 1, 8); /*!< Set cursor to version position. */
+    zh_160x_print_char(&_lcd_160x_handle, "V"); /*!< Display version prefix. */
+    zh_160x_print_char(&_lcd_160x_handle, esp_app_desc->version); /*!< Display firmware version. */
+    vTaskDelay(1000 / portTICK_PERIOD_MS); /*!< Wait 1 second. */
+    zh_160x_lcd_clear(&_lcd_160x_handle); /*!< Clear LCD. */
+    zh_160x_set_cursor(&_lcd_160x_handle, 0, 0);
+    zh_160x_print_char(&_lcd_160x_handle, "SYSTEM LOADING:");
     for (uint8_t i = 0; i <= 100; i += 10)
     {
-        zh_160x_print_progress_bar(&_lcd_handle, 1, i);
+        zh_160x_print_progress_bar(&_lcd_160x_handle, 1, i); /*!< Draw progress bar at given percentage. */
         vTaskDelay(100 / portTICK_PERIOD_MS);
     }
     vTaskDelay(500 / portTICK_PERIOD_MS);
-    zh_160x_lcd_clear(&_lcd_handle);
+    zh_160x_lcd_clear(&_lcd_160x_handle);
     vTaskDelay(500 / portTICK_PERIOD_MS);
-    zh_160x_set_cursor(&_lcd_handle, 0, 0);
-    zh_160x_print_char(&_lcd_handle, "MODE:");
-    zh_160x_print_char(&_lcd_handle, _main_menu[0]);
+    zh_160x_set_cursor(&_lcd_160x_handle, 0, 0);
+    zh_160x_print_char(&_lcd_160x_handle, "MODE:");
+    zh_160x_print_char(&_lcd_160x_handle, _main_menu[0]);
 }
 
+/**
+ * @brief Initialize the inclinometer reset timer.
+ *
+ * Creates a one-shot timer that triggers after a long button press.
+ * Used to reset inclinometer angles when the encoder button is held.
+ */
 static void _zh_timer_init(void)
 {
     const esp_timer_create_args_t timer_args = {
-        .callback = &_zh_inclinometer_reset_timer_on_alarm_cb,
+        .callback = &_zh_inclinometer_reset_timer_on_alarm_cb, /*!< Timer callback function. */
     };
-    esp_timer_create(&timer_args, &_inclinometer_reset_timer_handle);
+    esp_timer_create(&timer_args, &_inclinometer_reset_timer_handle); /*!< Create one-shot timer. */
 }
 
+/**
+ * @brief Handle encoder events (button press/release and rotation).
+ *
+ * Processes button events for menu navigation and long-press reset.
+ * Processes rotation events for menu mode selection.
+ *
+ * @param arg Unused context argument.
+ * @param event_base Event base (ZH_ENCODER).
+ * @param event_id Event identifier (ZH_BUTTON_EVENT or ZH_ENCODER_EVENT).
+ * @param event_data Pointer to event data structure.
+ */
 static void _zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data)
 {
     switch (event_id)
@@ -237,7 +353,7 @@ static void _zh_encoder_event_handler(void *arg, esp_event_base_t event_base, in
         zh_encoder_button_event_on_isr_t *button_event = event_data;
         if (button_event->button_status == ENCODER_BUTTON_PRESSED)
         {
-            esp_timer_start_once(_inclinometer_reset_timer_handle, 2000000);
+            esp_timer_start_once(_inclinometer_reset_timer_handle, 2000000); /*!< Start reset timer (2 seconds). */
             _is_reset_mode = true;
         }
         else
@@ -249,7 +365,7 @@ static void _zh_encoder_event_handler(void *arg, esp_event_base_t event_base, in
             }
             if (_is_reset_mode == true)
             {
-                esp_timer_stop(_inclinometer_reset_timer_handle);
+                esp_timer_stop(_inclinometer_reset_timer_handle); /*!< Stop reset timer on button release. */
                 _is_reset_mode = false;
             }
             _is_menu_mode = !_is_menu_mode;
@@ -281,13 +397,13 @@ static void _zh_encoder_event_handler(void *arg, esp_event_base_t event_base, in
                 default:
                     break;
                 }
-                zh_160x_clear_row(&_lcd_handle, 1);
-                zh_160x_set_cursor(&_lcd_handle, 0, 0);
-                zh_160x_on_cursor(&_lcd_handle, true);
+                zh_160x_clear_row(&_lcd_160x_handle, 1);
+                zh_160x_set_cursor(&_lcd_160x_handle, 0, 0);
+                zh_160x_on_cursor(&_lcd_160x_handle, true);
             }
             else
             {
-                zh_160x_off_cursor(&_lcd_handle);
+                zh_160x_off_cursor(&_lcd_160x_handle);
                 switch (_current_menu_value)
                 {
                 case MODE_ANGLE_ANGLE:
@@ -303,8 +419,8 @@ static void _zh_encoder_event_handler(void *arg, esp_event_base_t event_base, in
                     _zh_b_tachometer_init();
                     break;
                 case MODE_REMOTE:
-                    zh_160x_set_cursor(&_lcd_handle, 1, 0);
-                    zh_160x_print_char(&_lcd_handle, "NOT CONNECTED");
+                    zh_160x_set_cursor(&_lcd_160x_handle, 1, 0);
+                    zh_160x_print_char(&_lcd_160x_handle, "NOT CONNECTED");
                     break;
                 default:
                     break;
@@ -316,12 +432,12 @@ static void _zh_encoder_event_handler(void *arg, esp_event_base_t event_base, in
         zh_encoder_event_on_isr_t *encoder_event = event_data;
         if (_is_menu_mode == true)
         {
-            _current_menu_value = (uint8_t)encoder_event->encoder_position; // -V2004
-            zh_160x_clear_row(&_lcd_handle, 0);
-            zh_160x_set_cursor(&_lcd_handle, 0, 0);
-            zh_160x_print_char(&_lcd_handle, "MODE:");
-            zh_160x_print_char(&_lcd_handle, _main_menu[(uint8_t)encoder_event->encoder_position]); // -V2004
-            zh_160x_set_cursor(&_lcd_handle, 0, 0);
+            _current_menu_value = (uint8_t)encoder_event->encoder_position;
+            zh_160x_clear_row(&_lcd_160x_handle, 0);
+            zh_160x_set_cursor(&_lcd_160x_handle, 0, 0);
+            zh_160x_print_char(&_lcd_160x_handle, "MODE:");
+            zh_160x_print_char(&_lcd_160x_handle, _main_menu[(uint8_t)encoder_event->encoder_position]);
+            zh_160x_set_cursor(&_lcd_160x_handle, 0, 0);
         }
         else
         {
@@ -333,11 +449,33 @@ static void _zh_encoder_event_handler(void *arg, esp_event_base_t event_base, in
     }
 }
 
+/**
+ * @brief Handle ESP-NOW events.
+ *
+ * Currently a placeholder. ESP-NOW event handling is not yet implemented.
+ *
+ * @param arg Unused context argument.
+ * @param event_base Event base.
+ * @param event_id Event identifier.
+ * @param event_data Pointer to event data structure.
+ */
 static void _zh_espnow_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data)
 {
     // To Do.
 }
 
+/**
+ * @brief Handle WiFi events (connection, disconnection, IP acquisition).
+ *
+ * Manages STA connection lifecycle: initiates connection on start,
+ * attempts reconnection on disconnect (with retry limit), and starts
+ * syslog + stats task upon successful IP acquisition.
+ *
+ * @param arg Unused context argument.
+ * @param event_base Event base (WIFI_EVENT or IP_EVENT).
+ * @param event_id Event identifier.
+ * @param event_data Pointer to event data structure.
+ */
 static void _zh_wifi_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data)
 {
     switch (event_id)
@@ -371,6 +509,14 @@ static void _zh_wifi_event_handler(void *arg, esp_event_base_t event_base, int32
     }
 }
 
+/**
+ * @brief Timer callback for inclinometer reset on long button press.
+ *
+ * Called when the encoder button is held for 2 seconds.
+ * Resets inclinometer angles for the active mode.
+ *
+ * @param arg Unused context argument.
+ */
 static void _zh_inclinometer_reset_timer_on_alarm_cb(void *arg)
 {
     _is_reset_mode = false;
@@ -392,13 +538,21 @@ static void _zh_inclinometer_reset_timer_on_alarm_cb(void *arg)
     }
 }
 
+/**
+ * @brief FreeRTOS task for processing inclinometer A data.
+ *
+ * Reads angle from inclinometer A and updates the LCD display
+ * on row 1, columns 2-5. Tracks minimum free stack size for monitoring.
+ *
+ * @param pvParameter Unused parameter.
+ */
 static void _zh_a_inclinometer_processing_task(void *pvParameter)
 {
     float prev_angle = 0, current_angle = 0;
     xSemaphoreTake(_lcd_mutex, portMAX_DELAY);
-    zh_160x_set_cursor(&_lcd_handle, 1, 0);
-    zh_160x_print_char(&_lcd_handle, "A:");
-    zh_160x_print_float(&_lcd_handle, current_angle, 1);
+    zh_160x_set_cursor(&_lcd_160x_handle, 1, 0);
+    zh_160x_print_char(&_lcd_160x_handle, "A:");
+    zh_160x_print_float(&_lcd_160x_handle, current_angle, 1);
     xSemaphoreGive(_lcd_mutex);
     for (;;)
     {
@@ -407,10 +561,10 @@ static void _zh_a_inclinometer_processing_task(void *pvParameter)
         {
             prev_angle = current_angle;
             xSemaphoreTake(_lcd_mutex, portMAX_DELAY);
-            zh_160x_set_cursor(&_lcd_handle, 1, 5);
-            zh_160x_print_char(&_lcd_handle, "   ");
-            zh_160x_set_cursor(&_lcd_handle, 1, 2);
-            zh_160x_print_float(&_lcd_handle, current_angle, 1);
+            zh_160x_set_cursor(&_lcd_160x_handle, 1, 5);
+            zh_160x_print_char(&_lcd_160x_handle, "   ");
+            zh_160x_set_cursor(&_lcd_160x_handle, 1, 2);
+            zh_160x_print_float(&_lcd_160x_handle, current_angle, 1);
             xSemaphoreGive(_lcd_mutex);
         }
         vTaskDelay(100 / portTICK_PERIOD_MS);
@@ -419,13 +573,21 @@ static void _zh_a_inclinometer_processing_task(void *pvParameter)
     vTaskDelete(NULL);
 }
 
+/**
+ * @brief FreeRTOS task for processing inclinometer B data.
+ *
+ * Reads angle from inclinometer B and updates the LCD display
+ * on row 1, columns 10-13. Tracks minimum free stack size for monitoring.
+ *
+ * @param pvParameter Unused parameter.
+ */
 static void _zh_b_inclinometer_processing_task(void *pvParameter)
 {
     float prev_angle = 0, current_angle = 0;
     xSemaphoreTake(_lcd_mutex, portMAX_DELAY);
-    zh_160x_set_cursor(&_lcd_handle, 1, 8);
-    zh_160x_print_char(&_lcd_handle, "B:");
-    zh_160x_print_float(&_lcd_handle, current_angle, 1);
+    zh_160x_set_cursor(&_lcd_160x_handle, 1, 8);
+    zh_160x_print_char(&_lcd_160x_handle, "B:");
+    zh_160x_print_float(&_lcd_160x_handle, current_angle, 1);
     xSemaphoreGive(_lcd_mutex);
     for (;;)
     {
@@ -434,10 +596,10 @@ static void _zh_b_inclinometer_processing_task(void *pvParameter)
         {
             prev_angle = current_angle;
             xSemaphoreTake(_lcd_mutex, portMAX_DELAY);
-            zh_160x_set_cursor(&_lcd_handle, 1, 13);
-            zh_160x_print_char(&_lcd_handle, "   ");
-            zh_160x_set_cursor(&_lcd_handle, 1, 10);
-            zh_160x_print_float(&_lcd_handle, current_angle, 1);
+            zh_160x_set_cursor(&_lcd_160x_handle, 1, 13);
+            zh_160x_print_char(&_lcd_160x_handle, "   ");
+            zh_160x_set_cursor(&_lcd_160x_handle, 1, 10);
+            zh_160x_print_float(&_lcd_160x_handle, current_angle, 1);
             xSemaphoreGive(_lcd_mutex);
         }
         vTaskDelay(100 / portTICK_PERIOD_MS);
@@ -446,13 +608,21 @@ static void _zh_b_inclinometer_processing_task(void *pvParameter)
     vTaskDelete(NULL);
 }
 
+/**
+ * @brief FreeRTOS task for processing tachometer A data.
+ *
+ * Reads RPM from tachometer A and updates the LCD display
+ * on row 1, columns 2-5. Tracks minimum free stack size for monitoring.
+ *
+ * @param pvParameter Unused parameter.
+ */
 static void _zh_a_tachometer_processing_task(void *pvParameter)
 {
     uint16_t prev_rpm = 0, current_rpm = 0;
     xSemaphoreTake(_lcd_mutex, portMAX_DELAY);
-    zh_160x_set_cursor(&_lcd_handle, 1, 0);
-    zh_160x_print_char(&_lcd_handle, "A:");
-    zh_160x_print_int(&_lcd_handle, current_rpm);
+    zh_160x_set_cursor(&_lcd_160x_handle, 1, 0);
+    zh_160x_print_char(&_lcd_160x_handle, "A:");
+    zh_160x_print_int(&_lcd_160x_handle, current_rpm);
     xSemaphoreGive(_lcd_mutex);
     for (;;)
     {
@@ -461,10 +631,10 @@ static void _zh_a_tachometer_processing_task(void *pvParameter)
         {
             prev_rpm = current_rpm;
             xSemaphoreTake(_lcd_mutex, portMAX_DELAY);
-            zh_160x_set_cursor(&_lcd_handle, 1, 3);
-            zh_160x_print_char(&_lcd_handle, "    ");
-            zh_160x_set_cursor(&_lcd_handle, 1, 2);
-            zh_160x_print_int(&_lcd_handle, current_rpm);
+            zh_160x_set_cursor(&_lcd_160x_handle, 1, 3);
+            zh_160x_print_char(&_lcd_160x_handle, "    ");
+            zh_160x_set_cursor(&_lcd_160x_handle, 1, 2);
+            zh_160x_print_int(&_lcd_160x_handle, current_rpm);
             xSemaphoreGive(_lcd_mutex);
         }
         vTaskDelay(100 / portTICK_PERIOD_MS);
@@ -473,13 +643,21 @@ static void _zh_a_tachometer_processing_task(void *pvParameter)
     vTaskDelete(NULL);
 }
 
+/**
+ * @brief FreeRTOS task for processing tachometer B data.
+ *
+ * Reads RPM from tachometer B and updates the LCD display
+ * on row 1, columns 10-13. Tracks minimum free stack size for monitoring.
+ *
+ * @param pvParameter Unused parameter.
+ */
 static void _zh_b_tachometer_processing_task(void *pvParameter)
 {
     uint16_t prev_rpm = 0, current_rpm = 0;
     xSemaphoreTake(_lcd_mutex, portMAX_DELAY);
-    zh_160x_set_cursor(&_lcd_handle, 1, 8);
-    zh_160x_print_char(&_lcd_handle, "B:");
-    zh_160x_print_int(&_lcd_handle, current_rpm);
+    zh_160x_set_cursor(&_lcd_160x_handle, 1, 8);
+    zh_160x_print_char(&_lcd_160x_handle, "B:");
+    zh_160x_print_int(&_lcd_160x_handle, current_rpm);
     xSemaphoreGive(_lcd_mutex);
     for (;;)
     {
@@ -488,10 +666,10 @@ static void _zh_b_tachometer_processing_task(void *pvParameter)
         {
             prev_rpm = current_rpm;
             xSemaphoreTake(_lcd_mutex, portMAX_DELAY);
-            zh_160x_set_cursor(&_lcd_handle, 1, 11);
-            zh_160x_print_char(&_lcd_handle, "    ");
-            zh_160x_set_cursor(&_lcd_handle, 1, 10);
-            zh_160x_print_int(&_lcd_handle, current_rpm);
+            zh_160x_set_cursor(&_lcd_160x_handle, 1, 11);
+            zh_160x_print_char(&_lcd_160x_handle, "    ");
+            zh_160x_set_cursor(&_lcd_160x_handle, 1, 10);
+            zh_160x_print_int(&_lcd_160x_handle, current_rpm);
             xSemaphoreGive(_lcd_mutex);
         }
         vTaskDelay(100 / portTICK_PERIOD_MS);
@@ -500,6 +678,16 @@ static void _zh_b_tachometer_processing_task(void *pvParameter)
     vTaskDelete(NULL);
 }
 
+/**
+ * @brief FreeRTOS task for periodic system statistics logging.
+ *
+ * Periodically sends syslog messages with minimum free stack sizes
+ * for all processing tasks, and error counters for encoder and
+ * PCF8574 drivers. Logs at INFO level if values are within limits,
+ * WARNING otherwise.
+ *
+ * @param pvParameter Unused parameter.
+ */
 static void _zh_stats_processing_task(void *pvParameter)
 {
     const esp_app_desc_t *esp_app_desc = esp_app_get_description();
@@ -508,43 +696,43 @@ static void _zh_stats_processing_task(void *pvParameter)
         char buffer[1024] = {0};
         const zh_encoder_stats_t *encoder_stats = zh_encoder_get_stats();
         const zh_pcf8574_stats_t *pcf8574_stats = zh_pcf8574_get_stats();
-        sprintf(buffer, "A inclinometer task minimum free stack size: %ld.\n", _task_stats.a_inclinometer_task_min_stack_size);
+        snprintf(buffer, sizeof(buffer), "A inclinometer task minimum free stack size: %ld.\n", _task_stats.a_inclinometer_task_min_stack_size);
         zh_syslog_send(ZH_KERN, _task_stats.a_inclinometer_task_min_stack_size > 100 ? ZH_INFO : ZH_WARNING, esp_app_desc->project_name, "zh_inclinometer", buffer);
         vTaskDelay(500 / portTICK_PERIOD_MS);
-        sprintf(buffer, "B inclinometer task minimum free stack size: %ld.\n", _task_stats.b_inclinometer_task_min_stack_size);
+        snprintf(buffer, sizeof(buffer), "B inclinometer task minimum free stack size: %ld.\n", _task_stats.b_inclinometer_task_min_stack_size);
         zh_syslog_send(ZH_KERN, _task_stats.b_inclinometer_task_min_stack_size > 100 ? ZH_INFO : ZH_WARNING, esp_app_desc->project_name, "zh_inclinometer", buffer);
         vTaskDelay(500 / portTICK_PERIOD_MS);
-        sprintf(buffer, "A tachometer task minimum free stack size: %ld.\n", _task_stats.b_tachometer_task_min_stack_size);
+        snprintf(buffer, sizeof(buffer), "A tachometer task minimum free stack size: %ld.\n", _task_stats.a_tachometer_task_min_stack_size);
+        zh_syslog_send(ZH_KERN, _task_stats.a_tachometer_task_min_stack_size > 100 ? ZH_INFO : ZH_WARNING, esp_app_desc->project_name, "zh_tachometer", buffer);
+        vTaskDelay(500 / portTICK_PERIOD_MS);
+        snprintf(buffer, sizeof(buffer), "B tachometer task minimum free stack size: %ld.\n", _task_stats.b_tachometer_task_min_stack_size);
         zh_syslog_send(ZH_KERN, _task_stats.b_tachometer_task_min_stack_size > 100 ? ZH_INFO : ZH_WARNING, esp_app_desc->project_name, "zh_tachometer", buffer);
         vTaskDelay(500 / portTICK_PERIOD_MS);
-        sprintf(buffer, "B tachometer task minimum free stack size: %ld.\n", _task_stats.b_tachometer_task_min_stack_size);
-        zh_syslog_send(ZH_KERN, _task_stats.b_tachometer_task_min_stack_size > 100 ? ZH_INFO : ZH_WARNING, esp_app_desc->project_name, "zh_tachometer", buffer);
-        vTaskDelay(500 / portTICK_PERIOD_MS);
-        sprintf(buffer, "Stats task minimum free stack size: %ld.\n", (uint32_t)uxTaskGetStackHighWaterMark(NULL));
+        snprintf(buffer, sizeof(buffer), "Stats task minimum free stack size: %ld.\n", (uint32_t)uxTaskGetStackHighWaterMark(NULL));
         zh_syslog_send(ZH_KERN, (uint32_t)uxTaskGetStackHighWaterMark(NULL) > 100 ? ZH_INFO : ZH_WARNING, esp_app_desc->project_name, "zh_syslog", buffer);
         vTaskDelay(500 / portTICK_PERIOD_MS);
-        sprintf(buffer, "Encoder task minimum free stack size: %ld.\n", encoder_stats->min_stack_size);
+        snprintf(buffer, sizeof(buffer), "Encoder task minimum free stack size: %ld.\n", encoder_stats->min_stack_size);
         zh_syslog_send(ZH_KERN, encoder_stats->min_stack_size > 100 ? ZH_INFO : ZH_WARNING, esp_app_desc->project_name, "zh_encoder", buffer);
         vTaskDelay(500 / portTICK_PERIOD_MS);
-        sprintf(buffer, "Expander task minimum free stack size: %ld.\n", pcf8574_stats->min_stack_size);
+        snprintf(buffer, sizeof(buffer), "Expander task minimum free stack size: %ld.\n", pcf8574_stats->min_stack_size);
         zh_syslog_send(ZH_KERN, pcf8574_stats->min_stack_size > 100 ? ZH_INFO : ZH_WARNING, esp_app_desc->project_name, "zh_pcf8574", buffer);
         vTaskDelay(500 / portTICK_PERIOD_MS);
-        sprintf(buffer, "Number of event post error: %ld.\n", encoder_stats->event_post_error);
+        snprintf(buffer, sizeof(buffer), "Number of event post error: %ld.\n", encoder_stats->event_post_error);
         zh_syslog_send(ZH_KERN, encoder_stats->event_post_error == 0 ? ZH_INFO : ZH_WARNING, esp_app_desc->project_name, "zh_encoder", buffer);
         vTaskDelay(500 / portTICK_PERIOD_MS);
-        sprintf(buffer, "Number of queue overflow error: %ld.\n", encoder_stats->queue_overflow_error);
+        snprintf(buffer, sizeof(buffer), "Number of queue overflow error: %ld.\n", encoder_stats->queue_overflow_error);
         zh_syslog_send(ZH_KERN, encoder_stats->queue_overflow_error == 0 ? ZH_INFO : ZH_WARNING, esp_app_desc->project_name, "zh_encoder", buffer);
         vTaskDelay(500 / portTICK_PERIOD_MS);
-        sprintf(buffer, "Number of i2c driver error: %ld.\n", pcf8574_stats->i2c_driver_error);
+        snprintf(buffer, sizeof(buffer), "Number of i2c driver error: %ld.\n", pcf8574_stats->i2c_driver_error);
         zh_syslog_send(ZH_KERN, pcf8574_stats->i2c_driver_error == 0 ? ZH_INFO : ZH_WARNING, esp_app_desc->project_name, "zh_pcf8574", buffer);
         vTaskDelay(500 / portTICK_PERIOD_MS);
-        sprintf(buffer, "Number of event post error: %ld.\n", pcf8574_stats->event_post_error);
+        snprintf(buffer, sizeof(buffer), "Number of event post error: %ld.\n", pcf8574_stats->event_post_error);
         zh_syslog_send(ZH_KERN, pcf8574_stats->event_post_error == 0 ? ZH_INFO : ZH_WARNING, esp_app_desc->project_name, "zh_pcf8574", buffer);
         vTaskDelay(500 / portTICK_PERIOD_MS);
-        sprintf(buffer, "Number of vector error: %ld.\n", pcf8574_stats->vector_error);
+        snprintf(buffer, sizeof(buffer), "Number of vector error: %ld.\n", pcf8574_stats->vector_error);
         zh_syslog_send(ZH_KERN, pcf8574_stats->vector_error == 0 ? ZH_INFO : ZH_WARNING, esp_app_desc->project_name, "zh_pcf8574", buffer);
         vTaskDelay(500 / portTICK_PERIOD_MS);
-        sprintf(buffer, "Number of queue overflow error: %ld.\n", pcf8574_stats->queue_overflow_error);
+        snprintf(buffer, sizeof(buffer), "Number of queue overflow error: %ld.\n", pcf8574_stats->queue_overflow_error);
         zh_syslog_send(ZH_KERN, pcf8574_stats->queue_overflow_error == 0 ? ZH_INFO : ZH_WARNING, esp_app_desc->project_name, "zh_pcf8574", buffer);
         vTaskDelay(60000 / portTICK_PERIOD_MS);
     }

main/ate0005.h

@@ -1,5 +1,18 @@
 /**
  * @file ate0005.h
+ *
+ * @brief Header file for ATE0005 — Universal Optical 2-Channel Angle Gauge / Tachometer
+ *
+ * This header defines task priorities, stack sizes, mode constants,
+ * WiFi configuration, GPIO pin mappings, and data structures for the
+ * ATE0005 device running on ESP32 platform with FreeRTOS.
+ *
+ * Key features:
+ * - Task configuration for inclinometer, tachometer, encoder, and stats
+ * - WiFi AP/STA mode configuration
+ * - I2C and GPIO pin definitions for peripherals
+ * - Mode selection constants for different operating modes
+ * - LCD display and PCF8574 expander macros
  */
 
 #pragma once
@@ -15,80 +28,86 @@
 #include "zh_espnow.h"
 #include "zh_syslog.h"
 
-#define STATS_TASK_PRIORITY tskIDLE_PRIORITY
-#define STATS_TASK_STACK_SIZE configMINIMAL_STACK_SIZE + 1280
-#define A_INCLINOMETER_TASK_PRIORITY tskIDLE_PRIORITY + 5
-#define A_INCLINOMETER_TASK_STACK_SIZE configMINIMAL_STACK_SIZE + 512
-#define B_INCLINOMETER_TASK_PRIORITY tskIDLE_PRIORITY + 5
-#define B_INCLINOMETER_TASK_STACK_SIZE configMINIMAL_STACK_SIZE + 512
-#define A_TACHOMETER_TASK_PRIORITY tskIDLE_PRIORITY + 5
-#define A_TACHOMETER_TASK_STACK_SIZE configMINIMAL_STACK_SIZE + 512
-#define B_TACHOMETER_TASK_PRIORITY tskIDLE_PRIORITY + 5
-#define B_TACHOMETER_TASK_STACK_SIZE configMINIMAL_STACK_SIZE + 512
-#define ENCODER_TASK_PRIORITY tskIDLE_PRIORITY + 4
-#define ENCODER_TASK_STACK_SIZE configMINIMAL_STACK_SIZE
-#define EXPANDER_TASK_PRIORITY tskIDLE_PRIORITY + 4
-#define EXPANDER_TASK_STACK_SIZE configMINIMAL_STACK_SIZE
+#define STATS_TASK_PRIORITY tskIDLE_PRIORITY                          /*!< Priority of the statistics logging task. */
+#define STATS_TASK_STACK_SIZE configMINIMAL_STACK_SIZE + 1280         /*!< Stack size for the statistics logging task. */
+#define A_INCLINOMETER_TASK_PRIORITY tskIDLE_PRIORITY + 5             /*!< Priority of the A inclinometer processing task. */
+#define A_INCLINOMETER_TASK_STACK_SIZE configMINIMAL_STACK_SIZE + 512 /*!< Stack size for the A inclinometer processing task. */
+#define B_INCLINOMETER_TASK_PRIORITY tskIDLE_PRIORITY + 5             /*!< Priority of the B inclinometer processing task. */
+#define B_INCLINOMETER_TASK_STACK_SIZE configMINIMAL_STACK_SIZE + 512 /*!< Stack size for the B inclinometer processing task. */
+#define A_TACHOMETER_TASK_PRIORITY tskIDLE_PRIORITY + 5               /*!< Priority of the A tachometer processing task. */
+#define A_TACHOMETER_TASK_STACK_SIZE configMINIMAL_STACK_SIZE + 512   /*!< Stack size for the A tachometer processing task. */
+#define B_TACHOMETER_TASK_PRIORITY tskIDLE_PRIORITY + 5               /*!< Priority of the B tachometer processing task. */
+#define B_TACHOMETER_TASK_STACK_SIZE configMINIMAL_STACK_SIZE + 512   /*!< Stack size for the B tachometer processing task. */
+#define ENCODER_TASK_PRIORITY tskIDLE_PRIORITY + 4                    /*!< Priority of the mode encoder task. */
+#define ENCODER_TASK_STACK_SIZE configMINIMAL_STACK_SIZE              /*!< Stack size for the mode encoder task. */
+#define EXPANDER_TASK_PRIORITY tskIDLE_PRIORITY + 4                   /*!< Priority of the PCF8574 expander task. */
+#define EXPANDER_TASK_STACK_SIZE configMINIMAL_STACK_SIZE             /*!< Stack size for the PCF8574 expander task. */
 
-#define TRIAC_ON true
-#define TRIAC_OFF false
+#define TRIAC_ON true   /*!< Triac enabled state. */
+#define TRIAC_OFF false /*!< Triac disabled state. */
 
-#define ENCODER_BUTTON_RELEASED true
-#define ENCODER_BUTTON_PRESSED false
+#define ENCODER_BUTTON_RELEASED true /*!< Encoder button released state. */
+#define ENCODER_BUTTON_PRESSED false /*!< Encoder button pressed state. */
 
-#define LED_OFF ZH_PCF8574_GPIO_LOW
-#define LED_ON ZH_PCF8574_GPIO_HIGH
+#define LED_OFF ZH_PCF8574_GPIO_LOW /*!< LED turned off (low level). */
+#define LED_ON ZH_PCF8574_GPIO_HIGH /*!< LED turned on (high level). */
 
-#define RELAY_OFF ZH_PCF8574_GPIO_LOW
-#define RELAY_ON ZH_PCF8574_GPIO_HIGH
+#define RELAY_OFF ZH_PCF8574_GPIO_LOW /*!< Relay disconnected (low level). */
+#define RELAY_ON ZH_PCF8574_GPIO_HIGH /*!< Relay connected (high level). */
 
-#define MODE_ANGLE_ANGLE 0
-#define MAIN_MENU_ANGLE_ANGLE_NAME "ANGLE/ANGLE"
-#define MODE_TACHO_TACHO 1
-#define MAIN_MENU_TACHO_TACHO_NAME "TACHO/TACHO"
-#define MODE_ANGLE_TACHO 2
-#define MAIN_MENU_ANGLE_TACHO_NAME "ANGLE/TACHO"
-#define MODE_REMOTE 3
-#define MAIN_MENU_REMOTE_NAME "REMOTE"
+#define MODE_ANGLE_ANGLE 0                       /*!< Operating mode: both inclinometers active. */
+#define MAIN_MENU_ANGLE_ANGLE_NAME "ANGLE/ANGLE" /*!< Menu label for angle/angle mode. */
+#define MODE_TACHO_TACHO 1                       /*!< Operating mode: both tachometers active. */
+#define MAIN_MENU_TACHO_TACHO_NAME "TACHO/TACHO" /*!< Menu label for tachometer/tachometer mode. */
+#define MODE_ANGLE_TACHO 2                       /*!< Operating mode: A inclinometer and B tachometer active. */
+#define MAIN_MENU_ANGLE_TACHO_NAME "ANGLE/TACHO" /*!< Menu label for angle/tachometer mode. */
+#define MODE_REMOTE 3                            /*!< Operating mode: remote control via ESP-NOW. */
+#define MAIN_MENU_REMOTE_NAME "REMOTE"           /*!< Menu label for remote mode. */
 
-#define WIFI_AP_SSID "ATE0005"
-#define WIFI_AP_PASS "repairlab"
-#define WIFI_AP_CHANNEL 1
-#define MAX_AP_CONNECTION 4
+#define WIFI_AP_SSID "ATE0005"   /*!< WiFi AP SSID. */
+#define WIFI_AP_PASS "repairlab" /*!< WiFi AP password. */
+#define WIFI_AP_CHANNEL 1        /*!< WiFi AP channel. */
+#define MAX_AP_CONNECTION 4      /*!< Maximum number of stations connected to AP. */
 
-#define WIFI_STA_SSID "rick_professor"
-#define WIFI_STA_PASS "repairlab"
-#define WIFI_STA_MAXIMUM_RETRY 10
+#define WIFI_STA_SSID "rick_professor" /*!< WiFi STA SSID. */
+#define WIFI_STA_PASS "repairlab"      /*!< WiFi STA password. */
+#define WIFI_STA_MAXIMUM_RETRY 10      /*!< Maximum number of reconnection attempts for STA mode. */
 
-#define SYSLOG_IP "77.51.201.8"
+#define SYSLOG_IP "77.51.201.8" /*!< IP address of the remote syslog server. */
 
-#define I2C_SCL_GPIO GPIO_NUM_22
-#define I2C_SDA_GPIO GPIO_NUM_21
+#define I2C_SCL_GPIO GPIO_NUM_22 /*!< I2C clock line GPIO. */
+#define I2C_SDA_GPIO GPIO_NUM_21 /*!< I2C data line GPIO. */
 
-#define LCD_I2C_ADDRESS 0x20 /*!< U2. */
+#define LCD_I2C_ADDRESS 0x20 /*!< I2C address of the LCD PCF8574 expander (U2). */
 
-#define MODE_ENCODER_NUMBER 0x01 /*!< Connector EN1. */
-#define MODE_ENCODER_A_GPIO GPIO_NUM_27
-#define MODE_ENCODER_B_GPIO GPIO_NUM_26
-#define MODE_ENCODER_S_GPIO GPIO_NUM_25
+#define MODE_ENCODER_NUMBER 0x01        /*!< Encoder instance number (Connector EN1). */
+#define MODE_ENCODER_A_GPIO GPIO_NUM_27 /*!< Mode encoder A-phase GPIO. */
+#define MODE_ENCODER_B_GPIO GPIO_NUM_26 /*!< Mode encoder B-phase GPIO. */
+#define MODE_ENCODER_S_GPIO GPIO_NUM_25 /*!< Mode encoder switch GPIO. */
 
-#define A_OPTICAL_DEVICE_A_GPIO GPIO_NUM_14 /*!< Connector EN2. */
-#define A_OPTICAL_DEVICE_B_GPIO GPIO_NUM_13
+#define A_OPTICAL_DEVICE_A_GPIO GPIO_NUM_14 /*!< Optical device A-phase GPIO for channel A (Connector EN2). */
+#define A_OPTICAL_DEVICE_B_GPIO GPIO_NUM_13 /*!< Optical device B-phase GPIO for channel A. */
 
-#define B_OPTICAL_DEVICE_A_GPIO GPIO_NUM_18 /*!< Connector EN3. */
-#define B_OPTICAL_DEVICE_B_GPIO GPIO_NUM_19
+#define B_OPTICAL_DEVICE_A_GPIO GPIO_NUM_18 /*!< Optical device A-phase GPIO for channel B (Connector EN3). */
+#define B_OPTICAL_DEVICE_B_GPIO GPIO_NUM_19 /*!< Optical device B-phase GPIO for channel B. */
 
 #ifdef __cplusplus
 extern "C"
 {
 #endif
 
+    /**
+     * @brief Structure holding minimum free stack sizes for processing tasks.
+     *
+     * Tracks the minimum free stack size observed at runtime for each
+     * processing task, used for syslog monitoring and stack overflow detection.
+     */
     typedef struct
     {
-        uint32_t a_inclinometer_task_min_stack_size;
-        uint32_t b_inclinometer_task_min_stack_size;
-        uint32_t a_tachometer_task_min_stack_size;
-        uint32_t b_tachometer_task_min_stack_size;
+        uint32_t a_inclinometer_task_min_stack_size; /*!< Minimum free stack size of the A inclinometer task. */
+        uint32_t b_inclinometer_task_min_stack_size; /*!< Minimum free stack size of the B inclinometer task. */
+        uint32_t a_tachometer_task_min_stack_size;   /*!< Minimum free stack size of the A tachometer task. */
+        uint32_t b_tachometer_task_min_stack_size;   /*!< Minimum free stack size of the B tachometer task. */
     } task_stats_t;
 
 #ifdef __cplusplus

main/idf_component.yml

@@ -0,0 +1,22 @@
+description: Honeywell Ram Air Modulation Linear Electromechanical Actuator CMM 21-20-36 P/N 541674-X Linear Actuator Interface Test Box
+url: https://github.com/aZholtikov/ate0002
+version: "1.2.0"
+license: "Apache-2.0"
+maintainers:
+  - "Alexey Zholtikov <alexey.zholtikov@yandex.ru>"
+dependencies:
+  idf: ">=5.0"
+  zh_160x_i2c:
+    git: "https://github.com/aZholtikov/zh_160x_i2c.git"
+  zh_syslog:
+    git: "https://github.com/aZholtikov/zh_syslog.git"
+  zh_ota_server:
+    git: "https://github.com/aZholtikov/zh_ota_server.git"
+  zh_encoder:
+    git: "https://github.com/aZholtikov/zh_encoder.git"
+  zh_inclinometer:
+    git: "https://github.com/aZholtikov/zh_inclinometer"
+  zh_tachometer:
+    git: "https://github.com/aZholtikov/zh_tachometer"
+  zh_espnow:
+    git: "https://github.com/aZholtikov/zh_espnow"