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

@@ -1,17 +1,14 @@
 #include "ate0005.h"
 
-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};
-
 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};
+static zh_pcf8574_handle_t *_lcd_handle = NULL;
+static zh_160x_i2c_handle_t *_lcd_160x_handle = NULL;
+static zh_encoder_handle_t *_mode_encoder_handle = NULL;
+static zh_inclinometer_handle_t *_a_inclinometer_handle = NULL;
+static zh_inclinometer_handle_t *_b_inclinometer_handle = NULL;
+static zh_tachometer_handle_t *_a_tachometer_handle = NULL;
+static zh_tachometer_handle_t *_b_tachometer_handle = NULL;
 static esp_timer_handle_t _inclinometer_reset_timer_handle = {0};
-
 static SemaphoreHandle_t _lcd_mutex = NULL;
 static TaskHandle_t _a_inclinometer_task_handle = NULL;
 static TaskHandle_t _b_inclinometer_task_handle = NULL;
@@ -34,13 +31,13 @@ static void _zh_encoder_event_handler(void *arg, esp_event_base_t event_base, in
 static void _zh_espnow_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data);
 static void _zh_wifi_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data);
 static void _zh_inclinometer_reset_timer_on_alarm_cb(void *arg);
-
 static void _zh_a_inclinometer_processing_task(void *pvParameter);
 static void _zh_b_inclinometer_processing_task(void *pvParameter);
 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);
 
+volatile 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};
 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;
@@ -51,8 +48,12 @@ volatile static bool _is_wifi_connected = false;
 
 void app_main(void)
 {
-    _lcd_mutex = xSemaphoreCreateMutex();
-    nvs_flash_init();
+    esp_err_t err = nvs_flash_init();
+    if (err == ESP_ERR_NVS_NO_FREE_PAGES || err == ESP_ERR_NVS_NEW_VERSION_FOUND)
+    {
+        ESP_ERROR_CHECK(nvs_flash_erase());
+        ESP_ERROR_CHECK(nvs_flash_init());
+    }
     esp_event_loop_create_default();
     _zh_pcf8574_init();
     _zh_system_load();
@@ -121,7 +122,6 @@ static void _zh_encoder_init(void)
     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;
@@ -191,34 +191,35 @@ static void _zh_pcf8574_init(void)
     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);
+    zh_160x_init(&_lcd_handle, &_lcd_160x_handle, ZH_LCD_16X2);
+    _lcd_mutex = xSemaphoreCreateMutex();
 }
 
 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);
+    zh_160x_set_cursor(&_lcd_160x_handle, 0, 0);
+    zh_160x_print_char(&_lcd_160x_handle, "LLC AEROTECH");
+    zh_160x_set_cursor(&_lcd_160x_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);
+    zh_160x_print_char(&_lcd_160x_handle, esp_app_desc->project_name);
+    zh_160x_set_cursor(&_lcd_160x_handle, 1, 8);
+    zh_160x_print_char(&_lcd_160x_handle, "V");
+    zh_160x_print_char(&_lcd_160x_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_lcd_clear(&_lcd_160x_handle);
+    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);
         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]);
 }
 
 static void _zh_timer_init(void)
@@ -231,11 +232,12 @@ static void _zh_timer_init(void)
 
 static void _zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data)
 {
+    (void)arg;
     switch (event_id)
     {
     case ZH_BUTTON_EVENT:
-        zh_encoder_button_event_on_isr_t *button_event = event_data;
-        if (button_event->button_status == ENCODER_BUTTON_PRESSED)
+        zh_encoder_button_event_on_isr_t *button_event = (zh_encoder_button_event_on_isr_t *)event_data;
+        if (button_event->button_status == ZH_ENCODER_BUTTON_STATUS_PRESSED)
         {
             esp_timer_start_once(_inclinometer_reset_timer_handle, 2000000);
             _is_reset_mode = true;
@@ -258,20 +260,38 @@ static void _zh_encoder_event_handler(void *arg, esp_event_base_t event_base, in
                 switch (_current_menu_value)
                 {
                 case MODE_ANGLE_ANGLE:
-                    vTaskDelete(_a_inclinometer_task_handle);
-                    vTaskDelete(_b_inclinometer_task_handle);
+                    if (_a_inclinometer_task_handle != NULL)
+                    {
+                        vTaskDelete(_a_inclinometer_task_handle);
+                    }
+                    if (_b_inclinometer_task_handle != NULL)
+                    {
+                        vTaskDelete(_b_inclinometer_task_handle);
+                    }
                     zh_inclinometer_deinit(&_a_inclinometer_handle);
                     zh_inclinometer_deinit(&_b_inclinometer_handle);
                     break;
                 case MODE_TACHO_TACHO:
-                    vTaskDelete(_a_tachometer_task_handle);
-                    vTaskDelete(_b_tachometer_task_handle);
+                    if (_a_tachometer_task_handle != NULL)
+                    {
+                        vTaskDelete(_a_tachometer_task_handle);
+                    }
+                    if (_b_tachometer_task_handle != NULL)
+                    {
+                        vTaskDelete(_b_tachometer_task_handle);
+                    }
                     zh_tachometer_deinit(&_a_tachometer_handle);
                     zh_tachometer_deinit(&_b_tachometer_handle);
                     break;
                 case MODE_ANGLE_TACHO:
-                    vTaskDelete(_a_inclinometer_task_handle);
-                    vTaskDelete(_b_tachometer_task_handle);
+                    if (_a_inclinometer_task_handle != NULL)
+                    {
+                        vTaskDelete(_a_inclinometer_task_handle);
+                    }
+                    if (_b_tachometer_task_handle != NULL)
+                    {
+                        vTaskDelete(_b_tachometer_task_handle);
+                    }
                     zh_inclinometer_deinit(&_a_inclinometer_handle);
                     zh_tachometer_deinit(&_b_tachometer_handle);
                     break;
@@ -281,13 +301,13 @@ 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 +323,8 @@ 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;
@@ -313,15 +333,15 @@ static void _zh_encoder_event_handler(void *arg, esp_event_base_t event_base, in
         }
         break;
     case ZH_ENCODER_EVENT:
-        zh_encoder_event_on_isr_t *encoder_event = event_data;
+        zh_encoder_event_on_isr_t *encoder_event = (zh_encoder_event_on_isr_t *)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
         {
@@ -340,6 +360,8 @@ static void _zh_espnow_event_handler(void *arg, esp_event_base_t event_base, int
 
 static void _zh_wifi_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data)
 {
+    (void)arg;
+    (void)event_data;
     switch (event_id)
     {
     case WIFI_EVENT_STA_START:
@@ -348,7 +370,10 @@ static void _zh_wifi_event_handler(void *arg, esp_event_base_t event_base, int32
     case WIFI_EVENT_STA_DISCONNECTED:
         if (_is_wifi_connected == true)
         {
-            vTaskDelete(_zh_stats_task_handle);
+            if (_zh_stats_task_handle != NULL)
+            {
+                vTaskDelete(_zh_stats_task_handle);
+            }
             zh_syslog_deinit();
             _is_wifi_connected = false;
         }
@@ -364,7 +389,10 @@ static void _zh_wifi_event_handler(void *arg, esp_event_base_t event_base, int32
         zh_syslog_init_config_t config = ZH_SYSLOG_INIT_CONFIG_DEFAULT();
         strcpy(config.syslog_ip, SYSLOG_IP);
         zh_syslog_init(&config);
-        xTaskCreatePinnedToCore(&_zh_stats_processing_task, "stats_processing_task", STATS_TASK_STACK_SIZE, NULL, STATS_TASK_PRIORITY, &_zh_stats_task_handle, tskNO_AFFINITY);
+        if (_zh_stats_task_handle == NULL)
+        {
+            xTaskCreatePinnedToCore(&_zh_stats_processing_task, "stats_processing_task", STATS_TASK_STACK_SIZE, NULL, STATS_TASK_PRIORITY, &_zh_stats_task_handle, tskNO_AFFINITY);
+        }
         break;
     default:
         break;
@@ -373,6 +401,7 @@ static void _zh_wifi_event_handler(void *arg, esp_event_base_t event_base, int32
 
 static void _zh_inclinometer_reset_timer_on_alarm_cb(void *arg)
 {
+    (void)arg;
     _is_reset_mode = false;
     _is_reset_occurred = true;
     if (_is_menu_mode == false)
@@ -394,11 +423,13 @@ static void _zh_inclinometer_reset_timer_on_alarm_cb(void *arg)
 
 static void _zh_a_inclinometer_processing_task(void *pvParameter)
 {
-    float prev_angle = 0, current_angle = 0;
+    (void)pvParameter;
+    float prev_angle = 0.0;
+    float current_angle = 0.0;
     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 +438,10 @@ 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);
@@ -421,11 +452,13 @@ static void _zh_a_inclinometer_processing_task(void *pvParameter)
 
 static void _zh_b_inclinometer_processing_task(void *pvParameter)
 {
-    float prev_angle = 0, current_angle = 0;
+    (void)pvParameter;
+    float prev_angle = 0.0;
+    float current_angle = 0.0;
     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 +467,10 @@ 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);
@@ -448,11 +481,13 @@ static void _zh_b_inclinometer_processing_task(void *pvParameter)
 
 static void _zh_a_tachometer_processing_task(void *pvParameter)
 {
-    uint16_t prev_rpm = 0, current_rpm = 0;
+    (void)pvParameter;
+    uint16_t prev_rpm = 0;
+    uint16_t 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 +496,10 @@ 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);
@@ -475,11 +510,13 @@ static void _zh_a_tachometer_processing_task(void *pvParameter)
 
 static void _zh_b_tachometer_processing_task(void *pvParameter)
 {
-    uint16_t prev_rpm = 0, current_rpm = 0;
+    (void)pvParameter;
+    uint16_t prev_rpm = 0;
+    uint16_t 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 +525,10 @@ 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);
@@ -502,49 +539,50 @@ static void _zh_b_tachometer_processing_task(void *pvParameter)
 
 static void _zh_stats_processing_task(void *pvParameter)
 {
+    (void)pvParameter;
     const esp_app_desc_t *esp_app_desc = esp_app_get_description();
     for (;;)
     {
         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: %lu.\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: %lu.\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: %lu.\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: %lu.\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: %lu.\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: %lu.\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: %lu.\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: %lu.\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: %lu.\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: %lu.\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: %lu.\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: %lu.\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: %lu.\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 +1,24 @@
+description: Universal Optical 2-Channel Angle Gauge / Tachometer
+url: https://github.com/aZholtikov/ate0005
+version: "1.1.2"
+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"
+    version: "dev"
+  zh_tachometer:
+    git: "https://github.com/aZholtikov/zh_tachometer"
+    version: "dev"
+  zh_espnow:
+    git: "https://github.com/aZholtikov/zh_espnow"

sdkconfig.defaults

@@ -3,19 +3,6 @@ CONFIG_BOOTLOADER_LOG_LEVEL_ERROR=y
 CONFIG_ESPTOOLPY_FLASHSIZE_8MB=y
 CONFIG_PARTITION_TABLE_CUSTOM=y
 CONFIG_COMPILER_OPTIMIZATION_SIZE=y
-CONFIG_GPIO_CTRL_FUNC_IN_IRAM=y
-CONFIG_GPTIMER_CTRL_FUNC_IN_IRAM=y
-CONFIG_GPTIMER_ISR_CACHE_SAFE=y
-CONFIG_I2C_ISR_IRAM_SAFE=y
-CONFIG_LEDC_CTRL_FUNC_IN_IRAM=y
-CONFIG_PCNT_CTRL_FUNC_IN_IRAM=y
-CONFIG_PCNT_ISR_IRAM_SAFE=y
-CONFIG_RMT_RECV_FUNC_IN_IRAM=y
-CONFIG_RMT_TX_ISR_CACHE_SAFE=y
-CONFIG_RMT_RX_ISR_CACHE_SAFE=y
-CONFIG_SPI_MASTER_ISR_IN_IRAM=y
-CONFIG_UART_ISR_IN_IRAM=y
-CONFIG_HTTPD_WS_SUPPORT=y
 CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ_240=y
 CONFIG_FREERTOS_HZ=1000
 CONFIG_LOG_DEFAULT_LEVEL_ERROR=y