diff --git a/include/zh_encoder.h b/include/zh_encoder.h
index 487c2c9..3df834e 100644
--- a/include/zh_encoder.h
+++ b/include/zh_encoder.h
@@ -152,6 +152,7 @@ extern "C"
      * @return ESP_OK on success
      * @return ESP_ERR_INVALID_ARG if config or handle is NULL, or parameters are invalid
      * @return ESP_ERR_INVALID_STATE if the encoder is already initialized
+     * @return ESP_ERR_NO_MEM if memory allocation fails
      * @return ESP_FAIL if resource allocation or peripheral initialization fails
      */
     esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t **handle);
diff --git a/zh_encoder.c b/zh_encoder.c
index 858c830..8364e62 100644
--- a/zh_encoder.c
+++ b/zh_encoder.c
@@ -179,6 +179,7 @@ esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_han
     ZH_ERROR_CHECK(config != NULL && handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder initialization failed. Invalid argument.");
     ZH_ERROR_CHECK(*handle == NULL, ESP_ERR_INVALID_STATE, NULL, "Encoder initialization failed. Encoder is already initialized.");
     *handle = heap_caps_calloc(1, sizeof(zh_encoder_handle_t), MALLOC_CAP_8BIT);
+    ZH_ERROR_CHECK(*handle != NULL, ESP_ERR_NO_MEM, NULL, "Encoder initialization failed. Failed to allocate encoder handle.");
     ZH_ERROR_CHECK(_zh_encoder_validate_config(config, *handle) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. Initial configuration check failed.");
     if (_vector == NULL)
     {