perf: updated error checks

include/zh_encoder.h

@@ -1,19 +1,25 @@
 /**
  * @file zh_encoder.h
  *
- * @brief Rotary encoder driver for ESP-IDF using PCNT peripheral.
+ * @brief Rotary encoder driver for ESP-IDF using the PCNT peripheral.
  *
  * Provides a FreeRTOS-based driver for rotary encoders with optional
  * push-button support. Uses ESP-IDF PCNT peripheral for quadrature
  * decoding and esp_event for asynchronous event notification.
+ * Rotation counts are accumulated in a shared task, converted into
+ * configurable steps and clamped to the configured value range.
  *
  * Key features:
- * - Quadrature decoding via PCNT peripheral
+ * - Quadrature decoding via PCNT peripheral (ESP-IDF-style edge/level actions)
  * - Configurable min/max/step values with float precision
- * - Push-button support with debouncing
+ * - Configurable PCNT counts per encoder step (detent)
- * - Multiple simultaneous encoders (up to 8)
+ * - Push-button support with timer-based debouncing
- * - Event-based notification (ISR context)
+ * - Multiple simultaneous encoders (number is limited by available PCNT units and GPIOs)
+ * - Event-based notification (rotation and button events are posted from task context)
  * - Error statistics tracking
+ *
+ * @note All public functions require a valid handle pointer obtained through zh_encoder_init().
+ * @note Rotation and button events are posted from task context (shared processing task and timer callback).
  */
 
 #pragma once
@@ -37,12 +43,13 @@
         .a_gpio_number = GPIO_NUM_MAX,          \
         .b_gpio_number = GPIO_NUM_MAX,          \
         .s_gpio_number = GPIO_NUM_MAX,          \
-        .s_gpio_debounce_time = 10,             \
+        .s_gpio_debounce_time = 15000,          \
         .pullup = true,                         \
         .encoder_min_value = -10,               \
         .encoder_max_value = 10,                \
         .encoder_step = 1,                      \
-        .encoder_number = 0}
+        .pcnt_counts_per_step = 4,              \
+        .encoder_number = 1}
 
 #ifdef __cplusplus
 extern "C"
@@ -56,56 +63,60 @@ extern "C"
 
     /**
      * @brief Opaque encoder handle.
-     *
-     * Opaque pointer to the internal encoder structure.
-     * Used to reference a specific encoder instance across all API functions.
      */
     typedef struct _zh_encoder_handle_t zh_encoder_handle_t;
 
     /**
      * @brief Configuration structure for encoder initialization.
      *
-     * Contains all parameters required to configure a rotary encoder,
+     * Holds all parameters required to create an encoder: GPIO assignments,
-     * including GPIO pins, value range, step size, and task settings.
+     * value range, step size, shared task settings and a unique encoder number.
+     * Use ZH_ENCODER_INIT_CONFIG_DEFAULT() to obtain a valid starting configuration.
      *
      * @note All GPIO numbers must be valid ESP-IDF GPIO numbers or GPIO_NUM_MAX (disabled).
      * @note encoder_number must be unique across all initialized encoders.
+     * @note Only the first initialized encoder's task_priority, stack_size and
+     *       queue_size take effect (shared processing task/queue).
      */
     typedef struct
     {
-        float encoder_step;            /*!< Encoder step. @note Must be greater than 0 */
+        float encoder_step;            /*!< Encoder step per detent. @note Must be greater than 0 */
         float encoder_min_value;       /*!< Encoder min value. @note Must be less than encoder_max_value */
         float encoder_max_value;       /*!< Encoder max value. @note Must be greater than encoder_min_value */
         gpio_num_t a_gpio_number;      /*!< Encoder A GPIO number */
         gpio_num_t b_gpio_number;      /*!< Encoder B GPIO number */
         gpio_num_t s_gpio_number;      /*!< Encoder button GPIO number */
-        uint16_t s_gpio_debounce_time; /*!< Encoder button debounce_time. @note In microseconds */
+        uint16_t s_gpio_debounce_time; /*!< Encoder button debounce time in microseconds. Rounded up to whole milliseconds for the debounce timer */
-        uint16_t stack_size;           /*!< Stack size for task for the encoder isr processing processing. @note The minimum size is configMINIMAL_STACK_SIZE */
+        uint16_t stack_size;           /*!< Stack size for the shared processing task. @note Minimum configMINIMAL_STACK_SIZE */
-        uint8_t task_priority;         /*!< Task priority for the encoder isr processing. @note Minimum value is 1 */
+        uint8_t task_priority;         /*!< Task priority for the shared processing task. @note Minimum value is 1 */
-        uint8_t queue_size;            /*!< Queue size for task for the encoder processing. @note Minimum value is 1 */
+        uint8_t queue_size;            /*!< Queue size for the shared processing queue. @note Minimum value is 1 */
         uint8_t encoder_number;        /*!< Unique encoder number. @note Must be greater than 0 */
-        bool pullup;                   /*!< Pullup GPIO enable/disable */
+        uint8_t pcnt_counts_per_step;  /*!< PCNT counts per encoder step (detent). @note Must be greater than 0. Typically 4 for EC11 with proper quadrature */
+        bool pullup;                   /*!< Pullup GPIO enable/disable for encoder A/B and button */
     } zh_encoder_init_config_t;
 
     /**
      * @brief Structure for encoder error statistics.
      *
-     * Tracks runtime errors and task health metrics for diagnostic purposes.
+     * Collects error counters and task health metrics reported by the shared
+     * processing task and the interrupt handlers.
      */
     typedef struct
     {
-        uint32_t event_post_error;     /*!< Number of event post error */
+        uint32_t event_post_error;     /*!< Number of event post errors */
-        uint32_t queue_overflow_error; /*!< Number of queue overflow error */
+        uint32_t queue_overflow_error; /*!< Number of queue overflow errors */
-        uint32_t min_stack_size;       /*!< Minimum free stack size */
+        uint32_t min_stack_size;       /*!< Minimum free stack size (watermark) */
     } zh_encoder_stats_t;
 
     /**
      * @brief Encoder event identifiers for esp_event base.
+     *
+     * Used as the event ID when registering handlers on the ZH_ENCODER event base.
      */
     typedef enum
     {
-        ZH_BUTTON_EVENT, /*!< Encoder push-button interrupt event */
+        ZH_BUTTON_EVENT, /*!< Encoder push-button event */
-        ZH_ENCODER_EVENT /*!< Encoder rotation interrupt event */
+        ZH_ENCODER_EVENT /*!< Encoder rotation event */
     } zh_encoder_event_id_t;
 
     ESP_EVENT_DECLARE_BASE(ZH_ENCODER);
@@ -113,7 +124,7 @@ extern "C"
     /**
      * @brief Event data structure for encoder rotation events.
      *
-     * Posted from ISR context via esp_event_isr_post when encoder position changes.
+     * Posted from the shared processing task via esp_event_post() (not from ISR).
      *
      * @note Should be used with ZH_ENCODER event base and ZH_ENCODER_EVENT event ID.
      */
@@ -121,13 +132,14 @@ extern "C"
     {
         float encoder_position; /*!< Encoder current position */
         uint8_t encoder_number; /*!< Encoder unique number */
-        bool encoder_status;    /*!< Encoder status (true when position increased, false when position reduced) */
+        bool encoder_status;    /*!< true if position increased, false if reduced */
     } zh_encoder_event_on_isr_t;
 
     /**
      * @brief Event data structure for encoder button events.
      *
-     * Posted from ISR context via esp_event_isr_post when encoder button state changes.
+     * Posted from the button debounce timer callback via esp_event_post() when the
+     * debounced button state actually changed.
      *
      * @note Should be used with ZH_ENCODER event base and ZH_BUTTON_EVENT event ID.
      */
@@ -160,14 +172,14 @@ extern "C"
     /**
      * @brief Deinitialize encoder and release all resources.
      *
-     * Stops the PCNT peripheral, removes GPIO ISR handlers, and frees allocated memory.
+     * Stops the PCNT peripheral, removes GPIO ISR handlers and the button debounce timer,
-     * If this is the last encoder, the shared processing task and queue are also deleted.
+     * and frees allocated memory. If this is the last encoder, the shared processing task
+     * and queue are also deleted.
      *
      * @param[in,out] handle Pointer to unique encoder handle (must not be NULL)
      *
      * @return ESP_OK on success
      * @return ESP_ERR_INVALID_ARG if handle is NULL or points to an uninitialized encoder
-     * @return ESP_FAIL if PCNT or GPIO cleanup fails
      */
     esp_err_t zh_encoder_deinit(zh_encoder_handle_t **handle);
 
@@ -186,6 +198,7 @@ extern "C"
      *
      * @return ESP_OK on success
      * @return ESP_ERR_INVALID_ARG if handle is NULL, or parameters are invalid
+     * @return ESP_FAIL if PCNT count clear fails
      */
     esp_err_t zh_encoder_reinit(zh_encoder_handle_t **handle, float min, float max, float step);
 
@@ -197,6 +210,7 @@ extern "C"
      *
      * @return ESP_OK on success
      * @return ESP_ERR_INVALID_ARG if handle is NULL, or parameters are invalid
+     * @return ESP_FAIL if PCNT count clear fails
      */
     esp_err_t zh_encoder_set(zh_encoder_handle_t **handle, float position);
 
@@ -220,6 +234,7 @@ extern "C"
      *
      * @return ESP_OK on success
      * @return ESP_ERR_INVALID_ARG if handle is NULL
+     * @return ESP_FAIL if PCNT count clear fails
      */
     esp_err_t zh_encoder_reset(zh_encoder_handle_t **handle);
 
@@ -237,6 +252,8 @@ extern "C"
      * @brief Reset all error statistics to zero.
      *
      * Clears error counters and stack watermarks.
+     *
+     * @return No return value
      */
     void zh_encoder_reset_stats(void);
 

zh_encoder.c

@@ -18,106 +18,115 @@
     {                                                \
         ZH_LOGE(msg, ESP_FAIL, ##__VA_ARGS__);       \
         cleanup;                                     \
-        continue;                                    \
     }
 
-#define ZH_ENCODER_DIRECTION_CW 1
+#define ZH_ENCODER_PCNT_HIGH_LIMIT 100
-#define ZH_ENCODER_DIRECTION_CCW -1
+#define ZH_ENCODER_PCNT_LOW_LIMIT -100
 
 /**
  * @brief Internal encoder handle structure.
  *
- * Stores all runtime state for a single encoder instance,
+ * Stores the runtime state of a single encoder: button GPIO state and the software
- * including GPIO configuration, PCNT handles, and position tracking.
+ * debounce timer, value range and step, PCNT count accumulator, and PCNT unit/channel handles.
+ *
+ * @note Fields accessed from both ISR and task context are protected by a spinlock
+ *       in the public API functions.
  */
 struct _zh_encoder_handle_t
 {
     bool s_gpio_status;                          /*!< Current encoder button status */
     uint8_t encoder_number;                      /*!< Unique encoder number */
     gpio_num_t s_gpio_number;                    /*!< Encoder button GPIO number */
-    uint16_t s_gpio_debounce_time;               /*!< Encoder button debounce time in microseconds */
+    float encoder_step;                          /*!< Encoder step per detent */
-    uint64_t s_gpio_prev_time;                   /*!< Timestamp of the previous button interrupt */
-    float encoder_step;                          /*!< Encoder step size */
     float encoder_position;                      /*!< Current encoder position */
     float encoder_min_value;                     /*!< Encoder minimum value */
     float encoder_max_value;                     /*!< Encoder maximum value */
-    pcnt_unit_handle_t pcnt_unit_handle;         /*!< PCNT unit handle for quadrature decoding */
+    int32_t count_accumulator;                   /*!< Leftover PCNT counts not yet converted into a full step */
-    pcnt_channel_handle_t pcnt_channel_a_handle; /*!< PCNT channel A handle (A phase) */
+    uint8_t pcnt_counts_per_step;                /*!< PCNT counts per encoder step (detent) */
-    pcnt_channel_handle_t pcnt_channel_b_handle; /*!< PCNT channel B handle (B phase) */
+    pcnt_unit_handle_t pcnt_unit_handle;         /*!< PCNT unit handle */
+    pcnt_channel_handle_t pcnt_channel_a_handle; /*!< PCNT channel A handle */
+    pcnt_channel_handle_t pcnt_channel_b_handle; /*!< PCNT channel B handle */
+    TimerHandle_t button_timer;                  /*!< One-shot debounce timer for the button */
 };
 
 /**
  * @brief Queue message structure for encoder ISR processing.
  *
- * Sent from ISR context to the processing task when encoder position changes.
+ * Passed from the PCNT watch-point ISR to the shared processing task through
+ * the queue. Carries the raw PCNT count together with the source encoder handle.
+ *
+ * @note The handle pointer is read without holding the spinlock. It is safe because
+ *       the handle is freed in zh_encoder_deinit() only after the processing task
+ *       has been deleted (the last encoder removal).
  */
 typedef struct
 {
-    int watch_point_value;       /*!< PCNT watch point value (CW or CCW direction) */
+    int32_t count;               /*!< PCNT count read before clearing (signed) */
     zh_encoder_handle_t *handle; /*!< Pointer to the encoder handle */
 } zh_encoder_queue_t;
 
-TaskHandle_t zh_encoder = NULL;                               /*!< Handle to the shared encoder ISR processing task */
+TaskHandle_t zh_encoder = NULL;
-static QueueHandle_t _queue_handle = NULL;                    /*!< Queue for passing encoder events from ISR to processing task */
+static QueueHandle_t _queue_handle = NULL;
-static portMUX_TYPE _spinlock = portMUX_INITIALIZER_UNLOCKED; /*!< Spinlock for protecting encoder position access */
+static portMUX_TYPE _spinlock = portMUX_INITIALIZER_UNLOCKED;
 
-static zh_encoder_stats_t _stats = {0}; /*!< Global error statistics */
+static zh_encoder_stats_t _stats = {0};
-
+static zh_vector_t *_vector = NULL;
-static zh_vector_t *_vector = NULL; /*!< Vector storing encoder numbers */
 
 /**
- * @brief Validate encoder initialization configuration.
+ * @brief Validate the initialization configuration and copy parameters into the handle.
  *
- * Checks all configuration parameters for validity and initializes
+ * Checks task, queue, range, step, encoder number and watch-point settings. When a
- * the encoder handle with configuration values.
+ * vector of registered encoders exists, verifies that the encoder number is not yet used.
+ * On success, populates the handle fields and sets the position to the midpoint of the range.
  *
- * @param config Pointer to encoder configuration structure
+ * @param config Pointer to the encoder configuration structure
- * @param handle Pointer to encoder handle to initialize
+ * @param handle Pointer to the encoder handle to populate
  *
  * @return ESP_OK on success
- * @return ESP_ERR_INVALID_ARG if any configuration parameter is invalid
+ * @return ESP_ERR_INVALID_ARG if any configuration parameter is invalid or the encoder number is already present
  */
 static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
 
 /**
- * @brief Initialize PCNT peripheral for quadrature decoding.
+ * @brief Initialize the PCNT unit, channels, watch points and event callbacks.
  *
- * Configures PCNT unit with two channels (A and B phases),
+ * Configures encoder A/B GPIOs as inputs, creates a PCNT unit with a glitch filter,
- * sets up glitch filter, edge/level actions for CW/CCW counting,
+ * adds two channels with quadrature edge/level actions, registers high and low watch
- * registers watch points and event callbacks.
+ * points, then enables, clears and starts the unit. Any failure frees the resources
+ * created so far before returning.
  *
- * @param config Pointer to encoder configuration structure
+ * @param config Pointer to the encoder configuration structure
- * @param handle Pointer to encoder handle to populate with PCNT handles
+ * @param handle Pointer to the encoder handle to store PCNT handles in
  *
  * @return ESP_OK on success
- * @return ESP_ERR_INVALID_ARG if GPIO numbers are invalid or identical
+ * @return ESP_ERR_INVALID_ARG if A/B GPIO numbers are invalid or identical
- * @return ESP_FAIL if PCNT peripheral initialization fails
+ * @return ESP_FAIL if any GPIO or PCNT operation fails
  */
 static esp_err_t _zh_encoder_pcnt_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
 
 /**
- * @brief Initialize GPIO pin for encoder button (if configured).
+ * @brief Initialize the push-button GPIO and register its interrupt handler.
  *
- * Configures the button GPIO as input with interrupt on any edge.
+ * Does nothing when the button is disabled (s_gpio_number equals GPIO_NUM_MAX). Installs
- * Installs ISR service if not already installed and registers the button ISR handler.
+ * the shared GPIO ISR service when needed, configures the button pin for any-edge
+ * interrupt, creates the one-shot software debounce timer (microseconds rounded up to
+ * milliseconds, minimum 1 ms) and registers the button interrupt handler.
  *
- * @param config Pointer to encoder configuration structure
+ * @param config Pointer to the encoder configuration structure
- * @param handle Pointer to encoder handle to populate with GPIO settings
+ * @param handle Pointer to the encoder handle to store button state in
  *
  * @return ESP_OK on success
- * @return ESP_ERR_INVALID_ARG if GPIO numbers conflict with encoder pins
+ * @return ESP_ERR_INVALID_ARG if the button GPIO number is invalid or equals the A/B GPIO number
- * @return ESP_FAIL if GPIO or ISR service initialization fails
+ * @return ESP_FAIL if GPIO configuration, ISR service installation or handler registration fails
  */
 static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
 
 /**
- * @brief Initialize shared resources (queue) for the first encoder.
+ * @brief Create the shared processing queue for the first registered encoder.
  *
- * Creates the FreeRTOS queue used for passing encoder events
+ * The queue is allocated once, when the encoder vector contains exactly one entry.
- * from ISR context to the processing task. Only executed once
- * when the first encoder is initialized.
  *
- * @param config Pointer to encoder configuration structure
+ * @param config Pointer to the encoder configuration structure
  *
  * @return ESP_OK on success
  * @return ESP_FAIL if queue creation fails
@@ -125,12 +134,12 @@ static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, z
 static esp_err_t _zh_encoder_resources_init(const zh_encoder_init_config_t *config);
 
 /**
- * @brief Initialize the shared ISR processing task for the first encoder.
+ * @brief Create the shared ISR processing task for the first registered encoder.
  *
- * Creates the FreeRTOS task that processes encoder events from the queue.
+ * The task is created once, when the encoder vector contains exactly one entry,
- * Only executed once when the first encoder is initialized.
+ * pinned to no specific core with the configured priority and stack size.
  *
- * @param config Pointer to encoder configuration structure
+ * @param config Pointer to the encoder configuration structure
  *
  * @return ESP_OK on success
  * @return ESP_FAIL if task creation fails
@@ -138,36 +147,59 @@ static esp_err_t _zh_encoder_resources_init(const zh_encoder_init_config_t *conf
 static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config);
 
 /**
- * @brief PCNT event callback invoked when watch point is reached.
+ * @brief PCNT watch-point interrupt handler.
  *
- * Clears the PCNT counter and sends the watch point value
+ * Reads and clears the unit count, then posts a queue message to the shared processing
- * to the processing task queue. Executed in ISR context.
+ * task. Increments the queue overflow counter when the queue is full.
  *
- * @param unit PCNT unit handle that triggered the event
+ * @param unit PCNT unit handle that reached the watch point
- * @param edata Pointer to PCNT watch event data
+ * @param edata Watch-point event data (unused)
- * @param user_ctx Pointer to encoder handle
+ * @param user_ctx Pointer to the encoder handle passed during callback registration
+ *
+ * @return true if a higher priority task was woken and a context switch is required
+ * @return false otherwise
  */
 static bool _zh_encoder_isr_handler(pcnt_unit_handle_t unit, const pcnt_watch_event_data_t *edata, void *user_ctx);
 
 /**
- * @brief FreeRTOS task for processing encoder events from the queue.
+ * @brief Shared processing task body for encoder rotation events.
  *
- * Receives queue messages from the ISR handler, updates encoder position
+ * Receives queue messages, converts raw PCNT counts into whole steps using the
- * based on CW/CCW direction, and posts esp_event notifications
+ * accumulator, clamps the position to the configured range, snaps values closer to
- * when position changes. Runs indefinitely until the queue is deleted.
+ * zero than half a step to zero, and posts a rotation event when the position changes.
+ * Updates the stack watermark on each iteration.
  *
  * @param pvParameter Task parameter (unused)
+ *
+ * @return Never returns, the task deletes itself when the queue receive fails
  */
 static void _zh_encoder_isr_processing_task(void *pvParameter);
 
 /**
- * @brief GPIO ISR handler for encoder button press/release.
+ * @brief Button debounce timer callback.
  *
- * Implements debouncing by checking the time since the last interrupt.
+ * Runs in the timer daemon task context after the debounce period elapses. Reads the
- * Posts a button event via esp_event_isr_post when button state changes.
+ * button level and posts a button event only when the state actually changed. Increments
- * Executed in ISR context.
+ * the event post error counter when posting fails.
  *
- * @param arg Pointer to encoder handle
+ * @note @c s_gpio_status is read and written without holding the spinlock. It is safe
+ *       because only this callback ever touches the field, so no concurrent access occurs.
+ *
+ * @param xTimer Timer handle whose ID holds the encoder handle pointer
+ *
+ * @return No return value
+ */
+static void _zh_encoder_button_timer_cb(TimerHandle_t xTimer);
+
+/**
+ * @brief Push-button GPIO interrupt handler.
+ *
+ * Restarts the one-shot software debounce timer on every edge. The button state is
+ * checked in the timer callback, so the ISR itself performs no event posting.
+ *
+ * @param arg Pointer to the encoder handle passed during handler registration
+ *
+ * @return No return value
  */
 static void _zh_encoder_button_isr_handler(void *arg);
 
@@ -187,19 +219,19 @@ esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_han
     }
     ZH_ERROR_CHECK(zh_vector_push_back(&_vector, &config->encoder_number) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. Failed to add vector data.");
     ZH_ERROR_CHECK(_zh_encoder_resources_init(config) == ESP_OK, ESP_FAIL, zh_vector_delete_back(&_vector); heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. Resources initialization failed.");
-    // clang-format off
     ZH_ERROR_CHECK(_zh_encoder_task_init(config) == ESP_OK, ESP_FAIL,
-                   zh_vector_delete_back(&_vector); heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. Processing task initialization failed.");
+                   zh_vector_delete_back(&_vector);
+                   heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. Processing task initialization failed.");
     ZH_ERROR_CHECK(_zh_encoder_pcnt_init(config, *handle) == ESP_OK, ESP_FAIL,
-                   zh_vector_delete_back(&_vector); heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. PCNT initialization failed.");
+                   zh_vector_delete_back(&_vector);
+                   heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. PCNT initialization failed.");
     ZH_ERROR_CHECK(_zh_encoder_gpio_init(config, *handle) == ESP_OK, ESP_FAIL,
-                   {ZH_ERROR_CHECK(pcnt_unit_stop((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "PCNT unit stop fail.")};
+                   {ZH_ERROR_CHECK_CONT(pcnt_unit_stop((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "PCNT unit stop fail.")};
-                   {ZH_ERROR_CHECK(pcnt_unit_disable((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "PCNT unit disable fail.")};
+                   {ZH_ERROR_CHECK_CONT(pcnt_unit_disable((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "PCNT unit disable fail.")};
-                   {ZH_ERROR_CHECK(pcnt_del_channel((*handle)->pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "PCNT delete channel fail.")};
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_channel((*handle)->pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
-                   {ZH_ERROR_CHECK(pcnt_del_channel((*handle)->pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "PCNT delete channel fail.")};
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_channel((*handle)->pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
-                   {ZH_ERROR_CHECK(pcnt_del_unit((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "PCNT delete unit fail.")};
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_unit((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")};
                    zh_vector_delete_back(&_vector); heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. GPIO initialization failed.");
-    // clang-format on
     if (_stats.min_stack_size == 0)
     {
         _stats.min_stack_size = config->stack_size;
@@ -212,30 +244,42 @@ esp_err_t zh_encoder_deinit(zh_encoder_handle_t **handle)
 {
     ZH_LOGI("Encoder deinitialization started.");
     ZH_ERROR_CHECK(handle != NULL && *handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder deinitialization failed. Invalid argument.");
-    ZH_ERROR_CHECK(pcnt_unit_stop((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. PCNT unit stop fail.");
+    ZH_ERROR_CHECK_CONT(pcnt_unit_stop((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "Encoder deinitialization failed. PCNT unit stop fail.");
-    ZH_ERROR_CHECK(pcnt_unit_disable((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. PCNT unit disable fail.");
+    ZH_ERROR_CHECK_CONT(pcnt_unit_disable((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "Encoder deinitialization failed. PCNT unit disable fail.");
-    ZH_ERROR_CHECK(pcnt_unit_remove_watch_point((*handle)->pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. PCNT unit remove watch point fail.");
+    ZH_ERROR_CHECK_CONT(pcnt_unit_remove_watch_point((*handle)->pcnt_unit_handle, (*handle)->pcnt_counts_per_step) == ESP_OK, NULL, "Encoder deinitialization failed. PCNT unit remove watch point fail.");
-    ZH_ERROR_CHECK(pcnt_unit_remove_watch_point((*handle)->pcnt_unit_handle, ZH_ENCODER_DIRECTION_CCW) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. PCNT unit remove watch point fail.");
+    ZH_ERROR_CHECK_CONT(pcnt_unit_remove_watch_point((*handle)->pcnt_unit_handle, -(*handle)->pcnt_counts_per_step) == ESP_OK, NULL, "Encoder deinitialization failed. PCNT unit remove watch point fail.");
-    ZH_ERROR_CHECK(pcnt_del_channel((*handle)->pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. PCNT delete channel fail.");
+    ZH_ERROR_CHECK_CONT(pcnt_del_channel((*handle)->pcnt_channel_a_handle) == ESP_OK, NULL, "Encoder deinitialization failed. PCNT delete channel fail.");
-    ZH_ERROR_CHECK(pcnt_del_channel((*handle)->pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. PCNT delete channel fail.");
+    ZH_ERROR_CHECK_CONT(pcnt_del_channel((*handle)->pcnt_channel_b_handle) == ESP_OK, NULL, "Encoder deinitialization failed. PCNT delete channel fail.");
-    ZH_ERROR_CHECK(pcnt_del_unit((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. PCNT delete unit fail.");
+    ZH_ERROR_CHECK_CONT(pcnt_del_unit((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "Encoder deinitialization failed. PCNT delete unit fail.");
     if ((*handle)->s_gpio_number != GPIO_NUM_MAX)
     {
-        ZH_ERROR_CHECK(gpio_isr_handler_remove((*handle)->s_gpio_number) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. Remove GPIO isr handler failed.");
+        ZH_ERROR_CHECK_CONT(gpio_isr_handler_remove((*handle)->s_gpio_number) == ESP_OK, NULL, "Encoder deinitialization failed. Remove GPIO isr handler failed.");
-        ZH_ERROR_CHECK(gpio_reset_pin((*handle)->s_gpio_number) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. Reset GPIO failed.");
+        ZH_ERROR_CHECK_CONT(gpio_reset_pin((*handle)->s_gpio_number) == ESP_OK, NULL, "Encoder deinitialization failed. Reset GPIO failed.");
+        if ((*handle)->button_timer != NULL)
+        {
+            xTimerStop((*handle)->button_timer, portMAX_DELAY);
+            xTimerDelete((*handle)->button_timer, portMAX_DELAY);
+            (*handle)->button_timer = NULL;
+        }
     }
     int32_t index = 0;
-    ZH_ERROR_CHECK(zh_vector_find_item(&_vector, &(*handle)->encoder_number, &index) == ESP_ERR_NOT_FOUND, ESP_ERR_INVALID_ARG, NULL, "Encoder deinitialization failed. Failed to find vector item.");
+    ZH_ERROR_CHECK(zh_vector_find_item(&_vector, &(*handle)->encoder_number, &index) == ESP_OK, ESP_ERR_INVALID_ARG, NULL, "Encoder deinitialization failed. Failed to find vector item.");
     ZH_ERROR_CHECK(zh_vector_delete_item(&_vector, (uint16_t)index) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. Vector delete item failed.");
     uint16_t vector_size = 0;
     ZH_ERROR_CHECK(zh_vector_get_size(&_vector, &vector_size) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. Failed to get vector size.");
     if (vector_size == 0)
     {
-        vQueueDelete(_queue_handle);
+        if (zh_encoder != NULL)
-        _queue_handle = NULL;
+        {
             vTaskDelete(zh_encoder);
             zh_encoder = NULL;
-        ZH_ERROR_CHECK(zh_vector_free(&_vector) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. Free vector failed.");
+        }
+        if (_queue_handle != NULL)
+        {
+            vQueueDelete(_queue_handle);
+            _queue_handle = NULL;
+        }
+        ZH_ERROR_CHECK_CONT(zh_vector_free(&_vector) == ESP_OK, NULL, "Encoder deinitialization failed. Free vector failed.");
     }
     heap_caps_free(*handle);
     *handle = NULL;
@@ -254,7 +298,9 @@ esp_err_t zh_encoder_reinit(zh_encoder_handle_t **handle, float min, float max,
     (*handle)->encoder_max_value = max;
     (*handle)->encoder_step = step;
     (*handle)->encoder_position = ((*handle)->encoder_min_value + (*handle)->encoder_max_value) / 2;
+    (*handle)->count_accumulator = 0;
     taskEXIT_CRITICAL(&_spinlock);
+    ZH_ERROR_CHECK(pcnt_unit_clear_count((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder reinitialization failed. Internal error.");
     ZH_LOGI("Encoder reinitialization completed successfully.");
     return ESP_OK;
 }
@@ -263,10 +309,12 @@ esp_err_t zh_encoder_set(zh_encoder_handle_t **handle, float position)
 {
     ZH_LOGI("Encoder set position started.");
     ZH_ERROR_CHECK(handle != NULL && *handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder set position failed. Invalid argument.");
-    ZH_ERROR_CHECK(position <= (*handle)->encoder_max_value && position >= (*handle)->encoder_min_value, ESP_ERR_INVALID_ARG, NULL, "Encoder set position failed. Invalid argument.");
     taskENTER_CRITICAL(&_spinlock);
+    ZH_ERROR_CHECK(position <= (*handle)->encoder_max_value && position >= (*handle)->encoder_min_value, ESP_ERR_INVALID_ARG, taskEXIT_CRITICAL(&_spinlock), "Encoder set position failed. Invalid argument.");
     (*handle)->encoder_position = position;
+    (*handle)->count_accumulator = 0;
     taskEXIT_CRITICAL(&_spinlock);
+    ZH_ERROR_CHECK(pcnt_unit_clear_count((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder set position failed. Internal error.");
     ZH_LOGI("Encoder set position completed successfully.");
     return ESP_OK;
 }
@@ -275,7 +323,9 @@ esp_err_t zh_encoder_get(zh_encoder_handle_t **handle, float *position)
 {
     ZH_LOGI("Encoder get position started.");
     ZH_ERROR_CHECK(handle != NULL && *handle != NULL && position != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder get position failed. Invalid argument.");
+    taskENTER_CRITICAL(&_spinlock);
     *position = (*handle)->encoder_position;
+    taskEXIT_CRITICAL(&_spinlock);
     ZH_LOGI("Encoder get position completed successfully.");
     return ESP_OK;
 }
@@ -286,7 +336,9 @@ esp_err_t zh_encoder_reset(zh_encoder_handle_t **handle)
     ZH_ERROR_CHECK(handle != NULL && *handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder reset failed. Invalid argument.");
     taskENTER_CRITICAL(&_spinlock);
     (*handle)->encoder_position = ((*handle)->encoder_min_value + (*handle)->encoder_max_value) / 2;
+    (*handle)->count_accumulator = 0;
     taskEXIT_CRITICAL(&_spinlock);
+    ZH_ERROR_CHECK(pcnt_unit_clear_count((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder reset failed. Internal error.");
     ZH_LOGI("Encoder reset completed successfully.");
     return ESP_OK;
 }
@@ -312,6 +364,7 @@ static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *con
     ZH_ERROR_CHECK(config->encoder_max_value > config->encoder_min_value, ESP_ERR_INVALID_ARG, NULL, "Invalid encoder min/max value.");
     ZH_ERROR_CHECK(config->encoder_step > 0, ESP_ERR_INVALID_ARG, NULL, "Invalid encoder step.");
     ZH_ERROR_CHECK(config->encoder_number > 0, ESP_ERR_INVALID_ARG, NULL, "Invalid encoder number.");
+    ZH_ERROR_CHECK(config->pcnt_counts_per_step > 0, ESP_ERR_INVALID_ARG, NULL, "Invalid pcnt_counts_per_step.");
     if (_vector != NULL)
     {
         int32_t index = 0;
@@ -321,7 +374,9 @@ static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *con
     handle->encoder_min_value = config->encoder_min_value;
     handle->encoder_max_value = config->encoder_max_value;
     handle->encoder_step = config->encoder_step;
+    handle->pcnt_counts_per_step = config->pcnt_counts_per_step;
     handle->encoder_position = (handle->encoder_min_value + handle->encoder_max_value) / 2;
+    handle->s_gpio_number = GPIO_NUM_MAX;
     return ESP_OK;
 }
 
@@ -329,9 +384,17 @@ static esp_err_t _zh_encoder_pcnt_init(const zh_encoder_init_config_t *config, z
 {
     ZH_ERROR_CHECK(config->a_gpio_number < GPIO_NUM_MAX && config->b_gpio_number < GPIO_NUM_MAX, ESP_ERR_INVALID_ARG, NULL, "Invalid GPIO number.")
     ZH_ERROR_CHECK(config->a_gpio_number != config->b_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Encoder A and B GPIO is same.")
+    gpio_config_t io_config = {
+        .pin_bit_mask = (1ULL << config->a_gpio_number) | (1ULL << config->b_gpio_number),
+        .mode = GPIO_MODE_INPUT,
+        .pull_up_en = config->pullup == true ? GPIO_PULLUP_ENABLE : GPIO_PULLUP_DISABLE,
+        .pull_down_en = GPIO_PULLDOWN_DISABLE,
+        .intr_type = GPIO_INTR_DISABLE,
+    };
+    ZH_ERROR_CHECK(gpio_config(&io_config) == ESP_OK, ESP_FAIL, NULL, "GPIO initialization failed.");
     pcnt_unit_config_t pcnt_unit_config = {
-        .high_limit = 10,
+        .high_limit = ZH_ENCODER_PCNT_HIGH_LIMIT,
-        .low_limit = -10,
+        .low_limit = ZH_ENCODER_PCNT_LOW_LIMIT,
     };
     pcnt_unit_handle_t pcnt_unit_handle = NULL;
     ZH_ERROR_CHECK(pcnt_new_unit(&pcnt_unit_config, &pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT initialization failed.");
@@ -339,44 +402,44 @@ static esp_err_t _zh_encoder_pcnt_init(const zh_encoder_init_config_t *config, z
         .max_glitch_ns = 1000,
     };
     ZH_ERROR_CHECK(pcnt_unit_set_glitch_filter(pcnt_unit_handle, &pcnt_glitch_filter_config) == ESP_OK, ESP_FAIL,
-                   {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
     pcnt_chan_config_t pcnt_chan_a_config = {
         .edge_gpio_num = config->a_gpio_number,
         .level_gpio_num = config->b_gpio_number,
     };
     pcnt_channel_handle_t pcnt_channel_a_handle = NULL;
     ZH_ERROR_CHECK(pcnt_new_channel(pcnt_unit_handle, &pcnt_chan_a_config, &pcnt_channel_a_handle) == ESP_OK, ESP_FAIL,
-                   {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
     pcnt_chan_config_t pcnt_chan_b_config = {
         .edge_gpio_num = config->b_gpio_number,
         .level_gpio_num = config->a_gpio_number,
     };
     pcnt_channel_handle_t pcnt_channel_b_handle = NULL;
     ZH_ERROR_CHECK(pcnt_new_channel(pcnt_unit_handle, &pcnt_chan_b_config, &pcnt_channel_b_handle) == ESP_OK, ESP_FAIL,
-                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
-                   {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
-    ZH_ERROR_CHECK(pcnt_channel_set_edge_action(pcnt_channel_a_handle, PCNT_CHANNEL_EDGE_ACTION_DECREASE, PCNT_CHANNEL_EDGE_ACTION_HOLD) == ESP_OK, ESP_FAIL,
+    ZH_ERROR_CHECK(pcnt_channel_set_edge_action(pcnt_channel_a_handle, PCNT_CHANNEL_EDGE_ACTION_DECREASE, PCNT_CHANNEL_EDGE_ACTION_INCREASE) == ESP_OK, ESP_FAIL,
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
+    ZH_ERROR_CHECK(pcnt_channel_set_level_action(pcnt_channel_a_handle, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_INVERSE) == ESP_OK, ESP_FAIL,
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
+    ZH_ERROR_CHECK(pcnt_channel_set_edge_action(pcnt_channel_b_handle, PCNT_CHANNEL_EDGE_ACTION_INCREASE, PCNT_CHANNEL_EDGE_ACTION_DECREASE) == ESP_OK, ESP_FAIL,
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
+    ZH_ERROR_CHECK(pcnt_channel_set_level_action(pcnt_channel_b_handle, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_INVERSE) == ESP_OK, ESP_FAIL,
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
+    ZH_ERROR_CHECK(pcnt_unit_add_watch_point(pcnt_unit_handle, handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL,
                    {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
                    {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
                    {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
-    ZH_ERROR_CHECK(pcnt_channel_set_level_action(pcnt_channel_a_handle, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_HOLD) == ESP_OK, ESP_FAIL,
+    ZH_ERROR_CHECK(pcnt_unit_add_watch_point(pcnt_unit_handle, -handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL,
-                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
+                   {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
-                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
-                   {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
-    ZH_ERROR_CHECK(pcnt_channel_set_edge_action(pcnt_channel_b_handle, PCNT_CHANNEL_EDGE_ACTION_INCREASE, PCNT_CHANNEL_EDGE_ACTION_HOLD) == ESP_OK, ESP_FAIL,
-                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
-                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
-                   {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
-    ZH_ERROR_CHECK(pcnt_channel_set_level_action(pcnt_channel_b_handle, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_HOLD) == ESP_OK, ESP_FAIL,
-                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
-                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
-                   {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
-    ZH_ERROR_CHECK(pcnt_unit_add_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL,
-                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
-                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
-                   {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
-    ZH_ERROR_CHECK(pcnt_unit_add_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CCW) == ESP_OK, ESP_FAIL,
-                   {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
                    {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
                    {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
                    {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
@@ -384,36 +447,31 @@ static esp_err_t _zh_encoder_pcnt_init(const zh_encoder_init_config_t *config, z
         .on_reach = _zh_encoder_isr_handler,
     };
     ZH_ERROR_CHECK(pcnt_unit_register_event_callbacks(pcnt_unit_handle, &cbs, handle) == ESP_OK, ESP_FAIL,
-                   {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
+                   {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
-                   {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CCW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
+                   {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, -handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
                    {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
                    {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
                    {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
     ZH_ERROR_CHECK(pcnt_unit_enable(pcnt_unit_handle) == ESP_OK, ESP_FAIL,
-                   {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
+                   {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
-                   {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CCW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
+                   {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, -handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
                    {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
                    {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
                    {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
     ZH_ERROR_CHECK(pcnt_unit_clear_count(pcnt_unit_handle) == ESP_OK, ESP_FAIL,
                    {ZH_ERROR_CHECK(pcnt_unit_disable(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT unit disable fail.")};
-                   {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
+                   {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
-                   {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CCW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
+                   {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, -handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
                    {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
                    {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
                    {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
     ZH_ERROR_CHECK(pcnt_unit_start(pcnt_unit_handle) == ESP_OK, ESP_FAIL,
                    {ZH_ERROR_CHECK(pcnt_unit_disable(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT unit disable fail.")};
-                   {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
+                   {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
-                   {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CCW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
+                   {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, -handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
                    {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
                    {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
                    {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
-    if (config->pullup == false)
-    {
-        ZH_ERROR_CHECK(gpio_pullup_dis(config->a_gpio_number) == ESP_OK, ESP_FAIL, NULL, "GPIO pullup disable fail.");
-        ZH_ERROR_CHECK(gpio_pullup_dis(config->b_gpio_number) == ESP_OK, ESP_FAIL, NULL, "GPIO pullup disable fail.");
-    }
     handle->pcnt_unit_handle = pcnt_unit_handle;
     handle->pcnt_channel_a_handle = pcnt_channel_a_handle;
     handle->pcnt_channel_b_handle = pcnt_channel_b_handle;
@@ -422,8 +480,8 @@ static esp_err_t _zh_encoder_pcnt_init(const zh_encoder_init_config_t *config, z
 
 static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle)
 {
-    ZH_ERROR_CHECK(config->s_gpio_number <= GPIO_NUM_MAX, ESP_ERR_INVALID_ARG, NULL, "Invalid GPIO number.")
+    ZH_ERROR_CHECK(config->s_gpio_number <= GPIO_NUM_MAX, ESP_ERR_INVALID_ARG, NULL, "Invalid GPIO number.");
-    ZH_ERROR_CHECK(config->a_gpio_number != config->s_gpio_number && config->b_gpio_number != config->s_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Encoder GPIO and button GPIO is same.")
+    ZH_ERROR_CHECK(config->a_gpio_number != config->s_gpio_number && config->b_gpio_number != config->s_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Encoder GPIO and button GPIO is the same.");
     if (config->s_gpio_number != GPIO_NUM_MAX)
     {
         gpio_config_t pin_config = {
@@ -432,14 +490,22 @@ static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, z
             .pin_bit_mask = (1ULL << config->s_gpio_number),
             .intr_type = GPIO_INTR_ANYEDGE};
         ZH_ERROR_CHECK(gpio_config(&pin_config) == ESP_OK, ESP_FAIL, NULL, "GPIO initialization failed.");
+        uint32_t debounce_ms = (config->s_gpio_debounce_time + 999) / 1000;
+        if (debounce_ms < 1)
+        {
+            debounce_ms = 1;
+        }
+        handle->button_timer = xTimerCreate("zh_encoder_button_timer", pdMS_TO_TICKS(debounce_ms), pdFALSE, handle, _zh_encoder_button_timer_cb);
+        ZH_ERROR_CHECK(handle->button_timer != NULL, ESP_FAIL, gpio_isr_handler_remove(config->s_gpio_number); gpio_reset_pin(config->s_gpio_number), "Failed to create button debounce timer.");
+        handle->s_gpio_number = config->s_gpio_number;
+        handle->s_gpio_status = gpio_get_level(config->s_gpio_number);
         esp_err_t err = gpio_install_isr_service(ESP_INTR_FLAG_LOWMED);
         ZH_ERROR_CHECK(err == ESP_OK || err == ESP_ERR_INVALID_STATE, ESP_FAIL,
-                       {ZH_ERROR_CHECK(gpio_reset_pin(config->s_gpio_number) == ESP_OK, ESP_FAIL, NULL, "Reset GPIO failed.")}, "Failed install isr service.");
+                       {ZH_ERROR_CHECK_CONT(gpio_reset_pin(config->s_gpio_number) == ESP_OK, NULL, "Reset GPIO failed.")};
+                       xTimerDelete(handle->button_timer, portMAX_DELAY); handle->button_timer = NULL, "Failed install isr service.");
         ZH_ERROR_CHECK(gpio_isr_handler_add(config->s_gpio_number, _zh_encoder_button_isr_handler, handle) == ESP_OK, ESP_FAIL,
-                       {ZH_ERROR_CHECK(gpio_reset_pin(config->s_gpio_number) == ESP_OK, ESP_FAIL, NULL, "Reset GPIO failed.")}, "Interrupt initialization failed.");
+                       {ZH_ERROR_CHECK_CONT(gpio_reset_pin(config->s_gpio_number) == ESP_OK, NULL, "Reset GPIO failed.")};
-        handle->s_gpio_number = config->s_gpio_number;
+                       xTimerDelete(handle->button_timer, portMAX_DELAY); handle->button_timer = NULL, "Interrupt initialization failed.");
-        handle->s_gpio_debounce_time = config->s_gpio_debounce_time;
-        handle->s_gpio_status = gpio_get_level(config->s_gpio_number);
     }
     return ESP_OK;
 }
@@ -468,17 +534,27 @@ static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config)
     return ESP_OK;
 }
 
-static bool IRAM_ATTR _zh_encoder_isr_handler(pcnt_unit_handle_t unit, const pcnt_watch_event_data_t *edata, void *user_ctx)
+static bool _zh_encoder_isr_handler(pcnt_unit_handle_t unit, const pcnt_watch_event_data_t *edata, void *user_ctx)
 {
+    (void)edata;
     zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)user_ctx;
     zh_encoder_queue_t encoder_queue = {0};
-    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+    int count = 0;
-    if (pcnt_unit_clear_count(unit) != ESP_OK)
+    taskENTER_CRITICAL_ISR(&_spinlock);
+    if (pcnt_unit_get_count(unit, &count) != ESP_OK)
     {
+        taskEXIT_CRITICAL_ISR(&_spinlock);
         return false;
     }
-    encoder_queue.watch_point_value = edata->watch_point_value;
+    if (pcnt_unit_clear_count(unit) != ESP_OK)
+    {
+        taskEXIT_CRITICAL_ISR(&_spinlock);
+        return false;
+    }
+    taskEXIT_CRITICAL_ISR(&_spinlock);
+    encoder_queue.count = count;
     encoder_queue.handle = encoder_handle;
+    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
     if (xQueueSendFromISR(_queue_handle, &encoder_queue, &xHigherPriorityTaskWoken) != pdTRUE)
     {
         ++_stats.queue_overflow_error;
@@ -490,84 +566,80 @@ static bool IRAM_ATTR _zh_encoder_isr_handler(pcnt_unit_handle_t unit, const pcn
     return false;
 }
 
-static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter)
+static void _zh_encoder_isr_processing_task(void *pvParameter)
 {
     (void)pvParameter;
     zh_encoder_queue_t encoder_queue = {0};
     while (xQueueReceive(_queue_handle, &encoder_queue, portMAX_DELAY) == pdTRUE)
     {
-        bool is_value_changed = false;
+        zh_encoder_handle_t *handle = encoder_queue.handle;
+        bool position_changed = false;
         bool encoder_status = false;
-        zh_encoder_handle_t *encoder_handle = encoder_queue.handle;
+        float encoder_position = 0.0;
-        switch (encoder_queue.watch_point_value)
+        uint8_t encoder_number = 0;
+        taskENTER_CRITICAL(&_spinlock);
+        int32_t total = handle->count_accumulator + encoder_queue.count;
+        int32_t full_steps = total / (int32_t)handle->pcnt_counts_per_step;
+        handle->count_accumulator = total - full_steps * (int32_t)handle->pcnt_counts_per_step;
+        if (full_steps != 0)
         {
-        case ZH_ENCODER_DIRECTION_CW:
+            float candidate = handle->encoder_position + (float)full_steps * handle->encoder_step;
-            if (encoder_handle->encoder_position < encoder_handle->encoder_max_value)
+            if (candidate > handle->encoder_max_value)
             {
-                encoder_handle->encoder_position = encoder_handle->encoder_position + encoder_handle->encoder_step;
+                candidate = handle->encoder_max_value;
-                if (encoder_handle->encoder_position > encoder_handle->encoder_max_value)
-                {
-                    encoder_handle->encoder_position = encoder_handle->encoder_max_value;
             }
-                is_value_changed = true;
+            else if (candidate < handle->encoder_min_value)
-                encoder_status = true;
-            }
-            break;
-        case ZH_ENCODER_DIRECTION_CCW:
-            if (encoder_handle->encoder_position > encoder_handle->encoder_min_value)
             {
-                encoder_handle->encoder_position = encoder_handle->encoder_position - encoder_handle->encoder_step;
+                candidate = handle->encoder_min_value;
-                if (encoder_handle->encoder_position < encoder_handle->encoder_min_value)
+            }
+            if (fabsf(candidate) < handle->encoder_step * 0.5f)
             {
-                    encoder_handle->encoder_position = encoder_handle->encoder_min_value;
+                candidate = 0.0f;
             }
-                is_value_changed = true;
+            if (candidate != handle->encoder_position)
+            {
+                handle->encoder_position = candidate;
+                position_changed = true;
+                encoder_status = full_steps > 0 ? true : false;
+                encoder_position = candidate;
+                encoder_number = handle->encoder_number;
             }
-            break;
-        default:
-            break;
         }
-        if (is_value_changed == true)
+        taskEXIT_CRITICAL(&_spinlock);
+        if (position_changed == true)
         {
-            is_value_changed = false;
             zh_encoder_event_on_isr_t encoder_data = {0};
-            encoder_data.encoder_number = encoder_handle->encoder_number;
+            encoder_data.encoder_number = encoder_number;
-            if (fabsf(encoder_handle->encoder_position) < 1e-6f)
+            encoder_data.encoder_position = encoder_position;
-            {
-                memset(&encoder_handle->encoder_position, 0, sizeof(float));
-            }
-            encoder_data.encoder_position = encoder_handle->encoder_position;
             encoder_data.encoder_status = encoder_status;
-            ZH_ERROR_CHECK_CONT(esp_event_post(ZH_ENCODER, ZH_ENCODER_EVENT, &encoder_data, sizeof(zh_encoder_event_on_isr_t), 1000 / portTICK_PERIOD_MS) == ESP_OK, ++_stats.event_post_error, "Encoder isr processing failed. Failed to post interrupt event.");
+            ZH_ERROR_CHECK_CONT(esp_event_post(ZH_ENCODER, ZH_ENCODER_EVENT, &encoder_data, sizeof(zh_encoder_event_on_isr_t), pdMS_TO_TICKS(10)) == ESP_OK, ++_stats.event_post_error, "Encoder isr processing failed. Failed to post interrupt event.");
         }
         _stats.min_stack_size = (uint32_t)uxTaskGetStackHighWaterMark(NULL);
     }
     vTaskDelete(NULL);
 }
 
-static void IRAM_ATTR _zh_encoder_button_isr_handler(void *arg)
+static void _zh_encoder_button_timer_cb(TimerHandle_t xTimer)
 {
-    zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)arg;
+    zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)pvTimerGetTimerID(xTimer);
-    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
-    uint64_t _current_us = esp_timer_get_time();
-    if (_current_us - encoder_handle->s_gpio_prev_time >= encoder_handle->s_gpio_debounce_time)
-    {
     bool s_gpio_status = gpio_get_level(encoder_handle->s_gpio_number);
     if (encoder_handle->s_gpio_status != s_gpio_status)
     {
         encoder_handle->s_gpio_status = s_gpio_status;
         zh_encoder_button_event_on_isr_t encoder_data = {0};
         encoder_data.encoder_number = encoder_handle->encoder_number;
-            encoder_data.button_status = encoder_handle->s_gpio_status;
+        encoder_data.button_status = s_gpio_status;
-            if (esp_event_isr_post(ZH_ENCODER, ZH_BUTTON_EVENT, &encoder_data, sizeof(zh_encoder_button_event_on_isr_t), &xHigherPriorityTaskWoken) != ESP_OK)
+        ZH_ERROR_CHECK_CONT(esp_event_post(ZH_ENCODER, ZH_BUTTON_EVENT, &encoder_data, sizeof(encoder_data), pdMS_TO_TICKS(10)) == ESP_OK, ++_stats.event_post_error, "Encoder button isr processing failed. Failed to post interrupt event.");
-            {
-                ++_stats.event_post_error;
     }
-        }
+}
-    }
+
-    encoder_handle->s_gpio_prev_time = _current_us;
+static void _zh_encoder_button_isr_handler(void *arg)
+{
+    zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)arg;
+    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+    xTimerResetFromISR(encoder_handle->button_timer, &xHigherPriorityTaskWoken);
     if (xHigherPriorityTaskWoken == pdTRUE)
     {
         portYIELD_FROM_ISR();
-    };
+    }
 }