doc: added wiki

README.md

@@ -1,32 +1,26 @@
-# ESP32 ESP-IDF component for rotary encoder
-
-## Tested on
-
-1. [ESP32 ESP-IDF v6.0.0](https://docs.espressif.com/projects/esp-idf/en/v6.0/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.
+# ESP32 ESP-IDF component for rotary encoder (PCNT peripheral)
 
 ## Features
 
-1. Support up to 8 encoders on one device.
+1. Quadrature decoding through the PCNT peripheral hardware.
+2. Configurable value range and step with float precision.
+3. Push-button support with software debouncing timer.
+4. Multiple encoders sharing a single processing task (limited by PCNT units and GPIOs).
+5. Asynchronous rotation and button notifications through esp_event.
+6. Built-in error statistics with queue overflow and stack watermark counters.
 
 ## Attention
 
-1. For correct operation, please enable the following settings in the menuconfig:
-
-```text
-GPIO_CTRL_FUNC_IN_IRAM
-PCNT_CTRL_FUNC_IN_IRAM
-PCNT_ISR_IRAM_SAFE
-```
+1. Encoder number must be unique across all initialized encoders and greater than zero.
+2. Task priority, stack size and queue size of the first initialized encoder are used by the shared processing task.
+3. Position is initialized to the midpoint of the configured range.
+4. Position is clamped to the configured minimum and maximum values.
 
 ## Using
 
-In an existing project, run the following command to install the components:
+In an existing project, run the following command to install the component:
 
-```text
+```bash
 cd ../your_project/components
 git clone https://github.com/aZholtikov/zh_encoder
 ```
@@ -39,61 +33,234 @@ In the application, add the component:
 
 ## Examples
 
-One encoder with button on device:
+### Basic Example: Init and Get Position
 
 ```c
 #include "zh_encoder.h"
 
-#define ENCODER_NUMBER 0x01
-
-zh_encoder_handle_t encoder_handle = {0};
-
-void zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data);
+zh_encoder_handle_t *encoder_handle = NULL;
 
 void app_main(void)
 {
     esp_log_level_set("zh_encoder", ESP_LOG_ERROR);
-    esp_event_loop_create_default();
-    esp_event_handler_instance_register(ZH_ENCODER, ESP_EVENT_ANY_ID, &zh_encoder_event_handler, NULL, NULL);
     zh_encoder_init_config_t config = ZH_ENCODER_INIT_CONFIG_DEFAULT();
-    config.task_priority = 5;
-    config.stack_size = configMINIMAL_STACK_SIZE;
-    config.queue_size = 5;
     config.a_gpio_number = GPIO_NUM_4;
     config.b_gpio_number = GPIO_NUM_16;
-    config.s_gpio_number = GPIO_NUM_15;
     config.encoder_min_value = -10;
     config.encoder_max_value = 10;
-    config.encoder_step = 0.001;
-    config.encoder_number = ENCODER_NUMBER;
-    zh_encoder_init(&config, &encoder_handle);
-    float encoder_position = 0;
-    zh_encoder_get(&encoder_handle, &encoder_position);
-    printf("Encoder position %0.3f.\n", encoder_position);
-    for (;;)
+    config.encoder_step = 1;
+    config.encoder_number = 1;
+    esp_err_t ret = zh_encoder_init(&config, &encoder_handle);
+    if (ret != ESP_OK)
     {
-        const zh_encoder_stats_t *stats = zh_encoder_get_stats();
-        printf("Number of event post error: %ld.\n", stats->event_post_error);
-        printf("Number of queue overflow error: %ld.\n", stats->queue_overflow_error);
-        printf("Minimum free stack size: %ld.\n", stats->min_stack_size);
-        vTaskDelay(60000 / portTICK_PERIOD_MS);
+        printf("Encoder initialization error: %s\n", esp_err_to_name(ret));
+        return;
     }
-}
-
-void zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data)
-{
-    switch (event_id)
+    float position = 0;
+    ret = zh_encoder_get(&encoder_handle, &position);
+    if (ret == ESP_OK)
     {
-    case ZH_BUTTON_EVENT:
-        zh_encoder_button_event_on_isr_t *button_event = event_data;
-        printf("Encoder number %d button %s.\n", button_event->encoder_number, (button_event->button_status == 1) ? "released" : "pressed");
-        break;
-    case ZH_ENCODER_EVENT:
-        zh_encoder_event_on_isr_t *encoder_event = event_data;
-        printf("Encoder number %d position %0.3f.\n", encoder_event->encoder_number, encoder_event->encoder_position);
-        break;
-    default:
-        break;
+        printf("Encoder position: %0.3f\n", position);
+    }
+    else
+    {
+        printf("Error getting position: %s\n", esp_err_to_name(ret));
+    }
+    ret = zh_encoder_deinit(&encoder_handle);
+    if (ret != ESP_OK)
+    {
+        printf("Error deinitializing encoder: %s\n", esp_err_to_name(ret));
+    }
+}
+```
+
+### Set and Reset Position Example
+
+```c
+#include "zh_encoder.h"
+
+zh_encoder_handle_t *encoder_handle = NULL;
+
+void app_main(void)
+{
+    esp_log_level_set("zh_encoder", ESP_LOG_ERROR);
+    zh_encoder_init_config_t config = ZH_ENCODER_INIT_CONFIG_DEFAULT();
+    config.a_gpio_number = GPIO_NUM_4;
+    config.b_gpio_number = GPIO_NUM_16;
+    config.encoder_min_value = -100;
+    config.encoder_max_value = 100;
+    config.encoder_step = 0.5;
+    config.encoder_number = 1;
+    esp_err_t ret = zh_encoder_init(&config, &encoder_handle);
+    if (ret != ESP_OK)
+    {
+        printf("Encoder initialization error: %s\n", esp_err_to_name(ret));
+        return;
+    }
+    float position = 25.0f;
+    ret = zh_encoder_set(&encoder_handle, position);
+    if (ret == ESP_OK)
+    {
+        printf("Position set to %0.3f\n", position);
+    }
+    else
+    {
+        printf("Error setting position: %s\n", esp_err_to_name(ret));
+    }
+    float current = 0;
+    ret = zh_encoder_get(&encoder_handle, &current);
+    if (ret == ESP_OK)
+    {
+        printf("Current position: %0.3f\n", current);
+    }
+    else
+    {
+        printf("Error getting position: %s\n", esp_err_to_name(ret));
+    }
+    ret = zh_encoder_reset(&encoder_handle);
+    if (ret == ESP_OK)
+    {
+        printf("Position reset to midpoint\n");
+    }
+    else
+    {
+        printf("Error resetting position: %s\n", esp_err_to_name(ret));
+    }
+    zh_encoder_deinit(&encoder_handle);
+}
+```
+
+### Reinit Range Example
+
+```c
+#include "zh_encoder.h"
+
+zh_encoder_handle_t *encoder_handle = NULL;
+
+void app_main(void)
+{
+    esp_log_level_set("zh_encoder", ESP_LOG_ERROR);
+    zh_encoder_init_config_t config = ZH_ENCODER_INIT_CONFIG_DEFAULT();
+    config.a_gpio_number = GPIO_NUM_4;
+    config.b_gpio_number = GPIO_NUM_16;
+    config.encoder_min_value = -10;
+    config.encoder_max_value = 10;
+    config.encoder_step = 1;
+    config.encoder_number = 1;
+    esp_err_t ret = zh_encoder_init(&config, &encoder_handle);
+    if (ret != ESP_OK)
+    {
+        printf("Encoder initialization error: %s\n", esp_err_to_name(ret));
+        return;
+    }
+    ret = zh_encoder_reinit(&encoder_handle, 0, 255, 1);
+    if (ret == ESP_OK)
+    {
+        printf("Encoder range changed to 0..255\n");
+    }
+    else
+    {
+        printf("Error reinitializing encoder: %s\n", esp_err_to_name(ret));
+    }
+    float position = 0;
+    ret = zh_encoder_get(&encoder_handle, &position);
+    if (ret == ESP_OK)
+    {
+        printf("Position after reinit: %0.3f\n", position);
+    }
+    else
+    {
+        printf("Error getting position: %s\n", esp_err_to_name(ret));
+    }
+    zh_encoder_deinit(&encoder_handle);
+}
+```
+
+---
+
+### Button Event Example
+
+```c
+#include "zh_encoder.h"
+
+zh_encoder_handle_t *encoder_handle = NULL;
+
+void zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data)
+{
+    (void)arg;
+    (void)event_base;
+    if (event_id == ZH_BUTTON_EVENT)
+    {
+        zh_encoder_button_event_on_isr_t *button_event = (zh_encoder_button_event_on_isr_t *)event_data;
+        printf("Encoder %d button %s\n", button_event->encoder_number, button_event->button_status ? "released" : "pressed");
+    }
+    else if (event_id == ZH_ENCODER_EVENT)
+    {
+        zh_encoder_event_on_isr_t *encoder_event = (zh_encoder_event_on_isr_t *)event_data;
+        printf("Encoder %d position %0.3f %s\n", encoder_event->encoder_number, encoder_event->encoder_position, encoder_event->encoder_status ? "increased" : "reduced");
+    }
+}
+
+void app_main(void)
+{
+    esp_log_level_set("zh_encoder", ESP_LOG_ERROR);
+    ESP_ERROR_CHECK(esp_event_loop_create_default());
+    ESP_ERROR_CHECK(esp_event_handler_instance_register(ZH_ENCODER, ESP_EVENT_ANY_ID, &zh_encoder_event_handler, NULL, NULL));
+    zh_encoder_init_config_t config = ZH_ENCODER_INIT_CONFIG_DEFAULT();
+    config.a_gpio_number = GPIO_NUM_4;
+    config.b_gpio_number = GPIO_NUM_16;
+    config.s_gpio_number = GPIO_NUM_15;
+    config.s_gpio_debounce_time = 50000;
+    config.encoder_min_value = 0;
+    config.encoder_max_value = 100;
+    config.encoder_step = 1;
+    config.encoder_number = 1;
+    esp_err_t ret = zh_encoder_init(&config, &encoder_handle);
+    if (ret != ESP_OK)
+    {
+        printf("Encoder initialization error: %s\n", esp_err_to_name(ret));
+        return;
+    }
+    for (;;)
+    {
+        vTaskDelay(pdMS_TO_TICKS(1000));
+    }
+}
+```
+
+---
+
+### Error Statistics Example
+
+```c
+#include "zh_encoder.h"
+
+zh_encoder_handle_t *encoder_handle = NULL;
+
+void app_main(void)
+{
+    esp_log_level_set("zh_encoder", ESP_LOG_ERROR);
+    zh_encoder_init_config_t config = ZH_ENCODER_INIT_CONFIG_DEFAULT();
+    config.a_gpio_number = GPIO_NUM_4;
+    config.b_gpio_number = GPIO_NUM_16;
+    config.encoder_min_value = -10;
+    config.encoder_max_value = 10;
+    config.encoder_step = 1;
+    config.encoder_number = 1;
+    esp_err_t ret = zh_encoder_init(&config, &encoder_handle);
+    if (ret != ESP_OK)
+    {
+        printf("Encoder initialization error: %s\n", esp_err_to_name(ret));
+        return;
+    }
+    for (;;)
+    {
+        const zh_encoder_stats_t *stats = zh_encoder_get_stats();
+        printf("Event post errors: %lu\n", (unsigned long)stats->event_post_error);
+        printf("Queue overflow errors: %lu\n", (unsigned long)stats->queue_overflow_error);
+        printf("Minimum free stack: %lu\n", (unsigned long)stats->min_stack_size);
+        zh_encoder_reset_stats();
+        vTaskDelay(pdMS_TO_TICKS(60000));
     }
 }
 ```

idf_component.yml

@@ -0,0 +1,11 @@
+description: ESP32 ESP-IDF component for rotary encoder
+url: https://github.com/aZholtikov/zh_encoder
+version: "3.1.0"
+license: "Apache-2.0"
+maintainers:
+  - "Alexey Zholtikov <alexey.zholtikov@yandex.ru>"
+dependencies:
+  idf: ">=5.0"
+  zh_vector:
+    git: "https://github.com/aZholtikov/zh_vector.git"
+    version: "dev"

include/zh_encoder.h

@@ -1,9 +1,31 @@
 /**
  * @file zh_encoder.h
+ *
+ * @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 (ESP-IDF-style edge/level actions)
+ * - Configurable min/max/step values with float precision
+ * - Configurable PCNT counts per encoder step (detent)
+ * - Push-button support with timer-based debouncing
+ * - 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
 
+#include "math.h"
+#include "string.h"
 #include "esp_log.h"
 #include "driver/gpio.h"
 #include "driver/pulse_cnt.h"
@@ -11,10 +33,8 @@
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #include "esp_event.h"
+#include "zh_vector.h"
 
-/**
- * @brief Encoder initial default values.
- */
 #define ZH_ENCODER_INIT_CONFIG_DEFAULT()        \
     {                                           \
         .task_priority = 1,                     \
@@ -23,182 +43,217 @@
         .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"
 {
 #endif
 
-    extern TaskHandle_t zh_encoder; /*!< Encoder Task Handle. */
+    /**
+     * @brief Handle to the shared encoder ISR processing task.
+     */
+    extern TaskHandle_t zh_encoder;
 
     /**
-     * @brief Structure for initial initialization of encoder.
+     * @brief Opaque encoder handle.
+     */
+    typedef struct _zh_encoder_handle_t zh_encoder_handle_t;
+
+    /**
+     * @brief Configuration structure for encoder initialization.
+     *
+     * Holds all parameters required to create an encoder: GPIO assignments,
+     * 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_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. */
-        uint8_t task_priority;         /*!< Task priority for the encoder isr processing. @note Minimum value is 1. */
-        uint8_t queue_size;            /*!< Queue size for task for the encoder processing. @note Minimum value is 1. */
-        uint8_t a_gpio_number;         /*!< Encoder A GPIO number. */
-        uint8_t b_gpio_number;         /*!< Encoder B GPIO number. */
-        uint8_t s_gpio_number;         /*!< Encoder button GPIO number. */
-        bool pullup;                   /*!< Pullup GPIO enable/disable. */
-        uint16_t s_gpio_debounce_time; /*!< Encoder button debounce_time. @note In microseconds. */
-        uint8_t encoder_number;        /*!< Unique encoder number. @note Must be greater than 0. */
-        uint16_t stack_size;           /*!< Stack size for task for the encoder isr processing processing. @note The minimum size is configMINIMAL_STACK_SIZE. */
+        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 in microseconds. Rounded up to whole milliseconds for the debounce timer */
+        uint16_t stack_size;           /*!< Stack size for the shared processing task. @note Minimum configMINIMAL_STACK_SIZE */
+        uint8_t task_priority;         /*!< Task priority for the shared processing task. @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 */
+        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 Encoder handle.
+     * @brief Structure for encoder error statistics.
+     *
+     * Collects error counters and task health metrics reported by the shared
+     * processing task and the interrupt handlers.
      */
     typedef struct
     {
-        bool s_gpio_status;                          /*!< Encoder button status. */
-        bool is_initialized;                         /*!< Encoder initialization flag. */
-        uint8_t encoder_number;                      /*!< Encoder unique number. */
-        uint8_t s_gpio_number;                       /*!< Encoder button GPIO number. */
-        uint16_t s_gpio_debounce_time;               /*!< Encoder button debounce_time. */
-        uint64_t s_gpio_prev_time;                   /*!< Encoder button prev interrupt time. */
-        float encoder_step;                          /*!< Encoder step. */
-        float encoder_position;                      /*!< Encoder position. */
-        float encoder_min_value;                     /*!< Encoder min value. */
-        float encoder_max_value;                     /*!< Encoder max value. */
-        pcnt_unit_handle_t pcnt_unit_handle;         /*!< Encoder unique pcnt unit handle. */
-        pcnt_channel_handle_t pcnt_channel_a_handle; /*!< Encoder unique pcnt channel handle. */
-        pcnt_channel_handle_t pcnt_channel_b_handle; /*!< Encoder unique pcnt channel handle. */
-
-    } zh_encoder_handle_t;
-
-    /**
-     * @brief Structure for error statistics storage.
-     */
-    typedef struct
-    {
-        uint32_t event_post_error;     /*!< Number of event post error. */
-        uint32_t queue_overflow_error; /*!< Number of queue overflow error. */
-        uint32_t min_stack_size;       /*!< Minimum free stack size. */
+        uint32_t event_post_error;     /*!< Number of event post errors */
+        uint32_t queue_overflow_error; /*!< Number of queue overflow errors */
+        uint32_t min_stack_size;       /*!< Minimum free stack size (watermark) */
     } zh_encoder_stats_t;
 
     /**
-     * @brief Enumeration of encoder event ID.
+     * @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, /*!< Button event. */
-        ZH_ENCODER_EVENT /*!< Encoder event. */
+        ZH_BUTTON_EVENT, /*!< Encoder push-button event */
+        ZH_ENCODER_EVENT /*!< Encoder rotation event */
     } zh_encoder_event_id_t;
 
     ESP_EVENT_DECLARE_BASE(ZH_ENCODER);
 
     /**
-     * @brief Structure for sending data to the event handler when cause encoder interrupt.
+     * @brief Event data structure for encoder rotation events.
+     *
+     * 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.
      */
     typedef struct
     {
-        float encoder_position; /*!< Encoder current position. */
-        uint8_t encoder_number; /*!< Encoder unique number. */
+        float encoder_position; /*!< Encoder current position */
+        uint8_t encoder_number; /*!< Encoder unique number */
+        bool encoder_status;    /*!< true if position increased, false if reduced */
     } zh_encoder_event_on_isr_t;
 
     /**
-     * @brief Structure for sending data to the event handler when cause encoder button interrupt.
+     * @brief Event data structure for encoder button events.
+     *
+     * 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.
      */
     typedef struct
     {
-        uint8_t encoder_number; /*!< Encoder unique number. */
-        bool button_status;     /*!< Encoder button status. */
+        uint8_t encoder_number; /*!< Encoder unique number */
+        bool button_status;     /*!< Encoder button status */
     } zh_encoder_button_event_on_isr_t;
 
     /**
-     * @brief Initialize encoder.
+     * @brief Initialize encoder with the provided configuration.
+     *
+     * Creates and configures a rotary encoder using the ESP-IDF PCNT peripheral.
+     * The encoder is initialized at the midpoint of the configured range.
+     *
+     * @note The encoder will be set to the position (encoder_min_value + encoder_max_value)/2.
+     * @note Before initialization, configure zh_encoder_init_config_t with default values.
+     *
+     * @param[in] config Pointer to encoder configuration structure. Can point to a temporary variable (must not be NULL)
+     * @param[out] handle Pointer to store the unique encoder handle (must be NULL)
+     *
+     * @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);
+
+    /**
+     * @brief Deinitialize encoder and release all resources.
+     *
+     * Stops the PCNT peripheral, removes GPIO ISR handlers and the button debounce timer,
+     * 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
+     */
+    esp_err_t zh_encoder_deinit(zh_encoder_handle_t **handle);
+
+    /**
+     * @brief Reinitialize encoder by updating min, max, and step values.
+     *
+     * Updates the encoder's value range and step size without reallocating resources.
+     * The encoder position is reset to the midpoint of the new range.
      *
      * @note The encoder will be set to the position (encoder_min_value + encoder_max_value)/2.
      *
-     * @param[in] config Pointer to encoder initialized configuration structure. Can point to a temporary variable.
-     * @param[out] handle Pointer to unique encoder handle.
+     * @param[in,out] handle Pointer to unique encoder handle (must not be NULL)
+     * @param[in] min Encoder minimum value. Must be less than max
+     * @param[in] max Encoder maximum value. Must be greater than min
+     * @param[in] step Encoder step size. Must be greater than 0
      *
-     * @note Before initialize the encoder recommend initialize zh_encoder_init_config_t structure with default values.
-     *
-     * @code zh_encoder_init_config_t config = ZH_ENCODER_INIT_CONFIG_DEFAULT() @endcode
-     *
-     * @return ESP_OK if success or an error code otherwise.
+     * @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_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
-
-    /**
-     * @brief Deinitialize encoder.
-     *
-     * @param[in, out] handle Pointer to unique encoder handle.
-     *
-     * @return ESP_OK if success or an error code otherwise.
-     */
-    esp_err_t zh_encoder_deinit(zh_encoder_handle_t *handle);
-
-    /**
-     * @brief Reinitialize encoder (change min, max and step values).
-     *
-     * @note The encoder will be set to the position (encoder_min_value + encoder_max_value)/2.
-     *
-     * @param[in, out] handle Pointer to unique encoder handle.
-     * @param[in] min Encoder min value. @note Must be less than encoder_max_value.
-     * @param[in] max Encoder max value. @note Must be greater than encoder_min_value.
-     * @param[in] step Encoder step. @note Must be greater than 0.
-     *
-     * @return ESP_OK if success or an error code otherwise.
-     */
-    esp_err_t zh_encoder_reinit(zh_encoder_handle_t *handle, float min, float max, float step);
+    esp_err_t zh_encoder_reinit(zh_encoder_handle_t **handle, float min, float max, float step);
 
     /**
      * @brief Set encoder position.
      *
-     * @param[in, out] handle Pointer to unique encoder handle.
-     * @param[in] position Encoder position (must be between encoder_min_value and encoder_max_value).
+     * @param[in,out] handle Pointer to unique encoder handle (must not be NULL)
+     * @param[in] position Encoder position (must be between encoder_min_value and encoder_max_value)
      *
-     * @return ESP_OK if success or an error code otherwise.
+     * @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);
+    esp_err_t zh_encoder_set(zh_encoder_handle_t **handle, float position);
 
     /**
      * @brief Get encoder position.
      *
-     * @param[in] handle Pointer to unique encoder handle.
-     * @param[out] position Encoder position.
+     * @param[in] handle Pointer to unique encoder handle (must not be NULL)
+     * @param[out] position Pointer to store the current encoder position
      *
-     * @return ESP_OK if success or an error code otherwise.
+     * @return ESP_OK on success
+     * @return ESP_ERR_INVALID_ARG if handle or position is NULL
      */
-    esp_err_t zh_encoder_get(const zh_encoder_handle_t *handle, float *position);
+    esp_err_t zh_encoder_get(zh_encoder_handle_t **handle, float *position);
 
     /**
-     * @brief Reset encoder position.
+     * @brief Reset encoder position to the midpoint of the configured range.
      *
      * @note The encoder will be set to the position (encoder_min_value + encoder_max_value)/2.
      *
-     * @param[in, out] handle Pointer to unique encoder handle.
+     * @param[in,out] handle Pointer to unique encoder handle (must not be NULL)
      *
-     * @return ESP_OK if success or an error code otherwise.
+     * @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);
+    esp_err_t zh_encoder_reset(zh_encoder_handle_t **handle);
 
     /**
-     * @brief Get error statistics.
+     * @brief Get a pointer to the encoder error statistics.
      *
-     * @return Pointer to the statistics structure.
+     * Returns a read-only pointer to the global statistics structure
+     * containing error counts and task health metrics.
+     *
+     * @return Pointer to the statistics structure. Valid until zh_encoder_reset_stats() is called
      */
     const zh_encoder_stats_t *zh_encoder_get_stats(void);
 
     /**
-     * @brief Reset error statistics.
+     * @brief Reset all error statistics to zero.
+     *
+     * Clears error counters and stack watermarks.
+     *
+     * @return No return value
      */
     void zh_encoder_reset_stats(void);
 

version.txt

@@ -1 +1 @@
-2.4.0
+3.1.0

wiki_ru.md

@@ -0,0 +1,299 @@
+# Описание компонента zh_encoder
+
+## Общие сведения
+
+**zh_encoder** — это компонент для ESP-IDF, реализующий драйвер поворотного энкодера на аппаратном периферийном блоке PCNT (Pulse Counter) с поддержкой кнопки и асинхронными событиями через `esp_event`.
+
+Компонент обрабатывает сигналы квадрантурного энкодера на уровне прерываний, накапливает сырые счётчики PCNT в общей задаче, преобразует их в шаги настраиваемой величины и рассылает события поворота и нажатия кнопки.
+
+## Основные возможности
+
+1. **Аппаратное квадрантурное декодирование** — сигнал каналов A/B обрабатывается периферией PCNT без участия CPU.
+2. **Дробная точность позиции** — диапазон и шаг задаются числами с плавающей точкой (`float`).
+3. **Настраиваемая цена шага** — количество импульсов PCNT на один фиксатор энкодера (`pcnt_counts_per_step`).
+4. **Поддержка кнопки** — программное подавление дребезга через одноразовый таймер FreeRTOS.
+5. **Множественные энкодеры** — несколько энкодеров используют одну общую задачу обработки.
+6. **Событийная модель** — события поворота и кнопки рассылаются через `esp_event` из контекста задачи.
+7. **Встроенная статистика ошибок** — счётчики ошибок отправки событий, переполнения очереди и минимальный остаток стека.
+
+## Внутреннее устройство
+
+### Структура `zh_encoder_handle_t`
+
+Внутренняя структура энкодера (opaque-хэндл, доступен только через API компонента):
+
+| Поле | Тип | Описание |
+| ------ | ----- | ---------- |
+| `s_gpio_status` | `bool` | Текущее состояние кнопки (обновляется только колбэком таймера дребезга) |
+| `encoder_number` | `uint8_t` | Уникальный номер энкодера, передаётся в событиях |
+| `s_gpio_number` | `gpio_num_t` | GPIO кнопки (`GPIO_NUM_MAX`, если кнопка отключена) |
+| `encoder_step` | `float` | Приращение позиции на один фиксатор энкодера |
+| `encoder_position` | `float` | Текущая позиция энкодера |
+| `encoder_min_value` | `float` | Минимальное значение позиции |
+| `encoder_max_value` | `float` | Максимальное значение позиции |
+| `count_accumulator` | `int32_t` | Остаток импульсов PCNT, не образующий целого шага |
+| `pcnt_counts_per_step` | `uint8_t` | Количество импульсов PCNT на один шаг |
+| `pcnt_unit_handle` | `pcnt_unit_handle_t` | Дескриптор единицы PCNT |
+| `pcnt_channel_a_handle` | `pcnt_channel_handle_t` | Дескриптор канала A (edge A, level B) |
+| `pcnt_channel_b_handle` | `pcnt_channel_handle_t` | Дескриптор канала B (edge B, level A) |
+| `button_timer` | `TimerHandle_t` | Одноразовый таймер подавления дребезга кнопки |
+
+Поля, к которым обращаются из прерываний и задачи обработки, защищены критической секцией на спинлоке.
+
+### Структура сообщения очереди `zh_encoder_queue_t`
+
+Передаётся из ISR точки наблюдения PCNT в общую задачу обработки:
+
+| Поле | Тип | Описание |
+|------|-----|----------|
+| `count` | `int32_t` | Знаковое значение счётчика PCNT, прочитанное перед сбросом |
+| `handle` | `zh_encoder_handle_t *` | Указатель на хэндл энкодера-источника |
+
+Указатель на хэндл читается без спинлока: это безопасно, так как память хэндла освобождается в `zh_encoder_deinit()` только после удаления общей задачи обработки (при удалении последнего энкодера).
+
+### Общие (статические) ресурсы
+
+| Ресурс | Тип | Описание |
+| -------- | ----- | ---------- |
+| `zh_encoder` | `TaskHandle_t` | Дескриптор общей задачи обработки, создаётся для первого энкодера |
+| `_queue_handle` | `QueueHandle_t` | Общая очередь сообщений от ISR PCNT к задаче обработки |
+| `_spinlock` | `portMUX_TYPE` | Спинлок для защиты общих данных энкодеров |
+| `_stats` | `zh_encoder_stats_t` | Глобальная статистика ошибок (счётчики и watermark стека) |
+| `_vector` | `zh_vector_t *` | Вектор `zh_vector` с номерами зарегистрированных энкодеров |
+
+Общая задача, очередь и вектор создаются при инициализации **первого** энкодера и удаляются при деинициализации **последнего**. Параметры `task_priority`, `stack_size` и `queue_size` первого энкодера действуют для всей системы.
+
+### Конфигурация PCNT
+
+Каждый энкодер занимает одну единицу PCNT с двумя каналами:
+
+- Единица настраивается с пределами `high_limit = 100`, `low_limit = -100` и фильтром от помех `max_glitch_ns = 1000`.
+- Канал A: front A + уровень B, канал B: front B + уровень A; действия каналов задаются так, чтобы вращение по часовой стрелке увеличивало счётчик.
+- Регистрируются две точки наблюдения: `+pcnt_counts_per_step` и `-pcnt_counts_per_step`, что даёт прерывание на каждый полный шаг энкодера.
+
+## API (интерфейс)
+
+### Инициализация и освобождение
+
+| Функция | Описание |
+| --------- | ---------- |
+| `zh_encoder_init()` | Создаёт энкодер по конфигурации: проверяет параметры, регистрирует номер в векторе, при необходимости создаёт общую очередь и задачу, инициализирует PCNT и GPIO кнопки. Позиция устанавливается в середину диапазона. Требует, чтобы входной `*handle` был равен `NULL`. |
+| `zh_encoder_deinit()` | Останавливает PCNT, удаляет каналы и единицу, снимает обработчик GPIO прерываний и таймер кнопки, удаляет номер из вектора. При удалении последнего энкодера удаляет общую задачу, очередь и вектор. Устанавливает входной указатель в `NULL`. |
+| `zh_encoder_reinit()` | Меняет диапазон (`min`, `max`) и шаг (`step`) без перераспределения ресурсов, сбрасывает позицию в середину нового диапазона и обнуляет счётчик PCNT. |
+
+### Управление позицией
+
+| Функция | Описание |
+|---------|----------|
+| `zh_encoder_set()` | Устанавливает позицию в заданное значение (в пределах настроенного диапазона), обнуляет аккумулятор и счётчик PCNT. |
+| `zh_encoder_get()` | Читает текущую позицию энкодера. |
+| `zh_encoder_reset()` | Сбрасывает позицию в середину диапазона `(min + max) / 2` и обнуляет счётчик PCNT. |
+
+### Статистика
+
+| Функция | Описание |
+|---------|----------|
+| `zh_encoder_get_stats()` | Возвращает read-only указатель на глобальную структуру статистики `zh_encoder_stats_t`. Указатель действителен до вызова `zh_encoder_reset_stats()`. |
+| `zh_encoder_reset_stats()` | Обнуляет все счётчики статистики. |
+
+### Типы и события
+
+| Элемент | Описание |
+| --------- | ---------- |
+| `zh_encoder_init_config_t` | Конфигурация инициализации: GPIO, диапазон, шаг, параметры задачи и уникальный номер. Значения по умолчанию задаёт `ZH_ENCODER_INIT_CONFIG_DEFAULT()`. |
+| `zh_encoder_stats_t` | Статистика: `event_post_error`, `queue_overflow_error`, `min_stack_size`. |
+| `zh_encoder_event_on_isr_t` | Данные события поворота: позиция, номер энкодера, направление (`true` — увеличение). |
+| `zh_encoder_button_event_on_isr_t` | Данные события кнопки: номер энкодера, состояние. |
+| `zh_encoder_event_id_t` | Идентификаторы событий: `ZH_BUTTON_EVENT`, `ZH_ENCODER_EVENT`. |
+| `ZH_ENCODER` | База событий `esp_event`, в которую компонент постит все сообщения. |
+
+## Потокобезопасность
+
+1. **Спинлок (`portMUX_TYPE`)** — защищает позицию, аккумулятор и параметры диапазона от одновременного доступа из задачи обработки, обработчиков публичного API и ISR PCNT. В прерываниях используются `taskENTER_CRITICAL_ISR` / `taskEXIT_CRITICAL_ISR`.
+2. **Очередь FreeRTOS** — ISR PCNT передаёт сырой счётчик в общую задачу через `xQueueSendFromISR()`, без блокировок и без работы с позицией в прерывании.
+3. **Критическая секция в ISR** — атомарная пара операций «чтение + сброс счётчика PCNT» внутри обработчика точки наблюдения.
+4. **Таймер дребезга кнопки** — состояние кнопки читается и пишется только в колбэке таймера (контекст задачи таймеров FreeRTOS), поэтому конкуренции за это поле нет.
+5. **События `esp_event`** — публикуются из контекста задачи (общая задача обработки и колбэк таймера), а не из ISR, с таймаутом блокировки 10 мс.
+
+Публичные функции `zh_encoder_init()` / `zh_encoder_deinit()` не защищены спинлоком между собой: их следует вызывать из одной задачи (например, из `app_main`).
+
+## Алгоритмы
+
+### Преобразование импульсов PCNT в шаги
+
+Общая задача обработки для каждого сообщения из очереди выполняет:
+
+1. `total = count_accumulator + count` — суммирование остатка с новым значением счётчика.
+2. `full_steps = total / pcnt_counts_per_step` — целочисленное деление со знаком; остаток сохраняется в `count_accumulator`.
+3. Если `full_steps != 0`, вычисляется кандидат новой позиции `candidate = position + full_steps * encoder_step`.
+4. Кандидат ограничивается диапазоном: `candidate > max → max`, `candidate < min → min`.
+5. Если `|candidate| < encoder_step / 2`, значение «прилипает» к нулю (`candidate = 0`). Это исключает «хвосты» при шагах с плавающей точкой.
+6. Событие поворота публикуется только при фактическом изменении позиции.
+
+### Точки наблюдения PCNT
+
+- Прерывание генерируется при достижении счётчиком значений `+pcnt_counts_per_step` и `-pcnt_counts_per_step`, то есть ровно на один зафиксированный шаг.
+- После чтения счётчик сбрасывается, поэтому накопление идёт «от события к событию», а пределы единицы (±100) служат лишь страховкой от переполнения при переполнении очереди.
+
+### Подавление дребезга кнопки
+
+1. Прерывание по любому front'у только перезапускает одноразовый таймер (`xTimerResetFromISR`) — перезагрузка таймера «задвигает» окончание дребезга.
+2. По истечении задержки колбэк таймера читает уровень пина и постит событие **только при изменении** состояния относительно предыдущего.
+3. Задержка `s_gpio_debounce_time` задаётся в микросекундах и округляется вверх до целых миллисекунд (минимум 1 мс).
+
+### Регистрация энкодеров
+
+- Номера занятых энкодеров хранятся в векторе `zh_vector`; при инициализации проверяется уникальность номера, при деинициализации — он удаляется из вектора.
+- Общая очередь, задача и вектор создаются, когда размер вектора становится равен 1, и освобождаются, когда он становится пустым.
+
+## Примеры использования
+
+### Базовый пример: подписка на события
+
+```c
+#include "zh_encoder.h"
+
+zh_encoder_handle_t *encoder_handle = NULL;
+
+// Обработчик событий энкодера
+void zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data)
+{
+    if (event_id == ZH_ENCODER_EVENT) {
+        zh_encoder_event_on_isr_t *rot = (zh_encoder_event_on_isr_t *)event_data;
+        printf("Encoder %d: position %0.3f (%s)\n", rot->encoder_number,
+               rot->encoder_position, rot->encoder_status ? "up" : "down");
+    } else if (event_id == ZH_BUTTON_EVENT) {
+        zh_encoder_button_event_on_isr_t *btn = (zh_encoder_button_event_on_isr_t *)event_data;
+        printf("Encoder %d: button %s\n", btn->encoder_number,
+               btn->button_status ? "released" : "pressed");
+    }
+}
+
+void app_main(void)
+{
+    ESP_ERROR_CHECK(esp_event_loop_create_default());
+    ESP_ERROR_CHECK(esp_event_handler_instance_register(ZH_ENCODER, ESP_EVENT_ANY_ID,
+                                                        &zh_encoder_event_handler, NULL, NULL));
+    zh_encoder_init_config_t config = ZH_ENCODER_INIT_CONFIG_DEFAULT();
+    config.a_gpio_number = GPIO_NUM_4;   // канал A
+    config.b_gpio_number = GPIO_NUM_16;  // канал B
+    config.s_gpio_number = GPIO_NUM_15;  // кнопка
+    config.encoder_number = 1;           // уникальный номер
+    if (zh_encoder_init(&config, &encoder_handle) != ESP_OK) {
+        return; // ошибка инициализации
+    }
+    for (;;) {
+        vTaskDelay(pdMS_TO_TICKS(1000));
+    }
+    // По завершении работы: zh_encoder_deinit(&encoder_handle);
+}
+```
+
+### Работа с позицией и диапазоном
+
+```c
+#include "zh_encoder.h"
+
+zh_encoder_handle_t *encoder_handle = NULL;
+
+void app_main(void)
+{
+    zh_encoder_init_config_t config = ZH_ENCODER_INIT_CONFIG_DEFAULT();
+    config.a_gpio_number = GPIO_NUM_4;
+    config.b_gpio_number = GPIO_NUM_16;
+    config.encoder_min_value = 0;
+    config.encoder_max_value = 100;
+    config.encoder_step = 0.5f; // дробный шаг
+    config.encoder_number = 1;
+    if (zh_encoder_init(&config, &encoder_handle) != ESP_OK) {
+        return;
+    }
+    zh_encoder_set(&encoder_handle, 42.5f); // установить позицию
+    float position = 0;
+    zh_encoder_get(&encoder_handle, &position); // прочитать позицию
+    printf("Position: %0.3f\n", position);
+    zh_encoder_reinit(&encoder_handle, -10, 10, 1); // сменить диапазон и шаг
+    zh_encoder_reset(&encoder_handle);              // сброс в середину диапазона
+    zh_encoder_deinit(&encoder_handle);             // освобождение ресурсов
+}
+```
+
+### Мониторинг статистики ошибок
+
+```c
+#include "zh_encoder.h"
+
+zh_encoder_handle_t *encoder_handle = NULL;
+
+void app_main(void)
+{
+    zh_encoder_init_config_t config = ZH_ENCODER_INIT_CONFIG_DEFAULT();
+    config.a_gpio_number = GPIO_NUM_4;
+    config.b_gpio_number = GPIO_NUM_16;
+    config.encoder_number = 1;
+    if (zh_encoder_init(&config, &encoder_handle) != ESP_OK) {
+        return;
+    }
+    for (;;) {
+        const zh_encoder_stats_t *stats = zh_encoder_get_stats();
+        if (stats->queue_overflow_error > 0) {
+            printf("Queue overflow: %lu\n", (unsigned long)stats->queue_overflow_error);
+        }
+        if (stats->min_stack_size < 512) {
+            printf("Low stack watermark: %lu\n", (unsigned long)stats->min_stack_size);
+        }
+        zh_encoder_reset_stats(); // сброс счётчиков
+        vTaskDelay(pdMS_TO_TICKS(60000));
+    }
+    // По завершении работы: zh_encoder_deinit(&encoder_handle);
+}
+```
+
+## Логирование
+
+Компонент использует ESP-IDF логирование с тегом `"zh_encoder"`. Сообщения об ошибках включают имя файла, номер строки и имя кода ошибки.
+
+```c
+esp_log_level_set("zh_encoder", ESP_LOG_ERROR);
+```
+
+## Ошибки
+
+| Код | Описание |
+| ----- | ---------- |
+| `ESP_OK` | Операция выполнена успешно |
+| `ESP_ERR_INVALID_ARG` | NULL-аргументы, неверные параметры конфигурации (диапазон, шаг, номер, GPIO), дублирование номера энкодера, позиция вне диапазона |
+| `ESP_ERR_INVALID_STATE` | Энкодер по входному хэндлу уже инициализирован (`*handle != NULL`) |
+| `ESP_ERR_NO_MEM` | Не удалось выделить память под хэндл энкодера |
+| `ESP_FAIL` | Ошибка инициализации GPIO/PCNT, создания задачи, очереди или вектора, сброса счётчика PCNT |
+
+## Ограничения
+
+1. **Уникальный номер энкодера** — `encoder_number` должен быть больше 0 и не повторяться среди всех инициализированных энкодеров (проверяется по вектору зарегистрированных номеров).
+2. **Общие задача и очередь** — `task_priority`, `stack_size` и `queue_size` первого инициализированного энкодера используются всей системой; для последующих энкодеров они игнорируются.
+3. **Ёмкость очереди по умолчанию равна 1** — при быстрой ротации или медленной задаче обработки возможны потери сообщений; факт потери фиксируется счётчиком `queue_overflow_error`.
+4. **Число энкодеров ограничено железом** — количество доступных единиц PCNT и GPIO конкретной модели ESP32.
+5. **Позиция инициализируется серединой диапазона** — `(min + max) / 2`, а не нулём; при `min = -10, max = 10` стартовая позиция равна 0.
+6. **Ограничение и «прилипание» позиции** — значение за краями диапазона отбрасывается, а значение ближе половины шага к нулю заменяется нулём.
+7. **Параметры не могут меняться на лету** — GPIO, номер энкодера и `pcnt_counts_per_step` фиксируются при инициализации; `zh_encoder_reinit()` меняет только диапазон и шаг.
+8. **Зависимость от `zh_vector`** — компонент использует сторонний вектор для реестра энкодеров; он подтягивается автоматически как зависимость компонента.
+9. **Требуется цикл событий `esp_event`** — без созданного default loop (`esp_event_loop_create_default()`) события не доставляются.
+
+## Требования для сборки
+
+- ESP-IDF версии **5.0 или выше** (используется PCNT driver из компонента `driver`).
+- FreeRTOS (входит в состав ESP-IDF) — задачи, очереди, таймеры.
+- `esp_event` (входит в состав ESP-IDF) — рассылка событий.
+- `esp_timer` (входит в состав ESP-IDF) — таймер дребезга кнопки.
+- Компонент `zh_vector` — автоматически устанавливается как зависимость через `idf_component.yml`.
+
+## Установка
+
+```bash
+cd ваш_проект/components
+git clone https://github.com/aZholtikov/zh_encoder
+```
+
+```c
+#include "zh_encoder.h"
+```

zh_encoder.c

@@ -13,151 +13,332 @@
         return err;                                  \
     }
 
-#define ZH_ENCODER_DIRECTION_CW 1
-#define ZH_ENCODER_DIRECTION_CCW -1
+#define ZH_ERROR_CHECK_CONT(cond, cleanup, msg, ...) \
+    if (!(cond))                                     \
+    {                                                \
+        ZH_LOGE(msg, ESP_FAIL, ##__VA_ARGS__);       \
+        cleanup;                                     \
+    }
+
+#define ZH_ENCODER_PCNT_HIGH_LIMIT 100
+#define ZH_ENCODER_PCNT_LOW_LIMIT -100
+
+/**
+ * @brief Internal encoder handle structure.
+ *
+ * Stores the runtime state of a single encoder: button GPIO state and the software
+ * 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 */
+    float encoder_step;                          /*!< Encoder step per detent */
+    float encoder_position;                      /*!< Current encoder position */
+    float encoder_min_value;                     /*!< Encoder minimum value */
+    float encoder_max_value;                     /*!< Encoder maximum value */
+    int32_t count_accumulator;                   /*!< Leftover PCNT counts not yet converted into a full step */
+    uint8_t pcnt_counts_per_step;                /*!< PCNT counts per encoder step (detent) */
+    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.
+ *
+ * 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
+{
+    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;
 static QueueHandle_t _queue_handle = NULL;
 static portMUX_TYPE _spinlock = portMUX_INITIALIZER_UNLOCKED;
 
-volatile static uint8_t _encoder_counter = 0;
 static zh_encoder_stats_t _stats = {0};
-volatile static uint8_t _encoder_number_matrix[8] = {0};
+static zh_vector_t *_vector = NULL;
 
+/**
+ * @brief Validate the initialization configuration and copy parameters into the handle.
+ *
+ * Checks task, queue, range, step, encoder number and watch-point settings. When a
+ * 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 the encoder configuration structure
+ * @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 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 the PCNT unit, channels, watch points and event callbacks.
+ *
+ * Configures encoder A/B GPIOs as inputs, creates a PCNT unit with a glitch filter,
+ * adds two channels with quadrature edge/level actions, registers high and low watch
+ * points, then enables, clears and starts the unit. Any failure frees the resources
+ * created so far before returning.
+ *
+ * @param config Pointer to the encoder configuration structure
+ * @param handle Pointer to the encoder handle to store PCNT handles in
+ *
+ * @return ESP_OK on success
+ * @return ESP_ERR_INVALID_ARG if A/B GPIO numbers are invalid or identical
+ * @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 the push-button GPIO and register its interrupt handler.
+ *
+ * Does nothing when the button is disabled (s_gpio_number equals GPIO_NUM_MAX). Installs
+ * 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 the encoder configuration structure
+ * @param handle Pointer to the encoder handle to store button state in
+ *
+ * @return ESP_OK on success
+ * @return ESP_ERR_INVALID_ARG if the button GPIO number is invalid or equals the A/B GPIO number
+ * @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 Create the shared processing queue for the first registered encoder.
+ *
+ * The queue is allocated once, when the encoder vector contains exactly one entry.
+ *
+ * @param config Pointer to the encoder configuration structure
+ *
+ * @return ESP_OK on success
+ * @return ESP_FAIL if queue creation fails
+ */
 static esp_err_t _zh_encoder_resources_init(const zh_encoder_init_config_t *config);
-static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
+
+/**
+ * @brief Create the shared ISR processing task for the first registered encoder.
+ *
+ * The task is created once, when the encoder vector contains exactly one entry,
+ * pinned to no specific core with the configured priority and stack size.
+ *
+ * @param config Pointer to the encoder configuration structure
+ *
+ * @return ESP_OK on success
+ * @return ESP_FAIL if task creation fails
+ */
+static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config);
+
+/**
+ * @brief PCNT watch-point interrupt handler.
+ *
+ * Reads and clears the unit count, then posts a queue message to the shared processing
+ * task. Increments the queue overflow counter when the queue is full.
+ *
+ * @param unit PCNT unit handle that reached the watch point
+ * @param edata Watch-point event data (unused)
+ * @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 Shared processing task body for encoder rotation events.
+ *
+ * Receives queue messages, converts raw PCNT counts into whole steps using the
+ * accumulator, clamps the position to the configured range, snaps values closer to
+ * 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 Button debounce timer callback.
+ *
+ * Runs in the timer daemon task context after the debounce period elapses. Reads the
+ * button level and posts a button event only when the state actually changed. Increments
+ * the event post error counter when posting fails.
+ *
+ * @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);
 
 ESP_EVENT_DEFINE_BASE(ZH_ENCODER);
 
-esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle) // -V2008
+esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t **handle)
 {
     ZH_LOGI("Encoder initialization started.");
     ZH_ERROR_CHECK(config != NULL && handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder initialization failed. Invalid argument.");
-    ZH_ERROR_CHECK(handle->is_initialized == false, ESP_ERR_INVALID_STATE, NULL, "Encoder initialization failed. Encoder is already initialized.");
-    ZH_ERROR_CHECK(_encoder_counter < sizeof(_encoder_number_matrix), ESP_ERR_INVALID_ARG, NULL, "Encoder initialization failed. Maximum quantity reached.");
-    ZH_ERROR_CHECK(_zh_encoder_validate_config(config, handle) == ESP_OK, ESP_FAIL, NULL, "Encoder initialization failed. Initial configuration check failed.");
-    ZH_ERROR_CHECK(_zh_encoder_resources_init(config) == ESP_OK, ESP_FAIL, NULL, "Encoder initialization failed. Resources initialization failed.");
-    ZH_ERROR_CHECK(_zh_encoder_task_init(config, handle) == ESP_OK, ESP_FAIL,
-                   vQueueDelete(_queue_handle), "Encoder initialization failed. Processing task initialization failed.");
-    ZH_ERROR_CHECK(_zh_encoder_pcnt_init(config, handle) == ESP_OK, ESP_FAIL,
-                   vQueueDelete(_queue_handle);
-                   vTaskDelete(zh_encoder), "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, NULL, "PCNT unit stop fail.");
-                   ZH_ERROR_CHECK(pcnt_unit_disable(handle->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT unit disable fail.");
-                   ZH_ERROR_CHECK(pcnt_del_channel(handle->pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.");
-                   ZH_ERROR_CHECK(pcnt_del_channel(handle->pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.");
-                   ZH_ERROR_CHECK(pcnt_del_unit(handle->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.");
-                   vQueueDelete(_queue_handle);
-                   vTaskDelete(zh_encoder), "Encoder initialization failed. GPIO initialization failed.");
+    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)
+    {
+        ZH_ERROR_CHECK(zh_vector_init(&_vector, sizeof(uint8_t)) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. Failed to create vector.");
+    }
+    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.");
+    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_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_ERROR_CHECK(_zh_encoder_gpio_init(config, *handle) == ESP_OK, ESP_FAIL,
+                   {ZH_ERROR_CHECK_CONT(pcnt_unit_stop((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "PCNT unit stop fail.")};
+                   {ZH_ERROR_CHECK_CONT(pcnt_unit_disable((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "PCNT unit disable fail.")};
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_channel((*handle)->pcnt_channel_a_handle) == ESP_OK, 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_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.");
     if (_stats.min_stack_size == 0)
     {
         _stats.min_stack_size = config->stack_size;
     }
-    handle->is_initialized = true;
-    ++_encoder_counter;
-    for (uint8_t i = 0; i < sizeof(_encoder_number_matrix); ++i)
-    {
-        if (_encoder_number_matrix[i] == 0)
-        {
-            _encoder_number_matrix[i] = handle->encoder_number;
-            break;
-        }
-    }
     ZH_LOGI("Encoder initialization completed successfully.");
     return ESP_OK;
 }
 
-esp_err_t zh_encoder_deinit(zh_encoder_handle_t *handle) // -V2008
+esp_err_t zh_encoder_deinit(zh_encoder_handle_t **handle)
 {
     ZH_LOGI("Encoder deinitialization started.");
-    ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder deinitialization failed. Invalid argument.");
-    ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Encoder deinitialization failed. Encoder not initialized.");
-    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(pcnt_unit_disable(handle->pcnt_unit_handle) == ESP_OK, ESP_FAIL, 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(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(pcnt_del_channel(handle->pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, 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(pcnt_del_unit(handle->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. PCNT delete unit fail.");
-    if (handle->s_gpio_number != GPIO_NUM_MAX)
+    ZH_ERROR_CHECK(handle != NULL && *handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder deinitialization failed. Invalid argument.");
+    ZH_ERROR_CHECK_CONT(pcnt_unit_stop((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "Encoder deinitialization failed. PCNT unit stop 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_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_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_CONT(pcnt_del_channel((*handle)->pcnt_channel_a_handle) == ESP_OK, 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_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((gpio_num_t)handle->s_gpio_number) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. Remove GPIO isr handler failed.");
-        ZH_ERROR_CHECK(gpio_reset_pin((gpio_num_t)handle->s_gpio_number) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. Reset GPIO failed.");
-    }
-    if (_encoder_counter == 1)
-    {
-        vQueueDelete(_queue_handle);
-        vTaskDelete(zh_encoder);
-    }
-    handle->is_initialized = false;
-    --_encoder_counter;
-    for (uint8_t i = 0; i < sizeof(_encoder_number_matrix); ++i)
-    {
-        if (_encoder_number_matrix[i] == handle->encoder_number)
+        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_CONT(gpio_reset_pin((*handle)->s_gpio_number) == ESP_OK, NULL, "Encoder deinitialization failed. Reset GPIO failed.");
+        if ((*handle)->button_timer != NULL)
         {
-            _encoder_number_matrix[i] = 0;
-            break;
+            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_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)
+    {
+        if (zh_encoder != NULL)
+        {
+            vTaskDelete(zh_encoder);
+            zh_encoder = NULL;
+        }
+        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;
     ZH_LOGI("Encoder deinitialization completed successfully.");
     return ESP_OK;
 }
 
-esp_err_t zh_encoder_reinit(zh_encoder_handle_t *handle, float min, float max, float step) // -V2008
+esp_err_t zh_encoder_reinit(zh_encoder_handle_t **handle, float min, float max, float step)
 {
     ZH_LOGI("Encoder reinitialization started.");
-    ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder reinitialization failed. Invalid argument.");
-    ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Encoder reinitialization failed. Encoder not initialized.");
+    ZH_ERROR_CHECK(handle != NULL && *handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder reinitialization failed. Invalid argument.");
     ZH_ERROR_CHECK(max > min, ESP_ERR_INVALID_ARG, NULL, "Encoder reinitialization failed. Invalid encoder min/max value.");
     ZH_ERROR_CHECK(step > 0, ESP_ERR_INVALID_ARG, NULL, "Encoder reinitialization failed. Invalid encoder step.");
     taskENTER_CRITICAL(&_spinlock);
-    handle->encoder_min_value = min;
-    handle->encoder_max_value = max;
-    handle->encoder_step = step;
-    handle->encoder_position = (handle->encoder_min_value + handle->encoder_max_value) / 2;
+    (*handle)->encoder_min_value = min;
+    (*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;
 }
 
-esp_err_t zh_encoder_set(zh_encoder_handle_t *handle, float position)
+esp_err_t zh_encoder_set(zh_encoder_handle_t **handle, float position)
 {
     ZH_LOGI("Encoder set position started.");
-    ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder set position failed. Invalid argument.");
-    ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Encoder set position failed. Encoder not initialized.");
-    ZH_ERROR_CHECK(position <= handle->encoder_max_value && position >= handle->encoder_min_value, ESP_ERR_INVALID_ARG, NULL, "Encoder set position failed. Invalid argument.");
+    ZH_ERROR_CHECK(handle != NULL && *handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder set position failed. Invalid argument.");
     taskENTER_CRITICAL(&_spinlock);
-    handle->encoder_position = position;
+    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;
 }
 
-esp_err_t zh_encoder_get(const zh_encoder_handle_t *handle, float *position)
+esp_err_t zh_encoder_get(zh_encoder_handle_t **handle, float *position)
 {
     ZH_LOGI("Encoder get position started.");
-    ZH_ERROR_CHECK(handle != NULL && position != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder get position failed. Invalid argument.");
-    ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Encoder get position failed. Encoder not initialized.");
-    *position = handle->encoder_position;
+    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;
 }
 
-esp_err_t zh_encoder_reset(zh_encoder_handle_t *handle)
+esp_err_t zh_encoder_reset(zh_encoder_handle_t **handle)
 {
     ZH_LOGI("Encoder reset started.");
-    ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder reset failed. Invalid argument.");
-    ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Encoder reset failed. Encoder not initialized.");
+    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)->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;
 }
@@ -176,32 +357,44 @@ void zh_encoder_reset_stats(void)
     ZH_LOGI("Error statistic reset successfully.");
 }
 
-static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle) // -V2008
+static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle)
 {
     ZH_ERROR_CHECK(config->task_priority >= 1 && config->stack_size >= configMINIMAL_STACK_SIZE, ESP_ERR_INVALID_ARG, NULL, "Invalid task settings.");
     ZH_ERROR_CHECK(config->queue_size >= 1, ESP_ERR_INVALID_ARG, NULL, "Invalid queue size.");
     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.");
-    for (uint8_t i = 0; i < sizeof(_encoder_number_matrix); ++i)
+    ZH_ERROR_CHECK(config->pcnt_counts_per_step > 0, ESP_ERR_INVALID_ARG, NULL, "Invalid pcnt_counts_per_step.");
+    if (_vector != NULL)
     {
-        ZH_ERROR_CHECK(config->encoder_number != _encoder_number_matrix[i], ESP_ERR_INVALID_ARG, NULL, "Encoder number already present.");
+        int32_t index = 0;
+        ZH_ERROR_CHECK(zh_vector_find_item(&_vector, &config->encoder_number, &index) == ESP_ERR_NOT_FOUND, ESP_ERR_INVALID_ARG, NULL, "Encoder number already present.");
     }
     handle->encoder_number = config->encoder_number;
     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;
 }
 
-static esp_err_t _zh_encoder_pcnt_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle) // -V2008
+static esp_err_t _zh_encoder_pcnt_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle)
 {
     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,
-        .low_limit = -10,
+        .high_limit = ZH_ENCODER_PCNT_HIGH_LIMIT,
+        .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.");
@@ -209,91 +402,86 @@ 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(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_a_handle, PCNT_CHANNEL_EDGE_ACTION_DECREASE, 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_a_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_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.");
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_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_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_unit_add_watch_point(pcnt_unit_handle, -handle->pcnt_counts_per_step) == ESP_OK, ESP_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.");
     pcnt_event_callbacks_t cbs = {
         .on_reach = _zh_encoder_isr_handler,
     };
-    ZH_ERROR_CHECK(pcnt_unit_register_event_callbacks(pcnt_unit_handle, &cbs, NULL) == 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, ZH_ENCODER_DIRECTION_CCW) == 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_register_event_callbacks(pcnt_unit_handle, &cbs, handle) == ESP_OK, ESP_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, -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, ZH_ENCODER_DIRECTION_CCW) == 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_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, -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, ZH_ENCODER_DIRECTION_CCW) == 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_disable(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT unit disable 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, -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, ZH_ENCODER_DIRECTION_CCW) == 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((gpio_num_t)config->a_gpio_number) == ESP_OK, ESP_FAIL, NULL, "GPIO pullup disable fail.");
-        ZH_ERROR_CHECK(gpio_pullup_dis((gpio_num_t)config->b_gpio_number) == ESP_OK, ESP_FAIL, NULL, "GPIO pullup disable 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, 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, -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.");
     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;
     return ESP_OK;
 }
 
-static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle) // -V2008
+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->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->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 the same.");
     if (config->s_gpio_number != GPIO_NUM_MAX)
     {
         gpio_config_t pin_config = {
@@ -302,47 +490,72 @@ 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((gpio_num_t)config->s_gpio_number) == ESP_OK, ESP_FAIL, NULL, "Reset GPIO failed."), "Failed install isr service.");
-        ZH_ERROR_CHECK(gpio_isr_handler_add((gpio_num_t)config->s_gpio_number, _zh_encoder_button_isr_handler, handle) == ESP_OK, ESP_FAIL,
-                       ZH_ERROR_CHECK(gpio_reset_pin((gpio_num_t)config->s_gpio_number) == ESP_OK, ESP_FAIL, NULL, "Reset GPIO failed."), "Interrupt initialization failed.");
-        handle->s_gpio_number = config->s_gpio_number;
-        handle->s_gpio_debounce_time = config->s_gpio_debounce_time;
-        handle->s_gpio_status = gpio_get_level((gpio_num_t)config->s_gpio_number);
+                       {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_CONT(gpio_reset_pin(config->s_gpio_number) == ESP_OK, NULL, "Reset GPIO failed.")};
+                       xTimerDelete(handle->button_timer, portMAX_DELAY); handle->button_timer = NULL, "Interrupt initialization failed.");
     }
     return ESP_OK;
 }
 
 static esp_err_t _zh_encoder_resources_init(const zh_encoder_init_config_t *config)
 {
-    if (_encoder_counter == 0)
+    uint16_t vector_size = 0;
+    zh_vector_get_size(&_vector, &vector_size);
+    if (vector_size == 1)
     {
-        _queue_handle = xQueueCreate(config->queue_size, sizeof(int));
+        _queue_handle = xQueueCreate(config->queue_size, sizeof(zh_encoder_queue_t));
         ZH_ERROR_CHECK(_queue_handle != NULL, ESP_FAIL, NULL, "Failed to create queue.");
     }
     return ESP_OK;
 }
 
-static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle)
+static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config)
 {
-    if (_encoder_counter == 0)
+    uint16_t vector_size = 0;
+    zh_vector_get_size(&_vector, &vector_size);
+    if (vector_size == 1)
     {
-        ZH_ERROR_CHECK(xTaskCreatePinnedToCore(&_zh_encoder_isr_processing_task, "zh_encoder_isr_processing", config->stack_size, handle, config->task_priority, &zh_encoder, tskNO_AFFINITY) == pdPASS,
+        ZH_ERROR_CHECK(xTaskCreatePinnedToCore(&_zh_encoder_isr_processing_task, "zh_encoder_isr_processing", config->stack_size, NULL, config->task_priority, &zh_encoder, tskNO_AFFINITY) == pdPASS,
                        ESP_FAIL, NULL, "Failed to create isr processing task.");
     }
     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)
 {
-    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
-    esp_err_t err = pcnt_unit_clear_count(unit);
-    if (err != ESP_OK)
+    (void)edata;
+    zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)user_ctx;
+    zh_encoder_queue_t encoder_queue = {0};
+    int count = 0;
+    taskENTER_CRITICAL_ISR(&_spinlock);
+    if (pcnt_unit_get_count(unit, &count) != ESP_OK)
     {
+        taskEXIT_CRITICAL_ISR(&_spinlock);
         return false;
     }
-    if (xQueueSendFromISR(_queue_handle, &edata->watch_point_value, &xHigherPriorityTaskWoken) != pdTRUE)
+    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;
     }
@@ -353,82 +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)
 {
-    zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)pvParameter;
-    int pcnt_count = {0};
-    bool is_value_changed = false;
-    while (xQueueReceive(_queue_handle, &pcnt_count, portMAX_DELAY) == pdTRUE)
+    (void)pvParameter;
+    zh_encoder_queue_t encoder_queue = {0};
+    while (xQueueReceive(_queue_handle, &encoder_queue, portMAX_DELAY) == pdTRUE)
     {
-        switch (pcnt_count)
+        zh_encoder_handle_t *handle = encoder_queue.handle;
+        bool position_changed = false;
+        bool encoder_status = false;
+        float encoder_position = 0.0;
+        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:
-            if (encoder_handle->encoder_position < encoder_handle->encoder_max_value)
+            float candidate = handle->encoder_position + (float)full_steps * handle->encoder_step;
+            if (candidate > handle->encoder_max_value)
             {
-                encoder_handle->encoder_position = encoder_handle->encoder_position + encoder_handle->encoder_step;
-                if (encoder_handle->encoder_position > encoder_handle->encoder_max_value)
-                {
-                    encoder_handle->encoder_position = encoder_handle->encoder_max_value;
-                }
-                is_value_changed = true;
+                candidate = handle->encoder_max_value;
             }
-            break;
-        case ZH_ENCODER_DIRECTION_CCW:
-            if (encoder_handle->encoder_position > encoder_handle->encoder_min_value)
+            else if (candidate < handle->encoder_min_value)
             {
-                encoder_handle->encoder_position = encoder_handle->encoder_position - encoder_handle->encoder_step;
-                if (encoder_handle->encoder_position < encoder_handle->encoder_min_value)
-                {
-                    encoder_handle->encoder_position = encoder_handle->encoder_min_value;
-                }
-                is_value_changed = true;
+                candidate = handle->encoder_min_value;
+            }
+            if (fabsf(candidate) < handle->encoder_step * 0.5f)
+            {
+                candidate = 0.0f;
+            }
+            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_position = encoder_handle->encoder_position;
-            esp_err_t err = esp_event_post(ZH_ENCODER, ZH_ENCODER_EVENT, &encoder_data, sizeof(zh_encoder_event_on_isr_t), 1000 / portTICK_PERIOD_MS);
-            if (err != ESP_OK)
-            {
-                ++_stats.event_post_error;
-                ZH_LOGE("Encoder isr processing failed. Failed to post interrupt event.", err);
-            }
+            encoder_data.encoder_number = encoder_number;
+            encoder_data.encoder_position = 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), 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 *)pvTimerGetTimerID(xTimer);
+    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 = s_gpio_status;
+        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.");
+    }
+}
+
+static void _zh_encoder_button_isr_handler(void *arg)
 {
     zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)arg;
     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((gpio_num_t)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;
-            esp_err_t err = esp_event_isr_post(ZH_ENCODER, ZH_BUTTON_EVENT, &encoder_data, sizeof(zh_encoder_button_event_on_isr_t), &xHigherPriorityTaskWoken);
-            if (err != ESP_OK)
-            {
-                ++_stats.event_post_error;
-            }
-        }
-    }
-    encoder_handle->s_gpio_prev_time = _current_us;
+    xTimerResetFromISR(encoder_handle->button_timer, &xHigherPriorityTaskWoken);
     if (xHigherPriorityTaskWoken == pdTRUE)
     {
         portYIELD_FROM_ISR();
-    };
+    }
 }