feat: added status enumeration

perf: updated error checks
perf: spinlock moved to handle
2026-10-29 08:11:45 +03:00 · 2026-10-19 12:38:40 +03:00 · 2026-10-19 10:12:40 +03:00 · 2026-10-18 20:30:05 +03:00 · 2026-10-18 10:29:59 +03:00 · 2026-10-18 10:23:59 +03:00
6 changed files with 1184 additions and 375 deletions
@@ -1,32 +1,26 @@
-# ESP32 ESP-IDF component for rotary encoder
+# ESP32 ESP-IDF component for rotary encoder (PCNT peripheral)
 ## 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.
 ## 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:
+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.
-```text
+3. Position is initialized to the midpoint of the configured range.
-GPIO_CTRL_FUNC_IN_IRAM
+4. Position is clamped to the configured minimum and maximum values.
 PCNT_CTRL_FUNC_IN_IRAM
 PCNT_ISR_IRAM_SAFE
 ```
 ## 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 = NULL;
 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);
 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_step = 1;
-    config.encoder_number = ENCODER_NUMBER;
+    config.encoder_number = 1;
-    zh_encoder_init(&config, &encoder_handle);
+    esp_err_t ret = zh_encoder_init(&config, &encoder_handle);
-    float encoder_position = 0;
+    if (ret != ESP_OK)
    zh_encoder_get(&encoder_handle, &encoder_position);
    printf("Encoder position %0.3f.\n", encoder_position);
    for (;;)
    {
-        const zh_encoder_stats_t *stats = zh_encoder_get_stats();
+        printf("Encoder initialization error: %s\n", esp_err_to_name(ret));
-        printf("Number of event post error: %ld.\n", stats->event_post_error);
+        return;
        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);
    }
-}
+    float position = 0;
-
+    ret = zh_encoder_get(&encoder_handle, &position);
-void zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data)
+    if (ret == ESP_OK)
 {
    switch (event_id)
    {
-    case ZH_BUTTON_EVENT:
+        printf("Encoder position: %0.3f\n", position);
-        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");
+    else
-        break;
+    {
-    case ZH_ENCODER_EVENT:
+        printf("Error getting position: %s\n", esp_err_to_name(ret));
-        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);
+    ret = zh_encoder_deinit(&encoder_handle);
-        break;
+    if (ret != ESP_OK)
-    default:
+    {
-        break;
+        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 == ZH_ENCODER_BUTTON_STATUS_RELEASED ? "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 == ZH_ENCODER_STATUS_INCREASED ? "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));
    }
 }
 ```
@@ -0,0 +1,11 @@
 description: ESP32 ESP-IDF component for rotary encoder
 url: https://github.com/aZholtikov/zh_encoder
 version: "3.2.0"
 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"
@@ -1,9 +1,33 @@
 /**
 * @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).
 * @note Button state semantics: with pull-up enabled (default), the pressed level is read as 0
 *       (ZH_ENCODER_BUTTON_STATUS_PRESSED) and the released level as 1 (ZH_ENCODER_BUTTON_STATUS_RELEASED).
 */
 #pragma once
 #include "math.h"
 #include "string.h"
 #include "esp_log.h"
 #include "driver/gpio.h"
 #include "driver/pulse_cnt.h"
@@ -11,10 +35,8 @@
 #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 +45,235 @@
        .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_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_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. */
+        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. */
+        gpio_num_t a_gpio_number;      /*!< Encoder A GPIO number */
-        uint8_t queue_size;            /*!< Queue size for task for the encoder processing. @note Minimum value is 1. */
+        gpio_num_t b_gpio_number;      /*!< Encoder B GPIO number */
-        uint8_t a_gpio_number;         /*!< Encoder A GPIO number. */
+        gpio_num_t s_gpio_number;      /*!< Encoder button GPIO number */
-        uint8_t b_gpio_number;         /*!< Encoder B GPIO number. */
+        uint16_t s_gpio_debounce_time; /*!< Encoder button debounce time in microseconds. Rounded up to whole milliseconds for the debounce timer */
-        uint8_t s_gpio_number;         /*!< Encoder button GPIO number. */
+        uint16_t stack_size;           /*!< Stack size for the shared processing task. @note Minimum configMINIMAL_STACK_SIZE */
-        bool pullup;                   /*!< Pullup GPIO enable/disable. */
+        uint8_t task_priority;         /*!< Task priority for the shared processing task. @note Minimum value is 1 */
-        uint16_t s_gpio_debounce_time; /*!< Encoder button debounce_time. @note In microseconds. */
+        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 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. */
+        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. */
+        uint32_t event_post_error;     /*!< Number of event post errors */
-        bool is_initialized;                         /*!< Encoder initialization flag. */
+        uint32_t queue_overflow_error; /*!< Number of queue overflow errors */
-        uint8_t encoder_number;                      /*!< Encoder unique number. */
+        uint32_t min_stack_size;       /*!< Minimum free stack size (watermark) */
        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. */
    } 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_BUTTON_EVENT, /*!< Encoder push-button event */
-        ZH_ENCODER_EVENT /*!< Encoder 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 Encoder rotation direction reported in rotation events.
     */
    typedef enum
    {
        ZH_ENCODER_STATUS_DECREASED, /*!< Encoder position decreased */
        ZH_ENCODER_STATUS_INCREASED  /*!< Encoder position increased */
    } zh_encoder_status_t;
    /**
     * @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. */
+        float encoder_position;             /*!< Encoder current position */
-        uint8_t encoder_number; /*!< Encoder unique number. */
+        uint8_t encoder_number;             /*!< Encoder unique number */
        zh_encoder_status_t encoder_status; /*!< Rotation direction */
    } zh_encoder_event_on_isr_t;
    /**
-     * @brief Structure for sending data to the event handler when cause encoder button interrupt.
+     * @brief Encoder push-button state reported in button events.
     */
    typedef enum
    {
        ZH_ENCODER_BUTTON_STATUS_PRESSED, /*!< Button is pressed */
        ZH_ENCODER_BUTTON_STATUS_RELEASED /*!< Button is released */
    } zh_encoder_button_status_t;
    /**
     * @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. */
+        uint8_t encoder_number;                   /*!< Encoder unique number */
-        bool button_status;     /*!< Encoder button status. */
+        zh_encoder_button_status_t button_status; /*!< Debounced button state */
    } 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[in,out] handle Pointer to unique encoder handle (must not be NULL)
-     * @param[out] handle Pointer to unique encoder handle.
+     * @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.
+     * @return ESP_OK on success
-     *
+     * @return ESP_ERR_INVALID_ARG if handle is NULL, or parameters are invalid
-     * @code zh_encoder_init_config_t config = ZH_ENCODER_INIT_CONFIG_DEFAULT() @endcode
+     * @return ESP_FAIL if PCNT count clear fails
     *
     * @return ESP_OK if success or an error code otherwise.
     */
-    esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
+    esp_err_t zh_encoder_reinit(zh_encoder_handle_t **handle, float min, float max, float step);
    /**
     * @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);
    /**
     * @brief Set encoder position.
     *
-     * @param[in, out] handle Pointer to unique encoder handle.
+     * @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).
+     * @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[in] handle Pointer to unique encoder handle (must not be NULL)
-     * @param[out] position Encoder position.
+     * @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);
@@ -1 +1 @@
-2.4.0
+3.2.0
@@ -0,0 +1,301 @@
 # 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
 | Тип                                | Конструктор значений               | Значения                                                                                                          |
 | ---------------------------------- | ---------------------------------- | ----------------------------------------------------------------------------------------------------------------- |
 | `zh_encoder_init_config_t`         | `ZH_ENCODER_INIT_CONFIG_DEFAULT()` | Конфигурация инициализации: GPIO, диапазон, шаг, параметры задачи и уникальный номер                              |
 | `zh_encoder_stats_t`               | —                                  | Статистика: `event_post_error`, `queue_overflow_error`, `min_stack_size`                                          |
 | `zh_encoder_event_id_t`            | —                                  | Идентификаторы событий: `ZH_BUTTON_EVENT`, `ZH_ENCODER_EVENT`                                                     |
 | `zh_encoder_status_t`              | —                                  | Направление поворота: `ZH_ENCODER_STATUS_DECREASED`, `ZH_ENCODER_STATUS_INCREASED`                                  |
 | `zh_encoder_button_status_t`       | —                                  | Состояние кнопки: `ZH_ENCODER_BUTTON_STATUS_PRESSED` (уровень 0), `ZH_ENCODER_BUTTON_STATUS_RELEASED` (уровень 1) |
 | `zh_encoder_event_on_isr_t`        | —                                  | Данные события поворота: позиция, номер энкодера, направление (`zh_encoder_status_t`)                             |
 | `zh_encoder_button_event_on_isr_t` | —                                  | Данные события кнопки: номер энкодера, состояние (`zh_encoder_button_status_t`)                                   |
 | `ZH_ENCODER`                       | `ESP_EVENT_DEFINE_BASE`            | 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 == ZH_ENCODER_STATUS_INCREASED ? "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 == ZH_ENCODER_BUTTON_STATUS_RELEASED ? "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"
 ```
@@ -13,151 +13,354 @@
        return err;                                  \
    }
-#define ZH_ENCODER_DIRECTION_CW 1
+#define ZH_ERROR_CHECK_VOID(cond, cleanup, msg, ...) \
-#define ZH_ENCODER_DIRECTION_CCW -1
+    if (!(cond))                                     \
    {                                                \
        ZH_LOGE(msg, ESP_FAIL, ##__VA_ARGS__);       \
        cleanup;                                     \
        return;                                      \
    }
 #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 */
    portMUX_TYPE lock;                           /*!< Spinlock protecting fields accessed from ISR and task context */
 };
 /**
 * @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 Roll back shared resources (queue, task) if the failed init was
 *        the first (and only) device.
 *
 * Must be called BEFORE zh_vector_delete_back(&_vector) — otherwise the
 * vector size will no longer reflect "first device".
 */
 static void _zh_encoder_rollback_task_and_resources(void);
 /**
 * @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(*handle == NULL, 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.");
+    *handle = heap_caps_calloc(1, sizeof(zh_encoder_handle_t), MALLOC_CAP_8BIT);
-    ZH_ERROR_CHECK(_zh_encoder_validate_config(config, handle) == ESP_OK, ESP_FAIL, NULL, "Encoder initialization failed. Initial configuration check failed.");
+    ZH_ERROR_CHECK(*handle != NULL, ESP_ERR_NO_MEM, NULL, "Encoder initialization failed. Failed to allocate encoder handle.");
-    ZH_ERROR_CHECK(_zh_encoder_resources_init(config) == ESP_OK, ESP_FAIL, NULL, "Encoder initialization failed. Resources initialization failed.");
+    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.");
-    ZH_ERROR_CHECK(_zh_encoder_task_init(config, handle) == ESP_OK, ESP_FAIL,
+    if (_vector == NULL)
-                   vQueueDelete(_queue_handle), "Encoder initialization failed. Processing task initialization failed.");
+    {
-    ZH_ERROR_CHECK(_zh_encoder_pcnt_init(config, handle) == ESP_OK, ESP_FAIL,
+        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.");
-                   vQueueDelete(_queue_handle);
+    }
-                   vTaskDelete(zh_encoder), "Encoder initialization failed. PCNT initialization failed.");
+    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_gpio_init(config, handle) == ESP_OK, ESP_FAIL,
+    ZH_ERROR_CHECK(_zh_encoder_resources_init(config) == 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_CONT(zh_vector_delete_back(&_vector) == ESP_OK, NULL, "Failed delete vector data.")};
-                   ZH_ERROR_CHECK(pcnt_unit_disable(handle->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT unit disable fail.");
+                   heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. Resources initialization failed.");
-                   ZH_ERROR_CHECK(pcnt_del_channel(handle->pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.");
+    ZH_ERROR_CHECK(_zh_encoder_task_init(config) == ESP_OK, ESP_FAIL, _zh_encoder_rollback_task_and_resources();
-                   ZH_ERROR_CHECK(pcnt_del_channel(handle->pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.");
+                   {ZH_ERROR_CHECK_CONT(zh_vector_delete_back(&_vector) == ESP_OK, NULL, "Failed delete vector data.")};
-                   ZH_ERROR_CHECK(pcnt_del_unit(handle->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.");
+                   heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. Processing task initialization failed.");
-                   vQueueDelete(_queue_handle);
+    ZH_ERROR_CHECK(_zh_encoder_pcnt_init(config, *handle) == ESP_OK, ESP_FAIL, _zh_encoder_rollback_task_and_resources();
-                   vTaskDelete(zh_encoder), "Encoder initialization failed. GPIO initialization failed.");
+                   {ZH_ERROR_CHECK_CONT(zh_vector_delete_back(&_vector) == ESP_OK, NULL, "Failed delete vector data.")};
                   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_encoder_rollback_task_and_resources();
                   {ZH_ERROR_CHECK_CONT(zh_vector_delete_back(&_vector) == ESP_OK, NULL, "Failed delete vector data.")};
                   heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. GPIO initialization failed.");
    portMUX_INITIALIZE(&(*handle)->lock);
    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 != NULL && *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_CONT(pcnt_unit_stop((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "Encoder deinitialization failed. PCNT unit stop fail.");
-    ZH_ERROR_CHECK(pcnt_unit_stop(handle->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. PCNT unit stop fail.");
+    ZH_ERROR_CHECK_CONT(pcnt_unit_disable((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "Encoder deinitialization failed. PCNT unit disable fail.");
-    ZH_ERROR_CHECK(pcnt_unit_disable(handle->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. PCNT unit disable fail.");
+    ZH_ERROR_CHECK_CONT(pcnt_unit_remove_watch_point((*handle)->pcnt_unit_handle, (*handle)->pcnt_counts_per_step) == ESP_OK, NULL, "Encoder deinitialization failed. PCNT unit remove watch point fail.");
-    ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(handle->pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. PCNT unit remove watch point fail.");
+    ZH_ERROR_CHECK_CONT(pcnt_unit_remove_watch_point((*handle)->pcnt_unit_handle, -(*handle)->pcnt_counts_per_step) == ESP_OK, NULL, "Encoder deinitialization failed. PCNT unit remove watch point fail.");
-    ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(handle->pcnt_unit_handle, ZH_ENCODER_DIRECTION_CCW) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. PCNT unit remove watch point fail.");
+    ZH_ERROR_CHECK_CONT(pcnt_del_channel((*handle)->pcnt_channel_a_handle) == ESP_OK, NULL, "Encoder deinitialization failed. PCNT delete channel fail.");
-    ZH_ERROR_CHECK(pcnt_del_channel(handle->pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. PCNT delete channel fail.");
+    ZH_ERROR_CHECK_CONT(pcnt_del_channel((*handle)->pcnt_channel_b_handle) == ESP_OK, NULL, "Encoder deinitialization failed. PCNT delete channel fail.");
-    ZH_ERROR_CHECK(pcnt_del_channel(handle->pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, 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.");
-    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)
    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_CONT(gpio_isr_handler_remove((*handle)->s_gpio_number) == ESP_OK, NULL, "Encoder deinitialization failed. Remove GPIO isr handler failed.");
-        ZH_ERROR_CHECK(gpio_reset_pin((gpio_num_t)handle->s_gpio_number) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. Reset GPIO failed.");
+        ZH_ERROR_CHECK_CONT(gpio_reset_pin((*handle)->s_gpio_number) == ESP_OK, NULL, "Encoder deinitialization failed. Reset GPIO failed.");
        if ((*handle)->button_timer != NULL)
        {
            xTimerStop((*handle)->button_timer, portMAX_DELAY);
            xTimerDelete((*handle)->button_timer, portMAX_DELAY);
            (*handle)->button_timer = NULL;
        }
-    if (_encoder_counter == 1)
+    }
    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);
-        vTaskDelete(zh_encoder);
+            _queue_handle = NULL;
    }
    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)
        {
            _encoder_number_matrix[i] = 0;
            break;
        }
        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 != NULL && *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(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);
+    taskENTER_CRITICAL(&(*handle)->lock);
-    handle->encoder_min_value = min;
+    (*handle)->encoder_min_value = min;
-    handle->encoder_max_value = max;
+    (*handle)->encoder_max_value = max;
-    handle->encoder_step = step;
+    (*handle)->encoder_step = step;
-    handle->encoder_position = (handle->encoder_min_value + handle->encoder_max_value) / 2;
+    (*handle)->encoder_position = ((*handle)->encoder_min_value + (*handle)->encoder_max_value) / 2;
-    taskEXIT_CRITICAL(&_spinlock);
+    (*handle)->count_accumulator = 0;
    taskEXIT_CRITICAL(&(*handle)->lock);
    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 != NULL && *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.");
+    taskENTER_CRITICAL(&(*handle)->lock);
-    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(position <= (*handle)->encoder_max_value && position >= (*handle)->encoder_min_value, ESP_ERR_INVALID_ARG, taskEXIT_CRITICAL(&(*handle)->lock), "Encoder set position failed. Invalid argument.");
-    taskENTER_CRITICAL(&_spinlock);
+    (*handle)->encoder_position = position;
-    handle->encoder_position = position;
+    (*handle)->count_accumulator = 0;
-    taskEXIT_CRITICAL(&_spinlock);
+    taskEXIT_CRITICAL(&(*handle)->lock);
    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 != NULL && *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.");
+    taskENTER_CRITICAL(&(*handle)->lock);
-    *position = handle->encoder_position;
+    *position = (*handle)->encoder_position;
    taskEXIT_CRITICAL(&(*handle)->lock);
    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 != NULL && *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.");
+    taskENTER_CRITICAL(&(*handle)->lock);
-    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);
+    taskEXIT_CRITICAL(&(*handle)->lock);
    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 +379,44 @@ 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,
+        .high_limit = ZH_ENCODER_PCNT_HIGH_LIMIT,
-        .low_limit = -10,
+        .low_limit = ZH_ENCODER_PCNT_LOW_LIMIT,
    };
    pcnt_unit_handle_t pcnt_unit_handle = NULL;
    ZH_ERROR_CHECK(pcnt_new_unit(&pcnt_unit_config, &pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT initialization failed.");
@@ -209,91 +424,86 @@ 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_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
-                   ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail."), "PCNT initialization failed.");
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
-    ZH_ERROR_CHECK(pcnt_channel_set_edge_action(pcnt_channel_a_handle, PCNT_CHANNEL_EDGE_ACTION_DECREASE, PCNT_CHANNEL_EDGE_ACTION_HOLD) == ESP_OK, ESP_FAIL,
+    ZH_ERROR_CHECK(pcnt_channel_set_edge_action(pcnt_channel_a_handle, PCNT_CHANNEL_EDGE_ACTION_DECREASE, PCNT_CHANNEL_EDGE_ACTION_INCREASE) == ESP_OK, ESP_FAIL,
-                   ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.");
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
-                   ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, 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(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail."), "PCNT initialization failed.");
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
-    ZH_ERROR_CHECK(pcnt_channel_set_level_action(pcnt_channel_a_handle, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_HOLD) == ESP_OK, ESP_FAIL,
+    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(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.");
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
-                   ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, 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(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail."), "PCNT initialization failed.");
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
-    ZH_ERROR_CHECK(pcnt_channel_set_edge_action(pcnt_channel_b_handle, PCNT_CHANNEL_EDGE_ACTION_INCREASE, PCNT_CHANNEL_EDGE_ACTION_HOLD) == ESP_OK, ESP_FAIL,
+    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(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.");
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
-                   ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, 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(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail."), "PCNT initialization failed.");
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
-    ZH_ERROR_CHECK(pcnt_channel_set_level_action(pcnt_channel_b_handle, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_HOLD) == ESP_OK, ESP_FAIL,
+    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(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.");
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
-                   ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, 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(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail."), "PCNT initialization failed.");
+                   {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
-    ZH_ERROR_CHECK(pcnt_unit_add_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL,
+    ZH_ERROR_CHECK(pcnt_unit_add_watch_point(pcnt_unit_handle, handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL,
-                   ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.");
+                   {ZH_ERROR_CHECK(pcnt_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_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_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_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, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.");
+                   {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
-                   ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel 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_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_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_register_event_callbacks(pcnt_unit_handle, &cbs, handle) == ESP_OK, ESP_FAIL,
-                   ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.");
+                   {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
-                   ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CCW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.");
+                   {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, -handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
-                   ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.");
+                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_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_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_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
    ZH_ERROR_CHECK(pcnt_unit_enable(pcnt_unit_handle) == ESP_OK, ESP_FAIL,
-                   ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.");
+                   {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
-                   ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CCW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.");
+                   {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, -handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
-                   ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.");
+                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_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_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_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_disable(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT unit disable fail.")};
-                   ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.");
+                   {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
-                   ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CCW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.");
+                   {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, -handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
-                   ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.");
+                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_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_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_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_disable(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT unit disable fail.")};
-                   ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.");
+                   {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
-                   ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CCW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.");
+                   {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, -handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")};
-                   ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.");
+                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_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_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_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.");
    }
    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->s_gpio_number <= GPIO_NUM_MAX, ESP_ERR_INVALID_ARG, NULL, "Invalid GPIO number.");
-    ZH_ERROR_CHECK(config->a_gpio_number != config->s_gpio_number && config->b_gpio_number != config->s_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Encoder GPIO and button GPIO is same.")
+    ZH_ERROR_CHECK(config->a_gpio_number != config->s_gpio_number && config->b_gpio_number != config->s_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Encoder GPIO and button GPIO is the same.");
    if (config->s_gpio_number != GPIO_NUM_MAX)
    {
        gpio_config_t pin_config = {
@@ -302,47 +512,94 @@ 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_CONT(gpio_reset_pin(config->s_gpio_number) == ESP_OK, NULL, "Reset GPIO failed.")};
-        ZH_ERROR_CHECK(gpio_isr_handler_add((gpio_num_t)config->s_gpio_number, _zh_encoder_button_isr_handler, handle) == ESP_OK, ESP_FAIL,
+                       xTimerDelete(handle->button_timer, portMAX_DELAY); handle->button_timer = NULL, "Failed install isr service.");
-                       ZH_ERROR_CHECK(gpio_reset_pin((gpio_num_t)config->s_gpio_number) == ESP_OK, ESP_FAIL, NULL, "Reset GPIO failed."), "Interrupt initialization failed.");
+        ZH_ERROR_CHECK(gpio_isr_handler_add(config->s_gpio_number, _zh_encoder_button_isr_handler, handle) == ESP_OK, ESP_FAIL,
-        handle->s_gpio_number = config->s_gpio_number;
+                       {ZH_ERROR_CHECK_CONT(gpio_reset_pin(config->s_gpio_number) == ESP_OK, NULL, "Reset GPIO failed.")};
-        handle->s_gpio_debounce_time = config->s_gpio_debounce_time;
+                       xTimerDelete(handle->button_timer, portMAX_DELAY); handle->button_timer = NULL, "Interrupt initialization failed.");
        handle->s_gpio_status = gpio_get_level((gpio_num_t)config->s_gpio_number);
    }
    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 void _zh_encoder_rollback_task_and_resources(void)
 {
-    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+    if (_vector != NULL)
    esp_err_t err = pcnt_unit_clear_count(unit);
    if (err != ESP_OK)
    {
        uint16_t vector_size = 0;
        ZH_ERROR_CHECK_VOID(zh_vector_get_size(&_vector, &vector_size) == ESP_OK, NULL, "Failed to get vector size.");
        if (vector_size == 1)
        {
            if (zh_encoder != NULL)
            {
                vTaskDelete(zh_encoder);
                zh_encoder = NULL;
            }
            if (_queue_handle != NULL)
            {
                vQueueDelete(_queue_handle);
                _queue_handle = NULL;
            }
        }
    }
 }
 static bool _zh_encoder_isr_handler(pcnt_unit_handle_t unit, const pcnt_watch_event_data_t *edata, void *user_ctx)
 {
    (void)edata;
    zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)user_ctx;
    zh_encoder_queue_t encoder_queue = {0};
    int count = 0;
    taskENTER_CRITICAL_ISR(&encoder_handle->lock);
    if (pcnt_unit_get_count(unit, &count) != ESP_OK)
    {
        taskEXIT_CRITICAL_ISR(&encoder_handle->lock);
        return false;
    }
-    if (xQueueSendFromISR(_queue_handle, &edata->watch_point_value, &xHigherPriorityTaskWoken) != pdTRUE)
+    if (pcnt_unit_clear_count(unit) != ESP_OK)
    {
        taskEXIT_CRITICAL_ISR(&encoder_handle->lock);
        return false;
    }
    taskEXIT_CRITICAL_ISR(&encoder_handle->lock);
    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 +610,80 @@ 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;
+    (void)pvParameter;
-    int pcnt_count = {0};
+    zh_encoder_queue_t encoder_queue = {0};
-    bool is_value_changed = false;
+    while (xQueueReceive(_queue_handle, &encoder_queue, portMAX_DELAY) == pdTRUE)
    while (xQueueReceive(_queue_handle, &pcnt_count, portMAX_DELAY) == pdTRUE)
    {
-        switch (pcnt_count)
+        zh_encoder_handle_t *handle = encoder_queue.handle;
        bool position_changed = false;
        zh_encoder_status_t encoder_status = ZH_ENCODER_STATUS_DECREASED;
        float encoder_position = 0.0;
        uint8_t encoder_number = 0;
        taskENTER_CRITICAL(&handle->lock);
        int32_t total = handle->count_accumulator + encoder_queue.count;
        int32_t full_steps = total / (int32_t)handle->pcnt_counts_per_step;
        handle->count_accumulator = total - full_steps * (int32_t)handle->pcnt_counts_per_step;
        if (full_steps != 0)
        {
-        case ZH_ENCODER_DIRECTION_CW:
+            float candidate = handle->encoder_position + (float)full_steps * handle->encoder_step;
-            if (encoder_handle->encoder_position < encoder_handle->encoder_max_value)
+            if (candidate > handle->encoder_max_value)
            {
-                encoder_handle->encoder_position = encoder_handle->encoder_position + encoder_handle->encoder_step;
+                candidate = handle->encoder_max_value;
                if (encoder_handle->encoder_position > encoder_handle->encoder_max_value)
                {
                    encoder_handle->encoder_position = encoder_handle->encoder_max_value;
            }
-                is_value_changed = true;
+            else if (candidate < handle->encoder_min_value)
            }
            break;
        case ZH_ENCODER_DIRECTION_CCW:
            if (encoder_handle->encoder_position > encoder_handle->encoder_min_value)
            {
-                encoder_handle->encoder_position = encoder_handle->encoder_position - encoder_handle->encoder_step;
+                candidate = handle->encoder_min_value;
-                if (encoder_handle->encoder_position < encoder_handle->encoder_min_value)
+            }
            if (fabsf(candidate) < handle->encoder_step * 0.5f)
            {
-                    encoder_handle->encoder_position = encoder_handle->encoder_min_value;
+                candidate = 0.0f;
            }
-                is_value_changed = true;
+            if (candidate != handle->encoder_position)
            {
                handle->encoder_position = candidate;
                position_changed = true;
                encoder_status = full_steps > 0 ? ZH_ENCODER_STATUS_INCREASED : ZH_ENCODER_STATUS_DECREASED;
                encoder_position = candidate;
                encoder_number = handle->encoder_number;
            }
            break;
        default:
            break;
        }
-        if (is_value_changed == true)
+        taskEXIT_CRITICAL(&handle->lock);
        if (position_changed == true)
        {
            is_value_changed = false;
            zh_encoder_event_on_isr_t encoder_data = {0};
-            encoder_data.encoder_number = encoder_handle->encoder_number;
+            encoder_data.encoder_number = encoder_number;
-            encoder_data.encoder_position = encoder_handle->encoder_position;
+            encoder_data.encoder_position = 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);
+            encoder_data.encoder_status = encoder_status;
-            if (err != ESP_OK)
+            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.event_post_error;
                ZH_LOGE("Encoder isr processing failed. Failed to post interrupt event.", err);
            }
        }
        _stats.min_stack_size = (uint32_t)uxTaskGetStackHighWaterMark(NULL);
    }
    vTaskDelete(NULL);
 }
-static void IRAM_ATTR _zh_encoder_button_isr_handler(void *arg)
+static void _zh_encoder_button_timer_cb(TimerHandle_t xTimer)
 {
-    zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)arg;
+    zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)pvTimerGetTimerID(xTimer);
-    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+    bool s_gpio_status = gpio_get_level(encoder_handle->s_gpio_number);
    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;
+        encoder_data.button_status = s_gpio_status == true ? ZH_ENCODER_BUTTON_STATUS_RELEASED : ZH_ENCODER_BUTTON_STATUS_PRESSED;
-            esp_err_t err = esp_event_isr_post(ZH_ENCODER, ZH_BUTTON_EVENT, &encoder_data, sizeof(zh_encoder_button_event_on_isr_t), &xHigherPriorityTaskWoken);
+        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.");
            if (err != ESP_OK)
            {
                ++_stats.event_post_error;
    }
-        }
+}
-    }
+
-    encoder_handle->s_gpio_prev_time = _current_us;
+static void _zh_encoder_button_isr_handler(void *arg)
 {
    zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)arg;
    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
    xTimerResetFromISR(encoder_handle->button_timer, &xHigherPriorityTaskWoken);
    if (xHigherPriorityTaskWoken == pdTRUE)
    {
        portYIELD_FROM_ISR();
-    };
+    }
 }
Author	SHA1	Message	Date
aZholtikov	fb87e98189	feat: added status enumeration	2026-10-29 08:11:45 +03:00
aZholtikov	d9872c8e94	perf: updated error checks	2026-10-19 12:38:40 +03:00
aZholtikov	b28ff61343	perf: spinlock moved to handle	2026-10-19 10:12:40 +03:00
aZholtikov	7f9f1b7f6f	perf: updated error checks	2026-10-18 20:30:05 +03:00
aZholtikov	780ffbbad0	doc: added wiki	2026-10-18 10:29:59 +03:00
aZholtikov	f2f3030ee7	doc: updated readme	2026-10-18 10:23:59 +03:00
aZholtikov	4de0443b35	perf: updated error checks	2026-10-18 10:18:39 +03:00
aZholtikov	19e94cfb71	perf: updated error check	2026-09-20 15:11:09 +03:00
aZholtikov	ae27426dd0	feat: added encoder status (increased / reduced)	2026-09-13 08:06:13 +03:00
aZholtikov	85b5a8998d	style: updated comments	2026-09-12 12:52:46 +03:00
aZholtikov	8064ad1d8b	fix: incorrect release of resources	2026-09-06 20:32:33 +03:00
aZholtikov	c38f4c22a5	perf: encoder counter moved to vector	2026-09-05 23:22:07 +03:00
aZholtikov	e88225d4c6	feat!: main structure of handle changed to double pointer	2026-08-31 12:43:57 +03:00
aZholtikov	911d402e47	fix: several encoders do not work simultaneous	2026-04-18 09:14:17 +03:00