style: updated comments

CMakeLists.txt

@@ -1 +1,6 @@
-idf_component_register(SRCS "zh_inclinometer.c" INCLUDE_DIRS "include" REQUIRES driver)
+if(${IDF_VERSION_MAJOR} STREQUAL 6)
+    set(requires esp_driver_gpio esp_driver_pcnt)
+else()
+    set(requires driver)
+endif()
+idf_component_register(SRCS "zh_inclinometer.c" INCLUDE_DIRS "include" REQUIRES ${requires})

README.md

@@ -1,16 +1,18 @@
-# ESP32 ESP-IDF component for inclinometer (via rotary encoder)
+# ESP32 ESP-IDF component for inclinometer (via optical rotary encoder)
 
-## Tested on
+## Features
 
-1. [ESP32 ESP-IDF v5.5.2](https://docs.espressif.com/projects/esp-idf/en/v5.5.2/esp32/index.html)
+1. Quadrature encoder support with configurable GPIO pins.
+2. Configurable pull-up resistor enablement for encoder channels.
+3. Support for both clockwise and counter-clockwise rotation directions.
+4. Configurable pulses per revolution for accurate angle calculation.
+5. Position tracking with get and reset operations.
+6. PCNT glitch filter for noise rejection (1000ns).
+7. Multiple inclinometer instances support.
 
-## SAST Tools
+## Note
 
-[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.
-
-## Attention
-
-1. For correct operation, please enable the following settings in the menuconfig:
+Enable the following settings in menuconfig:
 
 ```text
 PCNT_CTRL_FUNC_IN_IRAM
@@ -21,9 +23,9 @@ PCNT_ISR_IRAM_SAF
 
 In an existing project, run the following command to install the components:
 
-```text
+```bash
 cd ../your_project/components
-git clone http://git.zh.com.ru/esp_components/zh_inclinometer
+git clone https://github.com/aZholtikov/zh_inclinometer
 ```
 
 In the application, add the component:
@@ -32,12 +34,12 @@ In the application, add the component:
 #include "zh_inclinometer.h"
 ```
 
-## Examples
+## Example
 
 ```c
 #include "zh_inclinometer.h"
 
-zh_inclinometer_handle_t inclinometer_handle = {0};
+zh_inclinometer_handle_t *inclinometer_handle = NULL;
 
 void app_main(void)
 {

idf_component.yml

@@ -0,0 +1,8 @@
+description: ESP32 ESP-IDF component for inclinometer (via optical rotary encoder)
+url: https://github.com/aZholtikov/zh_inclinometer
+version: "3.0.0"
+license: "Apache-2.0"
+maintainers:
+  - "Alexey Zholtikov <alexey.zholtikov@yandex.ru>"
+dependencies:
+  idf: ">=5.0"

include/zh_inclinometer.h

@@ -1,5 +1,21 @@
 /**
  * @file zh_inclinometer.h
+ *
+ * @brief Header file for the zh_inclinometer library providing encoder-based
+ *        angle measurement and position tracking functionality.
+ *
+ * This library implements an inclinometer interface based on a quadrature
+ * encoder connected to two GPIO pins. It uses the ESP-IDF pulse counter
+ * (pcnt) driver to count encoder pulses and calculate the current angular
+ * position. The library supports configurable GPIO pins, pull-up enablement,
+ * rotation direction, and pulses per revolution.
+ *
+ * Key features:
+ * - Quadrature encoder support with configurable GPIO pins
+ * - Configurable pull-up resistor enablement
+ * - Support for both clockwise and counter-clockwise rotation directions
+ * - Configurable pulses per revolution for accurate angle calculation
+ * - Position tracking with get and reset operations
  */
 
 #pragma once
@@ -10,14 +26,12 @@
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 
-/**
- * @brief Inclinometer initial default values.
- */
 #define ZH_INCLINOMETER_INIT_CONFIG_DEFAULT() \
     {                                         \
         .a_gpio_number = GPIO_NUM_MAX,        \
         .b_gpio_number = GPIO_NUM_MAX,        \
         .pullup = true,                       \
+        .rotation = true,                     \
         .encoder_pulses = 0}
 
 #ifdef __cplusplus
@@ -26,71 +40,106 @@ extern "C"
 #endif
 
     /**
-     * @brief Structure for initial initialization of inclinometer.
+     * @brief Opaque handle to the inclinometer internal state.
+     *
+     * This handle is returned by zh_inclinometer_init() and must be passed
+     * to all subsequent API functions to operate on the same inclinometer
+     * instance. The handle is freed by zh_inclinometer_deinit().
+     */
+    typedef struct _zh_inclinometer_handle_t zh_inclinometer_handle_t;
+
+    /**
+     * @brief Structure for initial configuration of the inclinometer.
+     *
+     * This structure holds all parameters required to initialize the
+     * inclinometer, including GPIO pin assignments, electrical configuration,
+     * rotation direction, and encoder resolution.
+     *
+     * @note Both GPIO pins must be assigned before initialization.
+     *       Use GPIO_NUM_MAX to indicate an unassigned pin.
+     * @warning The encoder_pulses field must be set to a non-zero value
+     *          representing the actual number of pulses per one full rotation
+     *          of the encoder shaft.
      */
     typedef struct
     {
-        uint8_t a_gpio_number;   /*!< Encoder A GPIO number. */
-        uint8_t b_gpio_number;   /*!< Encoder B GPIO number. */
-        bool pullup;             /*!< Pullup GPIO enable/disable. */
-        uint16_t encoder_pulses; /*!< Number of pulses per one rotation. */
+        uint8_t a_gpio_number;   /*!< Encoder A channel GPIO number */
+        uint8_t b_gpio_number;   /*!< Encoder B channel GPIO number */
+        bool pullup;             /*!< GPIO pull-up resistor enable (true) or disable (false) */
+        bool rotation;           /*!< Rotation direction: true - positive for CW, false - positive for CCW */
+        uint16_t encoder_pulses; /*!< Number of encoder pulses per one full rotation */
     } zh_inclinometer_init_config_t;
 
     /**
-     * @brief Inclinometer handle.
+     * @brief Initialize the inclinometer.
+     *
+     * Allocates memory for the inclinometer handle, validates the configuration,
+     * initializes the PCNT unit with two channels for quadrature decoding,
+     * and starts the pulse counter.
+     *
+     * @param[in] config Pointer to the inclinometer initialization configuration
+     *                   structure. Can point to a temporary variable (must not be NULL)
+     * @param[out] handle Pointer to the unique inclinometer handle (must be NULL)
+     *
+     * @return ESP_OK on success
+     * @return ESP_ERR_INVALID_ARG if config or handle is NULL
+     * @return ESP_ERR_INVALID_STATE if the inclinometer is already initialized
+     * @return ESP_ERR_NO_MEM if memory allocation failed
+     * @return ESP_FAIL if PCNT initialization or configuration failed
      */
-    typedef struct
-    {
-        pcnt_unit_handle_t pcnt_unit_handle;         /*!< Inclinometer unique pcnt unit handle. */
-        pcnt_channel_handle_t pcnt_channel_a_handle; /*!< Inclinometer unique pcnt channel handle. */
-        pcnt_channel_handle_t pcnt_channel_b_handle; /*!< Inclinometer unique pcnt channel handle. */
-        float degrees_per_pulse;                     /*!< Number of degrees per pulse. */
-        bool is_initialized;                         /*!< Inclinometer initialization flag. */
-    } zh_inclinometer_handle_t;
+    esp_err_t zh_inclinometer_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_handle_t **handle);
 
     /**
-     * @brief Initialize inclinometer.
+     * @brief Deinitialize the inclinometer.
      *
-     * @param[in] config Pointer to inclinometer initialized configuration structure. Can point to a temporary variable.
-     * @param[out] handle Pointer to unique inclinometer handle.
+     * Stops and disables the PCNT unit, deletes both encoder channels and the
+     * PCNT unit, frees the inclinometer handle memory, and sets the handle to
+     * NULL.
      *
-     * @note Before initialize the inclinometer recommend initialize zh_inclinometer_init_config_t structure with default values.
+     * @param[in, out] handle Pointer to the unique inclinometer handle (must not be NULL)
      *
-     * @code zh_inclinometer_init_config_t config = ZH_INCLINOMETER_INIT_CONFIG_DEFAULT() @endcode
+     * @note After deinitialization, the handle is invalidated and must not be
+     *       used. Call zh_inclinometer_init() again to reinitialize.
      *
-     * @return ESP_OK if success or an error code otherwise.
+     * @return ESP_OK on success
+     * @return ESP_ERR_INVALID_ARG if handle or *handle is NULL
+     * @return ESP_FAIL if PCNT stop, disable, or deletion failed
      */
-    esp_err_t zh_inclinometer_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_handle_t *handle);
+    esp_err_t zh_inclinometer_deinit(zh_inclinometer_handle_t **handle);
 
     /**
-     * @brief Deinitialize inclinometer.
+     * @brief Get the current inclinometer position.
      *
-     * @param[in, out] handle Pointer to unique inclinometer handle.
+     * Reads the PCNT counter value and converts it to an angle in degrees
+     * using the configured degrees-per-pulse factor. The sign of the angle
+     * depends on the configured rotation direction.
      *
-     * @return ESP_OK if success or an error code otherwise.
+     * @param[in] handle Pointer to the unique inclinometer handle (must not be NULL)
+     * @param[out] angle Pointer to a float variable that receives the current
+     *                   angle in degrees (must not be NULL)
+     *
+     * @return ESP_OK on success
+     * @return ESP_ERR_INVALID_ARG if handle, *handle, or angle is NULL
+     * @return ESP_FAIL if reading the PCNT counter failed
      */
-    esp_err_t zh_inclinometer_deinit(zh_inclinometer_handle_t *handle);
+    esp_err_t zh_inclinometer_get(zh_inclinometer_handle_t **handle, float *angle);
 
     /**
-     * @brief Get inclinometer position.
+     * @brief Reset the inclinometer position to zero.
      *
-     * @param[in] handle Pointer to unique inclinometer handle.
-     * @param[out] position Inclinometer position.
+     * Clears the PCNT counter, setting the current position to 0 degrees.
+     * The inclinometer continues counting from the new zero position.
      *
-     * @return ESP_OK if success or an error code otherwise.
+     * @param[in] handle Pointer to the unique inclinometer handle (must not be NULL)
+     *
+     * @note This does not affect the PCNT unit state (enabled/disabled).
+     *       The unit remains running after reset.
+     *
+     * @return ESP_OK on success
+     * @return ESP_ERR_INVALID_ARG if handle or *handle is NULL
+     * @return ESP_FAIL if clearing the PCNT counter failed
      */
-    esp_err_t zh_inclinometer_get(zh_inclinometer_handle_t *handle, float *angle);
-
-    /**
-     * @brief Reset inclinometer position.
-     *
-     * @note The inclinometer will be set to 0 position.
-     *
-     * @param[in] handle Pointer to unique inclinometer handle.
-     *
-     * @return ESP_OK if success or an error code otherwise.
-     */
-    esp_err_t zh_inclinometer_reset(zh_inclinometer_handle_t *handle);
+    esp_err_t zh_inclinometer_reset(zh_inclinometer_handle_t **handle);
 
 #ifdef __cplusplus
 }

version.txt

@@ -1 +1 @@
-2.0.0
+3.0.0

zh_inclinometer.c

@@ -13,58 +13,96 @@
         return err;                                  \
     }
 
+/**
+ * @brief Internal structure holding the inclinometer instance state.
+ *
+ * This structure contains all resources and configuration needed to operate
+ * a single inclinometer instance, including PCNT unit and channel handles,
+ * the calculated angle per pulse, and the configured rotation direction.
+ */
+struct _zh_inclinometer_handle_t
+{
+    pcnt_unit_handle_t pcnt_unit_handle;         /*!< PCNT unit handle for the encoder */
+    pcnt_channel_handle_t pcnt_channel_a_handle; /*!< PCNT channel A handle (encoder A pin) */
+    pcnt_channel_handle_t pcnt_channel_b_handle; /*!< PCNT channel B handle (encoder B pin) */
+    float degrees_per_pulse;                     /*!< Degrees per single encoder pulse */
+    bool rotation;                               /*!< Rotation direction flag (true - CW positive) */
+};
+
+/**
+ * @brief Validate the inclinometer initialization configuration.
+ *
+ * Checks that all required configuration parameters are within valid ranges.
+ *
+ * @param config Pointer to the initialization configuration structure.
+ *
+ * @return ESP_OK if the configuration is valid
+ * @return ESP_ERR_INVALID_ARG if encoder_pulses is zero or negative
+ */
 static esp_err_t _zh_inclinometer_validate_config(const zh_inclinometer_init_config_t *config);
+
+/**
+ * @brief Initialize PCNT unit and channels for the inclinometer.
+ *
+ * Configures the pulse counter unit with two channels for quadrature
+ * decoding, sets up glitch filtering, and starts the counter.
+ *
+ * @param config Pointer to the initialization configuration structure
+ * @param handle Pointer to the inclinometer handle to store PCNT resources
+ *
+ * @return ESP_OK on success
+ * @return ESP_ERR_INVALID_ARG if GPIO pins are invalid or identical
+ * @return ESP_FAIL if PCNT resource allocation or configuration fails
+ */
 static esp_err_t _zh_inclinometer_pcnt_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_handle_t *handle);
 
-esp_err_t zh_inclinometer_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_handle_t *handle)
+esp_err_t zh_inclinometer_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_handle_t **handle)
 {
     ZH_LOGI("Inclinometer initialization started.");
     ZH_ERROR_CHECK(config != NULL && handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer initialization failed. Invalid argument.");
-    ZH_ERROR_CHECK(handle->is_initialized == false, ESP_ERR_INVALID_STATE, NULL, "Inclinometer initialization failed. Inclinometer is already initialized.");
-    esp_err_t err = _zh_inclinometer_validate_config(config);
-    ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Inclinometer initialization failed. Initial configuration check failed.");
-    err = _zh_inclinometer_pcnt_init(config, handle);
-    ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Inclinometer initialization failed. PCNT initialization failed.");
-    handle->degrees_per_pulse = 360.0 / config->encoder_pulses;
-    handle->is_initialized = true;
+    ZH_ERROR_CHECK(*handle == NULL, ESP_ERR_INVALID_STATE, NULL, "Inclinometer initialization failed. Inclinometer is already initialized.");
+    ZH_ERROR_CHECK(_zh_inclinometer_validate_config(config) == ESP_OK, ESP_FAIL, NULL, "Inclinometer initialization failed. Initial configuration check failed.");
+    *handle = heap_caps_calloc(1, sizeof(zh_inclinometer_handle_t), MALLOC_CAP_8BIT);
+    ZH_ERROR_CHECK(*handle != NULL, ESP_ERR_NO_MEM, NULL, "Inclinometer initialization failed. Failed to allocate inclinometer handle.");
+    ZH_ERROR_CHECK(_zh_inclinometer_pcnt_init(config, *handle) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "Inclinometer initialization failed. PCNT initialization failed.");
+    (*handle)->degrees_per_pulse = 360.0 / config->encoder_pulses;
+    (*handle)->rotation = config->rotation;
     ZH_LOGI("Inclinometer initialization completed successfully.");
     return ESP_OK;
 }
 
-esp_err_t zh_inclinometer_deinit(zh_inclinometer_handle_t *handle)
+esp_err_t zh_inclinometer_deinit(zh_inclinometer_handle_t **handle)
 {
     ZH_LOGI("Inclinometer deinitialization started.");
-    ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer deinitialization failed. Invalid argument.");
-    ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Inclinometer deinitialization failed. Inclinometer not initialized.");
-    pcnt_unit_stop(handle->pcnt_unit_handle);
-    pcnt_unit_disable(handle->pcnt_unit_handle);
-    pcnt_del_channel(handle->pcnt_channel_a_handle);
-    pcnt_del_channel(handle->pcnt_channel_b_handle);
-    pcnt_del_unit(handle->pcnt_unit_handle);
-    handle->is_initialized = false;
+    ZH_ERROR_CHECK(handle != NULL && *handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer deinitialization failed. Invalid argument.");
+    ZH_ERROR_CHECK(pcnt_unit_stop((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Inclinometer deinitialization failed. PCNT unit stop fail.");
+    ZH_ERROR_CHECK(pcnt_unit_disable((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Inclinometer deinitialization failed. PCNT unit disable fail.");
+    ZH_ERROR_CHECK(pcnt_del_channel((*handle)->pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "Inclinometer deinitialization failed. PCNT delete channel fail.");
+    ZH_ERROR_CHECK(pcnt_del_channel((*handle)->pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "Inclinometer deinitialization failed. PCNT delete channel fail.");
+    ZH_ERROR_CHECK(pcnt_del_unit((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Inclinometer deinitialization failed. PCNT delete unit fail.");
+    heap_caps_free(*handle);
+    *handle = NULL;
     ZH_LOGI("Inclinometer deinitialization completed successfully.");
     return ESP_OK;
 }
 
-esp_err_t zh_inclinometer_get(zh_inclinometer_handle_t *handle, float *angle)
+esp_err_t zh_inclinometer_get(zh_inclinometer_handle_t **handle, float *angle)
 {
     ZH_LOGI("Inclinometer get position started.");
-    ZH_ERROR_CHECK(handle != NULL && angle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer get position failed. Invalid argument.");
-    ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Inclinometer get position failed. Inclinometer not initialized.");
+    ZH_ERROR_CHECK(handle != NULL && *handle != NULL && angle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer get position failed. Invalid argument.");
     int pcnt_count = 0;
-    pcnt_unit_get_count(handle->pcnt_unit_handle, &pcnt_count);
-    float angle_temp = pcnt_count * handle->degrees_per_pulse;
-    *angle = (angle_temp < 0) ? -angle_temp : angle_temp;
+    ZH_ERROR_CHECK(pcnt_unit_get_count((*handle)->pcnt_unit_handle, &pcnt_count) == ESP_OK, ESP_FAIL, NULL, "Inclinometer get position failed. PCNT unit get count fail.");
+    float angle_temp = pcnt_count * (*handle)->degrees_per_pulse;
+    *angle = ((*handle)->rotation == true) ? angle_temp : ((angle_temp == 0) ? angle_temp : -angle_temp);
     ZH_LOGI("Inclinometer get position completed successfully.");
     return ESP_OK;
 }
 
-esp_err_t zh_inclinometer_reset(zh_inclinometer_handle_t *handle)
+esp_err_t zh_inclinometer_reset(zh_inclinometer_handle_t **handle)
 {
     ZH_LOGI("Inclinometer reset started.");
-    ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer reset failed. Invalid argument.");
-    ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Inclinometer reset failed. Inclinometer not initialized.");
-    pcnt_unit_clear_count(handle->pcnt_unit_handle);
+    ZH_ERROR_CHECK(handle != NULL && *handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Inclinometer reset failed. Invalid argument.");
+    ZH_ERROR_CHECK(pcnt_unit_clear_count((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Inclinometer reset failed. PCNT unit clear count fail.");
     ZH_LOGI("Inclinometer reset completed successfully.");
     return ESP_OK;
 }
@@ -75,7 +113,7 @@ static esp_err_t _zh_inclinometer_validate_config(const zh_inclinometer_init_con
     return ESP_OK;
 }
 
-static esp_err_t _zh_inclinometer_pcnt_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_handle_t *handle) // -V2008
+static esp_err_t _zh_inclinometer_pcnt_init(const zh_inclinometer_init_config_t *config, zh_inclinometer_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.")
@@ -84,47 +122,61 @@ static esp_err_t _zh_inclinometer_pcnt_init(const zh_inclinometer_init_config_t
         .low_limit = -config->encoder_pulses,
     };
     pcnt_unit_handle_t pcnt_unit_handle = NULL;
-    esp_err_t err = pcnt_new_unit(&pcnt_unit_config, &pcnt_unit_handle);
-    ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "PCNT initialization failed.");
+    ZH_ERROR_CHECK(pcnt_new_unit(&pcnt_unit_config, &pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT initialization failed.");
     pcnt_glitch_filter_config_t pcnt_glitch_filter_config = {
         .max_glitch_ns = 1000,
     };
-    err = pcnt_unit_set_glitch_filter(pcnt_unit_handle, &pcnt_glitch_filter_config);
-    ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed.");
+    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.");
     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;
-    err = pcnt_new_channel(pcnt_unit_handle, &pcnt_chan_a_config, &pcnt_channel_a_handle);
-    ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed.");
+    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.");
     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;
-    err = pcnt_new_channel(pcnt_unit_handle, &pcnt_chan_b_config, &pcnt_channel_b_handle);
-    ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed.");
-    err = pcnt_channel_set_edge_action(pcnt_channel_a_handle, PCNT_CHANNEL_EDGE_ACTION_DECREASE, PCNT_CHANNEL_EDGE_ACTION_HOLD);
-    ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_channel(pcnt_channel_b_handle); pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed.");
-    err = pcnt_channel_set_level_action(pcnt_channel_a_handle, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_HOLD);
-    ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_channel(pcnt_channel_b_handle); pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed.");
-    err = pcnt_channel_set_edge_action(pcnt_channel_b_handle, PCNT_CHANNEL_EDGE_ACTION_INCREASE, PCNT_CHANNEL_EDGE_ACTION_HOLD);
-    ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_channel(pcnt_channel_b_handle); pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed.");
-    err = pcnt_channel_set_level_action(pcnt_channel_b_handle, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_HOLD);
-    ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_channel(pcnt_channel_b_handle); pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed.");
-    err = pcnt_unit_enable(pcnt_unit_handle);
-    ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_channel(pcnt_channel_b_handle); pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed.");
-    err = pcnt_unit_clear_count(pcnt_unit_handle);
-    ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_unit_disable(pcnt_unit_handle); pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_channel(pcnt_channel_b_handle);
-                   pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed.");
-    err = pcnt_unit_start(pcnt_unit_handle);
-    ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_unit_disable(pcnt_unit_handle); pcnt_del_channel(pcnt_channel_a_handle); pcnt_del_channel(pcnt_channel_b_handle);
-                   pcnt_del_unit(pcnt_unit_handle), "PCNT initialization failed.");
+    ZH_ERROR_CHECK(pcnt_new_channel(pcnt_unit_handle, &pcnt_chan_b_config, &pcnt_channel_b_handle) == ESP_OK, ESP_FAIL,
+                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
+                   {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
+    ZH_ERROR_CHECK(pcnt_channel_set_edge_action(pcnt_channel_a_handle, PCNT_CHANNEL_EDGE_ACTION_DECREASE, PCNT_CHANNEL_EDGE_ACTION_HOLD) == ESP_OK, ESP_FAIL,
+                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
+                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
+                   {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
+    ZH_ERROR_CHECK(pcnt_channel_set_level_action(pcnt_channel_a_handle, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_HOLD) == ESP_OK, ESP_FAIL,
+                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
+                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
+                   {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
+    ZH_ERROR_CHECK(pcnt_channel_set_edge_action(pcnt_channel_b_handle, PCNT_CHANNEL_EDGE_ACTION_INCREASE, PCNT_CHANNEL_EDGE_ACTION_HOLD) == ESP_OK, ESP_FAIL,
+                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
+                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
+                   {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
+    ZH_ERROR_CHECK(pcnt_channel_set_level_action(pcnt_channel_b_handle, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_HOLD) == ESP_OK, ESP_FAIL,
+                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
+                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
+                   {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
+    ZH_ERROR_CHECK(pcnt_unit_enable(pcnt_unit_handle) == ESP_OK, ESP_FAIL,
+                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
+                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
+                   {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
+    ZH_ERROR_CHECK(pcnt_unit_clear_count(pcnt_unit_handle) == ESP_OK, ESP_FAIL,
+                   {ZH_ERROR_CHECK(pcnt_unit_disable(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT unit disable fail.")};
+                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
+                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
+                   {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
+    ZH_ERROR_CHECK(pcnt_unit_start(pcnt_unit_handle) == ESP_OK, ESP_FAIL,
+                   {ZH_ERROR_CHECK(pcnt_unit_disable(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT unit disable fail.")};
+                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
+                   {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")};
+                   {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed.");
     if (config->pullup == false)
     {
-        gpio_pullup_dis((gpio_num_t)config->a_gpio_number);
-        gpio_pullup_dis((gpio_num_t)config->b_gpio_number);
+        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;