doc: updated example

README.md

@@ -1,25 +1,20 @@
-# ESP32 ESP-IDF and ESP8266 RTOS SDK component for rotary encoder
+# ESP32 ESP-IDF component for rotary encoder
 
 ## Tested on
 
-1. [ESP8266 RTOS_SDK v3.4](https://docs.espressif.com/projects/esp8266-rtos-sdk/en/latest/index.html#)
-2. [ESP32 ESP-IDF v5.4](https://docs.espressif.com/projects/esp-idf/en/release-v5.4/esp32/index.html)
+1. [ESP32 ESP-IDF v5.5.1](https://docs.espressif.com/projects/esp-idf/en/v5.5.1/esp32/index.html)
 
 ## Features
 
 1. Support some encoders on one device.
 
-## Note
-
-1. Encoder pins must be pull up to the VCC via 0.1 µf capacitors.
-
 ## Using
 
 In an existing project, run the following command to install the components:
 
 ```text
 cd ../your_project/components
-git clone http://git.zh.com.ru/alexey.zholtikov/zh_encoder
+git clone http://git.zh.com.ru/esp_components/zh_encoder
 ```
 
 In the application, add the component:
@@ -41,31 +36,38 @@ void zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t ev
 
 void app_main(void)
 {
-    esp_log_level_set("zh_encoder", ESP_LOG_NONE); // For ESP8266 first enable "Component config -> Log output -> Enable log set level" via menuconfig.
+    esp_log_level_set("zh_encoder", ESP_LOG_ERROR);
     esp_event_loop_create_default();
-#ifdef CONFIG_IDF_TARGET_ESP8266
-    esp_event_handler_register(ZH_ENCODER, ESP_EVENT_ANY_ID, &zh_encoder_event_handler, NULL);
-#else
     esp_event_handler_instance_register(ZH_ENCODER, ESP_EVENT_ANY_ID, &zh_encoder_event_handler, NULL, NULL);
-#endif
     zh_encoder_init_config_t encoder_init_config = ZH_ENCODER_INIT_CONFIG_DEFAULT();
+    encoder_init_config.task_priority = 5;
+    encoder_init_config.stack_size = configMINIMAL_STACK_SIZE;
+    encoder_init_config.queue_size = 3;
     encoder_init_config.a_gpio_number = GPIO_NUM_27;
     encoder_init_config.b_gpio_number = GPIO_NUM_26;
-    // encoder_init_config.encoder_min_value = -10; // Just for example.
-    // encoder_init_config.encoder_max_value = 20;  // Just for example.
-    // encoder_init_config.encoder_step = 0.1;      // Just for example.
+    encoder_init_config.encoder_min_value = -10;
+    encoder_init_config.encoder_max_value = 20;
+    encoder_init_config.encoder_step = 0.1;
     encoder_init_config.encoder_number = 1;
     zh_encoder_init(&encoder_init_config, &encoder_handle);
     double position = 0;
     zh_encoder_get(&encoder_handle, &position);
-    printf("Encoder position %0.2f.\n", position); // For ESP8266 first disable "Component config -> Newlib -> Enable ‘nano’ formatting options for printf/scanf family" via menuconfig.
-    // zh_encoder_set(&encoder_handle, 5); // Just for example.
-    // zh_encoder_reset(&encoder_handle);  // Just for example.
+    printf("Encoder position %0.2f.\n", position);
+    zh_encoder_set(&encoder_handle, 5);
+    zh_encoder_reset(&encoder_handle);
+    for (;;)
+    {
+        const zh_encoder_stats_t *stats = zh_encoder_get_stats();
+        printf("Number of event post error: %ld.\n", stats->event_post_error);
+        printf("Number of queue overflow error: %ld.\n", stats->queue_overflow_error);
+        printf("Minimum free stack size: %ld.\n", stats->min_stack_size);
+        vTaskDelay(60000 / portTICK_PERIOD_MS);
+    }
 }
 
 void zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data)
 {
     zh_encoder_event_on_isr_t *event = event_data;
-    printf("Encoder number %d position %0.2f.\n", event->encoder_number, event->encoder_position); // For ESP8266 first disable "Component config -> Newlib -> Enable ‘nano’ formatting options for printf/scanf family" via menuconfig.
+    printf("Encoder number %d position %0.2f.\n", event->encoder_number, event->encoder_position);
 }
 ```

include/zh_encoder.h

@@ -13,16 +13,16 @@
 /**
  * @brief Encoder initial default values.
  */
-#define ZH_ENCODER_INIT_CONFIG_DEFAULT() \
-    {                                    \
-        .task_priority = 10,             \
-        .stack_size = 3072,              \
-        .queue_size = 10,                \
-        .a_gpio_number = 0,              \
-        .b_gpio_number = 0,              \
-        .encoder_min_value = -100,       \
-        .encoder_max_value = 100,        \
-        .encoder_step = 1,               \
+#define ZH_ENCODER_INIT_CONFIG_DEFAULT()        \
+    {                                           \
+        .task_priority = 1,                     \
+        .stack_size = configMINIMAL_STACK_SIZE, \
+        .queue_size = 1,                        \
+        .a_gpio_number = GPIO_NUM_MAX,          \
+        .b_gpio_number = GPIO_NUM_MAX,          \
+        .encoder_min_value = -100,              \
+        .encoder_max_value = 100,               \
+        .encoder_step = 1,                      \
         .encoder_number = 0}
 
 #ifdef __cplusplus
@@ -37,9 +37,9 @@ extern "C"
      */
     typedef struct
     {
-        uint8_t task_priority;     /*!< Task priority for the encoder isr processing. @note It is not recommended to set a value less than 10. */
-        uint16_t stack_size;       /*!< Stack size for task for the encoder isr processing processing. @note The minimum size is 3072 bytes. */
-        uint8_t queue_size;        /*!< Queue size for task for the encoder processing. @note It is not recommended to set a value less than 10. */
+        uint8_t task_priority;     /*!< Task priority for the encoder isr processing. @note Minimum value is 1. */
+        uint16_t stack_size;       /*!< Stack size for task for the encoder isr processing processing. @note The minimum size is configMINIMAL_STACK_SIZE. */
+        uint8_t queue_size;        /*!< Queue size for task for the encoder processing. @note Minimum value is 1. */
         uint8_t a_gpio_number;     /*!< Encoder A GPIO number. */
         uint8_t b_gpio_number;     /*!< Encoder B GPIO number. */
         int32_t encoder_min_value; /*!< Encoder min value. @note Must be less than encoder_max_value. */
@@ -64,6 +64,16 @@ extern "C"
         bool is_initialized;       /*!< Encoder initialization flag. */
     } 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;
+
     ESP_EVENT_DECLARE_BASE(ZH_ENCODER);
 
     /**
@@ -93,6 +103,13 @@ extern "C"
      */
     esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
 
+    /**
+     * @brief Deinitialize encoder.
+     *
+     * @return ESP_OK if success or an error code otherwise.
+     */
+    esp_err_t zh_encoder_deinit(zh_encoder_handle_t *handle);
+
     /**
      * @brief Set encoder position.
      *
@@ -124,6 +141,18 @@ extern "C"
      */
     esp_err_t zh_encoder_reset(zh_encoder_handle_t *handle);
 
+    /**
+     * @brief Get error statistics.
+     *
+     * @return Pointer to the statistics structure.
+     */
+    const zh_encoder_stats_t *zh_encoder_get_stats(void);
+
+    /**
+     * @brief Reset error statistics.
+     */
+    void zh_encoder_reset_stats(void);
+
 #ifdef __cplusplus
 }
 #endif

version.txt

@@ -1 +1 @@
-1.0.0
+1.2.0

zh_encoder.c

@@ -27,13 +27,14 @@ static const uint8_t _encoder_matrix[7][4] = {
 
 TaskHandle_t zh_encoder = NULL;
 static QueueHandle_t _queue_handle = NULL;
-static bool _is_initialized = false;
+static uint8_t _encoder_counter = 0;
+static bool _is_prev_gpio_isr_handler = false;
+static zh_encoder_stats_t _stats = {0};
 
 static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *config);
-static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config);
-static esp_err_t _zh_encoder_configure_interrupts(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
-static esp_err_t _zh_encoder_init_resources(const zh_encoder_init_config_t *config);
-static esp_err_t _zh_encoder_create_task(const zh_encoder_init_config_t *config);
+static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
+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);
 static void _zh_encoder_isr_handler(void *arg);
 static void _zh_encoder_isr_processing_task(void *pvParameter);
 
@@ -42,37 +43,74 @@ ESP_EVENT_DEFINE_BASE(ZH_ENCODER);
 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(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder initialization failed. Invalid argument.");
     esp_err_t err = _zh_encoder_validate_config(config);
     ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. Initial configuration check failed.");
-    ZH_LOGI("Encoder initial configuration check completed successfully.");
+    err = _zh_encoder_gpio_init(config, handle);
+    ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. GPIO initialization failed.");
+    err = _zh_encoder_resources_init(config);
+    if (_is_prev_gpio_isr_handler == true)
+    {
+        ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number); gpio_reset_pin((gpio_num_t)config->a_gpio_number);
+                       gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Encoder initialization failed. Resources initialization failed.");
+    }
+    else
+    {
+        ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number); gpio_uninstall_isr_service();
+                       gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Encoder initialization failed. Resources initialization failed.");
+    }
+    err = _zh_encoder_task_init(config);
+    if (_is_prev_gpio_isr_handler == true)
+    {
+        ZH_ERROR_CHECK(err == ESP_OK, err, vQueueDelete(_queue_handle); _queue_handle = NULL; gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number);
+                       gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Encoder initialization failed. Processing task initialization failed.");
+    }
+    else
+    {
+        ZH_ERROR_CHECK(err == ESP_OK, err, vQueueDelete(_queue_handle); _queue_handle = NULL; gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number);
+                       gpio_uninstall_isr_service(); gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Encoder initialization failed. Processing task initialization failed.");
+    }
+    handle->a_gpio_number = config->a_gpio_number;
+    handle->b_gpio_number = config->b_gpio_number;
     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->encoder_position = (handle->encoder_min_value + handle->encoder_max_value) / 2;
-    err = _zh_encoder_gpio_init(config);
-    ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. GPIO initialization failed.");
-    ZH_LOGI("Encoder GPIO initialization completed successfully.");
-    handle->a_gpio_number = config->a_gpio_number;
-    handle->b_gpio_number = config->b_gpio_number;
-    err = _zh_encoder_configure_interrupts(config, handle);
-    ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. Interrupt initialization failed.");
-    ZH_LOGI("Encoder interrupt initialization completed successfully.");
-    err = _zh_encoder_init_resources(config);
-    ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. Resources initialization failed.");
-    ZH_LOGI("Encoder resources initialization completed successfully.");
-    err = _zh_encoder_create_task(config);
-    ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. Processing task initialization failed.");
-    ZH_LOGI("Encoder processing task initialization completed successfully.");
     handle->is_initialized = true;
-    _is_initialized = true;
+    ++_encoder_counter;
     ZH_LOGI("Encoder initialization completed successfully.");
     return ESP_OK;
 }
 
+esp_err_t zh_encoder_deinit(zh_encoder_handle_t *handle)
+{
+    ZH_LOGI("Encoder deinitialization started.");
+    ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder deinitialization failed. Invalid argument.");
+    ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Encoder deinitialization failed. Encoder not initialized.");
+    gpio_isr_handler_remove((gpio_num_t)handle->a_gpio_number);
+    gpio_isr_handler_remove((gpio_num_t)handle->b_gpio_number);
+    gpio_reset_pin((gpio_num_t)handle->a_gpio_number);
+    gpio_reset_pin((gpio_num_t)handle->b_gpio_number);
+    if (_encoder_counter == 1)
+    {
+        vQueueDelete(_queue_handle);
+        vTaskDelete(zh_encoder);
+        if (_is_prev_gpio_isr_handler == false)
+        {
+            gpio_uninstall_isr_service();
+        }
+    }
+    handle->is_initialized = false;
+    --_encoder_counter;
+    ZH_LOGI("Encoder deinitialization completed successfully.");
+    return ESP_OK;
+}
+
 esp_err_t zh_encoder_set(zh_encoder_handle_t *handle, double position)
 {
     ZH_LOGI("Encoder set position started.");
+    ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder set position failed. Invalid argument.");
     ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Encoder set position failed. Encoder not initialized.");
     ZH_ERROR_CHECK(position <= handle->encoder_max_value && position >= handle->encoder_min_value, ESP_ERR_INVALID_ARG, NULL, "Encoder set position failed. Invalid argument.");
     handle->encoder_position = position;
@@ -83,6 +121,7 @@ esp_err_t zh_encoder_set(zh_encoder_handle_t *handle, double position)
 esp_err_t zh_encoder_get(const zh_encoder_handle_t *handle, double *position)
 {
     ZH_LOGI("Encoder get position started.");
+    ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder get position failed. Invalid argument.");
     ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Encoder get position failed. Encoder not initialized.");
     *position = handle->encoder_position;
     ZH_LOGI("Encoder get position completed successfully.");
@@ -92,26 +131,41 @@ esp_err_t zh_encoder_get(const zh_encoder_handle_t *handle, double *position)
 esp_err_t zh_encoder_reset(zh_encoder_handle_t *handle)
 {
     ZH_LOGI("Encoder reset started.");
+    ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder reset failed. Invalid argument.");
     ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Encoder reset failed. Encoder not initialized.");
     handle->encoder_position = (handle->encoder_min_value + handle->encoder_max_value) / 2;
     ZH_LOGI("Encoder reset completed successfully.");
     return ESP_OK;
 }
 
+const zh_encoder_stats_t *zh_encoder_get_stats(void)
+{
+    return &_stats;
+}
+
+void zh_encoder_reset_stats(void)
+{
+    ZH_LOGI("Error statistic reset started.");
+    _stats.event_post_error = 0;
+    _stats.queue_overflow_error = 0;
+    _stats.min_stack_size = 0;
+    ZH_LOGI("Error statistic reset successfully.");
+}
+
 static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *config)
 {
     ZH_ERROR_CHECK(config != NULL, ESP_ERR_INVALID_ARG, NULL, "Invalid configuration.");
-    ZH_ERROR_CHECK(config->task_priority >= 10 && config->stack_size >= 3072, ESP_ERR_INVALID_ARG, NULL, "Invalid task settings.");
-    ZH_ERROR_CHECK(config->queue_size >= 10, ESP_ERR_INVALID_ARG, NULL, "Invalid queue size.");
+    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.");
     return ESP_OK;
 }
 
-static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config)
+static esp_err_t _zh_encoder_gpio_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, "Invalid GPIO number.")
+    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, "Both GPIO is same.")
     gpio_config_t pin_config = {
         .mode = GPIO_MODE_INPUT,
         .pin_bit_mask = (1ULL << config->a_gpio_number) | (1ULL << config->b_gpio_number),
@@ -119,42 +173,45 @@ static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config)
         .intr_type = GPIO_INTR_ANYEDGE};
     esp_err_t err = gpio_config(&pin_config);
     ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "GPIO initialization failed.");
-    return ESP_OK;
-}
-
-static esp_err_t _zh_encoder_configure_interrupts(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle)
-{
-    gpio_install_isr_service(0);
-    esp_err_t err = gpio_isr_handler_add(config->a_gpio_number, _zh_encoder_isr_handler, handle);
-    ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Interrupt initialization failed.");
-    err = gpio_isr_handler_add(config->b_gpio_number, _zh_encoder_isr_handler, handle);
-    ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Interrupt initialization failed.");
-    return ESP_OK;
-}
-
-static esp_err_t _zh_encoder_init_resources(const zh_encoder_init_config_t *config)
-{
-    if (_is_initialized == false)
+    if (_encoder_counter == 0)
     {
-        _queue_handle = xQueueCreate(config->queue_size, sizeof(zh_encoder_handle_t));
-        ZH_ERROR_CHECK(_queue_handle != NULL, ESP_FAIL, NULL, "Queue creation failed.");
+        err = gpio_install_isr_service(ESP_INTR_FLAG_LOWMED);
+        ZH_ERROR_CHECK(err == ESP_OK || err == ESP_ERR_INVALID_STATE, err, gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Failed install isr service.");
+        if (err == ESP_ERR_INVALID_STATE)
+        {
+            _is_prev_gpio_isr_handler = true;
+        }
+    }
+    err = gpio_isr_handler_add(config->a_gpio_number, _zh_encoder_isr_handler, handle);
+    ZH_ERROR_CHECK(err == ESP_OK, err, gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Interrupt initialization failed.");
+    err = gpio_isr_handler_add(config->b_gpio_number, _zh_encoder_isr_handler, handle);
+    if (_is_prev_gpio_isr_handler == true)
+    {
+        ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Interrupt initialization failed.");
+    }
+    else
+    {
+        ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_uninstall_isr_service(); gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Interrupt initialization failed.");
     }
     return ESP_OK;
 }
 
-static esp_err_t _zh_encoder_create_task(const zh_encoder_init_config_t *config)
+static esp_err_t _zh_encoder_resources_init(const zh_encoder_init_config_t *config)
 {
-    if (_is_initialized == false)
+    if (_encoder_counter == 0)
     {
-        BaseType_t err = xTaskCreatePinnedToCore(
-            &_zh_encoder_isr_processing_task,
-            "zh_encoder_isr_processing",
-            config->stack_size,
-            NULL,
-            config->task_priority,
-            &zh_encoder,
-            tskNO_AFFINITY);
-        ZH_ERROR_CHECK(err == pdPASS, ESP_FAIL, NULL, "Task creation failed.");
+        _queue_handle = xQueueCreate(config->queue_size, sizeof(zh_encoder_handle_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)
+{
+    if (_encoder_counter == 0)
+    {
+        BaseType_t err = xTaskCreatePinnedToCore(&_zh_encoder_isr_processing_task, "zh_encoder_isr_processing", config->stack_size, NULL, config->task_priority, &zh_encoder, tskNO_AFFINITY);
+        ZH_ERROR_CHECK(err == pdPASS, ESP_FAIL, NULL, "Failed to create isr processing task.");
     }
     return ESP_OK;
 }
@@ -163,8 +220,7 @@ static void IRAM_ATTR _zh_encoder_isr_handler(void *arg)
 {
     zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)arg;
     BaseType_t xHigherPriorityTaskWoken = pdFALSE;
-    encoder_handle->encoder_state = _encoder_matrix[encoder_handle->encoder_state & 0x0F]
-                                                   [(gpio_get_level(encoder_handle->b_gpio_number) << 1) | gpio_get_level(encoder_handle->a_gpio_number)];
+    encoder_handle->encoder_state = _encoder_matrix[encoder_handle->encoder_state & 0x0F][(gpio_get_level(encoder_handle->b_gpio_number) << 1) | gpio_get_level(encoder_handle->a_gpio_number)];
     switch (encoder_handle->encoder_state & 0x30)
     {
     case ZH_ENCODER_DIRECTION_CW:
@@ -175,7 +231,10 @@ static void IRAM_ATTR _zh_encoder_isr_handler(void *arg)
             {
                 encoder_handle->encoder_position = encoder_handle->encoder_max_value;
             }
-            xQueueSendFromISR(_queue_handle, encoder_handle, &xHigherPriorityTaskWoken);
+            if (xQueueSendFromISR(_queue_handle, encoder_handle, &xHigherPriorityTaskWoken) != pdTRUE)
+            {
+                ++_stats.queue_overflow_error;
+            }
         }
         break;
     case ZH_ENCODER_DIRECTION_CCW:
@@ -186,7 +245,10 @@ static void IRAM_ATTR _zh_encoder_isr_handler(void *arg)
             {
                 encoder_handle->encoder_position = encoder_handle->encoder_min_value;
             }
-            xQueueSendFromISR(_queue_handle, encoder_handle, &xHigherPriorityTaskWoken);
+            if (xQueueSendFromISR(_queue_handle, encoder_handle, &xHigherPriorityTaskWoken) != pdTRUE)
+            {
+                ++_stats.queue_overflow_error;
+            }
         }
         break;
     default:
@@ -204,15 +266,15 @@ static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter)
     zh_encoder_event_on_isr_t encoder_data = {0};
     while (xQueueReceive(_queue_handle, &queue, portMAX_DELAY) == pdTRUE)
     {
-        ZH_LOGI("Encoder isr processing begin.");
         encoder_data.encoder_number = queue.encoder_number;
         encoder_data.encoder_position = queue.encoder_position;
-        esp_err_t err = esp_event_post(ZH_ENCODER, 0, &encoder_data, sizeof(zh_encoder_event_on_isr_t), portTICK_PERIOD_MS);
+        esp_err_t err = esp_event_post(ZH_ENCODER, 0, &encoder_data, sizeof(zh_encoder_event_on_isr_t), 1000 / portTICK_PERIOD_MS);
         if (err != ESP_OK)
         {
+            ++_stats.event_post_error;
             ZH_LOGE("Encoder isr processing failed. Failed to post interrupt event.", err);
         }
-        ZH_LOGI("Encoder isr processing completed successfully.");
+        _stats.min_stack_size = (uint32_t)uxTaskGetStackHighWaterMark(NULL);
     }
     vTaskDelete(NULL);
 }