feat: added encoder number duplicate check

doc: updated readme
perf: updated critical section
2025-12-30 12:03:05 +03:00 · 2025-12-28 20:10:12 +03:00 · 2025-12-26 09:06:19 +03:00 · 2025-12-26 09:04:25 +03:00 · 2025-12-25 17:13:59 +03:00 · 2025-12-25 16:44:34 +03:00
6 changed files with 375 additions and 137 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1 @@
-if(${IDF_TARGET} STREQUAL esp8266)
-    set(requires driver)
-else()
-    set(requires driver esp_event)
-endif()
-idf_component_register(SRCS "zh_encoder.c" INCLUDE_DIRS "include" REQUIRES ${requires})
+idf_component_register(SRCS "zh_encoder.c" INCLUDE_DIRS "include" REQUIRES esp_event driver esp_timer)
--- a/README.md
+++ b/README.md
@@ -1,17 +1,25 @@
-# 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)
+
+## 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 some encoders on one device.

-## Note
+## Attention

-1. Encoder pins must be pull up to the VCC via 0.1 µf capacitors.
+1. If the button is not used, specify any free GPIO in the initial configuration.
+2. For correct operation, please enable the following settings in the menuconfig:
+
+```text
+GPIO_CTRL_FUNC_IN_IRAM
+```

 ## Using

@@ -19,7 +27,7 @@ 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:
@@ -35,37 +43,61 @@ One encoder on device:
 ```c
 #include "zh_encoder.h"

+#define ENCODER_NUMBER 0x01
+
 zh_encoder_handle_t encoder_handle = {0};

+double encoder_position = 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_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.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_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.
+    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_27;
+    config.b_gpio_number = GPIO_NUM_26;
+    config.s_gpio_number = GPIO_NUM_17;
+    config.encoder_min_value = 0;
+    config.encoder_max_value = 100;
+    config.encoder_step = 0.1;
+    config.encoder_number = ENCODER_NUMBER;
+    zh_encoder_init(&config, &encoder_handle);
+    zh_encoder_get(&encoder_handle, &encoder_position);
+    printf("Encoder position %0.2f.\n", encoder_position);
+    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.
+    switch (event->encoder_number)
+    {
+    case ENCODER_NUMBER:
+        if (encoder_position == event->encoder_position)
+        {
+            printf("Encoder number %d button %s.\n", event->encoder_number, event->button_status == 1 ? "released" : "pressed");
+        }
+        else
+        {
+            encoder_position = event->encoder_position;
+            printf("Encoder number %d position %0.2f with button %s.\n", event->encoder_number, event->encoder_position, event->button_status == 1 ? "released" : "pressed");
+        }
+        break;
+    default:
+        break;
+    }
 }
 ```
--- a/component.mk
+++ b/component.mk
--- a/include/zh_encoder.h
+++ b/include/zh_encoder.h
@@ -6,6 +6,7 @@

 #include "esp_log.h"
 #include "driver/gpio.h"
+#include "esp_timer.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #include "esp_event.h"
@@ -13,16 +14,17 @@
 /**
 * @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,          \
+        .s_gpio_number = GPIO_NUM_MAX,          \
+        .encoder_min_value = -100,              \
+        .encoder_max_value = 100,               \
+        .encoder_step = 1,                      \
        .encoder_number = 0}

 #ifdef __cplusplus
@@ -37,32 +39,45 @@ 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 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. */
-        int32_t encoder_max_value; /*!< Encoder max value. @note Must be greater than encoder_min_value. */
-        double encoder_step;       /*!< Encoder step. @note Must be greater than 0. */
-        uint8_t encoder_number;    /*!< Unique encoder number. */
+        double encoder_step;      /*!< Encoder step. @note Must be greater than 0. */
+        double encoder_min_value; /*!< Encoder min value. @note Must be less than encoder_max_value. */
+        double encoder_max_value; /*!< Encoder max value. @note Must be greater than encoder_min_value. */
+        uint8_t task_priority;    /*!< Task priority for the encoder isr processing. @note Minimum value is 1. */
+        uint8_t queue_size;       /*!< Queue size for task for the encoder processing. @note Minimum value is 1. */
+        uint8_t a_gpio_number;    /*!< Encoder A GPIO number. */
+        uint8_t b_gpio_number;    /*!< Encoder B GPIO number. */
+        uint8_t s_gpio_number;    /*!< Encoder button GPIO number. */
+        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. */
    } zh_encoder_init_config_t;

    /**
     * @brief Encoder handle.
     */
+    typedef struct // -V802
+    {
+        double encoder_step;      /*!< Encoder step. */
+        double encoder_position;  /*!< Encoder position. */
+        double encoder_min_value; /*!< Encoder min value. */
+        double encoder_max_value; /*!< Encoder max value. */
+        uint8_t a_gpio_number;    /*!< Encoder A GPIO number. */
+        uint8_t b_gpio_number;    /*!< Encoder B GPIO number. */
+        uint8_t s_gpio_number;    /*!< Encoder button GPIO number. */
+        uint8_t encoder_number;   /*!< Encoder unique number. */
+        uint8_t encoder_state;    /*!< Encoder internal state. */
+        bool button_status;       /*!< Encoder button status. */
+        bool is_initialized;      /*!< Encoder initialization flag. */
+    } zh_encoder_handle_t;
+
+    /**
+     * @brief Structure for error statistics storage.
+     */
    typedef struct
    {
-        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. */
-        int32_t encoder_max_value; /*!< Encoder max value. */
-        double encoder_step;       /*!< Encoder step. */
-        double encoder_position;   /*!< Encoder position. */
-        uint8_t encoder_number;    /*!< Encoder unique number. */
-        uint8_t encoder_state;     /*!< Encoder internal state. */
-        bool is_initialized;       /*!< Encoder initialization flag. */
-    } zh_encoder_handle_t;
+        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);

@@ -73,8 +88,9 @@ extern "C"
     */
    typedef struct
    {
-        uint8_t encoder_number;  /*!< Encoder unique number. */
        double encoder_position; /*!< Encoder current position. */
+        uint8_t encoder_number;  /*!< Encoder unique number. */
+        bool button_status;      /*!< Encoder button status. */
    } zh_encoder_event_on_isr_t;

    /**
@@ -93,6 +109,27 @@ 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 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, double min, double max, double step);
+
    /**
     * @brief Set encoder position.
     *
@@ -124,6 +161,18 @@ 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
--- a/version.txt
+++ b/version.txt
@@ -1 +1 @@
-1.0.0
+1.5.0
--- a/zh_encoder.c
+++ b/zh_encoder.c
@@ -16,6 +16,8 @@
 #define ZH_ENCODER_DIRECTION_CW 0x10
 #define ZH_ENCODER_DIRECTION_CCW 0x20

+#define BUTTON_DEBOUNCE_TIME 20
+
 static const uint8_t _encoder_matrix[7][4] = {
    {0x03, 0x02, 0x01, 0x00},
    {0x23, 0x00, 0x01, 0x00},
@@ -27,55 +29,152 @@ 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 portMUX_TYPE _spinlock = portMUX_INITIALIZER_UNLOCKED;
+
+static volatile uint64_t _prev_us = 0;
+static uint8_t _encoder_counter = 0;
+static bool _is_prev_gpio_isr_handler = false;
+static zh_encoder_stats_t _stats = {0};
+static uint8_t _encoder_number_matrix[10] = {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);

 ESP_EVENT_DEFINE_BASE(ZH_ENCODER);

-esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle)
+esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle) // -V2008
 {
    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)
+    {
+        if (config->s_gpio_number != GPIO_NUM_MAX)
+        {
+            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_isr_handler_remove((gpio_num_t)config->s_gpio_number);
+                           gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number); gpio_reset_pin((gpio_num_t)config->s_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_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
+    {
+        if (config->s_gpio_number != GPIO_NUM_MAX)
+        {
+            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_isr_handler_remove((gpio_num_t)config->s_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); gpio_reset_pin((gpio_num_t)config->s_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->s_gpio_number = config->s_gpio_number;
+    handle->button_status = gpio_get_level((gpio_num_t)config->s_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;
+    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)
+{
+    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_isr_handler_remove((gpio_num_t)handle->s_gpio_number);
+    gpio_reset_pin((gpio_num_t)handle->a_gpio_number);
+    gpio_reset_pin((gpio_num_t)handle->b_gpio_number);
+    gpio_reset_pin((gpio_num_t)handle->s_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;
+    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_LOGI("Encoder deinitialization completed successfully.");
+    return ESP_OK;
+}
+
+esp_err_t zh_encoder_reinit(zh_encoder_handle_t *handle, double min, double max, double step) // -V2008
+{
+    ZH_LOGI("Encoder reinitialization started.");
+    ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder reinitialization failed. Invalid argument.");
+    ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Encoder reinitialization failed. Encoder not initialized.");
+    ZH_ERROR_CHECK(max > min, ESP_ERR_INVALID_ARG, NULL, "Encoder reinitialization failed. Invalid encoder min/max value.");
+    ZH_ERROR_CHECK(step > 0, ESP_ERR_INVALID_ARG, NULL, "Encoder reinitialization failed. Invalid encoder step.");
+    taskENTER_CRITICAL(&_spinlock);
+    handle->encoder_min_value = min;
+    handle->encoder_max_value = max;
+    handle->encoder_step = step;
+    handle->encoder_position = (handle->encoder_min_value + handle->encoder_max_value) / 2;
+    taskEXIT_CRITICAL(&_spinlock);
+    ZH_LOGI("Encoder reinitialization 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.");
+    taskENTER_CRITICAL(&_spinlock);
    handle->encoder_position = position;
+    taskEXIT_CRITICAL(&_spinlock);
    ZH_LOGI("Encoder set position completed successfully.");
    return ESP_OK;
 }
@@ -83,6 +182,7 @@ 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.");
@@ -92,69 +192,106 @@ 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.");
+    taskENTER_CRITICAL(&_spinlock);
    handle->encoder_position = (handle->encoder_min_value + handle->encoder_max_value) / 2;
+    taskEXIT_CRITICAL(&_spinlock);
    ZH_LOGI("Encoder reset completed successfully.");
    return ESP_OK;
 }

-static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *config)
+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) // -V2008
 {
    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)
-{
-    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.")
-    gpio_config_t pin_config = {
-        .mode = GPIO_MODE_INPUT,
-        .pin_bit_mask = (1ULL << config->a_gpio_number) | (1ULL << config->b_gpio_number),
-        .pull_up_en = GPIO_PULLUP_ENABLE,
-        .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)
+    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)
    {
-        _queue_handle = xQueueCreate(config->queue_size, sizeof(zh_encoder_handle_t));
-        ZH_ERROR_CHECK(_queue_handle != NULL, ESP_FAIL, NULL, "Queue creation failed.");
+        ZH_ERROR_CHECK(config->encoder_number != _encoder_number_matrix[i], ESP_ERR_INVALID_ARG, NULL, "Encoder number already present.");
    }
    return ESP_OK;
 }

-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) // -V2008
 {
-    if (_is_initialized == false)
+    ZH_ERROR_CHECK(config->a_gpio_number < GPIO_NUM_MAX && config->b_gpio_number < GPIO_NUM_MAX && config->s_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.")
+    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.")
+    gpio_config_t pin_config = {
+        .mode = GPIO_MODE_INPUT,
+        .pin_bit_mask = (1ULL << config->a_gpio_number) | (1ULL << config->b_gpio_number) | (1ULL << config->s_gpio_number),
+        .pull_up_en = GPIO_PULLUP_ENABLE,
+        .intr_type = GPIO_INTR_ANYEDGE};
+    esp_err_t err = gpio_config(&pin_config);
+    ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "GPIO initialization failed.");
+    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.");
+        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((gpio_num_t)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((gpio_num_t)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.");
+    }
+    err = gpio_isr_handler_add((gpio_num_t)config->s_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_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), "Interrupt 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), "Interrupt initialization failed.");
+    }
+    return ESP_OK;
+}
+
+static esp_err_t _zh_encoder_resources_init(const zh_encoder_init_config_t *config)
+{
+    if (_encoder_counter == 0)
+    {
+        _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 +300,19 @@ 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)];
+    uint64_t _current_us = esp_timer_get_time();
+    bool button_flag = false;
+    if (_current_us - _prev_us >= BUTTON_DEBOUNCE_TIME)
+    {
+        bool button_status = gpio_get_level((gpio_num_t)encoder_handle->s_gpio_number);
+        if (encoder_handle->button_status != button_status)
+        {
+            button_flag = true;
+            encoder_handle->button_status = button_status;
+        }
+    }
+    _prev_us = _current_us;
+    encoder_handle->encoder_state = _encoder_matrix[encoder_handle->encoder_state & 0x0F][(gpio_get_level((gpio_num_t)encoder_handle->b_gpio_number) << 1) | gpio_get_level((gpio_num_t)encoder_handle->a_gpio_number)];
    switch (encoder_handle->encoder_state & 0x30)
    {
    case ZH_ENCODER_DIRECTION_CW:
@@ -175,7 +323,10 @@ 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:
@@ -186,10 +337,20 @@ 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:
+        if (button_flag == true)
+        {
+            if (xQueueSendFromISR(_queue_handle, encoder_handle, &xHigherPriorityTaskWoken) != pdTRUE)
+            {
+                ++_stats.queue_overflow_error;
+            }
+        }
        break;
    }
    if (xHigherPriorityTaskWoken == pdTRUE)
@@ -204,15 +365,16 @@ 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);
+        encoder_data.button_status = queue.button_status;
+        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);
 }
Author	SHA1	Message	Date
Alexey Zholtikov	624a6b4661	feat: added encoder number duplicate check	2025-12-30 12:03:05 +03:00
Alexey Zholtikov	020194431b	doc: updated readme	2025-12-28 20:10:12 +03:00
Alexey Zholtikov	4efbe96de1	perf: updated critical section	2025-12-26 09:06:19 +03:00
Alexey Zholtikov	7d2bd7fd2e	feat: added reinit	2025-12-26 09:04:25 +03:00
Alexey Zholtikov	b70d625a05	doc: updated example	2025-12-25 17:13:59 +03:00
Alexey Zholtikov	28d067eb98	refactor: refactored by pvs-studio	2025-12-25 16:44:34 +03:00
Alexey Zholtikov	be29ff31f7	feat: added button	2025-12-25 11:16:30 +03:00
Alexey Zholtikov	5ef3913eb9	style: removed esp8266 support	2025-12-24 19:02:48 +03:00
Alexey Zholtikov	c4d6bf7dec	doc: updated example	2025-12-24 15:32:42 +03:00
Alexey Zholtikov	d8c6e2679f	feat: added deinit	2025-12-24 15:17:50 +03:00
Alexey Zholtikov	6b2ed520d0	perf: updated error checks	2025-12-24 14:46:06 +03:00
Alexey Zholtikov	232933650d	doc: changed example	2025-12-24 13:48:31 +03:00
Alexey Zholtikov	37ae299426	perf: reduced min task values	2025-12-24 13:01:10 +03:00
Alexey Zholtikov	2060a56b55	feat: added statistics	2025-12-24 12:30:14 +03:00
Alexey Zholtikov	deb882beb6	perf: updated error checks	2025-12-24 09:36:11 +03:00
Alexey Zholtikov	5087b9b743	refactor: minor refactoring	2025-12-21 22:55:29 +03:00
@@ -1 +1 @@
 .0.0
 .5.0