Merge commit 'be29ff31f7ef00bcb59bf2bd1ee2e87ccef20584' into wip

README.md

@@ -4,10 +4,6 @@
 
 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.
@@ -15,11 +11,6 @@
 ## Attention
 
 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
 
@@ -56,18 +47,18 @@ 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();
+    zh_encoder_init_config_t encoder_init_config = ZH_ENCODER_INIT_CONFIG_DEFAULT();
-    config.task_priority = 5;
+    encoder_init_config.task_priority = 5;
-    config.stack_size = configMINIMAL_STACK_SIZE;
+    encoder_init_config.stack_size = configMINIMAL_STACK_SIZE;
-    config.queue_size = 5;
+    encoder_init_config.queue_size = 5;
-    config.a_gpio_number = GPIO_NUM_27;
+    encoder_init_config.a_gpio_number = GPIO_NUM_27;
-    config.b_gpio_number = GPIO_NUM_26;
+    encoder_init_config.b_gpio_number = GPIO_NUM_26;
-    config.s_gpio_number = GPIO_NUM_17;
+    encoder_init_config.s_gpio_number = GPIO_NUM_17;
-    config.encoder_min_value = 0;
+    encoder_init_config.encoder_min_value = 0;
-    config.encoder_max_value = 100;
+    encoder_init_config.encoder_max_value = 100;
-    config.encoder_step = 0.1;
+    encoder_init_config.encoder_step = 0.1;
-    config.encoder_number = ENCODER_NUMBER;
+    encoder_init_config.encoder_number = ENCODER_NUMBER;
-    zh_encoder_init(&config, &encoder_handle);
+    zh_encoder_init(&encoder_init_config, &encoder_handle);
     zh_encoder_get(&encoder_handle, &encoder_position);
     printf("Encoder position %0.2f.\n", encoder_position);
     for (;;)

include/zh_encoder.h

@@ -39,34 +39,34 @@ extern "C"
      */
     typedef struct
     {
-        double encoder_step;      /*!< Encoder step. @note Must be greater than 0. */
+        uint8_t task_priority;     /*!< Task priority for the encoder isr processing. @note Minimum value is 1. */
-        double encoder_min_value; /*!< Encoder min value. @note Must be less than encoder_max_value. */
+        uint16_t stack_size;       /*!< Stack size for task for the encoder isr processing processing. @note The minimum size is configMINIMAL_STACK_SIZE. */
-        double encoder_max_value; /*!< Encoder max value. @note Must be greater than encoder_min_value. */
+        uint8_t queue_size;        /*!< Queue size for task for the encoder processing. @note Minimum value is 1. */
-        uint8_t task_priority;    /*!< Task priority for the encoder isr processing. @note Minimum value is 1. */
+        uint8_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. */
+        uint8_t b_gpio_number;     /*!< Encoder B GPIO number. */
-        uint8_t a_gpio_number;    /*!< Encoder A GPIO number. */
+        uint8_t s_gpio_number;     /*!< Encoder button 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. */
-        uint8_t s_gpio_number;    /*!< Encoder button GPIO number. */
+        int32_t encoder_max_value; /*!< Encoder max value. @note Must be greater than encoder_min_value. */
-        uint8_t encoder_number;   /*!< Unique encoder number. @note Must be greater than 0. */
+        double encoder_step;       /*!< Encoder step. @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 encoder_number;    /*!< Unique encoder number. */
     } zh_encoder_init_config_t;
 
     /**
      * @brief Encoder handle.
      */
-    typedef struct // -V802
+    typedef struct
     {
-        double encoder_step;      /*!< Encoder step. */
+        uint8_t a_gpio_number;     /*!< Encoder A GPIO number. */
-        double encoder_position;  /*!< Encoder position. */
+        uint8_t b_gpio_number;     /*!< Encoder B GPIO number. */
-        double encoder_min_value; /*!< Encoder min value. */
+        uint8_t s_gpio_number;     /*!< Encoder button GPIO number. */
-        double encoder_max_value; /*!< Encoder max value. */
+        int32_t encoder_min_value; /*!< Encoder min value. */
-        uint8_t a_gpio_number;    /*!< Encoder A GPIO number. */
+        int32_t encoder_max_value; /*!< Encoder max value. */
-        uint8_t b_gpio_number;    /*!< Encoder B GPIO number. */
+        double encoder_step;       /*!< Encoder step. */
-        uint8_t s_gpio_number;    /*!< Encoder button GPIO number. */
+        double encoder_position;   /*!< Encoder position. */
-        uint8_t encoder_number;   /*!< Encoder unique number. */
+        bool button_status;        /*!< Encoder button status. */
-        uint8_t encoder_state;    /*!< Encoder internal state. */
+        uint8_t encoder_number;    /*!< Encoder unique number. */
-        bool button_status;       /*!< Encoder button status. */
+        uint8_t encoder_state;     /*!< Encoder internal state. */
-        bool is_initialized;      /*!< Encoder initialization flag. */
+        bool is_initialized;       /*!< Encoder initialization flag. */
     } zh_encoder_handle_t;
 
     /**
@@ -88,8 +88,8 @@ extern "C"
      */
     typedef struct
     {
-        double encoder_position; /*!< Encoder current position. */
         uint8_t encoder_number;  /*!< Encoder unique number. */
+        double encoder_position; /*!< Encoder current position. */
         bool button_status;      /*!< Encoder button status. */
     } zh_encoder_event_on_isr_t;
 
@@ -116,20 +116,6 @@ extern "C"
      */
     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.
      *

version.txt

@@ -1 +1 @@
-1.5.0
+1.3.0

zh_encoder.c

@@ -29,13 +29,11 @@ static const uint8_t _encoder_matrix[7][4] = {
 
 TaskHandle_t zh_encoder = NULL;
 static QueueHandle_t _queue_handle = NULL;
-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, zh_encoder_handle_t *handle);
@@ -46,7 +44,7 @@ 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) // -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(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder initialization failed. Invalid argument.");
@@ -57,29 +55,40 @@ esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_han
     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);
+        if (config->s_gpio_number != GPIO_NUM_MAX)
-                       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.");
+            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
     {
-        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);
+        if (config->s_gpio_number != GPIO_NUM_MAX)
-                       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.");
+            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);
+        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_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),
+                       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.");
-                                                                                                                                      "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);
+        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_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_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.");
-                       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. Processing task initialization failed.");
     }
     handle->a_gpio_number = config->a_gpio_number;
     handle->b_gpio_number = config->b_gpio_number;
@@ -92,14 +101,6 @@ esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_han
     handle->encoder_position = (handle->encoder_min_value + handle->encoder_max_value) / 2;
     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;
 }
@@ -126,44 +127,17 @@ esp_err_t zh_encoder_deinit(zh_encoder_handle_t *handle)
     }
     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;
 }
@@ -183,9 +157,7 @@ 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;
 }
@@ -204,22 +176,17 @@ 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) // -V2008
+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 >= 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->encoder_number != _encoder_number_matrix[i], ESP_ERR_INVALID_ARG, NULL, "Encoder number already present.");
-    }
     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->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.")
@@ -234,47 +201,33 @@ static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, z
     if (_encoder_counter == 0)
     {
         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);
+        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.");
-                       gpio_reset_pin((gpio_num_t)config->s_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);
+    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_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number);
+        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.");
-                       gpio_reset_pin((gpio_num_t)config->s_gpio_number), "Interrupt initialization failed.");
     }
     else
     {
-        ZH_ERROR_CHECK(err == ESP_OK, err, gpio_uninstall_isr_service(); gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number);
+        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.");
-                       gpio_reset_pin((gpio_num_t)config->s_gpio_number), "Interrupt initialization failed.");
     }
-    err = gpio_isr_handler_add((gpio_num_t)config->b_gpio_number, _zh_encoder_isr_handler, handle);
+    err = gpio_isr_handler_add(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_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), "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); gpio_reset_pin((gpio_num_t)config->s_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); gpio_reset_pin((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), "Interrupt initialization failed.");
-                                                                                                                             "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);
+        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_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->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Interrupt initialization failed.");
-                       gpio_reset_pin((gpio_num_t)config->s_gpio_number), "Interrupt initialization failed.");
     }
     return ESP_OK;
 }
@@ -315,8 +268,7 @@ static void IRAM_ATTR _zh_encoder_isr_handler(void *arg)
         }
     }
     _prev_us = _current_us;
-    encoder_handle->encoder_state = _encoder_matrix[encoder_handle->encoder_state & 0x0F]
+    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)];
-                                                   [(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: