feat!: changed driver on pcnt

CMakeLists.txt

@@ -1,6 +1 @@
-if(${IDF_TARGET} STREQUAL esp8266)
+idf_component_register(SRCS "zh_encoder.c" INCLUDE_DIRS "include" REQUIRES esp_event driver esp_timer)
-    set(requires driver)
-else()
-    set(requires driver esp_event)
-endif()
-idf_component_register(SRCS "zh_encoder.c" INCLUDE_DIRS "include" REQUIRES ${requires})

README.md

@@ -1,17 +1,26 @@
-# 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#)
+1. [ESP32 ESP-IDF v5.5.2](https://docs.espressif.com/projects/esp-idf/en/v5.5.2/esp32/index.html)
-2. [ESP32 ESP-IDF v5.4](https://docs.espressif.com/projects/esp-idf/en/release-v5.4/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. For correct operation, please enable the following settings in the menuconfig:
+
+```text
+GPIO_CTRL_FUNC_IN_IRAM
+PCNT_CTRL_FUNC_IN_IRAM
+PCNT_ISR_IRAM_SAFE
+```
 
 ## Using
 
@@ -19,7 +28,7 @@ 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:
@@ -30,42 +39,61 @@ In the application, add the component:
 
 ## Examples
 
-One encoder on device:
+One encoder with button on device:
 
 ```c
 #include "zh_encoder.h"
 
+#define ENCODER_NUMBER 0x01
+
 zh_encoder_handle_t encoder_handle = {0};
 
 void zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data);
 
 void app_main(void)
 {
-    esp_log_level_set("zh_encoder", ESP_LOG_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.task_priority = 5;
-    encoder_init_config.b_gpio_number = GPIO_NUM_26;
+    encoder_init_config.stack_size = configMINIMAL_STACK_SIZE;
-    // encoder_init_config.encoder_min_value = -10; // Just for example.
+    encoder_init_config.queue_size = 5;
-    // encoder_init_config.encoder_max_value = 20;  // Just for example.
+    encoder_init_config.a_gpio_number = GPIO_NUM_4;
-    // encoder_init_config.encoder_step = 0.1;      // Just for example.
+    encoder_init_config.b_gpio_number = GPIO_NUM_16;
-    encoder_init_config.encoder_number = 1;
+    encoder_init_config.s_gpio_number = GPIO_NUM_15;
+    encoder_init_config.encoder_min_value = -10;
+    encoder_init_config.encoder_max_value = 10;
+    encoder_init_config.encoder_step = 0.001;
+    encoder_init_config.encoder_number = ENCODER_NUMBER;
     zh_encoder_init(&encoder_init_config, &encoder_handle);
-    double position = 0;
+    double encoder_position = 0;
-    zh_encoder_get(&encoder_handle, &position);
+    zh_encoder_get(&encoder_handle, &encoder_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.
+    printf("Encoder position %0.3f.\n", encoder_position);
-    // zh_encoder_set(&encoder_handle, 5); // Just for example.
+    for (;;)
-    // zh_encoder_reset(&encoder_handle);  // Just for example.
+    {
+        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;
+    switch (event_id)
-    printf("Encoder number %d position %.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.
+    {
+    case ZH_BUTTON_EVENT:
+        zh_encoder_button_event_on_isr_t *button_event = event_data;
+        printf("Encoder number %d button %s.\n", button_event->encoder_number, button_event->button_status == 1 ? "released" : "pressed");
+        break;
+    case ZH_ENCODER_EVENT:
+        zh_encoder_event_on_isr_t *encoder_event = event_data;
+        printf("Encoder number %d position %0.3f.\n", encoder_event->encoder_number, encoder_event->encoder_position);
+        break;
+    default:
+        break;
+    }
 }
 ```

include/zh_encoder.h

@@ -1,21 +1,32 @@
+/**
+ * @file zh_encoder.h
+ */
+
 #pragma once
 
 #include "esp_log.h"
 #include "driver/gpio.h"
+#include "driver/pulse_cnt.h"
+#include "esp_timer.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #include "esp_event.h"
 
-#define ZH_ENCODER_INIT_CONFIG_DEFAULT() \
+/**
-    {                                    \
+ * @brief Encoder initial default values.
-        .task_priority = 10,             \
+ */
-        .stack_size = 3072,              \
+#define ZH_ENCODER_INIT_CONFIG_DEFAULT()        \
-        .queue_size = 10,                \
+    {                                           \
-        .a_gpio_number = 0,              \
+        .task_priority = 1,                     \
-        .b_gpio_number = 0,              \
+        .stack_size = configMINIMAL_STACK_SIZE, \
-        .encoder_min_value = -100,       \
+        .queue_size = 1,                        \
-        .encoder_max_value = 100,        \
+        .a_gpio_number = GPIO_NUM_MAX,          \
-        .encoder_step = 1,               \
+        .b_gpio_number = GPIO_NUM_MAX,          \
+        .s_gpio_number = GPIO_NUM_MAX,          \
+        .s_gpio_debounce_time = 10,             \
+        .encoder_min_value = -10,               \
+        .encoder_max_value = 10,                \
+        .encoder_step = 1,                      \
         .encoder_number = 0}
 
 #ifdef __cplusplus
@@ -23,40 +34,89 @@ extern "C"
 {
 #endif
 
-    typedef struct // Structure for initial initialization of encoder.
+    extern TaskHandle_t zh_encoder; /*!< Encoder Task Handle. */
+
+    /**
+     * @brief Structure for initial initialization of encoder.
+     */
+    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.
+        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 3072 bytes.
+        double encoder_min_value;      /*!< Encoder min value. @note Must be less than encoder_max_value. */
-        uint8_t queue_size;        // Queue size for task for the encoder processing. @note It is not recommended to set a value less than 10.
+        double encoder_max_value;      /*!< Encoder max value. @note Must be greater than encoder_min_value. */
-        uint8_t a_gpio_number;     // Encoder A GPIO number.
+        uint8_t task_priority;         /*!< Task priority for the encoder isr processing. @note Minimum value is 1. */
-        uint8_t b_gpio_number;     // Encoder B GPIO number.
+        uint8_t queue_size;            /*!< Queue size for task for the encoder processing. @note Minimum value is 1. */
-        int32_t encoder_min_value; // Encoder min value. @note Must be less than encoder_max_value.
+        uint8_t a_gpio_number;         /*!< Encoder A GPIO number. */
-        int32_t encoder_max_value; // Encoder max value. @note Must be greater than encoder_min_value.
+        uint8_t b_gpio_number;         /*!< Encoder B GPIO number. */
-        double encoder_step;       // Encoder step. @note Must be greater than 0.
+        uint8_t s_gpio_number;         /*!< Encoder button GPIO number. */
-        uint8_t encoder_number;    // Unique encoder number.
+        uint16_t s_gpio_debounce_time; /*!< Encoder button debounce_time. @note In microseconds. */
+        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;
 
-    typedef struct // Encoder handle.
+    /**
+     * @brief Encoder handle.
+     */
+    typedef struct // -V802
     {
-        uint8_t a_gpio_number;     // Encoder A GPIO number.
+        pcnt_unit_handle_t pcnt_unit_handle;         /*!< Encoder unique pcnt unit handle. */
-        uint8_t b_gpio_number;     // Encoder B GPIO number.
+        pcnt_channel_handle_t pcnt_channel_a_handle; /*!< Encoder unique pcnt channel handle. */
-        int32_t encoder_min_value; // Encoder min value.
+        pcnt_channel_handle_t pcnt_channel_b_handle; /*!< Encoder unique pcnt channel handle. */
-        int32_t encoder_max_value; // Encoder max value.
+        double encoder_step;                         /*!< Encoder step. */
-        double encoder_step;       // Encoder step.
+        double encoder_position;                     /*!< Encoder position. */
-        double encoder_position;   // Encoder position.
+        double encoder_min_value;                    /*!< Encoder min value. */
-        uint8_t encoder_number;    // Encoder unique number.
+        double encoder_max_value;                    /*!< Encoder max value. */
-        uint8_t encoder_state;     // Encoder internal state.
+        uint8_t encoder_number;                      /*!< Encoder unique number. */
-        bool is_initialized;       // Encoder initialization flag.
+        uint8_t s_gpio_number;                       /*!< Encoder button GPIO number. */
+        uint16_t s_gpio_debounce_time;               /*!< Encoder button debounce_time. */
+        uint64_t s_gpio_prev_time;                   /*!< Encoder button prev interrupt time. */
+        bool s_gpio_status;                          /*!< Encoder button status. */
+        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;
+
+    /**
+     * @brief Enumeration of encoder event ID.
+     */
+    typedef enum
+    {
+        ZH_BUTTON_EVENT, /*!< Button event. */
+        ZH_ENCODER_EVENT /*!< Encoder event. */
+    } zh_encoder_event_id_t;
+
     ESP_EVENT_DECLARE_BASE(ZH_ENCODER);
 
-    typedef struct // Structure for sending data to the event handler when cause an interrupt. @note Should be used with ZH_ENCODER event base.
+    /**
+     * @brief Structure for sending data to the event handler when cause encoder interrupt.
+     *
+     * @note Should be used with ZH_ENCODER event base and ZH_ENCODER_EVENT event ID.
+     */
+    typedef struct
     {
-        uint8_t encoder_number;  // Encoder unique number.
+        double encoder_position; /*!< Encoder current position. */
-        double encoder_position; // Encoder current position.
+        uint8_t encoder_number;  /*!< Encoder unique number. */
     } zh_encoder_event_on_isr_t;
 
+    /**
+     * @brief Structure for sending data to the event handler when cause encoder button interrupt.
+     *
+     * @note Should be used with ZH_ENCODER event base and ZH_BUTTON_EVENT event ID.
+     */
+    typedef struct
+    {
+        uint8_t encoder_number; /*!< Encoder unique number. */
+        bool button_status;     /*!< Encoder button status. */
+    } zh_encoder_button_event_on_isr_t;
+
     /**
      * @brief Initialize encoder.
      *
@@ -73,6 +133,27 @@ 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.
      *
@@ -104,6 +185,18 @@ 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
+2.0.0

zh_encoder.c

@@ -2,170 +2,308 @@
 
 #define TAG "zh_encoder"
 
-#define ZH_ENCODER_LOGI(msg, ...) ESP_LOGI(TAG, msg, ##__VA_ARGS__)
+#define ZH_LOGI(msg, ...) ESP_LOGI(TAG, msg, ##__VA_ARGS__)
-#define ZH_ENCODER_LOGW(msg, ...) ESP_LOGW(TAG, msg, ##__VA_ARGS__)
+#define ZH_LOGE(msg, err, ...) ESP_LOGE(TAG, "[%s:%d:%s] " msg, __FILE__, __LINE__, esp_err_to_name(err), ##__VA_ARGS__)
-#define ZH_ENCODER_LOGE(msg, ...) ESP_LOGE(TAG, msg, ##__VA_ARGS__)
-#define ZH_ENCODER_LOGE_ERR(msg, err, ...) ESP_LOGE(TAG, "[%s:%d:%s] " msg, __FILE__, __LINE__, esp_err_to_name(err), ##__VA_ARGS__)
 
-#define ZH_ENCODER_CHECK(cond, err, msg, ...) \
+#define ZH_ERROR_CHECK(cond, err, cleanup, msg, ...) \
-    if (!(cond))                              \
+    if (!(cond))                                     \
-    {                                         \
+    {                                                \
-        ZH_ENCODER_LOGE_ERR(msg, err);        \
+        ZH_LOGE(msg, err, ##__VA_ARGS__);            \
-        return err;                           \
+        cleanup;                                     \
+        return err;                                  \
     }
 
-#define ZH_ENCODER_DIRECTION_CW 0x10
+#define ZH_ENCODER_DIRECTION_CW 1
-#define ZH_ENCODER_DIRECTION_CCW 0x20
+#define ZH_ENCODER_DIRECTION_CCW -1
-
-static const uint8_t _encoder_matrix[7][4] = {
-    {0x03, 0x02, 0x01, 0x00},
-    {0x23, 0x00, 0x01, 0x00},
-    {0x13, 0x02, 0x00, 0x00},
-    {0x03, 0x05, 0x04, 0x00},
-    {0x03, 0x03, 0x04, 0x00},
-    {0x03, 0x05, 0x03, 0x00},
-};
 
+TaskHandle_t zh_encoder = NULL;
 static QueueHandle_t _queue_handle = NULL;
-static bool _is_initialized = false;
+static portMUX_TYPE _spinlock = portMUX_INITIALIZER_UNLOCKED;
 
-static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *config);
+static uint8_t _encoder_counter = 0;
-static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config);
+static zh_encoder_stats_t _stats = {0};
-static esp_err_t _zh_encoder_configure_interrupts(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
+static uint8_t _encoder_number_matrix[CONFIG_SOC_PCNT_UNITS_PER_GROUP] = {0};
-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_validate_config(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
-static void _zh_encoder_isr_handler(void *arg);
+static esp_err_t _zh_encoder_pcnt_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
+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 bool _zh_encoder_isr_handler(pcnt_unit_handle_t unit, const pcnt_watch_event_data_t *edata, void *user_ctx);
 static void _zh_encoder_isr_processing_task(void *pvParameter);
+static void _zh_encoder_button_isr_handler(void *arg);
 
 ESP_EVENT_DEFINE_BASE(ZH_ENCODER);
 
-esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle)
+esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle) // -V2008
 {
-    ZH_ENCODER_LOGI("Encoder initialization started.");
+    ZH_LOGI("Encoder initialization started.");
-    esp_err_t err = _zh_encoder_validate_config(config);
+    ZH_ERROR_CHECK(config != NULL && handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder initialization failed. Invalid argument.");
-    ZH_ENCODER_CHECK(err == ESP_OK, err, "Encoder initialization failed. Initial configuration check failed.");
+    ZH_ERROR_CHECK(_encoder_counter < sizeof(_encoder_number_matrix), ESP_ERR_INVALID_ARG, NULL, "Encoder initialization failed. Maximum quantity reached.");
-    ZH_ENCODER_LOGI("Encoder initial configuration check completed successfully.");
+    esp_err_t err = _zh_encoder_validate_config(config, handle);
-    handle->encoder_number = config->encoder_number;
+    ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. Initial configuration check failed.");
-    handle->encoder_min_value = config->encoder_min_value;
+    err = _zh_encoder_resources_init(config);
-    handle->encoder_max_value = config->encoder_max_value;
+    ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. Resources initialization failed.");
-    handle->encoder_step = config->encoder_step;
+    err = _zh_encoder_task_init(config);
-    handle->encoder_position = (handle->encoder_min_value + handle->encoder_max_value) / 2;
+    ZH_ERROR_CHECK(err == ESP_OK, err, vQueueDelete(_queue_handle); _queue_handle = NULL, "Encoder initialization failed. Processing task initialization failed.");
-    err = _zh_encoder_gpio_init(config);
+    err = _zh_encoder_pcnt_init(config, handle);
-    ZH_ENCODER_CHECK(err == ESP_OK, err, "Encoder initialization failed. GPIO initialization failed.");
+    ZH_ERROR_CHECK(err == ESP_OK, err, vQueueDelete(_queue_handle); _queue_handle = NULL; vTaskDelete(zh_encoder); zh_encoder = NULL,
-    ZH_ENCODER_LOGI("Encoder GPIO initialization completed successfully.");
+                                                                                                                   "Encoder initialization failed. PCNT initialization failed.");
-    handle->a_gpio_number = config->a_gpio_number;
+    err = _zh_encoder_gpio_init(config, handle);
-    handle->b_gpio_number = config->b_gpio_number;
+    ZH_ERROR_CHECK(err == ESP_OK, err, pcnt_unit_stop(handle->pcnt_unit_handle); pcnt_unit_disable(handle->pcnt_unit_handle); pcnt_del_channel(handle->pcnt_channel_a_handle);
-    err = _zh_encoder_configure_interrupts(config, handle);
+                   pcnt_del_channel(handle->pcnt_channel_b_handle); pcnt_del_unit(handle->pcnt_unit_handle); vQueueDelete(_queue_handle); _queue_handle = NULL;
-    ZH_ENCODER_CHECK(err == ESP_OK, err, "Encoder initialization failed. Interrupt initialization failed.");
+                   vTaskDelete(zh_encoder); zh_encoder = NULL, "Encoder initialization failed. GPIO initialization failed.");
-    ZH_ENCODER_LOGI("Encoder interrupt initialization completed successfully.");
-    err = _zh_encoder_init_resources(config);
-    ZH_ENCODER_CHECK(err == ESP_OK, err, "Encoder initialization failed. Resources initialization failed.");
-    ZH_ENCODER_LOGI("Encoder resources initialization completed successfully.");
-    err = _zh_encoder_create_task(config);
-    ZH_ENCODER_CHECK(err == ESP_OK, err, "Encoder initialization failed. Processing task initialization failed.");
-    ZH_ENCODER_LOGI("Encoder processing task initialization completed successfully.");
     handle->is_initialized = true;
-    _is_initialized = true;
+    ++_encoder_counter;
-    ZH_ENCODER_LOGI("Encoder initialization completed successfully.");
+    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.");
+    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);
+    if (handle->s_gpio_number != GPIO_NUM_MAX)
+    {
+        gpio_isr_handler_remove((gpio_num_t)handle->s_gpio_number);
+        gpio_reset_pin((gpio_num_t)handle->s_gpio_number);
+    }
+    if (_encoder_counter == 1)
+    {
+        vQueueDelete(_queue_handle);
+        _queue_handle = NULL;
+        vTaskDelete(zh_encoder);
+        zh_encoder = NULL;
+    }
+    handle->is_initialized = false;
+    --_encoder_counter;
+    for (uint8_t i = 0; i < sizeof(_encoder_number_matrix); ++i)
+    {
+        if (_encoder_number_matrix[i] == handle->encoder_number)
+        {
+            _encoder_number_matrix[i] = 0;
+            break;
+        }
+    }
+    ZH_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_ENCODER_LOGI("Encoder set position started.");
+    ZH_LOGI("Encoder set position started.");
-    ZH_ENCODER_CHECK(handle->is_initialized == true, ESP_FAIL, "Encoder set position failed. Encoder not initialized.");
+    ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder set position failed. Invalid argument.");
-    ZH_ENCODER_CHECK(position <= handle->encoder_max_value && position >= handle->encoder_min_value, ESP_ERR_INVALID_ARG, "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;
-    ZH_ENCODER_LOGI("Encoder set position completed successfully.");
+    taskEXIT_CRITICAL(&_spinlock);
+    ZH_LOGI("Encoder set position completed successfully.");
     return ESP_OK;
 }
 
 esp_err_t zh_encoder_get(const zh_encoder_handle_t *handle, double *position)
 {
-    ZH_ENCODER_LOGI("Encoder get position started.");
+    ZH_LOGI("Encoder get position started.");
-    ZH_ENCODER_CHECK(handle->is_initialized == true, ESP_FAIL, "Encoder get position failed. Encoder not initialized.");
+    ZH_ERROR_CHECK(handle != NULL && position != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder get position failed. Invalid argument.");
+    ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Encoder get position failed. Encoder not initialized.");
     *position = handle->encoder_position;
-    ZH_ENCODER_LOGI("Encoder get position completed successfully.");
+    ZH_LOGI("Encoder get position completed successfully.");
     return ESP_OK;
 }
 
 esp_err_t zh_encoder_reset(zh_encoder_handle_t *handle)
 {
-    ZH_ENCODER_LOGI("Encoder reset started.");
+    ZH_LOGI("Encoder reset started.");
-    ZH_ENCODER_CHECK(handle->is_initialized == true, ESP_FAIL, "Encoder reset failed. Encoder not initialized.");
+    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;
-    ZH_ENCODER_LOGI("Encoder reset completed successfully.");
+    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)
 {
-    ZH_ENCODER_CHECK(config != NULL, ESP_ERR_INVALID_ARG, "Invalid configuration.");
+    return &_stats;
-    ZH_ENCODER_CHECK(config->task_priority >= 10 && config->stack_size >= 3072, ESP_ERR_INVALID_ARG, "Invalid task settings.");
-    ZH_ENCODER_CHECK(config->queue_size >= 10, ESP_ERR_INVALID_ARG, "Invalid queue size.");
-    ZH_ENCODER_CHECK(config->encoder_max_value > config->encoder_min_value, ESP_ERR_INVALID_ARG, "Invalid encoder min/max value.");
-    ZH_ENCODER_CHECK(config->encoder_step > 0, ESP_ERR_INVALID_ARG, "Invalid encoder step.");
-    return ESP_OK;
 }
 
-static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config)
+void zh_encoder_reset_stats(void)
 {
-    ZH_ENCODER_CHECK(config->a_gpio_number < GPIO_NUM_MAX || config->b_gpio_number < GPIO_NUM_MAX, ESP_ERR_INVALID_ARG, "Invalid GPIO number.")
+    ZH_LOGI("Error statistic reset started.");
-    ZH_ENCODER_CHECK(config->a_gpio_number != config->b_gpio_number, ESP_ERR_INVALID_ARG, "Invalid GPIO number.")
+    _stats.event_post_error = 0;
-    gpio_config_t pin_config = {
+    _stats.queue_overflow_error = 0;
-        .mode = GPIO_MODE_INPUT,
+    _stats.min_stack_size = 0;
-        .pin_bit_mask = (1ULL << config->a_gpio_number) | (1ULL << config->b_gpio_number),
+    ZH_LOGI("Error statistic reset successfully.");
-        .pull_up_en = GPIO_PULLUP_ENABLE,
-        .intr_type = GPIO_INTR_ANYEDGE};
-    esp_err_t err = gpio_config(&pin_config);
-    ZH_ENCODER_CHECK(err == ESP_OK, err, "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)
+static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle) // -V2008
 {
-    gpio_install_isr_service(0);
+    ZH_ERROR_CHECK(config != NULL && handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Invalid argument.");
-    esp_err_t err = gpio_isr_handler_add(config->a_gpio_number, _zh_encoder_isr_handler, handle);
+    ZH_ERROR_CHECK(config->task_priority >= 1 && config->stack_size >= configMINIMAL_STACK_SIZE, ESP_ERR_INVALID_ARG, NULL, "Invalid task settings.");
-    ZH_ENCODER_CHECK(err == ESP_OK, err, "Interrupt initialization failed.");
+    ZH_ERROR_CHECK(config->queue_size >= 1, ESP_ERR_INVALID_ARG, NULL, "Invalid queue size.");
-    err = gpio_isr_handler_add(config->b_gpio_number, _zh_encoder_isr_handler, handle);
+    ZH_ERROR_CHECK(config->encoder_max_value > config->encoder_min_value, ESP_ERR_INVALID_ARG, NULL, "Invalid encoder min/max value.");
-    ZH_ENCODER_CHECK(err == ESP_OK, err, "Interrupt initialization failed.");
+    ZH_ERROR_CHECK(config->encoder_step > 0, ESP_ERR_INVALID_ARG, NULL, "Invalid encoder step.");
-    return ESP_OK;
+    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)
-
-static esp_err_t _zh_encoder_init_resources(const zh_encoder_init_config_t *config)
-{
-    if (_is_initialized == false)
     {
-        _queue_handle = xQueueCreate(config->queue_size, sizeof(zh_encoder_handle_t));
+        ZH_ERROR_CHECK(config->encoder_number != _encoder_number_matrix[i], ESP_ERR_INVALID_ARG, NULL, "Encoder number already present.");
-        ZH_ENCODER_CHECK(_queue_handle != NULL, ESP_FAIL, "Queue creation failed.");
+    }
+    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;
+    return ESP_OK;
+}
+
+static esp_err_t _zh_encoder_pcnt_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle) // -V2008
+{
+    ZH_ERROR_CHECK(config != NULL && handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Invalid argument.");
+    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.")
+    pcnt_unit_config_t pcnt_unit_config = {
+        .high_limit = 10,
+        .low_limit = -10,
+    };
+    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.");
+    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.");
+    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.");
+    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_add_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW);
+    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_add_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CCW);
+    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.");
+    pcnt_event_callbacks_t cbs = {
+        .on_reach = _zh_encoder_isr_handler,
+    };
+    err = pcnt_unit_register_event_callbacks(pcnt_unit_handle, &cbs, 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_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.");
+    handle->pcnt_unit_handle = pcnt_unit_handle;
+    handle->pcnt_channel_a_handle = pcnt_channel_a_handle;
+    handle->pcnt_channel_b_handle = pcnt_channel_b_handle;
+    return ESP_OK;
+}
+
+static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle) // -V2008
+{
+    ZH_ERROR_CHECK(config != NULL && handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Invalid argument.");
+    ZH_ERROR_CHECK(config->s_gpio_number <= GPIO_NUM_MAX, ESP_ERR_INVALID_ARG, NULL, "Invalid GPIO number.")
+    ZH_ERROR_CHECK(config->a_gpio_number != config->s_gpio_number && config->b_gpio_number != config->s_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Encoder GPIO and button GPIO is same.")
+    if (config->s_gpio_number != GPIO_NUM_MAX)
+    {
+        gpio_config_t pin_config = {
+            .mode = GPIO_MODE_INPUT,
+            .pin_bit_mask = (1ULL << config->s_gpio_number),
+            .intr_type = GPIO_INTR_ANYEDGE};
+        esp_err_t err = gpio_config(&pin_config);
+        ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "GPIO initialization 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->s_gpio_number), "Failed install isr service.");
+        err = gpio_isr_handler_add((gpio_num_t)config->s_gpio_number, _zh_encoder_button_isr_handler, handle);
+        ZH_ERROR_CHECK(err == ESP_OK, err, gpio_reset_pin((gpio_num_t)config->s_gpio_number), "Interrupt initialization failed.");
+        handle->s_gpio_number = config->s_gpio_number;
+        handle->s_gpio_debounce_time = config->s_gpio_debounce_time;
+        handle->s_gpio_status = gpio_get_level((gpio_num_t)config->s_gpio_number);
     }
     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(
+        _queue_handle = xQueueCreate(config->queue_size, sizeof(zh_encoder_event_on_isr_t));
-            &_zh_encoder_isr_processing_task,
+        ZH_ERROR_CHECK(_queue_handle != NULL, ESP_FAIL, NULL, "Failed to create queue.");
-            "zh_encoder_isr_processing",
-            config->stack_size,
-            NULL,
-            config->task_priority,
-            NULL,
-            tskNO_AFFINITY);
-        ZH_ENCODER_CHECK(err == pdPASS, ESP_FAIL, "Task creation failed.");
     }
     return ESP_OK;
 }
 
-static void IRAM_ATTR _zh_encoder_isr_handler(void *arg)
+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;
+}
+
+static bool IRAM_ATTR _zh_encoder_isr_handler(pcnt_unit_handle_t unit, const pcnt_watch_event_data_t *edata, void *user_ctx)
 {
-    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]
+    zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)user_ctx;
-                                                   [(gpio_get_level(encoder_handle->b_gpio_number) << 1) | gpio_get_level(encoder_handle->a_gpio_number)];
+    pcnt_unit_clear_count(unit);
-    switch (encoder_handle->encoder_state & 0x30)
+    switch (edata->watch_point_value)
     {
     case ZH_ENCODER_DIRECTION_CW:
         if (encoder_handle->encoder_position < encoder_handle->encoder_max_value)
@@ -175,7 +313,6 @@ 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);
         }
         break;
     case ZH_ENCODER_DIRECTION_CCW:
@@ -186,33 +323,66 @@ 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);
         }
         break;
     default:
+        return false;
         break;
     }
+    zh_encoder_event_on_isr_t encoder_data = {0};
+    encoder_data.encoder_number = encoder_handle->encoder_number;
+    encoder_data.encoder_position = encoder_handle->encoder_position;
+    if (xQueueSendFromISR(_queue_handle, &encoder_data, &xHigherPriorityTaskWoken) != pdTRUE)
+    {
+        ++_stats.queue_overflow_error;
+    }
+    if (xHigherPriorityTaskWoken == pdTRUE)
+    {
+        return true;
+    };
+    return false;
+}
+
+static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter)
+{
+    zh_encoder_event_on_isr_t encoder_data = {0};
+    while (xQueueReceive(_queue_handle, &encoder_data, portMAX_DELAY) == pdTRUE)
+    {
+        esp_err_t err = esp_event_post(ZH_ENCODER, ZH_ENCODER_EVENT, &encoder_data, sizeof(zh_encoder_event_on_isr_t), 1000 / portTICK_PERIOD_MS);
+        if (err != ESP_OK)
+        {
+            ++_stats.event_post_error;
+            ZH_LOGE("Encoder isr processing failed. Failed to post interrupt event.", err);
+        }
+        _stats.min_stack_size = (uint32_t)uxTaskGetStackHighWaterMark(NULL);
+    }
+    vTaskDelete(NULL);
+}
+
+static void IRAM_ATTR _zh_encoder_button_isr_handler(void *arg)
+{
+    zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)arg;
+    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+    uint64_t _current_us = esp_timer_get_time();
+    if (_current_us - encoder_handle->s_gpio_prev_time >= encoder_handle->s_gpio_debounce_time)
+    {
+        bool s_gpio_status = gpio_get_level((gpio_num_t)encoder_handle->s_gpio_number);
+        if (encoder_handle->s_gpio_status != s_gpio_status)
+        {
+            encoder_handle->s_gpio_status = s_gpio_status;
+            zh_encoder_button_event_on_isr_t encoder_data = {0};
+            encoder_data.encoder_number = encoder_handle->encoder_number;
+            encoder_data.button_status = encoder_handle->s_gpio_status;
+            esp_err_t err = esp_event_isr_post(ZH_ENCODER, ZH_BUTTON_EVENT, &encoder_data, sizeof(zh_encoder_button_event_on_isr_t), &xHigherPriorityTaskWoken);
+            if (err != ESP_OK)
+            {
+                ++_stats.event_post_error;
+            }
+        }
+    }
+    encoder_handle->s_gpio_prev_time = _current_us;
     if (xHigherPriorityTaskWoken == pdTRUE)
     {
         portYIELD_FROM_ISR();
     };
 }
-
-static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter)
-{
-    zh_encoder_handle_t queue = {0};
-    zh_encoder_event_on_isr_t encoder_data = {0};
-    while (xQueueReceive(_queue_handle, &queue, portMAX_DELAY) == pdTRUE)
-    {
-        ZH_ENCODER_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);
-        if (err != ESP_OK)
-        {
-            ZH_ENCODER_LOGE_ERR("Encoder isr processing failed. Failed to post interrupt event.", err);
-        }
-        ZH_ENCODER_LOGI("Encoder isr processing completed successfully.");
-    }
-    vTaskDelete(NULL);
-}