doc: added connection schematic

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

@@ -4,10 +4,23 @@
 
 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.
 
+## 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
 
 In an existing project, run the following command to install the components:
@@ -30,8 +43,12 @@ 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)
@@ -39,19 +56,20 @@ 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 encoder_init_config = ZH_ENCODER_INIT_CONFIG_DEFAULT();
+    zh_encoder_init_config_t config = ZH_ENCODER_INIT_CONFIG_DEFAULT();
-    encoder_init_config.a_gpio_number = GPIO_NUM_26;
+    config.task_priority = 5;
-    encoder_init_config.b_gpio_number = GPIO_NUM_27;
+    config.stack_size = configMINIMAL_STACK_SIZE;
-    encoder_init_config.encoder_min_value = -10;
+    config.queue_size = 5;
-    encoder_init_config.encoder_max_value = 20;
+    config.a_gpio_number = GPIO_NUM_27;
-    encoder_init_config.encoder_step = 0.1;
+    config.b_gpio_number = GPIO_NUM_26;
-    encoder_init_config.encoder_number = 1;
+    config.s_gpio_number = GPIO_NUM_17;
-    zh_encoder_init(&encoder_init_config, &encoder_handle);
+    config.encoder_min_value = 0;
-    double position = 0;
+    config.encoder_max_value = 100;
-    zh_encoder_get(&encoder_handle, &position);
+    config.encoder_step = 0.1;
-    printf("Encoder position %0.2f.\n", position);
+    config.encoder_number = ENCODER_NUMBER;
-    zh_encoder_set(&encoder_handle, 5);
+    zh_encoder_init(&config, &encoder_handle);
-    zh_encoder_reset(&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();
@@ -65,6 +83,21 @@ void app_main(void)
 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);
+    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;
+    }
 }
 ```

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"
@@ -20,6 +21,7 @@
         .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,                      \
@@ -37,30 +39,33 @@ extern "C"
      */
     typedef struct
     {
+        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. */
-        uint16_t stack_size;       /*!< Stack size for task for the encoder isr processing processing. @note The minimum size is configMINIMAL_STACK_SIZE. */
         uint8_t queue_size;       /*!< Queue size for task for the encoder processing. @note Minimum value is 1. */
         uint8_t a_gpio_number;    /*!< Encoder A GPIO number. */
         uint8_t b_gpio_number;    /*!< Encoder B GPIO number. */
-        int32_t encoder_min_value; /*!< Encoder min value. @note Must be less than encoder_max_value. */
+        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
+    typedef struct // -V802
     {
-        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. */
+        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;
 
@@ -83,8 +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;
 
     /**
@@ -110,6 +116,20 @@ 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 @@
-1.2.0
+1.5.0

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},
@@ -27,9 +29,13 @@ 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);
@@ -40,7 +46,7 @@ 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)
+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.");
@@ -50,15 +56,31 @@ esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_han
     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)
     {
@@ -72,6 +94,8 @@ esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_han
     }
     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;
@@ -79,6 +103,14 @@ 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;
 }
@@ -90,8 +122,10 @@ esp_err_t zh_encoder_deinit(zh_encoder_handle_t *handle)
     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);
@@ -103,17 +137,44 @@ 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;
 }
@@ -133,7 +194,9 @@ 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;
 }
@@ -152,23 +215,29 @@ 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)
+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 >= 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)
+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->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 < 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, "Both GPIO is same.")
+    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),
+        .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);
@@ -182,9 +251,9 @@ static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, z
             _is_prev_gpio_isr_handler = true;
         }
     }
-    err = gpio_isr_handler_add(config->a_gpio_number, _zh_encoder_isr_handler, handle);
+    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(config->b_gpio_number, _zh_encoder_isr_handler, handle);
+    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.");
@@ -193,6 +262,17 @@ static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, z
     {
         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;
 }
 
@@ -220,7 +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:
@@ -252,6 +344,13 @@ static void IRAM_ATTR _zh_encoder_isr_handler(void *arg)
         }
         break;
     default:
+        if (button_flag == true)
+        {
+            if (xQueueSendFromISR(_queue_handle, encoder_handle, &xHigherPriorityTaskWoken) != pdTRUE)
+            {
+                ++_stats.queue_overflow_error;
+            }
+        }
         break;
     }
     if (xHigherPriorityTaskWoken == pdTRUE)
@@ -268,6 +367,7 @@ static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter)
     {
         encoder_data.encoder_number = queue.encoder_number;
         encoder_data.encoder_position = queue.encoder_position;
+        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)
         {