fix: incorrect min_stack_size initial information

README.md

@@ -2,7 +2,7 @@
 
 ## Tested on
 
-1. [ESP32 ESP-IDF v5.5.1](https://docs.espressif.com/projects/esp-idf/en/v5.5.1/esp32/index.html)
+1. [ESP32 ESP-IDF v5.5.2](https://docs.espressif.com/projects/esp-idf/en/v5.5.2/esp32/index.html)
 
 ## SAST Tools
 
@@ -14,7 +14,13 @@
 
 ## Attention
 
-1. If the button is not used, specify any free GPIO in the initial configuration.
+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
 
@@ -33,7 +39,7 @@ In the application, add the component:
 
 ## Examples
 
-One encoder on device:
+One encoder with button on device:
 
 ```c
 #include "zh_encoder.h"
@@ -42,8 +48,6 @@ One encoder on device:
 
 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)
@@ -55,16 +59,17 @@ void app_main(void)
     config.task_priority = 5;
     config.stack_size = configMINIMAL_STACK_SIZE;
     config.queue_size = 5;
-    config.a_gpio_number = GPIO_NUM_27;
+    config.a_gpio_number = GPIO_NUM_4;
-    config.b_gpio_number = GPIO_NUM_26;
+    config.b_gpio_number = GPIO_NUM_16;
-    config.s_gpio_number = GPIO_NUM_17;
+    config.s_gpio_number = GPIO_NUM_15;
-    config.encoder_min_value = 0;
+    config.encoder_min_value = -10;
-    config.encoder_max_value = 100;
+    config.encoder_max_value = 10;
-    config.encoder_step = 0.1;
+    config.encoder_step = 0.001;
     config.encoder_number = ENCODER_NUMBER;
     zh_encoder_init(&config, &encoder_handle);
+    float encoder_position = 0;
     zh_encoder_get(&encoder_handle, &encoder_position);
-    printf("Encoder position %0.2f.\n", encoder_position);
+    printf("Encoder position %0.3f.\n", encoder_position);
     for (;;)
     {
         const zh_encoder_stats_t *stats = zh_encoder_get_stats();
@@ -77,19 +82,15 @@ 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;
+    switch (event_id)
-    switch (event->encoder_number)
     {
-    case ENCODER_NUMBER:
+    case ZH_BUTTON_EVENT:
-        if (encoder_position == event->encoder_position)
+        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");
-            printf("Encoder number %d button %s.\n", event->encoder_number, event->button_status == 1 ? "released" : "pressed");
+        break;
-        }
+    case ZH_ENCODER_EVENT:
-        else
+        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);
-            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 "driver/pulse_cnt.h"
 #include "esp_timer.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
@@ -22,8 +23,10 @@
         .a_gpio_number = GPIO_NUM_MAX,          \
         .b_gpio_number = GPIO_NUM_MAX,          \
         .s_gpio_number = GPIO_NUM_MAX,          \
-        .encoder_min_value = -100,              \
+        .s_gpio_debounce_time = 10,             \
-        .encoder_max_value = 100,               \
+        .pullup = true,                         \
+        .encoder_min_value = -10,               \
+        .encoder_max_value = 10,                \
         .encoder_step = 1,                      \
         .encoder_number = 0}
 
@@ -32,41 +35,46 @@ extern "C"
 {
 #endif
 
-    extern TaskHandle_t zh_encoder; /*!< Unique encoder Task Handle. */
+    extern TaskHandle_t zh_encoder; /*!< Encoder Task Handle. */
 
     /**
      * @brief Structure for initial initialization of encoder.
      */
     typedef struct
     {
-        double encoder_step;      /*!< Encoder step. @note Must be greater than 0. */
+        float 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. */
+        float 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. */
+        float encoder_max_value;       /*!< Encoder max value. @note Must be greater than encoder_min_value. */
         uint8_t task_priority;         /*!< Task priority for the encoder isr processing. @note Minimum value is 1. */
         uint8_t queue_size;            /*!< Queue size for task for the encoder processing. @note Minimum value is 1. */
         uint8_t a_gpio_number;         /*!< Encoder A GPIO number. */
         uint8_t b_gpio_number;         /*!< Encoder B GPIO number. */
         uint8_t s_gpio_number;         /*!< Encoder button GPIO number. */
-        uint8_t encoder_number;   /*!< Unique encoder number. */
+        bool pullup;                   /*!< Pullup GPIO enable/disable. */
+        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;
 
     /**
      * @brief Encoder handle.
      */
-    typedef struct // -V802
+    typedef struct
     {
-        double encoder_step;      /*!< Encoder step. */
+        bool s_gpio_status;                          /*!< Encoder button status. */
-        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. */
+        uint8_t encoder_number;                      /*!< Encoder unique number. */
+        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. */
+        float encoder_step;                          /*!< Encoder step. */
+        float encoder_position;                      /*!< Encoder position. */
+        float encoder_min_value;                     /*!< Encoder min value. */
+        float encoder_max_value;                     /*!< Encoder max value. */
+        pcnt_unit_handle_t pcnt_unit_handle;         /*!< Encoder unique pcnt unit handle. */
+        pcnt_channel_handle_t pcnt_channel_a_handle; /*!< Encoder unique pcnt channel handle. */
+        pcnt_channel_handle_t pcnt_channel_b_handle; /*!< Encoder unique pcnt channel handle. */
+
     } zh_encoder_handle_t;
 
     /**
@@ -79,19 +87,38 @@ extern "C"
         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);
 
     /**
-     * @brief Structure for sending data to the event handler when cause an interrupt.
+     * @brief Structure for sending data to the event handler when cause encoder interrupt.
      *
-     * @note Should be used with ZH_ENCODER event base.
+     * @note Should be used with ZH_ENCODER event base and ZH_ENCODER_EVENT event ID.
+     */
+    typedef struct
+    {
+        float 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
     {
-        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;
+    } zh_encoder_button_event_on_isr_t;
 
     /**
      * @brief Initialize encoder.
@@ -112,6 +139,8 @@ extern "C"
     /**
      * @brief Deinitialize encoder.
      *
+     * @param[in, out] handle Pointer to unique encoder handle.
+     *
      * @return ESP_OK if success or an error code otherwise.
      */
     esp_err_t zh_encoder_deinit(zh_encoder_handle_t *handle);
@@ -128,7 +157,7 @@ extern "C"
      *
      * @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);
+    esp_err_t zh_encoder_reinit(zh_encoder_handle_t *handle, float min, float max, float step);
 
     /**
      * @brief Set encoder position.
@@ -138,7 +167,7 @@ extern "C"
      *
      * @return ESP_OK if success or an error code otherwise.
      */
-    esp_err_t zh_encoder_set(zh_encoder_handle_t *handle, double position);
+    esp_err_t zh_encoder_set(zh_encoder_handle_t *handle, float position);
 
     /**
      * @brief Get encoder position.
@@ -148,7 +177,7 @@ extern "C"
      *
      * @return ESP_OK if success or an error code otherwise.
      */
-    esp_err_t zh_encoder_get(const zh_encoder_handle_t *handle, double *position);
+    esp_err_t zh_encoder_get(const zh_encoder_handle_t *handle, float *position);
 
     /**
      * @brief Reset encoder position.

version.txt

@@ -1 +1 @@
-1.4.0
+2.3.1

zh_encoder.c

@@ -13,95 +13,61 @@
         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
-
-#define BUTTON_DEBOUNCE_TIME 20
-
-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 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[CONFIG_SOC_PCNT_UNITS_PER_GROUP] = {0};
 
-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, zh_encoder_handle_t *handle);
+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 esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
-static void _zh_encoder_isr_handler(void *arg);
+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) // -V2008
 {
     ZH_LOGI("Encoder initialization started.");
-    ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder initialization failed. Invalid argument.");
+    ZH_ERROR_CHECK(config != NULL && handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder initialization failed. Invalid argument.");
-    esp_err_t err = _zh_encoder_validate_config(config);
+    ZH_ERROR_CHECK(handle->is_initialized == false, ESP_ERR_INVALID_STATE, NULL, "Encoder initialization failed. Encoder is already initialized.");
+    ZH_ERROR_CHECK(_encoder_counter < sizeof(_encoder_number_matrix), ESP_ERR_INVALID_ARG, NULL, "Encoder initialization failed. Maximum quantity reached.");
+    esp_err_t err = _zh_encoder_validate_config(config, handle);
     ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. Initial configuration check failed.");
-    err = _zh_encoder_gpio_init(config, handle);
-    ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. GPIO initialization failed.");
     err = _zh_encoder_resources_init(config);
-    if (_is_prev_gpio_isr_handler == true)
+    ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. Resources initialization failed.");
+    err = _zh_encoder_task_init(config, handle);
+    ZH_ERROR_CHECK(err == ESP_OK, err, vQueueDelete(_queue_handle); _queue_handle = NULL, "Encoder initialization failed. Processing task initialization failed.");
+    err = _zh_encoder_pcnt_init(config, handle);
+    ZH_ERROR_CHECK(err == ESP_OK, err, vQueueDelete(_queue_handle); _queue_handle = NULL; vTaskDelete(zh_encoder); zh_encoder = NULL,
+                                                                                                                   "Encoder initialization failed. PCNT initialization failed.");
+    err = _zh_encoder_gpio_init(config, handle);
+    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);
+                   pcnt_del_channel(handle->pcnt_channel_b_handle); pcnt_del_unit(handle->pcnt_unit_handle); vQueueDelete(_queue_handle); _queue_handle = NULL;
+                   vTaskDelete(zh_encoder); zh_encoder = NULL, "Encoder initialization failed. GPIO initialization failed.");
+    if (_stats.min_stack_size == 0)
     {
-        if (config->s_gpio_number != GPIO_NUM_MAX)
+        _stats.min_stack_size = config->stack_size;
-        {
-            ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->s_gpio_number);
-                           gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number); gpio_reset_pin((gpio_num_t)config->s_gpio_number), "Encoder initialization failed. Resources initialization failed.");
     }
-        else
-        {
-            ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number); gpio_reset_pin((gpio_num_t)config->a_gpio_number);
-                           gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Encoder initialization failed. Resources initialization failed.");
-        }
-    }
-    else
-    {
-        if (config->s_gpio_number != GPIO_NUM_MAX)
-        {
-            ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->s_gpio_number);
-                           gpio_uninstall_isr_service(); gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number); gpio_reset_pin((gpio_num_t)config->s_gpio_number), "Encoder initialization failed. Resources initialization failed.");
-        }
-        else
-        {
-            ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number); gpio_uninstall_isr_service();
-                           gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Encoder initialization failed. Resources initialization failed.");
-        }
-    }
-    err = _zh_encoder_task_init(config);
-    if (_is_prev_gpio_isr_handler == true)
-    {
-        ZH_ERROR_CHECK(err == ESP_OK, err, vQueueDelete(_queue_handle); _queue_handle = NULL; gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number);
-                       gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Encoder initialization failed. Processing task initialization failed.");
-    }
-    else
-    {
-        ZH_ERROR_CHECK(err == ESP_OK, err, vQueueDelete(_queue_handle); _queue_handle = NULL; gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number);
-                       gpio_uninstall_isr_service(); gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Encoder initialization failed. Processing task initialization failed.");
-    }
-    handle->a_gpio_number = config->a_gpio_number;
-    handle->b_gpio_number = config->b_gpio_number;
-    handle->s_gpio_number = config->s_gpio_number;
-    handle->button_status = gpio_get_level((gpio_num_t)config->s_gpio_number);
-    handle->encoder_number = config->encoder_number;
-    handle->encoder_min_value = config->encoder_min_value;
-    handle->encoder_max_value = config->encoder_max_value;
-    handle->encoder_step = config->encoder_step;
-    handle->encoder_position = (handle->encoder_min_value + handle->encoder_max_value) / 2;
     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;
 }
@@ -111,28 +77,38 @@ esp_err_t zh_encoder_deinit(zh_encoder_handle_t *handle)
     ZH_LOGI("Encoder deinitialization started.");
     ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder deinitialization failed. Invalid argument.");
     ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Encoder deinitialization failed. Encoder not initialized.");
-    gpio_isr_handler_remove((gpio_num_t)handle->a_gpio_number);
+    pcnt_unit_stop(handle->pcnt_unit_handle);
-    gpio_isr_handler_remove((gpio_num_t)handle->b_gpio_number);
+    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->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);
+        _queue_handle = NULL;
         vTaskDelete(zh_encoder);
-        if (_is_prev_gpio_isr_handler == false)
+        zh_encoder = NULL;
-        {
-            gpio_uninstall_isr_service();
-        }
     }
     handle->is_initialized = false;
     --_encoder_counter;
+    for (uint8_t i = 0; i < sizeof(_encoder_number_matrix); ++i)
+    {
+        if (_encoder_number_matrix[i] == handle->encoder_number)
+        {
+            _encoder_number_matrix[i] = 0;
+            break;
+        }
+    }
     ZH_LOGI("Encoder deinitialization completed successfully.");
     return ESP_OK;
 }
 
-esp_err_t zh_encoder_reinit(zh_encoder_handle_t *handle, double min, double max, double step)
+esp_err_t zh_encoder_reinit(zh_encoder_handle_t *handle, float min, float max, float step) // -V2008
 {
     ZH_LOGI("Encoder reinitialization started.");
     ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder reinitialization failed. Invalid argument.");
@@ -149,21 +125,23 @@ esp_err_t zh_encoder_reinit(zh_encoder_handle_t *handle, double min, double max,
     return ESP_OK;
 }
 
-esp_err_t zh_encoder_set(zh_encoder_handle_t *handle, double position)
+esp_err_t zh_encoder_set(zh_encoder_handle_t *handle, float 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;
 }
 
-esp_err_t zh_encoder_get(const zh_encoder_handle_t *handle, double *position)
+esp_err_t zh_encoder_get(const zh_encoder_handle_t *handle, float *position)
 {
     ZH_LOGI("Encoder get position started.");
-    ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder get position failed. Invalid argument.");
+    ZH_ERROR_CHECK(handle != 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_LOGI("Encoder get position completed successfully.");
@@ -175,7 +153,9 @@ 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;
 }
@@ -194,58 +174,113 @@ 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, zh_encoder_handle_t *handle) // -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.");
+    }
+    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->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, NULL);
+    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.");
+    if (config->pullup == false)
+    {
+        gpio_pullup_dis((gpio_num_t)config->a_gpio_number);
+        gpio_pullup_dis((gpio_num_t)config->b_gpio_number);
+    }
+    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->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->s_gpio_number <= GPIO_NUM_MAX, ESP_ERR_INVALID_ARG, NULL, "Invalid GPIO number.")
-    ZH_ERROR_CHECK(config->a_gpio_number != config->b_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Encoder A and B GPIO is same.")
     ZH_ERROR_CHECK(config->a_gpio_number != config->s_gpio_number && config->b_gpio_number != config->s_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Encoder GPIO and button GPIO is same.")
+    if (config->s_gpio_number != GPIO_NUM_MAX)
+    {
         gpio_config_t pin_config = {
             .mode = GPIO_MODE_INPUT,
-        .pin_bit_mask = (1ULL << config->a_gpio_number) | (1ULL << config->b_gpio_number) | (1ULL << config->s_gpio_number),
+            .pull_up_en = (config->pullup == true) ? GPIO_PULLUP_ENABLE : GPIO_PULLUP_DISABLE,
-        .pull_up_en = GPIO_PULLUP_ENABLE,
+            .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.");
-    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), "Failed install isr service.");
+        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.");
-        if (err == ESP_ERR_INVALID_STATE)
+        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.");
-            _is_prev_gpio_isr_handler = true;
+        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);
-    err = gpio_isr_handler_add((gpio_num_t)config->a_gpio_number, _zh_encoder_isr_handler, handle);
-    ZH_ERROR_CHECK(err == ESP_OK, err, gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Interrupt initialization failed.");
-    err = gpio_isr_handler_add((gpio_num_t)config->b_gpio_number, _zh_encoder_isr_handler, handle);
-    if (_is_prev_gpio_isr_handler == true)
-    {
-        ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Interrupt initialization failed.");
-    }
-    else
-    {
-        ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_uninstall_isr_service(); gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Interrupt initialization failed.");
-    }
-    err = gpio_isr_handler_add((gpio_num_t)config->s_gpio_number, _zh_encoder_isr_handler, handle);
-    if (_is_prev_gpio_isr_handler == true)
-    {
-        ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number);
-                       gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Interrupt initialization failed.");
-    }
-    else
-    {
-        ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number); gpio_uninstall_isr_service();
-                       gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Interrupt initialization failed.");
     }
     return ESP_OK;
 }
@@ -254,40 +289,46 @@ static esp_err_t _zh_encoder_resources_init(const zh_encoder_init_config_t *conf
 {
     if (_encoder_counter == 0)
     {
-        _queue_handle = xQueueCreate(config->queue_size, sizeof(zh_encoder_handle_t));
+        _queue_handle = xQueueCreate(config->queue_size, sizeof(int));
         ZH_ERROR_CHECK(_queue_handle != NULL, ESP_FAIL, NULL, "Failed to create queue.");
     }
     return ESP_OK;
 }
 
-static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config)
+static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle)
 {
     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);
+        BaseType_t err = xTaskCreatePinnedToCore(&_zh_encoder_isr_processing_task, "zh_encoder_isr_processing", config->stack_size, handle, 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 void IRAM_ATTR _zh_encoder_isr_handler(void *arg)
+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;
-    uint64_t _current_us = esp_timer_get_time();
+    pcnt_unit_clear_count(unit);
-    bool button_flag = false;
+    if (xQueueSendFromISR(_queue_handle, &edata->watch_point_value, &xHigherPriorityTaskWoken) != pdTRUE)
-    if (_current_us - _prev_us >= BUTTON_DEBOUNCE_TIME)
     {
-        bool button_status = gpio_get_level((gpio_num_t)encoder_handle->s_gpio_number);
+        ++_stats.queue_overflow_error;
-        if (encoder_handle->button_status != button_status)
+    }
+    if (xHigherPriorityTaskWoken == pdTRUE)
     {
-            button_flag = true;
+        return true;
-            encoder_handle->button_status = button_status;
+    };
+    return false;
 }
-    }
+
-    _prev_us = _current_us;
+static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter)
-    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)
+    zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)pvParameter;
+    int pcnt_count = {0};
+    bool is_value_changed = false;
+    while (xQueueReceive(_queue_handle, &pcnt_count, portMAX_DELAY) == pdTRUE)
+    {
+        switch (pcnt_count)
         {
         case ZH_ENCODER_DIRECTION_CW:
             if (encoder_handle->encoder_position < encoder_handle->encoder_max_value)
@@ -297,10 +338,7 @@ static void IRAM_ATTR _zh_encoder_isr_handler(void *arg)
                 {
                     encoder_handle->encoder_position = encoder_handle->encoder_max_value;
                 }
-            if (xQueueSendFromISR(_queue_handle, encoder_handle, &xHigherPriorityTaskWoken) != pdTRUE)
+                is_value_changed = true;
-            {
-                ++_stats.queue_overflow_error;
-            }
             }
             break;
         case ZH_ENCODER_DIRECTION_CCW:
@@ -311,44 +349,54 @@ static void IRAM_ATTR _zh_encoder_isr_handler(void *arg)
                 {
                     encoder_handle->encoder_position = encoder_handle->encoder_min_value;
                 }
-            if (xQueueSendFromISR(_queue_handle, encoder_handle, &xHigherPriorityTaskWoken) != pdTRUE)
+                is_value_changed = true;
-            {
-                ++_stats.queue_overflow_error;
-            }
             }
             break;
         default:
-        if (button_flag == true)
-        {
-            if (xQueueSendFromISR(_queue_handle, encoder_handle, &xHigherPriorityTaskWoken) != pdTRUE)
-            {
-                ++_stats.queue_overflow_error;
-            }
-        }
             break;
         }
-    if (xHigherPriorityTaskWoken == pdTRUE)
+        if (is_value_changed == true)
         {
-        portYIELD_FROM_ISR();
+            is_value_changed = false;
-    };
-}
-
-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)
+            encoder_data.encoder_number = encoder_handle->encoder_number;
-    {
+            encoder_data.encoder_position = encoder_handle->encoder_position;
-        encoder_data.encoder_number = queue.encoder_number;
+            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);
-        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)
             {
                 ++_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();
+    };
+}