feat: added task handle

README.md

@@ -16,6 +16,14 @@
 2. All the INT GPIO's on the extenders must be connected to the one GPIO on ESP.
 3. The input GPIO's are always pullup to the power supply.
 
+## Attention
+
+For correct operation, please enable the following settings in the menuconfig:
+
+```text
+GPIO_CTRL_FUNC_IN_IRAM
+```
+
 ## Dependencies
 
 1. [zh_vector](http://git.zh.com.ru/esp_components/zh_vector)

include/zh_pcf8574.h

@@ -35,6 +35,8 @@ extern "C"
 {
 #endif
 
+    extern TaskHandle_t zh_pcf8574; /*!< Unique task handle. */
+
     /**
      * @brief Structure for initial initialization of PCF8574 expander.
      */

version.txt

@@ -1 +1 @@
-2.0.0
+2.1.0

zh_pcf8574.c

@@ -13,9 +13,12 @@ static const char *TAG = "zh_pcf8574";
         return err;                                  \
     }
 
-static uint8_t _interrupt_gpio = GPIO_NUM_MAX;
+TaskHandle_t zh_pcf8574 = NULL;
 static SemaphoreHandle_t _interrupt_semaphore = NULL;
+
+static uint8_t _interrupt_gpio = GPIO_NUM_MAX;
 static const uint8_t _gpio_matrix[8] = {0x01, 0x02, 0x04, 0x08, 0x10, 0x20, 0x40, 0x80};
+static bool _is_prev_gpio_isr_service = false;
 
 static zh_vector_t _vector = {0};
 
@@ -47,12 +50,28 @@ esp_err_t zh_pcf8574_init(const zh_pcf8574_init_config_t *config, zh_pcf8574_han
         err = _zh_pcf8574_gpio_init(config, handle);
         ZH_ERROR_CHECK(err == ESP_OK, err, i2c_master_bus_rm_device(handle->dev_handle), "PCF8574 initialization failed. Interrupt GPIO initialization failed.");
         err = _zh_pcf8574_resources_init(config);
-        ZH_ERROR_CHECK(err == ESP_OK, err, i2c_master_bus_rm_device(handle->dev_handle); gpio_isr_handler_remove(config->interrupt_gpio); gpio_uninstall_isr_service();
+        if (_is_prev_gpio_isr_service == true)
+        {
+            ZH_ERROR_CHECK(err == ESP_OK, err, i2c_master_bus_rm_device(handle->dev_handle); gpio_isr_handler_remove(config->interrupt_gpio);
                            gpio_reset_pin(config->interrupt_gpio); zh_vector_free(&_vector), "PCF8574 initialization failed. Resources initialization failed.");
+        }
+        else
+        {
+            ZH_ERROR_CHECK(err == ESP_OK, err, i2c_master_bus_rm_device(handle->dev_handle); gpio_isr_handler_remove(config->interrupt_gpio);
+                           gpio_uninstall_isr_service(); gpio_reset_pin(config->interrupt_gpio); zh_vector_free(&_vector), "PCF8574 initialization failed. Resources initialization failed.");
+        }
         err = _zh_pcf8574_task_init(config);
-        ZH_ERROR_CHECK(err == ESP_OK, err, i2c_master_bus_rm_device(handle->dev_handle); gpio_isr_handler_remove(config->interrupt_gpio); gpio_uninstall_isr_service();
+        if (_is_prev_gpio_isr_service == true)
+        {
+            ZH_ERROR_CHECK(err == ESP_OK, err, i2c_master_bus_rm_device(handle->dev_handle); gpio_isr_handler_remove(config->interrupt_gpio);
                            gpio_reset_pin(config->interrupt_gpio); zh_vector_free(&_vector); vSemaphoreDelete(_interrupt_semaphore), "PCF8574 initialization failed. Task initialization failed.");
         }
+        else
+        {
+            ZH_ERROR_CHECK(err == ESP_OK, err, i2c_master_bus_rm_device(handle->dev_handle); gpio_isr_handler_remove(config->interrupt_gpio);
+                           gpio_uninstall_isr_service(); gpio_reset_pin(config->interrupt_gpio); zh_vector_free(&_vector); vSemaphoreDelete(_interrupt_semaphore), "PCF8574 initialization failed. Task initialization failed.");
+        }
+    }
     handle->is_initialized = true;
     ZH_LOGI("PCF8574 initialization completed successfully.");
     return ESP_OK;
@@ -159,9 +178,20 @@ static esp_err_t _zh_pcf8574_gpio_init(const zh_pcf8574_init_config_t *config, z
     err = gpio_config(&interrupt_gpio_config);
     ZH_ERROR_CHECK(err == ESP_OK, err, zh_vector_free(&_vector), "GPIO configuration failed.")
     err = gpio_install_isr_service(ESP_INTR_FLAG_LOWMED);
-    ZH_ERROR_CHECK(err == ESP_OK, err, gpio_reset_pin(config->interrupt_gpio); zh_vector_free(&_vector), "Failed install isr service.")
+    ZH_ERROR_CHECK(err == ESP_OK || err == ESP_ERR_INVALID_STATE, err, gpio_reset_pin(config->interrupt_gpio); zh_vector_free(&_vector), "Failed install isr service.")
+    if (err == ESP_ERR_INVALID_STATE)
+    {
+        _is_prev_gpio_isr_service = true;
+    }
     err = gpio_isr_handler_add(config->interrupt_gpio, _zh_pcf8574_isr_handler, NULL);
+    if (_is_prev_gpio_isr_service == true)
+    {
+        ZH_ERROR_CHECK(err == ESP_OK, err, gpio_reset_pin(config->interrupt_gpio); zh_vector_free(&_vector), "Failed add isr handler.")
+    }
+    else
+    {
         ZH_ERROR_CHECK(err == ESP_OK, err, gpio_uninstall_isr_service(); gpio_reset_pin(config->interrupt_gpio); zh_vector_free(&_vector), "Failed add isr handler.")
+    }
     _interrupt_gpio = config->interrupt_gpio;
     return ESP_OK;
 }
@@ -196,7 +226,7 @@ static esp_err_t _zh_pcf8574_resources_init(const zh_pcf8574_init_config_t *conf
 
 static esp_err_t _zh_pcf8574_task_init(const zh_pcf8574_init_config_t *config)
 {
-    BaseType_t err = xTaskCreatePinnedToCore(&_zh_pcf8574_isr_processing_task, "zh_pcf8574_isr_processing_task", config->stack_size, NULL, config->task_priority, NULL, tskNO_AFFINITY);
+    BaseType_t err = xTaskCreatePinnedToCore(&_zh_pcf8574_isr_processing_task, "zh_pcf8574_isr_processing_task", config->stack_size, NULL, config->task_priority, &zh_pcf8574, tskNO_AFFINITY);
     ZH_ERROR_CHECK(err == pdPASS, err, NULL, "Failed to create isr processing task.")
     return ESP_OK;
 }