pure encoder test working on pins d5 and d6

include/defines.h

@@ -1,5 +1,6 @@
 #ifndef DEFINES_H
 #define DEFINES_H
+#include "driver/gpio.h"
 
 #define ccwSpeed 6500
 #define cwSpeed 3300
@@ -15,6 +16,9 @@
 #define nvsAuth "AUTH"
 #define tokenTag "TOKEN"
 
+#define ENCODER_PIN_A GPIO_NUM_23
+#define ENCODER_PIN_B GPIO_NUM_16
+
 #define getMovingCW(port) ((movingCW & (1 << port)) >> port)
 #define setMovingCW(port) (movingCW |= (1 << port))
 #define clearMovingCW(port) (movingCW &= ~(1 << port))

include/encoder.cpp

@@ -0,0 +1,76 @@
+#include "encoder.hpp"
+#include "defines.h"
+#include "driver/gpio.h"
+#include "esp_log.h"
+#include "esp_pm.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_sleep.h"
+#include "soc/gpio_struct.h" // <--- REQUIRED for GPIO.in.val
+
+volatile int32_t encoder_count = 0;
+static const char *TAG = "ENCODER_DEMO";
+
+// --- THE SAFE ISR (RAM ONLY) ---
+static void IRAM_ATTR encoder_isr_handler(void* arg)
+{
+    static uint8_t last_state_a = 0;
+    static uint8_t last_state_b = 0;
+    static int8_t last_count_base = 0; 
+
+    // READ HARDWARE DIRECTLY: This effectively bypasses the Flash crash risk
+    uint32_t gpio_levels = GPIO.in.val;
+    uint8_t current_a = (gpio_levels >> ENCODER_PIN_A) & 0x1;
+    uint8_t current_b = (gpio_levels >> ENCODER_PIN_B) & 0x1;
+
+    // LOGIC
+    if (current_a != last_state_a) {
+        if (!current_a) { 
+            if (current_b) last_count_base++;
+            else last_count_base--;
+        }
+        else { 
+            if (current_b) last_count_base--;
+            else last_count_base++;
+        }
+    }
+    else if (current_b != last_state_b) {
+        if (!current_b) { 
+            if (current_a) last_count_base--;
+            else last_count_base++;
+        }
+        else { 
+            if (current_a) last_count_base++;
+            else last_count_base--;
+        }
+    }
+    if (last_count_base > 3) {
+      encoder_count += 1;
+      last_count_base -= 4;
+    }
+    else if (last_count_base < 0) {
+      encoder_count -= 1;
+      last_count_base += 4;
+    }
+    last_state_a = current_a;
+    last_state_b = current_b;
+}
+
+void encoder_init(void)
+{
+    gpio_config_t io_conf = {};
+    io_conf.intr_type = GPIO_INTR_ANYEDGE;
+    io_conf.pin_bit_mask = (1ULL << ENCODER_PIN_A) | (1ULL << ENCODER_PIN_B);
+    io_conf.mode = GPIO_MODE_INPUT;
+    // Internal Pull-ups prevent "floating" inputs waking the chip randomly
+    io_conf.pull_up_en = GPIO_PULLUP_ENABLE; 
+    io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
+    gpio_config(&io_conf);
+
+    gpio_install_isr_service(ESP_INTR_FLAG_IRAM); // IRAM is vital for Sleep
+
+    gpio_isr_handler_add(ENCODER_PIN_A, encoder_isr_handler, NULL);
+    gpio_isr_handler_add(ENCODER_PIN_B, encoder_isr_handler, NULL);
+
+    ESP_LOGI(TAG, "Encoder initialized with Sleep Wakeup support.");
+}

include/encoder.hpp

@@ -0,0 +1,11 @@
+#ifndef ENCODER_H
+#define ENCODER_H
+#include <atomic>
+#include "esp_pm.h"
+
+extern volatile int32_t encoder_count;
+extern esp_pm_lock_handle_t encoder_pm_lock;
+
+void encoder_init();
+
+#endif