diff --git a/main/CMakeLists.txt b/main/CMakeLists.txt
index e8f4fa1..b944db2 100644
--- a/main/CMakeLists.txt
+++ b/main/CMakeLists.txt
@@ -1,3 +1,3 @@
 idf_component_register(SRCS "functions.c" "app_main.c"
                        INCLUDE_DIRS "include""${CMAKE_SOURCE_DIR}""."
-                       REQUIRES ssd1306 driver esp_adc hal)
+                       REQUIRES ssd1306 driver esp_adc hal esp_timer)
diff --git a/main/app_main.c b/main/app_main.c
index 26cd524..0884872 100644
--- a/main/app_main.c
+++ b/main/app_main.c
@@ -13,6 +13,12 @@ void app_main(void)
     int32_t Current_V = 0;
     int32_t Current_W = 0;
     int32_t Current_bridge =0;
+    bool Hall_A_On = false;
+    bool Hall_B_On = false;
+    bool Hall_C_On = false;
+    int direction = 0;
+    float Speed_indx = 0.0;
+    float Speed_AB = 0.0;
     float duty = 0.0;
     char display_message[50]; // Puffer für die Nachricht
     ESP_LOGI(TAG, "Test");
@@ -31,6 +37,15 @@ void app_main(void)
         Current_U = get_current_ASC712(adc1_handle,CONFIG_I_SENSE_U_ADC);
         Current_V = get_current_ASC712(adc1_handle,CONFIG_I_SENSE_U_ADC);
         Current_W = get_current_ASC712(adc1_handle,CONFIG_I_SENSE_U_ADC);
+        
+       /* Hall_A_On = get_Hall(CONFIG_HALL_A_GPIO);
+        Hall_B_On = get_Hall(CONFIG_HALL_B_GPIO);
+        Hall_C_On = get_Hall(CONFIG_HALL_C_GPIO);
+        */
+        Speed_indx = get_speed_index();
+        Speed_AB = get_speed_AB();
+        direction = get_direction();
+
         Current_bridge = get_current_bridge(adc1_handle, CONFIG_I_SENSE_ADC);
         if (Voltage_IN >= 20000){
             ssd1306_display_text(dev_pt, 1, "Bridge=ON", 10, false);
diff --git a/main/functions.c b/main/functions.c
index 3f8c12d..e0597a0 100644
--- a/main/functions.c
+++ b/main/functions.c
@@ -1,10 +1,32 @@
 
 #include "functions.h"
+uint64_t delta_index_time = 0;
+uint64_t last_index_time = 0;
+uint64_t delta_AB_time = 0;
+uint64_t last_AB_time = 0;    // Definition der Variablen
+
 adc_cali_handle_t cali_handle= NULL;
 
 /*############################################*/
 /*############### GPIO-Setup #################*/
 /*############################################*/
+void IRAM_ATTR index_isr_handler(void *arg){
+    uint64_t current_time = esp_timer_get_time();
+
+    if (last_index_time != 0){
+        delta_index_time = current_time - last_index_time;
+    }
+    last_index_time = current_time;
+}
+void IRAM_ATTR enc_ab_isr_handler(void *arg){
+    uint64_t current_time = esp_timer_get_time();
+
+    if (last_AB_time != 0){
+        delta_AB_time = current_time - last_AB_time;
+    }
+    last_AB_time = current_time;
+}
+
 void configure_GPIO_dir(const char *TAG)
 {
     /* reset every used GPIO-pin *
@@ -52,7 +74,19 @@ void configure_GPIO_dir(const char *TAG)
     gpio_set_direction(CONFIG_EXT_ENC_LEFT_GPIO, GPIO_MODE_INPUT);
     gpio_set_direction(CONFIG_EXT_ENC_RIGHT_GPIO, GPIO_MODE_INPUT);
     gpio_set_direction(CONFIG_RFE_GPIO, GPIO_MODE_INPUT);
+
     ESP_LOGI(TAG, "GPIO dirs configured for DIY power PCB");
+
+    gpio_config_t io_conf = {};
+    io_conf.pin_bit_mask = (1ULL << CONFIG_EXT_ENC_INDX_GPIO)| (1ULL << CONFIG_HALL_A_GPIO);
+    io_conf.mode = GPIO_MODE_INPUT;
+    io_conf.pull_up_en = GPIO_PULLUP_ENABLE;
+    io_conf.intr_type = GPIO_INTR_POSEDGE;  // Interrupt auf steigende Flanke
+    gpio_config(&io_conf);
+
+    gpio_install_isr_service(0);
+    gpio_isr_handler_add(CONFIG_EXT_ENC_INDX_GPIO, index_isr_handler, NULL);
+    gpio_isr_handler_add(CONFIG_HALL_A_GPIO, enc_ab_isr_handler, NULL);
 }
 /*############################################*/
 /*################ ADC-Setup #################*/
@@ -504,6 +538,65 @@ void conf_mcpwm_timers(){
     
 
     }
+bool get_Hall(int HallSensorGPIO){
+    char* TAG="";
+
+    if(HallSensorGPIO == CONFIG_HALL_A_GPIO){
+        TAG = "HALL_A";
+    }else if(HallSensorGPIO == CONFIG_HALL_B_GPIO){
+        TAG = "HALL_B";
+    }
+    else if(HallSensorGPIO == CONFIG_HALL_C_GPIO){
+        TAG = "HALL_C";
+    }else{
+        TAG = "Undefinded";
+    }
+
+    bool level = gpio_get_level(HallSensorGPIO);
+
+    if(level){
+    ESP_LOGI(TAG, "HIGH");
+    }else{
+    ESP_LOGI(TAG,"LOW");
+    }
+    return level;
+}
+int get_direction(){//-1=Error,0=right,1=left
+    bool right = gpio_get_level(CONFIG_EXT_ENC_RIGHT_GPIO);
+    bool left = gpio_get_level(CONFIG_EXT_ENC_LEFT_GPIO);
+    int direction;
+    if (left && right){
+        direction= -1;
+        ESP_LOGI("Encoder","Direction: Error");
+    }else if(right){
+        direction = 0;
+        ESP_LOGI("Encoder","Direction: Right");
+    }else{
+        direction = 1;
+           ESP_LOGI("Encoder","Direction: Left");
+    }
+    return direction;
+}
+
+float get_speed_index(){
+    uint64_t local_delta_time = delta_index_time;
+    float speed_rpm = 0;
+    if (local_delta_time>0){
+        speed_rpm = (60.0*1000000.0/local_delta_time);
+        ESP_LOGI("Encoder", "Geschwindigkeit_Indx: %.2f RPM", speed_rpm);
+    }
+return speed_rpm;
+}
+float get_speed_AB(){
+    uint64_t local_delta_time = delta_AB_time;
+    float speed_rpm = 0;
+    if (local_delta_time>0){
+        speed_rpm = (60.0*1000000.0/local_delta_time)/1000;
+        ESP_LOGI("Encoder", "Geschwindigkeit_AB: %.2f RPM", speed_rpm);
+    }
+return speed_rpm;
+}
+
 /*############################################*/
 /*################## MISC ####################*/
 /*############################################*/
diff --git a/main/include/functions.h b/main/include/functions.h
index 0138e05..25b71dc 100644
--- a/main/include/functions.h
+++ b/main/include/functions.h
@@ -15,6 +15,8 @@
 #include "esp_adc/adc_oneshot.h"
 #include "hal/mcpwm_types.h"
 #include "driver/mcpwm_prelude.h"
+#include "esp_timer.h"
+
 
 #define HIN_U_CH 0
 #define HIN_V_CH 1
@@ -23,6 +25,10 @@
 #ifndef MY_COMPONENT_H
 #define MY_COMPONENT_H
 extern adc_cali_handle_t cali_handle;
+extern uint64_t delta_index_time;
+extern uint64_t last_index_time;
+extern uint64_t delta_AB_time;
+extern uint64_t last_AB_time;
 
 // Deklaration der Funktion, die in my_component.c implementiert ist
 void configure_GPIO_dir(const char *TAG);
@@ -43,6 +49,10 @@ void U_W_start(int duty);
 void W_U_start(int duty);
 void V_W_start(int duty);
 void W_V_start(int duty);
+bool get_Hall(int HallSensorGPIO);
+int get_direction();
+float get_speed_index();
+float get_speed_AB();
 void conf_mcpwm_timers();
 void parse_3pins(const char *TAG, const char *pin_string, int *pins);
 SSD1306_t *configure_OLED(const char *TAG);
diff --git a/sdkconfig.old b/sdkconfig.old
index 89e3734..2608ea4 100644
--- a/sdkconfig.old
+++ b/sdkconfig.old
@@ -239,7 +239,7 @@ CONFIG_IDF_TOOLCHAIN="gcc"
 CONFIG_IDF_TARGET_ARCH_XTENSA=y
 CONFIG_IDF_TARGET_ARCH="xtensa"
 CONFIG_IDF_TARGET="esp32"
-CONFIG_IDF_INIT_VERSION="5.3.0"
+CONFIG_IDF_INIT_VERSION="5.3.1"
 CONFIG_IDF_TARGET_ESP32=y
 CONFIG_IDF_FIRMWARE_CHIP_ID=0x0000