[components][drivers] change name: encoder -> pulse_encoder

19 files changed, 522 insertions, 522 deletions

diff --git a/bsp/stm32/libraries/HAL_Drivers/SConscript b/bsp/stm32/libraries/HAL_Drivers/SConscript
index cb675a16d3..1d37075fcd 100644
--- a/bsp/stm32/libraries/HAL_Drivers/SConscript
+++ b/bsp/stm32/libraries/HAL_Drivers/SConscript
@@ -85,8 +85,8 @@ if GetDepend(['BSP_USING_SDIO']):
 if GetDepend(['BSP_USING_USBD_FS']):
     src += ['drv_usbd_fs.c']
 
-if GetDepend(['BSP_USING_ENCODER']):
-    src += ['drv_encoder.c']
+if GetDepend(['BSP_USING_PULSE_ENCODER']):
+    src += ['drv_pulse_encoder.c']
 
 src += ['drv_common.c']
 
diff --git a/bsp/stm32/libraries/HAL_Drivers/config/f1/encoder_config.h b/bsp/stm32/libraries/HAL_Drivers/config/f1/encoder_config.h
deleted file mode 100644
index 80d515955f..0000000000
--- a/bsp/stm32/libraries/HAL_Drivers/config/f1/encoder_config.h
+++ /dev/null
@@ -1,64 +0,0 @@
-/*
- * Copyright (c) 2006-2018, RT-Thread Development Team
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Change Logs:
- * Date           Author       Notes
- * 2019-08-23     balanceTWK   first version
- */
-
-#ifndef __ENCODER_CONFIG_H__
-#define __ENCODER_CONFIG_H__
-
-#include <rtthread.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifdef BSP_USING_ENCODER1
-#ifndef ENCODER1_CONFIG
-#define ENCODER1_CONFIG                         \
-    {                                           \
-       .tim_handler.Instance     = TIM1,        \
-       .name                    = "encoder1"    \
-    }
-#endif /* ENCODER1_CONFIG */
-#endif /* BSP_USING_ENCODER1 */
-
-#ifdef BSP_USING_ENCODER2
-#ifndef ENCODER2_CONFIG
-#define ENCODER2_CONFIG                         \
-    {                                           \
-       .tim_handler.Instance     = TIM2,        \
-       .name                    = "encoder2"    \
-    }
-#endif /* ENCODER2_CONFIG */
-#endif /* BSP_USING_ENCODER2 */
-
-#ifdef BSP_USING_ENCODER3
-#ifndef ENCODER3_CONFIG
-#define ENCODER3_CONFIG                         \
-    {                                           \
-       .tim_handler.Instance     = TIM3,        \
-       .name                    = "encoder3"    \
-    }
-#endif /* ENCODER3_CONFIG */
-#endif /* BSP_USING_ENCODER3 */
-
-#ifdef BSP_USING_ENCODER4
-#ifndef ENCODER4_CONFIG
-#define ENCODER4_CONFIG                         \
-    {                                           \
-       .tim_handler.Instance     = TIM4,        \
-       .name                    = "encoder4"    \
-    }
-#endif /* ENCODER4_CONFIG */
-#endif /* BSP_USING_ENCODER4 */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __ENCODER_CONFIG_H__ */
diff --git a/bsp/stm32/libraries/HAL_Drivers/config/f1/pulse_encoder_config.h b/bsp/stm32/libraries/HAL_Drivers/config/f1/pulse_encoder_config.h
new file mode 100644
index 0000000000..4621240c98
--- /dev/null
+++ b/bsp/stm32/libraries/HAL_Drivers/config/f1/pulse_encoder_config.h
@@ -0,0 +1,64 @@
+/*
+ * Copyright (c) 2006-2018, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2019-08-23     balanceTWK   first version
+ */
+
+#ifndef __PULSE_ENCODER_CONFIG_H__
+#define __PULSE_ENCODER_CONFIG_H__
+
+#include <rtthread.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef BSP_USING_PULSE_ENCODER1
+#ifndef PULSE_ENCODER1_CONFIG
+#define PULSE_ENCODER1_CONFIG                 \
+    {                                         \
+       .tim_handler.Instance     = TIM1,      \
+       .name                    = "pulse1"    \
+    }
+#endif /* PULSE_ENCODER1_CONFIG */
+#endif /* BSP_USING_PULSE_ENCODER1 */
+
+#ifdef BSP_USING_PULSE_ENCODER2
+#ifndef PULSE_ENCODER2_CONFIG
+#define PULSE_ENCODER2_CONFIG                 \
+    {                                         \
+       .tim_handler.Instance     = TIM2,      \
+       .name                    = "pulse2"    \
+    }
+#endif /* PULSE_ENCODER2_CONFIG */
+#endif /* BSP_USING_PULSE_ENCODER2 */
+
+#ifdef BSP_USING_PULSE_ENCODER3
+#ifndef PULSE_ENCODER3_CONFIG
+#define PULSE_ENCODER3_CONFIG                 \
+    {                                         \
+       .tim_handler.Instance     = TIM3,      \
+       .name                    = "pulse3"    \
+    }
+#endif /* PULSE_ENCODER3_CONFIG */
+#endif /* BSP_USING_PULSE_ENCODER3 */
+
+#ifdef BSP_USING_PULSE_ENCODER4
+#ifndef PULSE_ENCODER4_CONFIG
+#define PULSE_ENCODER4_CONFIG                 \
+    {                                         \
+       .tim_handler.Instance     = TIM4,      \
+       .name                    = "pulse4"    \
+    }
+#endif /* PULSE_ENCODER4_CONFIG */
+#endif /* BSP_USING_PULSE_ENCODER4 */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __PULSE_ENCODER_CONFIG_H__ */
diff --git a/bsp/stm32/libraries/HAL_Drivers/config/f4/encoder_config.h b/bsp/stm32/libraries/HAL_Drivers/config/f4/encoder_config.h
deleted file mode 100644
index 80d515955f..0000000000
--- a/bsp/stm32/libraries/HAL_Drivers/config/f4/encoder_config.h
+++ /dev/null
@@ -1,64 +0,0 @@
-/*
- * Copyright (c) 2006-2018, RT-Thread Development Team
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Change Logs:
- * Date           Author       Notes
- * 2019-08-23     balanceTWK   first version
- */
-
-#ifndef __ENCODER_CONFIG_H__
-#define __ENCODER_CONFIG_H__
-
-#include <rtthread.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifdef BSP_USING_ENCODER1
-#ifndef ENCODER1_CONFIG
-#define ENCODER1_CONFIG                         \
-    {                                           \
-       .tim_handler.Instance     = TIM1,        \
-       .name                    = "encoder1"    \
-    }
-#endif /* ENCODER1_CONFIG */
-#endif /* BSP_USING_ENCODER1 */
-
-#ifdef BSP_USING_ENCODER2
-#ifndef ENCODER2_CONFIG
-#define ENCODER2_CONFIG                         \
-    {                                           \
-       .tim_handler.Instance     = TIM2,        \
-       .name                    = "encoder2"    \
-    }
-#endif /* ENCODER2_CONFIG */
-#endif /* BSP_USING_ENCODER2 */
-
-#ifdef BSP_USING_ENCODER3
-#ifndef ENCODER3_CONFIG
-#define ENCODER3_CONFIG                         \
-    {                                           \
-       .tim_handler.Instance     = TIM3,        \
-       .name                    = "encoder3"    \
-    }
-#endif /* ENCODER3_CONFIG */
-#endif /* BSP_USING_ENCODER3 */
-
-#ifdef BSP_USING_ENCODER4
-#ifndef ENCODER4_CONFIG
-#define ENCODER4_CONFIG                         \
-    {                                           \
-       .tim_handler.Instance     = TIM4,        \
-       .name                    = "encoder4"    \
-    }
-#endif /* ENCODER4_CONFIG */
-#endif /* BSP_USING_ENCODER4 */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __ENCODER_CONFIG_H__ */
diff --git a/bsp/stm32/libraries/HAL_Drivers/config/f4/pulse_encoder_config.h b/bsp/stm32/libraries/HAL_Drivers/config/f4/pulse_encoder_config.h
new file mode 100644
index 0000000000..4621240c98
--- /dev/null
+++ b/bsp/stm32/libraries/HAL_Drivers/config/f4/pulse_encoder_config.h
@@ -0,0 +1,64 @@
+/*
+ * Copyright (c) 2006-2018, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2019-08-23     balanceTWK   first version
+ */
+
+#ifndef __PULSE_ENCODER_CONFIG_H__
+#define __PULSE_ENCODER_CONFIG_H__
+
+#include <rtthread.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef BSP_USING_PULSE_ENCODER1
+#ifndef PULSE_ENCODER1_CONFIG
+#define PULSE_ENCODER1_CONFIG                 \
+    {                                         \
+       .tim_handler.Instance     = TIM1,      \
+       .name                    = "pulse1"    \
+    }
+#endif /* PULSE_ENCODER1_CONFIG */
+#endif /* BSP_USING_PULSE_ENCODER1 */
+
+#ifdef BSP_USING_PULSE_ENCODER2
+#ifndef PULSE_ENCODER2_CONFIG
+#define PULSE_ENCODER2_CONFIG                 \
+    {                                         \
+       .tim_handler.Instance     = TIM2,      \
+       .name                    = "pulse2"    \
+    }
+#endif /* PULSE_ENCODER2_CONFIG */
+#endif /* BSP_USING_PULSE_ENCODER2 */
+
+#ifdef BSP_USING_PULSE_ENCODER3
+#ifndef PULSE_ENCODER3_CONFIG
+#define PULSE_ENCODER3_CONFIG                 \
+    {                                         \
+       .tim_handler.Instance     = TIM3,      \
+       .name                    = "pulse3"    \
+    }
+#endif /* PULSE_ENCODER3_CONFIG */
+#endif /* BSP_USING_PULSE_ENCODER3 */
+
+#ifdef BSP_USING_PULSE_ENCODER4
+#ifndef PULSE_ENCODER4_CONFIG
+#define PULSE_ENCODER4_CONFIG                 \
+    {                                         \
+       .tim_handler.Instance     = TIM4,      \
+       .name                    = "pulse4"    \
+    }
+#endif /* PULSE_ENCODER4_CONFIG */
+#endif /* BSP_USING_PULSE_ENCODER4 */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __PULSE_ENCODER_CONFIG_H__ */
diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_config.h b/bsp/stm32/libraries/HAL_Drivers/drv_config.h
index 9f5194d960..fa4555fe50 100644
--- a/bsp/stm32/libraries/HAL_Drivers/drv_config.h
+++ b/bsp/stm32/libraries/HAL_Drivers/drv_config.h
@@ -34,7 +34,7 @@ extern "C" {
 #include "f1/sdio_config.h"
 #include "f1/pwm_config.h"
 #include "f1/usbd_fs_config.h"
-#include "f1/encoder_config.h"
+#include "f1/pulse_encoder_config.h"
 #elif  defined(SOC_SERIES_STM32F2)
 #include "f2/dma_config.h"
 #include "f2/uart_config.h"
@@ -53,7 +53,7 @@ extern "C" {
 #include "f4/tim_config.h"
 #include "f4/sdio_config.h"
 #include "f4/pwm_config.h"
-#include "f4/encoder_config.h"
+#include "f4/pulse_encoder_config.h"
 #elif  defined(SOC_SERIES_STM32F7)
 #include "f7/dma_config.h"
 #include "f7/uart_config.h"
diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_encoder.c b/bsp/stm32/libraries/HAL_Drivers/drv_encoder.c
deleted file mode 100644
index ca42c151fa..0000000000
--- a/bsp/stm32/libraries/HAL_Drivers/drv_encoder.c
+++ /dev/null
@@ -1,176 +0,0 @@
-/*
- * Copyright (c) 2006-2018, RT-Thread Development Team
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Change Logs:
- * Date           Author       Notes
- * 2019-08-23     balanceTWK   first version
- */
-
-#include "board.h"
-#include "drv_config.h"
-#ifdef RT_USING_ENCODER
-
-//#define DRV_DEBUG
-#define LOG_TAG             "drv.encoder"
-#include <drv_log.h>
-
-#if !defined(BSP_USING_ENCODER1) && !defined(BSP_USING_ENCODER2) && !defined(BSP_USING_ENCODER3) \
-    && !defined(BSP_USING_ENCODER4) && !defined(BSP_USING_ENCODER5) && !defined(BSP_USING_ENCODER6) && !defined(BSP_USING_LPENCODER1)
-    #error "Please define at least one BSP_USING_ENCODERx"
-    /* this driver can be disabled at menuconfig → RT-Thread Components → Device Drivers */
-#endif
-
-enum
-{
-#ifdef BSP_USING_ENCODER1
-    ENCODER1_INDEX,
-#endif
-#ifdef BSP_USING_ENCODER2
-    ENCODER2_INDEX,
-#endif
-#ifdef BSP_USING_ENCODER3
-    ENCODER3_INDEX,
-#endif
-#ifdef BSP_USING_ENCODER4
-    ENCODER4_INDEX,
-#endif
-#ifdef BSP_USING_ENCODER5
-    ENCODER5_INDEX,
-#endif
-#ifdef BSP_USING_ENCODER6
-    ENCODER6_INDEX,
-#endif
-};
-
-struct stm32_encoder_device
-{
-    struct rt_encoder_device encoder;
-    TIM_HandleTypeDef tim_handler;
-    char *name;
-};
-
-static struct stm32_encoder_device stm32_encoder_obj[] =
-{
-#ifdef BSP_USING_ENCODER1
-    ENCODER1_CONFIG,
-#endif
-#ifdef BSP_USING_ENCODER2
-    ENCODER2_CONFIG,
-#endif
-#ifdef BSP_USING_ENCODER3
-    ENCODER3_CONFIG,
-#endif
-#ifdef BSP_USING_ENCODER4
-    ENCODER4_CONFIG,
-#endif
-#ifdef BSP_USING_ENCODER5
-    ENCODER5_CONFIG,
-#endif
-#ifdef BSP_USING_ENCODER6
-    ENCODER6_CONFIG,
-#endif
-};
-
-rt_err_t encoder_init(struct rt_encoder_device *encoder)
-{
-    TIM_Encoder_InitTypeDef sConfig;
-    TIM_MasterConfigTypeDef sMasterConfig;
-    TIM_HandleTypeDef *tim_handler = (TIM_HandleTypeDef *)encoder->parent.user_data;
-
-    tim_handler->Init.Prescaler = 0;
-    tim_handler->Init.CounterMode = TIM_COUNTERMODE_UP;
-    tim_handler->Init.Period = 0xffff;
-    tim_handler->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-
-    sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
-    sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
-    sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
-    sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
-    sConfig.IC1Filter = 3;
-    sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
-    sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
-    sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
-    sConfig.IC2Filter = 3;
-
-    if (HAL_TIM_Encoder_Init(tim_handler, &sConfig) != HAL_OK)
-    {
-        LOG_E("encoder init failed");
-        return -RT_ERROR;
-    }
-
-    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
-    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
-
-    if (HAL_TIMEx_MasterConfigSynchronization(tim_handler, &sMasterConfig))
-    {
-        LOG_E("TIMx master config failed");
-        return -RT_ERROR;
-    }
-
-    return RT_EOK;
-}
-
-rt_int32_t encoder_get_count(struct rt_encoder_device *encoder)
-{
-    TIM_HandleTypeDef *tim_handler = (TIM_HandleTypeDef *)encoder->parent.user_data;
-    return (rt_int16_t)__HAL_TIM_GET_COUNTER(tim_handler);
-}
-
-rt_err_t encoder_control(struct rt_encoder_device *encoder, rt_uint32_t cmd, void *args)
-{
-    rt_err_t result;
-    TIM_HandleTypeDef *tim_handler = (TIM_HandleTypeDef *)encoder->parent.user_data;
-
-    result = RT_EOK;
-
-    switch (cmd)
-    {
-    case ENCODER_CMD_ENABLE:
-        HAL_TIM_Encoder_Start(tim_handler, TIM_CHANNEL_ALL);
-        break;
-    case ENCODER_CMD_DISABLE:
-        HAL_TIM_Encoder_Stop(tim_handler, TIM_CHANNEL_ALL);
-        break;
-    case ENCODER_CMD_CLEAR_COUNT:
-        __HAL_TIM_SET_COUNTER(tim_handler, 0);
-        break;
-    default:
-        result = -RT_ENOSYS;
-        break;
-    }
-
-    return result;
-}
-
-static const struct rt_encoder_ops _ops =
-{
-    .init = encoder_init,
-    .get_count = encoder_get_count,
-    .control = encoder_control,
-};
-
-int hw_encoder_init(void)
-{
-    int i;
-    int result;
-
-    result = RT_EOK;
-    for (i = 0; i < sizeof(stm32_encoder_obj) / sizeof(stm32_encoder_obj[0]); i++)
-    {
-        stm32_encoder_obj[i].encoder.type = AB_PHASE_ENCODER;
-        stm32_encoder_obj[i].encoder.ops = &_ops;
-
-        if (rt_device_encoder_register(&stm32_encoder_obj[i].encoder, stm32_encoder_obj[i].name, &stm32_encoder_obj[i].tim_handler) != RT_EOK)
-        {
-            LOG_E("%s register failed", stm32_encoder_obj[i].name);
-            result = -RT_ERROR;
-        }
-    }
-
-    return result;
-}
-INIT_BOARD_EXPORT(hw_encoder_init);
-
-#endif
diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_pulse_encoder.c b/bsp/stm32/libraries/HAL_Drivers/drv_pulse_encoder.c
new file mode 100644
index 0000000000..432b8b2a05
--- /dev/null
+++ b/bsp/stm32/libraries/HAL_Drivers/drv_pulse_encoder.c
@@ -0,0 +1,176 @@
+/*
+ * Copyright (c) 2006-2018, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2019-08-23     balanceTWK   first version
+ */
+
+#include "board.h"
+#include "drv_config.h"
+#ifdef RT_USING_PULSE_ENCODER
+
+//#define DRV_DEBUG
+#define LOG_TAG             "drv.pulse_encoder"
+#include <drv_log.h>
+
+#if !defined(BSP_USING_PULSE_ENCODER1) && !defined(BSP_USING_PULSE_ENCODER2) && !defined(BSP_USING_PULSE_ENCODER3) \
+    && !defined(BSP_USING_PULSE_ENCODER4) && !defined(BSP_USING_PULSE_ENCODER5) && !defined(BSP_USING_PULSE_ENCODER6)
+    #error "Please define at least one BSP_USING_PULSE_ENCODERx"
+    /* this driver can be disabled at menuconfig → RT-Thread Components → Device Drivers */
+#endif
+
+enum
+{
+#ifdef BSP_USING_PULSE_ENCODER1
+    PULSE_ENCODER1_INDEX,
+#endif
+#ifdef BSP_USING_PULSE_ENCODER2
+    PULSE_ENCODER2_INDEX,
+#endif
+#ifdef BSP_USING_PULSE_ENCODER3
+    PULSE_ENCODER3_INDEX,
+#endif
+#ifdef BSP_USING_PULSE_ENCODER4
+    PULSE_ENCODER4_INDEX,
+#endif
+#ifdef BSP_USING_PULSE_ENCODER5
+    PULSE_ENCODER5_INDEX,
+#endif
+#ifdef BSP_USING_PULSE_ENCODER6
+    PULSE_ENCODER6_INDEX,
+#endif
+};
+
+struct stm32_pulse_encoder_device
+{
+    struct rt_pulse_encoder_device pulse_encoder;
+    TIM_HandleTypeDef tim_handler;
+    char *name;
+};
+
+static struct stm32_pulse_encoder_device stm32_pulse_encoder_obj[] =
+{
+#ifdef BSP_USING_PULSE_ENCODER1
+    PULSE_ENCODER1_CONFIG,
+#endif
+#ifdef BSP_USING_PULSE_ENCODER2
+    PULSE_ENCODER2_CONFIG,
+#endif
+#ifdef BSP_USING_PULSE_ENCODER3
+    PULSE_ENCODER3_CONFIG,
+#endif
+#ifdef BSP_USING_PULSE_ENCODER4
+    PULSE_ENCODER4_CONFIG,
+#endif
+#ifdef BSP_USING_PULSE_ENCODER5
+    PULSE_ENCODER5_CONFIG,
+#endif
+#ifdef BSP_USING_PULSE_ENCODER6
+    PULSE_ENCODER6_CONFIG,
+#endif
+};
+
+rt_err_t pulse_encoder_init(struct rt_pulse_encoder_device *pulse_encoder)
+{
+    TIM_Encoder_InitTypeDef sConfig;
+    TIM_MasterConfigTypeDef sMasterConfig;
+    TIM_HandleTypeDef *tim_handler = (TIM_HandleTypeDef *)pulse_encoder->parent.user_data;
+
+    tim_handler->Init.Prescaler = 0;
+    tim_handler->Init.CounterMode = TIM_COUNTERMODE_UP;
+    tim_handler->Init.Period = 0xffff;
+    tim_handler->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+
+    sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
+    sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
+    sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
+    sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
+    sConfig.IC1Filter = 3;
+    sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
+    sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
+    sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
+    sConfig.IC2Filter = 3;
+
+    if (HAL_TIM_Encoder_Init(tim_handler, &sConfig) != HAL_OK)
+    {
+        LOG_E("pulse_encoder init failed");
+        return -RT_ERROR;
+    }
+
+    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+
+    if (HAL_TIMEx_MasterConfigSynchronization(tim_handler, &sMasterConfig))
+    {
+        LOG_E("TIMx master config failed");
+        return -RT_ERROR;
+    }
+
+    return RT_EOK;
+}
+
+rt_int32_t pulse_encoder_get_count(struct rt_pulse_encoder_device *pulse_encoder)
+{
+    TIM_HandleTypeDef *tim_handler = (TIM_HandleTypeDef *)pulse_encoder->parent.user_data;
+    return (rt_int16_t)__HAL_TIM_GET_COUNTER(tim_handler);
+}
+
+rt_err_t pulse_encoder_control(struct rt_pulse_encoder_device *pulse_encoder, rt_uint32_t cmd, void *args)
+{
+    rt_err_t result;
+    TIM_HandleTypeDef *tim_handler = (TIM_HandleTypeDef *)pulse_encoder->parent.user_data;
+
+    result = RT_EOK;
+
+    switch (cmd)
+    {
+    case PULSE_ENCODER_CMD_ENABLE:
+        HAL_TIM_Encoder_Start(tim_handler, TIM_CHANNEL_ALL);
+        break;
+    case PULSE_ENCODER_CMD_DISABLE:
+        HAL_TIM_Encoder_Stop(tim_handler, TIM_CHANNEL_ALL);
+        break;
+    case PULSE_ENCODER_CMD_CLEAR_COUNT:
+        __HAL_TIM_SET_COUNTER(tim_handler, 0);
+        break;
+    default:
+        result = -RT_ENOSYS;
+        break;
+    }
+
+    return result;
+}
+
+static const struct rt_pulse_encoder_ops _ops =
+{
+    .init = pulse_encoder_init,
+    .get_count = pulse_encoder_get_count,
+    .control = pulse_encoder_control,
+};
+
+int hw_pulse_encoder_init(void)
+{
+    int i;
+    int result;
+
+    result = RT_EOK;
+    for (i = 0; i < sizeof(stm32_pulse_encoder_obj) / sizeof(stm32_pulse_encoder_obj[0]); i++)
+    {
+        stm32_pulse_encoder_obj[i].pulse_encoder.type = AB_PHASE_PULSE_ENCODER;
+        stm32_pulse_encoder_obj[i].pulse_encoder.ops = &_ops;
+
+        if (rt_device_pulse_encoder_register(&stm32_pulse_encoder_obj[i].pulse_encoder, stm32_pulse_encoder_obj[i].name, &stm32_pulse_encoder_obj[i].tim_handler) != RT_EOK)
+        {
+            LOG_E("%s register failed", stm32_pulse_encoder_obj[i].name);
+            result = -RT_ERROR;
+        }
+    }
+
+    return result;
+}
+INIT_BOARD_EXPORT(hw_pulse_encoder_init);
+
+#endif
diff --git a/bsp/stm32/libraries/STM32F1xx_HAL/SConscript b/bsp/stm32/libraries/STM32F1xx_HAL/SConscript
index 8d554cac85..f629479376 100644
--- a/bsp/stm32/libraries/STM32F1xx_HAL/SConscript
+++ b/bsp/stm32/libraries/STM32F1xx_HAL/SConscript
@@ -44,7 +44,7 @@ if GetDepend(['RT_USING_USB_HOST']) or GetDepend(['RT_USING_USB_DEVICE']):
 if GetDepend(['RT_USING_CAN']):
     src += ['STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_can.c']
 
-if GetDepend(['RT_USING_HWTIMER']) or GetDepend(['RT_USING_PWM']) or GetDepend(['RT_USING_ENCODER']):
+if GetDepend(['RT_USING_HWTIMER']) or GetDepend(['RT_USING_PWM']) or GetDepend(['RT_USING_PULSE_ENCODER']):
     src += ['STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c']
     src += ['STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c']
 
diff --git a/bsp/stm32/libraries/STM32F4xx_HAL/SConscript b/bsp/stm32/libraries/STM32F4xx_HAL/SConscript
index 7bf1638169..87c000ae18 100644
--- a/bsp/stm32/libraries/STM32F4xx_HAL/SConscript
+++ b/bsp/stm32/libraries/STM32F4xx_HAL/SConscript
@@ -46,7 +46,7 @@ if GetDepend(['RT_USING_USB_HOST']) or GetDepend(['RT_USING_USB_DEVICE']):
 if GetDepend(['RT_USING_CAN']):
     src += ['STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c']
 
-if GetDepend(['RT_USING_HWTIMER']) or GetDepend(['RT_USING_PWM']) or GetDepend(['RT_USING_ENCODER']):
+if GetDepend(['RT_USING_HWTIMER']) or GetDepend(['RT_USING_PWM']) or GetDepend(['RT_USING_PULSE_ENCODER']):
     src += ['STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c']
     src += ['STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c']
     src += ['STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_lptim.c']
diff --git a/bsp/stm32/stm32f103-atk-warshipv3/board/Kconfig b/bsp/stm32/stm32f103-atk-warshipv3/board/Kconfig
index 8f34aca198..e02250d243 100644
--- a/bsp/stm32/stm32f103-atk-warshipv3/board/Kconfig
+++ b/bsp/stm32/stm32f103-atk-warshipv3/board/Kconfig
@@ -201,13 +201,13 @@ menu "On-chip Peripheral Drivers"
         select RT_USING_WDT
         default n
 
-    menuconfig BSP_USING_ENCODER
-        bool "Enable Encoder"
+    menuconfig BSP_USING_PULSE_ENCODER
+        bool "Enable Pulse Encoder"
         default n
-        select RT_USING_ENCODER
-        if BSP_USING_ENCODER
-            config BSP_USING_ENCODER3
-                bool "Enable Encoder3"
+        select RT_USING_PULSE_ENCODER
+        if BSP_USING_PULSE_ENCODER
+            config BSP_USING_PULSE_ENCODER3
+                bool "Enable Pulse Encoder3"
                 default n
 
         endif
diff --git a/bsp/stm32/stm32f407-atk-explorer/board/Kconfig b/bsp/stm32/stm32f407-atk-explorer/board/Kconfig
index 1f0de499ed..2a235f0550 100644
--- a/bsp/stm32/stm32f407-atk-explorer/board/Kconfig
+++ b/bsp/stm32/stm32f407-atk-explorer/board/Kconfig
@@ -294,13 +294,13 @@ menu "On-chip Peripheral Drivers"
         select RT_USING_DFS
         default n
 
-    menuconfig BSP_USING_ENCODER
-        bool "Enable Encoder"
+    menuconfig BSP_USING_PULSE_ENCODER
+        bool "Enable Pulse Encoder"
         default n
-        select RT_USING_ENCODER
-        if BSP_USING_ENCODER
-            config BSP_USING_ENCODER4
-                bool "Enable Encoder4"
+        select RT_USING_PULSE_ENCODER
+        if BSP_USING_PULSE_ENCODER
+            config BSP_USING_PULSE_ENCODER4
+                bool "Enable Pulse Encoder4"
                 default n
 
         endif
diff --git a/components/drivers/Kconfig b/components/drivers/Kconfig
index ff30fa6162..ea928f452d 100755
--- a/components/drivers/Kconfig
+++ b/components/drivers/Kconfig
@@ -434,8 +434,8 @@ menuconfig RT_USING_HWCRYPTO
         endif
     endif
 
-config RT_USING_ENCODER
-    bool "Using ENCODER device drivers"
+config RT_USING_PULSE_ENCODER
+    bool "Using PULSE ENCODER device drivers"
     default n
 
 config RT_USING_INPUT_CAPTURE
diff --git a/components/drivers/include/drivers/encoder.h b/components/drivers/include/drivers/encoder.h
deleted file mode 100644
index f338f9e845..0000000000
--- a/components/drivers/include/drivers/encoder.h
+++ /dev/null
@@ -1,58 +0,0 @@
-/*
- * Copyright (c) 2006-2018, RT-Thread Development Team
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Change Logs:
- * Date           Author       Notes
- * 2019-08-08     balanceTWK   the first version
- */
-
-#ifndef __ENCODER_H__
-#define __ENCODER_H__
-
-#include <rtthread.h>
-#include <rtdevice.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* encoder control command */
-#define ENCODER_CMD_GET_TYPE       (128 + 0)    /* get a encoder type information */
-#define ENCODER_CMD_ENABLE         (128 + 1)    /* enable encoder */
-#define ENCODER_CMD_DISABLE        (128 + 2)    /* disable encoder */
-#define ENCODER_CMD_CLEAR_COUNT    (128 + 3)    /* clear encoder count */
-
-/* encoder type */
-enum rt_encoder_type
-{
-    UNKNOWN_ENCODER_TYPE = 0x00,    /* Unknown encoder type */
-    SINGLE_PHASE_ENCODER,           /* single phase encoder */
-    AB_PHASE_ENCODER                /* two phase encoder */
-};
-
-struct rt_encoder_device;
-
-struct rt_encoder_ops
-{
-    rt_err_t (*init)(struct rt_encoder_device *encoder);
-    rt_int32_t (*get_count)(struct rt_encoder_device *encoder);
-    rt_err_t (*clear_count)(struct rt_encoder_device *encoder);
-    rt_err_t (*control)(struct rt_encoder_device *encoder, rt_uint32_t cmd, void *args);
-};
-
-struct rt_encoder_device
-{
-    struct rt_device parent;
-    const struct rt_encoder_ops *ops;
-    enum rt_encoder_type type;
-};
-
-rt_err_t rt_device_encoder_register(struct rt_encoder_device *encoder, const char *name, void *user_data);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __ENCODER_H__ */
diff --git a/components/drivers/include/drivers/pulse_encoder.h b/components/drivers/include/drivers/pulse_encoder.h
new file mode 100644
index 0000000000..0c7df04cd6
--- /dev/null
+++ b/components/drivers/include/drivers/pulse_encoder.h
@@ -0,0 +1,58 @@
+/*
+ * Copyright (c) 2006-2018, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2019-08-08     balanceTWK   the first version
+ */
+
+#ifndef __PULSE_ENCODER_H__
+#define __PULSE_ENCODER_H__
+
+#include <rtthread.h>
+#include <rtdevice.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* pulse_encoder control command */
+#define PULSE_ENCODER_CMD_GET_TYPE       (128 + 0)    /* get a pulse_encoder type information */
+#define PULSE_ENCODER_CMD_ENABLE         (128 + 1)    /* enable pulse_encoder */
+#define PULSE_ENCODER_CMD_DISABLE        (128 + 2)    /* disable pulse_encoder */
+#define PULSE_ENCODER_CMD_CLEAR_COUNT    (128 + 3)    /* clear pulse_encoder count */
+
+/* pulse_encoder type */
+enum rt_pulse_encoder_type
+{
+    UNKNOWN_PULSE_ENCODER_TYPE = 0x00,    /* Unknown pulse_encoder type */
+    SINGLE_PHASE_PULSE_ENCODER,           /* single phase pulse_encoder */
+    AB_PHASE_PULSE_ENCODER                /* two phase pulse_encoder */
+};
+
+struct rt_pulse_encoder_device;
+
+struct rt_pulse_encoder_ops
+{
+    rt_err_t (*init)(struct rt_pulse_encoder_device *pulse_encoder);
+    rt_int32_t (*get_count)(struct rt_pulse_encoder_device *pulse_encoder);
+    rt_err_t (*clear_count)(struct rt_pulse_encoder_device *pulse_encoder);
+    rt_err_t (*control)(struct rt_pulse_encoder_device *pulse_encoder, rt_uint32_t cmd, void *args);
+};
+
+struct rt_pulse_encoder_device
+{
+    struct rt_device parent;
+    const struct rt_pulse_encoder_ops *ops;
+    enum rt_pulse_encoder_type type;
+};
+
+rt_err_t rt_device_pulse_encoder_register(struct rt_pulse_encoder_device *pulse_encoder, const char *name, void *user_data);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __PULSE_ENCODER_H__ */
diff --git a/components/drivers/include/rtdevice.h b/components/drivers/include/rtdevice.h
index bb302ac2af..623c085430 100644
--- a/components/drivers/include/rtdevice.h
+++ b/components/drivers/include/rtdevice.h
@@ -126,8 +126,8 @@ extern "C" {
 #include "drivers/crypto.h"
 #endif
 
-#ifdef RT_USING_ENCODER
-#include "drivers/encoder.h"
+#ifdef RT_USING_PULSE_ENCODER
+#include "drivers/pulse_encoder.h"
 #endif
 
 #ifdef RT_USING_INPUT_CAPTURE
diff --git a/components/drivers/misc/SConscript b/components/drivers/misc/SConscript
index f0d177f761..8a9fdb5eb9 100644
--- a/components/drivers/misc/SConscript
+++ b/components/drivers/misc/SConscript
@@ -14,8 +14,8 @@ if GetDepend(['RT_USING_ADC']):
 if GetDepend(['RT_USING_PWM']):
     src = src + ['rt_drv_pwm.c']
     
-if GetDepend(['RT_USING_ENCODER']):
-    src = src + ['encoder.c']
+if GetDepend(['RT_USING_PULSE_ENCODER']):
+    src = src + ['pulse_encoder.c']
 
 if GetDepend(['RT_USING_INPUT_CAPTURE']):
     src = src + ['rt_inputcapture.c']
diff --git a/components/drivers/misc/encoder.c b/components/drivers/misc/encoder.c
deleted file mode 100644
index e9e1da0f40..0000000000
--- a/components/drivers/misc/encoder.c
+++ /dev/null
@@ -1,136 +0,0 @@
-/*
- * Copyright (c) 2006-2018, RT-Thread Development Team
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Change Logs:
- * Date           Author       Notes
- * 2019-08-08     balanceTWK   the first version
- */
-
-#include <rtthread.h>
-#include <rtdevice.h>
-
-static rt_err_t rt_encoder_init(struct rt_device *dev)
-{
-    struct rt_encoder_device *encoder;
-
-    encoder = (struct rt_encoder_device *)dev;
-    if (encoder->ops->init)
-    {
-        return encoder->ops->init(encoder);
-    }
-    else
-    {
-        return -RT_ENOSYS;
-    }
-}
-
-static rt_err_t rt_encoder_open(struct rt_device *dev, rt_uint16_t oflag)
-{
-    struct rt_encoder_device *encoder;
-
-    encoder = (struct rt_encoder_device *)dev;
-    if (encoder->ops->control)
-    {
-        return encoder->ops->control(encoder, ENCODER_CMD_ENABLE, RT_NULL);
-    }
-    else
-    {
-        return -RT_ENOSYS;
-    }
-}
-
-static rt_err_t rt_encoder_close(struct rt_device *dev)
-{
-    struct rt_encoder_device *encoder;
-
-    encoder = (struct rt_encoder_device *)dev;
-    if (encoder->ops->control)
-    {
-        return encoder->ops->control(encoder, ENCODER_CMD_DISABLE, RT_NULL);
-    }
-    else
-    {
-        return -RT_ENOSYS;
-    }
-}
-
-static rt_size_t rt_encoder_read(struct rt_device *dev, rt_off_t pos, void *buffer, rt_size_t size)
-{
-    struct rt_encoder_device *encoder;
-
-    encoder = (struct rt_encoder_device *)dev;
-    if (encoder->ops->get_count)
-    {
-        *(rt_int32_t *)buffer = encoder->ops->get_count(encoder);
-    }
-    return 1;
-}
-
-static rt_err_t rt_encoder_control(struct rt_device *dev, int cmd, void *args)
-{
-    rt_err_t result;
-    struct rt_encoder_device *encoder;
-
-    result = RT_EOK;
-    encoder = (struct rt_encoder_device *)dev;
-    switch (cmd)
-    {
-    case ENCODER_CMD_CLEAR_COUNT:
-        result = encoder->ops->clear_count(encoder);
-        break;
-    case ENCODER_CMD_GET_TYPE:
-        *(enum rt_encoder_type *)args = encoder->type;
-        break;
-    case ENCODER_CMD_ENABLE:
-    case ENCODER_CMD_DISABLE:
-        result = encoder->ops->control(encoder, cmd, args);
-        break;
-    default:
-        result = -RT_ENOSYS;
-        break;
-    }
-
-    return result;
-}
-
-#ifdef RT_USING_DEVICE_OPS
-const static struct rt_device_ops encoder_ops =
-{
-    rt_encoder_init,
-    rt_encoder_open,
-    rt_encoder_close,
-    rt_encoder_read,
-    RT_NULL,
-    rt_encoder_control
-};
-#endif
-
-rt_err_t rt_device_encoder_register(struct rt_encoder_device *encoder, const char *name, void *user_data)
-{
-    struct rt_device *device;
-
-    RT_ASSERT(encoder != RT_NULL);
-    RT_ASSERT(encoder->ops != RT_NULL);
-
-    device = &(encoder->parent);
-
-    device->type        = RT_Device_Class_Miscellaneous;
-    device->rx_indicate = RT_NULL;
-    device->tx_complete = RT_NULL;
-
-#ifdef RT_USING_DEVICE_OPS
-    device->ops         = &encoder_ops;
-#else
-    device->init        = rt_encoder_init;
-    device->open        = rt_encoder_open;
-    device->close       = rt_encoder_close;
-    device->read        = rt_encoder_read;
-    device->write       = RT_NULL;
-    device->control     = rt_encoder_control;
-#endif
-    device->user_data   = user_data;
-
-    return rt_device_register(device, name, RT_DEVICE_FLAG_RDONLY | RT_DEVICE_FLAG_STANDALONE);
-}
diff --git a/components/drivers/misc/pulse_encoder.c b/components/drivers/misc/pulse_encoder.c
new file mode 100644
index 0000000000..3145c24675
--- /dev/null
+++ b/components/drivers/misc/pulse_encoder.c
@@ -0,0 +1,136 @@
+/*
+ * Copyright (c) 2006-2018, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2019-08-08     balanceTWK   the first version
+ */
+
+#include <rtthread.h>
+#include <rtdevice.h>
+
+static rt_err_t rt_pulse_encoder_init(struct rt_device *dev)
+{
+    struct rt_pulse_encoder_device *pulse_encoder;
+
+    pulse_encoder = (struct rt_pulse_encoder_device *)dev;
+    if (pulse_encoder->ops->init)
+    {
+        return pulse_encoder->ops->init(pulse_encoder);
+    }
+    else
+    {
+        return -RT_ENOSYS;
+    }
+}
+
+static rt_err_t rt_pulse_encoder_open(struct rt_device *dev, rt_uint16_t oflag)
+{
+    struct rt_pulse_encoder_device *pulse_encoder;
+
+    pulse_encoder = (struct rt_pulse_encoder_device *)dev;
+    if (pulse_encoder->ops->control)
+    {
+        return pulse_encoder->ops->control(pulse_encoder, PULSE_ENCODER_CMD_ENABLE, RT_NULL);
+    }
+    else
+    {
+        return -RT_ENOSYS;
+    }
+}
+
+static rt_err_t rt_pulse_encoder_close(struct rt_device *dev)
+{
+    struct rt_pulse_encoder_device *pulse_encoder;
+
+    pulse_encoder = (struct rt_pulse_encoder_device *)dev;
+    if (pulse_encoder->ops->control)
+    {
+        return pulse_encoder->ops->control(pulse_encoder, PULSE_ENCODER_CMD_DISABLE, RT_NULL);
+    }
+    else
+    {
+        return -RT_ENOSYS;
+    }
+}
+
+static rt_size_t rt_pulse_encoder_read(struct rt_device *dev, rt_off_t pos, void *buffer, rt_size_t size)
+{
+    struct rt_pulse_encoder_device *pulse_encoder;
+
+    pulse_encoder = (struct rt_pulse_encoder_device *)dev;
+    if (pulse_encoder->ops->get_count)
+    {
+        *(rt_int32_t *)buffer = pulse_encoder->ops->get_count(pulse_encoder);
+    }
+    return 1;
+}
+
+static rt_err_t rt_pulse_encoder_control(struct rt_device *dev, int cmd, void *args)
+{
+    rt_err_t result;
+    struct rt_pulse_encoder_device *pulse_encoder;
+
+    result = RT_EOK;
+    pulse_encoder = (struct rt_pulse_encoder_device *)dev;
+    switch (cmd)
+    {
+    case PULSE_ENCODER_CMD_CLEAR_COUNT:
+        result = pulse_encoder->ops->clear_count(pulse_encoder);
+        break;
+    case PULSE_ENCODER_CMD_GET_TYPE:
+        *(enum rt_pulse_encoder_type *)args = pulse_encoder->type;
+        break;
+    case PULSE_ENCODER_CMD_ENABLE:
+    case PULSE_ENCODER_CMD_DISABLE:
+        result = pulse_encoder->ops->control(pulse_encoder, cmd, args);
+        break;
+    default:
+        result = -RT_ENOSYS;
+        break;
+    }
+
+    return result;
+}
+
+#ifdef RT_USING_DEVICE_OPS
+const static struct rt_device_ops pulse_encoder_ops =
+{
+    rt_pulse_encoder_init,
+    rt_pulse_encoder_open,
+    rt_pulse_encoder_close,
+    rt_pulse_encoder_read,
+    RT_NULL,
+    rt_pulse_encoder_control
+};
+#endif
+
+rt_err_t rt_device_pulse_encoder_register(struct rt_pulse_encoder_device *pulse_encoder, const char *name, void *user_data)
+{
+    struct rt_device *device;
+
+    RT_ASSERT(pulse_encoder != RT_NULL);
+    RT_ASSERT(pulse_encoder->ops != RT_NULL);
+
+    device = &(pulse_encoder->parent);
+
+    device->type        = RT_Device_Class_Miscellaneous;
+    device->rx_indicate = RT_NULL;
+    device->tx_complete = RT_NULL;
+
+#ifdef RT_USING_DEVICE_OPS
+    device->ops         = &pulse_encoder_ops;
+#else
+    device->init        = rt_pulse_encoder_init;
+    device->open        = rt_pulse_encoder_open;
+    device->close       = rt_pulse_encoder_close;
+    device->read        = rt_pulse_encoder_read;
+    device->write       = RT_NULL;
+    device->control     = rt_pulse_encoder_control;
+#endif
+    device->user_data   = user_data;
+
+    return rt_device_register(device, name, RT_DEVICE_FLAG_RDONLY | RT_DEVICE_FLAG_STANDALONE);
+}