Merge pull request #2995 from balanceTWK/drv_encoder

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

26 files changed, 839 insertions, 247 deletions

diff --git a/bsp/stm32/libraries/HAL_Drivers/SConscript b/bsp/stm32/libraries/HAL_Drivers/SConscript
index 0cb64a650e..1d37075fcd 100644
--- a/bsp/stm32/libraries/HAL_Drivers/SConscript
+++ b/bsp/stm32/libraries/HAL_Drivers/SConscript
@@ -85,6 +85,9 @@ if GetDepend(['BSP_USING_SDIO']):
 if GetDepend(['BSP_USING_USBD_FS']):
     src += ['drv_usbd_fs.c']
 
+if GetDepend(['BSP_USING_PULSE_ENCODER']):
+    src += ['drv_pulse_encoder.c']
+
 src += ['drv_common.c']
 
 path =  [cwd]
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/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 639c1151a6..fa4555fe50 100644
--- a/bsp/stm32/libraries/HAL_Drivers/drv_config.h
+++ b/bsp/stm32/libraries/HAL_Drivers/drv_config.h
@@ -34,6 +34,7 @@ extern "C" {
 #include "f1/sdio_config.h"
 #include "f1/pwm_config.h"
 #include "f1/usbd_fs_config.h"
+#include "f1/pulse_encoder_config.h"
 #elif  defined(SOC_SERIES_STM32F2)
 #include "f2/dma_config.h"
 #include "f2/uart_config.h"
@@ -52,6 +53,7 @@ extern "C" {
 #include "f4/tim_config.h"
 #include "f4/sdio_config.h"
 #include "f4/pwm_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_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 403698f9f8..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']):
+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 714d49ba02..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']):
+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/CubeMX_Config/.mxproject b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/.mxproject
index bab08a26bd..3701927b37 100644
--- a/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/.mxproject
+++ b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/.mxproject
@@ -1,7 +1,7 @@
 [PreviousGenFiles]
-HeaderPath=G:/Wondfo/RT-Thread/Official information/rt-thread-master/bsp/1stm32/stm32f103-atk-warshipV3/board/CubeMX_Config/Inc
+HeaderPath=E:/workspace/rt-thread/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Inc
 HeaderFiles=stm32f1xx_it.h;stm32f1xx_hal_conf.h;main.h;
-SourcePath=G:/Wondfo/RT-Thread/Official information/rt-thread-master/bsp/1stm32/stm32f103-atk-warshipV3/board/CubeMX_Config/Src
+SourcePath=E:/workspace/rt-thread/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src
 SourceFiles=stm32f1xx_it.c;stm32f1xx_hal_msp.c;main.c;
 
 [PreviousLibFiles]
@@ -10,4 +10,5 @@ LibFiles=Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h;Drivers/STM32F1xx_
 [PreviousUsedKeilFiles]
 SourceFiles=..\Src\main.c;..\Src\stm32f1xx_it.c;..\Src\stm32f1xx_hal_msp.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;../\Src/system_stm32f1xx.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c;../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;../\Src/system_stm32f1xx.c;../Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/system_stm32f1xx.c;null;
 HeaderPath=..\Drivers\STM32F1xx_HAL_Driver\Inc;..\Drivers\STM32F1xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F1xx\Include;..\Drivers\CMSIS\Include;..\Inc;
+CDefines=USE_HAL_DRIVER;STM32F103xE;USE_HAL_DRIVER;STM32F103xE;
 
diff --git a/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/CubeMX_Config.ioc b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/CubeMX_Config.ioc
index 0482a4927a..905e7b4364 100644
--- a/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/CubeMX_Config.ioc
+++ b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/CubeMX_Config.ioc
@@ -5,19 +5,22 @@ Mcu.Family=STM32F1
 Mcu.IP0=NVIC
 Mcu.IP1=RCC
 Mcu.IP2=SYS
-Mcu.IP3=USART1
-Mcu.IPNb=4
+Mcu.IP3=TIM3
+Mcu.IP4=USART1
+Mcu.IPNb=5
 Mcu.Name=STM32F103Z(C-D-E)Tx
 Mcu.Package=LQFP144
 Mcu.Pin0=PC14-OSC32_IN
 Mcu.Pin1=PC15-OSC32_OUT
 Mcu.Pin2=OSC_IN
 Mcu.Pin3=OSC_OUT
-Mcu.Pin4=PA9
-Mcu.Pin5=PA10
-Mcu.Pin6=VP_SYS_VS_ND
-Mcu.Pin7=VP_SYS_VS_Systick
-Mcu.PinsNb=8
+Mcu.Pin4=PC6
+Mcu.Pin5=PC7
+Mcu.Pin6=PA9
+Mcu.Pin7=PA10
+Mcu.Pin8=VP_SYS_VS_ND
+Mcu.Pin9=VP_SYS_VS_Systick
+Mcu.PinsNb=10
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F103ZETx
@@ -45,6 +48,10 @@ PC14-OSC32_IN.Mode=LSE-External-Oscillator
 PC14-OSC32_IN.Signal=RCC_OSC32_IN
 PC15-OSC32_OUT.Mode=LSE-External-Oscillator
 PC15-OSC32_OUT.Signal=RCC_OSC32_OUT
+PC6.Locked=true
+PC6.Signal=S_TIM3_CH1
+PC7.Locked=true
+PC7.Signal=S_TIM3_CH2
 PCC.Checker=false
 PCC.Line=STM32F103
 PCC.MCU=STM32F103Z(C-D-E)Tx
@@ -54,7 +61,7 @@ PCC.Series=STM32F1
 PCC.Temperature=25
 PCC.Vdd=3.3
 PinOutPanel.RotationAngle=0
-ProjectManager.AskForMigrate=true
+ProjectManager.AskForMigrate=false
 ProjectManager.BackupPrevious=false
 ProjectManager.CompilerOptimize=6
 ProjectManager.ComputerToolchain=false
@@ -80,7 +87,7 @@ ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=MDK-ARM V5
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USART1_UART_Init-USART1-false-HAL-true
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_TIM8_Init-TIM8-false-HAL-true
 RCC.ADCFreqValue=36000000
 RCC.AHBFreq_Value=72000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV2
@@ -107,6 +114,10 @@ RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
 RCC.TimSysFreq_Value=72000000
 RCC.USBFreq_Value=72000000
 RCC.VCOOutput2Freq_Value=8000000
+SH.S_TIM3_CH1.0=TIM3_CH1,Encoder_Interface
+SH.S_TIM3_CH1.ConfNb=1
+SH.S_TIM3_CH2.0=TIM3_CH2,Encoder_Interface
+SH.S_TIM3_CH2.ConfNb=1
 USART1.IPParameters=VirtualMode
 USART1.VirtualMode=VM_ASYNC
 VP_SYS_VS_ND.Mode=No_Debug
diff --git a/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Inc/stm32f1xx_hal_conf.h b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Inc/stm32f1xx_hal_conf.h
index 9ab2b09148..a6ed331c5f 100644
--- a/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Inc/stm32f1xx_hal_conf.h
+++ b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Inc/stm32f1xx_hal_conf.h
@@ -78,7 +78,7 @@
 /*#define HAL_SMARTCARD_MODULE_ENABLED   */
 /*#define HAL_SPI_MODULE_ENABLED   */
 /*#define HAL_SRAM_MODULE_ENABLED   */
-/*#define HAL_TIM_MODULE_ENABLED   */
+#define HAL_TIM_MODULE_ENABLED
 #define HAL_UART_MODULE_ENABLED
 /*#define HAL_USART_MODULE_ENABLED   */
 /*#define HAL_WWDG_MODULE_ENABLED   */
diff --git a/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src/main.c b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src/main.c
index c183908d36..2e51a42f8e 100644
--- a/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src/main.c
+++ b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src/main.c
@@ -42,6 +42,8 @@
 /* USER CODE END PM */
 
 /* Private variables ---------------------------------------------------------*/
+TIM_HandleTypeDef htim3;
+
 UART_HandleTypeDef huart1;
 
 /* USER CODE BEGIN PV */
@@ -52,6 +54,7 @@ UART_HandleTypeDef huart1;
 void SystemClock_Config(void);
 static void MX_GPIO_Init(void);
 static void MX_USART1_UART_Init(void);
+static void MX_TIM3_Init(void);
 /* USER CODE BEGIN PFP */
 
 /* USER CODE END PFP */
@@ -90,6 +93,7 @@ int main(void)
   /* Initialize all configured peripherals */
   MX_GPIO_Init();
   MX_USART1_UART_Init();
+  MX_TIM3_Init();
   /* USER CODE BEGIN 2 */
 
   /* USER CODE END 2 */
@@ -143,6 +147,55 @@ void SystemClock_Config(void)
 }
 
 /**
+  * @brief TIM3 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM3_Init(void)
+{
+
+  /* USER CODE BEGIN TIM3_Init 0 */
+
+  /* USER CODE END TIM3_Init 0 */
+
+  TIM_Encoder_InitTypeDef sConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+
+  /* USER CODE BEGIN TIM3_Init 1 */
+
+  /* USER CODE END TIM3_Init 1 */
+  htim3.Instance = TIM3;
+  htim3.Init.Prescaler = 0;
+  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim3.Init.Period = 0;
+  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
+  sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
+  sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
+  sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
+  sConfig.IC1Filter = 0;
+  sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
+  sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
+  sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
+  sConfig.IC2Filter = 0;
+  if (HAL_TIM_Encoder_Init(&htim3, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM3_Init 2 */
+
+  /* USER CODE END TIM3_Init 2 */
+
+}
+
+/**
   * @brief USART1 Initialization Function
   * @param None
   * @retval None
diff --git a/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src/stm32f1xx_hal_msp.c b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src/stm32f1xx_hal_msp.c
index bd70146cfe..0422f4b858 100644
--- a/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src/stm32f1xx_hal_msp.c
+++ b/bsp/stm32/stm32f103-atk-warshipv3/board/CubeMX_Config/Src/stm32f1xx_hal_msp.c
@@ -82,6 +82,71 @@ void HAL_MspInit(void)
 }
 
 /**
+* @brief TIM_Encoder MSP Initialization
+* This function configures the hardware resources used in this example
+* @param htim_encoder: TIM_Encoder handle pointer
+* @retval None
+*/
+void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(htim_encoder->Instance==TIM3)
+  {
+  /* USER CODE BEGIN TIM3_MspInit 0 */
+
+  /* USER CODE END TIM3_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM3_CLK_ENABLE();
+  
+    __HAL_RCC_GPIOC_CLK_ENABLE();
+    /**TIM3 GPIO Configuration    
+    PC6     ------> TIM3_CH1
+    PC7     ------> TIM3_CH2 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
+    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+    __HAL_AFIO_REMAP_TIM3_ENABLE();
+
+  /* USER CODE BEGIN TIM3_MspInit 1 */
+
+  /* USER CODE END TIM3_MspInit 1 */
+  }
+
+}
+
+/**
+* @brief TIM_Encoder MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param htim_encoder: TIM_Encoder handle pointer
+* @retval None
+*/
+void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* htim_encoder)
+{
+  if(htim_encoder->Instance==TIM3)
+  {
+  /* USER CODE BEGIN TIM3_MspDeInit 0 */
+
+  /* USER CODE END TIM3_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM3_CLK_DISABLE();
+  
+    /**TIM3 GPIO Configuration    
+    PC6     ------> TIM3_CH1
+    PC7     ------> TIM3_CH2 
+    */
+    HAL_GPIO_DeInit(GPIOC, GPIO_PIN_6|GPIO_PIN_7);
+
+  /* USER CODE BEGIN TIM3_MspDeInit 1 */
+
+  /* USER CODE END TIM3_MspDeInit 1 */
+  }
+
+}
+
+/**
 * @brief UART MSP Initialization
 * This function configures the hardware resources used in this example
 * @param huart: UART handle pointer
diff --git a/bsp/stm32/stm32f103-atk-warshipv3/board/Kconfig b/bsp/stm32/stm32f103-atk-warshipv3/board/Kconfig
index 8cbacb4bab..e02250d243 100644
--- a/bsp/stm32/stm32f103-atk-warshipv3/board/Kconfig
+++ b/bsp/stm32/stm32f103-atk-warshipv3/board/Kconfig
@@ -200,7 +200,18 @@ menu "On-chip Peripheral Drivers"
         bool "Enable Watchdog Timer"
         select RT_USING_WDT
         default n
-	
+
+    menuconfig BSP_USING_PULSE_ENCODER
+        bool "Enable Pulse Encoder"
+        default n
+        select RT_USING_PULSE_ENCODER
+        if BSP_USING_PULSE_ENCODER
+            config BSP_USING_PULSE_ENCODER3
+                bool "Enable Pulse Encoder3"
+                default n
+
+        endif
+
  source "../libraries/HAL_Drivers/Kconfig"
     
 endmenu
diff --git a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/.mxproject b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/.mxproject
index 7e119922f0..031ff82f9a 100644
--- a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/.mxproject
+++ b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/.mxproject
@@ -1,7 +1,7 @@
 [PreviousGenFiles]
-HeaderPath=E:/workspace/BspFramework/rt-thread/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Inc
+HeaderPath=E:/workspace/rt-thread/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Inc
 HeaderFiles=stm32f4xx_it.h;stm32f4xx_hal_conf.h;main.h;
-SourcePath=E:/workspace/BspFramework/rt-thread/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src
+SourcePath=E:/workspace/rt-thread/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src
 SourceFiles=stm32f4xx_it.c;stm32f4xx_hal_msp.c;main.c;
 
 [PreviousLibFiles]
@@ -10,4 +10,5 @@ LibFiles=Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h;Drivers/STM32F4xx_
 [PreviousUsedKeilFiles]
 SourceFiles=..\Src\main.c;..\Src\stm32f4xx_it.c;..\Src\stm32f4xx_hal_msp.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../\Src/system_stm32f4xx.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../\Src/system_stm32f4xx.c;../Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;null;
 HeaderPath=..\Drivers\STM32F4xx_HAL_Driver\Inc;..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F4xx\Include;..\Drivers\CMSIS\Include;..\Inc;
+CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;STM32F407xx;
 
diff --git a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/CubeMX_Config.ioc b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/CubeMX_Config.ioc
index 770acec332..fcc30e407e 100644
--- a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/CubeMX_Config.ioc
+++ b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/CubeMX_Config.ioc
@@ -13,11 +13,12 @@ Mcu.Family=STM32F4
 Mcu.IP0=ADC1
 Mcu.IP1=ETH
 Mcu.IP10=TIM2
-Mcu.IP11=TIM11
-Mcu.IP12=TIM13
-Mcu.IP13=TIM14
-Mcu.IP14=USART1
-Mcu.IP15=USART3
+Mcu.IP11=TIM4
+Mcu.IP12=TIM11
+Mcu.IP13=TIM13
+Mcu.IP14=TIM14
+Mcu.IP15=USART1
+Mcu.IP16=USART3
 Mcu.IP2=IWDG
 Mcu.IP3=NVIC
 Mcu.IP4=RCC
@@ -26,7 +27,7 @@ Mcu.IP6=SDIO
 Mcu.IP7=SPI1
 Mcu.IP8=SPI2
 Mcu.IP9=SYS
-Mcu.IPNb=16
+Mcu.IPNb=17
 Mcu.Name=STM32F407Z(E-G)Tx
 Mcu.Package=LQFP144
 Mcu.Pin0=PC14-OSC32_IN
@@ -56,37 +57,39 @@ Mcu.Pin3=PH1-OSC_OUT
 Mcu.Pin30=PB3
 Mcu.Pin31=PB4
 Mcu.Pin32=PB5
-Mcu.Pin33=VP_IWDG_VS_IWDG
-Mcu.Pin34=VP_RTC_VS_RTC_Activate
-Mcu.Pin35=VP_SYS_VS_Systick
-Mcu.Pin36=VP_TIM2_VS_ClockSourceINT
-Mcu.Pin37=VP_TIM11_VS_ClockSourceINT
-Mcu.Pin38=VP_TIM13_VS_ClockSourceINT
-Mcu.Pin39=VP_TIM14_VS_ClockSourceINT
+Mcu.Pin33=PB6
+Mcu.Pin34=PB7
+Mcu.Pin35=VP_IWDG_VS_IWDG
+Mcu.Pin36=VP_RTC_VS_RTC_Activate
+Mcu.Pin37=VP_SYS_VS_Systick
+Mcu.Pin38=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin39=VP_TIM11_VS_ClockSourceINT
 Mcu.Pin4=PC1
+Mcu.Pin40=VP_TIM13_VS_ClockSourceINT
+Mcu.Pin41=VP_TIM14_VS_ClockSourceINT
 Mcu.Pin5=PC2
 Mcu.Pin6=PC3
 Mcu.Pin7=PA1
 Mcu.Pin8=PA2
 Mcu.Pin9=PA3
-Mcu.PinsNb=40
+Mcu.PinsNb=42
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407ZGTx
 MxCube.Version=5.0.0
 MxDb.Version=DB.5.0.0
-NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false
-NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false
-NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false
-NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false
-NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false
-NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false
+NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
-NVIC.SPI1_IRQn=true\:0\:0\:false\:false\:true\:true
-NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false
-NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:true\:false
-NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:true
-NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false
+NVIC.SPI1_IRQn=true\:0\:0\:false\:false\:true\:true\:true
+NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:true\:false\:true
+NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:true\:true
+NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
 PA1.Mode=RMII
 PA1.Signal=ETH_REF_CLK
 PA10.Mode=Asynchronous
@@ -119,6 +122,10 @@ PB4.Signal=SPI1_MISO
 PB5.Locked=true
 PB5.Mode=Full_Duplex_Master
 PB5.Signal=SPI1_MOSI
+PB6.Locked=true
+PB6.Signal=S_TIM4_CH1
+PB7.Locked=true
+PB7.Signal=S_TIM4_CH2
 PC1.Mode=RMII
 PC1.Signal=ETH_MDC
 PC10.Mode=SD_4_bits_Wide_bus
@@ -167,7 +174,7 @@ PH0-OSC_IN.Signal=RCC_OSC_IN
 PH1-OSC_OUT.Mode=HSE-External-Oscillator
 PH1-OSC_OUT.Signal=RCC_OSC_OUT
 PinOutPanel.RotationAngle=0
-ProjectManager.AskForMigrate=true
+ProjectManager.AskForMigrate=false
 ProjectManager.BackupPrevious=false
 ProjectManager.CompilerOptimize=6
 ProjectManager.ComputerToolchain=false
@@ -181,7 +188,7 @@ ProjectManager.FreePins=false
 ProjectManager.HalAssertFull=false
 ProjectManager.HeapSize=0x200
 ProjectManager.KeepUserCode=true
-ProjectManager.LastFirmware=false
+ProjectManager.LastFirmware=true
 ProjectManager.LibraryCopy=0
 ProjectManager.MainLocation=Src
 ProjectManager.NoMain=false
@@ -193,7 +200,7 @@ ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=MDK-ARM V5
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_SPI1_Init-SPI1-false-HAL-true,5-MX_ETH_Init-ETH-false-HAL-true,6-MX_USART3_UART_Init-USART3-false-HAL-true,7-MX_ADC1_Init-ADC1-false-HAL-true,8-MX_RTC_Init-RTC-false-HAL-true,9-MX_IWDG_Init-IWDG-false-HAL-true,10-MX_TIM14_Init-TIM14-false-HAL-true,11-MX_TIM13_Init-TIM13-false-HAL-true,12-MX_TIM11_Init-TIM11-false-HAL-true,13-MX_SDIO_SD_Init-SDIO-false-HAL-true,14-MX_TIM2_Init-TIM2-false-HAL-true,15-MX_SPI2_Init-SPI2-false-HAL-true
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_SPI1_Init-SPI1-false-HAL-true,5-MX_ETH_Init-ETH-false-HAL-true,6-MX_USART3_UART_Init-USART3-false-HAL-true,7-MX_ADC1_Init-ADC1-false-HAL-true,8-MX_RTC_Init-RTC-false-HAL-true,9-MX_IWDG_Init-IWDG-false-HAL-true,10-MX_TIM14_Init-TIM14-false-HAL-true,11-MX_TIM13_Init-TIM13-false-HAL-true,12-MX_TIM11_Init-TIM11-false-HAL-true,13-MX_SDIO_SD_Init-SDIO-false-HAL-true,14-MX_TIM2_Init-TIM2-false-HAL-true,15-MX_SPI2_Init-SPI2-false-HAL-true,16-MX_TIM4_Init-TIM4-false-HAL-true
 RCC.48MHZClocksFreq_Value=48000000
 RCC.AHBFreq_Value=168000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV4
@@ -233,6 +240,10 @@ SH.ADCx_IN5.0=ADC1_IN5,IN5
 SH.ADCx_IN5.ConfNb=1
 SH.S_TIM2_CH4.0=TIM2_CH4,PWM Generation4 CH4
 SH.S_TIM2_CH4.ConfNb=1
+SH.S_TIM4_CH1.0=TIM4_CH1,Encoder_Interface
+SH.S_TIM4_CH1.ConfNb=1
+SH.S_TIM4_CH2.0=TIM4_CH2,Encoder_Interface
+SH.S_TIM4_CH2.ConfNb=1
 SPI1.CalculateBaudRate=42.0 MBits/s
 SPI1.Direction=SPI_DIRECTION_2LINES
 SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate
diff --git a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
index 37853623c2..9b15113c2c 100644
--- a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
+++ b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
@@ -5,7 +5,7 @@
   ******************************************************************************
   * @attention
   *
-  * <h2><center>&copy; COPYRIGHT(c) 2018 STMicroelectronics</center></h2>
+  * <h2><center>&copy; COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
   *
   * Redistribution and use in source and binary forms, with or without modification,
   * are permitted provided that the following conditions are met:
diff --git a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/main.c b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/main.c
index 2577da8b41..ef64d82dc1 100644
--- a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/main.c
+++ b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/main.c
@@ -76,6 +76,7 @@ SPI_HandleTypeDef hspi1;
 SPI_HandleTypeDef hspi2;
 
 TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim4;
 TIM_HandleTypeDef htim11;
 TIM_HandleTypeDef htim13;
 TIM_HandleTypeDef htim14;
@@ -104,6 +105,7 @@ static void MX_TIM11_Init(void);
 static void MX_SDIO_SD_Init(void);
 static void MX_TIM2_Init(void);
 static void MX_SPI2_Init(void);
+static void MX_TIM4_Init(void);
 /* USER CODE BEGIN PFP */
 /* Private function prototypes -----------------------------------------------*/
 
@@ -155,6 +157,7 @@ int main(void)
   MX_SDIO_SD_Init();
   MX_TIM2_Init();
   MX_SPI2_Init();
+  MX_TIM4_Init();
   /* USER CODE BEGIN 2 */
 
   /* USER CODE END 2 */
@@ -552,6 +555,54 @@ static void MX_TIM2_Init(void)
 }
 
 /**
+  * @brief TIM4 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM4_Init(void)
+{
+
+  /* USER CODE BEGIN TIM4_Init 0 */
+
+  /* USER CODE END TIM4_Init 0 */
+
+  TIM_Encoder_InitTypeDef sConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+
+  /* USER CODE BEGIN TIM4_Init 1 */
+
+  /* USER CODE END TIM4_Init 1 */
+  htim4.Instance = TIM4;
+  htim4.Init.Prescaler = 0;
+  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim4.Init.Period = 0;
+  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
+  sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
+  sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
+  sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
+  sConfig.IC1Filter = 0;
+  sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
+  sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
+  sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
+  sConfig.IC2Filter = 0;
+  if (HAL_TIM_Encoder_Init(&htim4, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM4_Init 2 */
+
+  /* USER CODE END TIM4_Init 2 */
+
+}
+
+/**
   * @brief TIM11 Initialization Function
   * @param None
   * @retval None
diff --git a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
index 258ea04acc..90a333827e 100644
--- a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
+++ b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
@@ -585,6 +585,43 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
 
 }
 
+/**
+* @brief TIM_Encoder MSP Initialization
+* This function configures the hardware resources used in this example
+* @param htim_encoder: TIM_Encoder handle pointer
+* @retval None
+*/
+void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder)
+{
+
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(htim_encoder->Instance==TIM4)
+  {
+  /* USER CODE BEGIN TIM4_MspInit 0 */
+
+  /* USER CODE END TIM4_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM4_CLK_ENABLE();
+  
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /**TIM4 GPIO Configuration    
+    PB6     ------> TIM4_CH1
+    PB7     ------> TIM4_CH2 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM4_MspInit 1 */
+
+  /* USER CODE END TIM4_MspInit 1 */
+  }
+
+}
+
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
 {
 
@@ -670,6 +707,37 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
 }
 
 /**
+* @brief TIM_Encoder MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param htim_encoder: TIM_Encoder handle pointer
+* @retval None
+*/
+
+void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* htim_encoder)
+{
+
+  if(htim_encoder->Instance==TIM4)
+  {
+  /* USER CODE BEGIN TIM4_MspDeInit 0 */
+
+  /* USER CODE END TIM4_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM4_CLK_DISABLE();
+  
+    /**TIM4 GPIO Configuration    
+    PB6     ------> TIM4_CH1
+    PB7     ------> TIM4_CH2 
+    */
+    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_6|GPIO_PIN_7);
+
+  /* USER CODE BEGIN TIM4_MspDeInit 1 */
+
+  /* USER CODE END TIM4_MspDeInit 1 */
+  }
+
+}
+
+/**
 * @brief UART MSP Initialization
 * This function configures the hardware resources used in this example
 * @param huart: UART handle pointer
diff --git a/bsp/stm32/stm32f407-atk-explorer/board/Kconfig b/bsp/stm32/stm32f407-atk-explorer/board/Kconfig
index 4ee6fdd657..2a235f0550 100644
--- a/bsp/stm32/stm32f407-atk-explorer/board/Kconfig
+++ b/bsp/stm32/stm32f407-atk-explorer/board/Kconfig
@@ -293,6 +293,18 @@ menu "On-chip Peripheral Drivers"
         select RT_USING_SDIO
         select RT_USING_DFS
         default n
+
+    menuconfig BSP_USING_PULSE_ENCODER
+        bool "Enable Pulse Encoder"
+        default n
+        select RT_USING_PULSE_ENCODER
+        if BSP_USING_PULSE_ENCODER
+            config BSP_USING_PULSE_ENCODER4
+                bool "Enable Pulse Encoder4"
+                default n
+
+        endif
+
  source "../libraries/HAL_Drivers/Kconfig"
     
 endmenu
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 d7fd845599..0000000000
--- a/components/drivers/misc/encoder.c
+++ /dev/null
@@ -1,137 +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)
-{
-    rt_err_t ret;
-    struct rt_encoder_device *encoder;
-
-    ret = RT_EOK;
-    encoder = (struct rt_encoder_device *)dev;
-    if (encoder->ops->init)
-    {
-        ret = encoder->ops->init(encoder);
-    }
-
-    return ret;
-}
-
-static rt_err_t rt_encoder_open(struct rt_device *dev, rt_uint16_t oflag)
-{
-    rt_err_t ret;
-    struct rt_encoder_device *encoder;
-
-    ret = RT_EOK;
-    encoder = (struct rt_encoder_device *)dev;
-    if (encoder->ops->control)
-    {
-        ret = encoder->ops->control(encoder, ENCODER_CMD_ENABLE, RT_NULL);
-    }
-
-    return ret;
-}
-
-static rt_err_t rt_encoder_close(struct rt_device *dev)
-{
-    rt_err_t ret;
-    struct rt_encoder_device *encoder;
-
-    ret = RT_EOK;
-    encoder = (struct rt_encoder_device *)dev;
-    if (encoder->ops->control)
-    {
-        ret = encoder->ops->control(encoder, ENCODER_CMD_DISABLE, RT_NULL);
-    }
-
-    return ret;
-}
-
-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);
-    RT_ASSERT(encoder->ops->get_count != 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);
+}