diff --git a/source/linux_driver/encoder_drv_test/Makefile b/source/linux_driver/encoder_drv_test/Makefile
new file mode 100644
index 0000000..b188313
--- /dev/null
+++ b/source/linux_driver/encoder_drv_test/Makefile
@@ -0,0 +1,86 @@
+CROSS_COMPILE ?= /home/lyz/software/gcc-linaro-12.2.1-arm-linux-gnueabihf/bin/arm-linux-gnueabihf-
+
+TARGET := target
+BUILD_DIR := build
+
+ifeq ("$(origin V)", "command line")
+  KBUILD_VERBOSE = $(V)
+endif
+ifndef KBUILD_VERBOSE
+  KBUILD_VERBOSE = 0
+endif
+
+ifeq ($(KBUILD_VERBOSE),1)
+  quiet =
+  Q =
+else
+  quiet=quiet_
+  Q = @
+endif
+
+ifneq ($(filter 4.%,$(MAKE_VERSION)),)	# make-4
+ifneq ($(filter %s ,$(firstword x$(MAKEFLAGS))),)
+  quiet=silent_
+endif
+else					# make-3.8x
+ifneq ($(filter s% -s%,$(MAKEFLAGS)),)
+  quiet=silent_
+endif
+endif
+
+
+SRC := $(wildcard *.c)
+ASM_SRC := $(wildcard *.s)
+OBJ := $(addprefix $(BUILD_DIR)/, $(notdir $(SRC:.c=.o)))
+ASM_OBJ := $(addprefix $(BUILD_DIR)/, $(notdir $(ASM_SRC:.s=.o)))
+DIS := $(addprefix $(BUILD_DIR)/, $(notdir $(SRC:.c=.dis)))
+ASM_DIS := $(addprefix $(BUILD_DIR)/, $(notdir $(ASM_SRC:.s=.dis)))
+
+_TARGET := $(BUILD_DIR)/$(TARGET)
+TARGET_DIS := $(BUILD_DIR)/$(TARGET).dis
+
+LD		= $(CROSS_COMPILE)ld
+CC		= $(CROSS_COMPILE)gcc
+CPP		= $(CC) -E
+AR		= $(CROSS_COMPILE)ar
+LDR		= $(CROSS_COMPILE)ldr
+STRIP		= $(CROSS_COMPILE)strip
+OBJCOPY		= $(CROSS_COMPILE)objcopy
+OBJDUMP		= $(CROSS_COMPILE)objdump
+CFLAGS = -g -std=gnu99 -Wall -I.
+LDFLAGS = -lpthread -lc -lm -lrt
+
+.SECONDARY:
+
+.PHONY:all
+all: $(_TARGET) $(DIS) $(ASM_DIS) $(TARGET_DIS)
+
+$(BUILD_DIR)/%.i:%.c %.h Makefile | $(BUILD_DIR)
+	$(Q)$(CC) -E $(CFLAGS) $< -o $@
+$(BUILD_DIR)/%.s:$(BUILD_DIR)/%.i Makefile | $(BUILD_DIR)
+	$(Q)$(CC) -S $(CFLAGS) $< -o $@
+$(BUILD_DIR)/%.o:$(BUILD_DIR)/%.s Makefile | $(BUILD_DIR)
+	$(Q)$(CC) -c $(CFLAGS) $< -o $@
+$(BUILD_DIR)/%.o:%.s Makefile | $(BUILD_DIR)
+	$(Q)$(CC) -c $(CFLAGS) $< -o $@
+$(BUILD_DIR)/%.dis:$(BUILD_DIR)/%.o Makefile | $(BUILD_DIR)
+	$(Q)$(OBJDUMP) -s -d $< > $@
+$(TARGET_DIS):$(_TARGET) Makefile | $(BUILD_DIR)
+	$(Q)$(OBJDUMP) -s -d $< > $@
+$(_TARGET):$(OBJ) $(ASM_OBJ) Makefile | $(BUILD_DIR)
+	$(Q)$(CC) $(OBJ) $(ASM_OBJ) $(LDFLAGS) -o $@
+
+
+.PHONY:clean
+clean:
+	$(Q)$(RM) $(BUILD_DIR)/* -f
+
+.PHONY:install
+install:$(TARGET)
+	$(Q)chmod 777 $(TARGET)
+
+.PHONY:$(BUILD_DIR)
+$(BUILD_DIR):
+	$(Q)if [ ! -d $(BUILD_DIR) ]; then mkdir -p $@; fi
+	
+	
\ No newline at end of file
diff --git a/source/linux_driver/encoder_drv_test/common.h b/source/linux_driver/encoder_drv_test/common.h
new file mode 100644
index 0000000..6578f99
--- /dev/null
+++ b/source/linux_driver/encoder_drv_test/common.h
@@ -0,0 +1,46 @@
+/**
+ * @file common.h
+ * @brief Common macros.
+ * @author miaow (3703781@qq.com)
+ * @version 1.0
+ * @date 2022/06/12
+ * @mainpage github.com/NanjingForestryUniversity
+ * 
+ * @copyright Copyright (c) 2022  miaow
+ * 
+ * @par Changelog:
+ * <table>
+ * <tr><th>Date       <th>Version <th>Author  <th>Description
+ * <tr><td>2022/06/12 <td>1.0     <td>miaow     <td>Write this file
+ * </table>
+ */
+#ifndef __COMMON_H
+#define __COMMON_H
+
+#include <stdio.h>
+#include <errno.h>
+
+#define ON_ERROR(res, message1, message2)                                                                 \
+    if (res < 0)                                                                                          \
+    {                                                                                                     \
+        sprintf(perror_buffer, "error %d at %s:%d, %s, %s", res, __FILE__, __LINE__, message1, message2); \
+        perror(perror_buffer);                                                                            \
+    }
+
+#define ON_ERROR_RET_VOID(res, message1, message2) \
+    ON_ERROR(res, message1, message2);             \
+    if (res < 0)                                   \
+    {                                              \
+        res = 0;                                   \
+        return;                                    \
+    }
+
+#define ON_ERROR_RET(res, message1, message2, retval) \
+    ON_ERROR(res, message1, message2);                \
+    if (res < 0)                                      \
+    {                                                 \
+        res = 0;                                      \
+        return retval;                                \
+    }
+    
+#endif
\ No newline at end of file
diff --git a/source/linux_driver/encoder_drv_test/encoder_dev.c b/source/linux_driver/encoder_drv_test/encoder_dev.c
new file mode 100644
index 0000000..05c6666
--- /dev/null
+++ b/source/linux_driver/encoder_drv_test/encoder_dev.c
@@ -0,0 +1,129 @@
+/**
+ * @file encoder_dev.c
+ * @brief Manage the hardware encoder unit
+ * @author miaow (3703781@qq.com)
+ * @version 1.0
+ * @date 2022/06/11
+ * @mainpage github.com/NanjingForestryUniversity
+ * 
+ * @copyright Copyright (c) 2022  miaow
+ * 
+ * @par Changelog:
+ * <table>
+ * <tr><th>Date       <th>Version <th>Author  <th>Description
+ * <tr><td>2022/06/11 <td>0.9     <td>Miaow     <td>Write this module
+ * </table>
+ */
+
+#include <stdlib.h>
+#include <encoder_dev.h>
+#include <stdint.h>
+#include <common.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+
+#define ENCODER_CMD_FUNCTION_CLEAR 1
+#define ENCODER_CMD_FUNCTION_VIRT_INPUT 2
+
+static int encoder_dev_fd = -1;
+static char perror_buffer[128];
+
+static struct {
+    uint32_t valve_divide_value;
+    uint32_t camera_a_divide_value;
+    uint32_t camera_b_divide_value;
+    uint32_t camera_c_divide_value;
+    uint32_t camera_d_divide_value;
+} encoder_dev_divide_value_structure;
+
+/**
+ * @brief Initialize the hardware encoder unit
+ * @note This function just open the file descriptor of the hardware encoder unit
+ * @return 0 - success, other - error
+ */
+int encoder_dev_init()
+{
+    encoder_dev_fd = open(ENCODER_DEV_PATH, O_RDWR);
+    ON_ERROR_RET(encoder_dev_fd, "", "", -1);
+    return 0;
+}
+
+/**
+ * @brief Set the two divider in the hareware encoder unit.
+ * @param valve_divide the frequency division factor between the encoder signal and valve output
+ *                      Set ENCODER_DEV_DIVIDE_NOT_TO_SET to skip changing the division facter
+ * @param camera_divide the frequency division factor between the encoder signal and camera triggle signal
+ *                      Set ENCODER_DEV_DIVIDE_NOT_TO_SET to skip changing the division facter
+ *  
+ * @return 0 - success, other - error
+ */
+int encoder_dev_set_divide(int valve_divide, 
+                    int camera_a_divide,
+                    int camera_b_divide,
+                    int camera_c_divide,
+                    int camera_d_divide)
+{
+    encoder_dev_divide_value_structure.valve_divide_value = valve_divide;
+    encoder_dev_divide_value_structure.camera_a_divide_value = camera_a_divide;
+    encoder_dev_divide_value_structure.camera_b_divide_value = camera_b_divide;
+    encoder_dev_divide_value_structure.camera_c_divide_value = camera_c_divide;
+    encoder_dev_divide_value_structure.camera_d_divide_value = camera_d_divide;
+    ssize_t size = write(encoder_dev_fd, &encoder_dev_divide_value_structure, sizeof(encoder_dev_divide_value_structure));
+    int res = -(size != sizeof(encoder_dev_divide_value_structure));
+    ON_ERROR_RET(res, "size=", "", -1);
+
+    return 0;
+}
+
+/**
+ * @brief Set the trig signal to internal or external.
+ * @param count the count of virtual trig cycles.
+ * @return 0 - success, other - error
+ */
+int encoder_dev_virtual_trig(int count)
+{
+    int res = ioctl(encoder_dev_fd, _IOW('D', ENCODER_CMD_FUNCTION_VIRT_INPUT, int), count);
+    ON_ERROR_RET(res, "", "", -1);
+    return 0;
+}
+
+/**
+ * @brief Set the trig signal to internal or external.
+ * @param mode ENCODER_TRIG_MODE_EXTERNEL for externally trig, or ENCODER_TRIG_MODE_INTERNEL for internally trig
+ * @return 0 - success, other - error
+ */
+int encoder_dev_set_trigmod(int mode)
+{
+    int res = ioctl(encoder_dev_fd, _IOW('D', mode, int));
+    ON_ERROR_RET(res, "", "", -1);
+    return 0;
+}
+
+/**
+ * @brief Claer the cache in hardware encoder unit.
+ * @note The frequency division counters continutly count pluses of external/internal signal.
+ *       This functhion clears the counters.
+ * @return 0 - success, other - error
+ */
+int encoder_dev_flush()
+{
+    int res = ioctl(encoder_dev_fd, _IOW('D', ENCODER_CMD_FUNCTION_CLEAR, 0));
+    ON_ERROR_RET(res, "", "", -1);
+    return 0;
+}
+
+/**
+ * @brief Deinitialize the hardware encoder unit.
+ * @note This function just close the file descriptor of the encoder unit.
+ * @return 0 - success, other - error
+ */
+int encoder_dev_deinit()
+{
+    int res = close(encoder_dev_fd);
+
+    ON_ERROR_RET(res, "", "", -1);
+    return 0;
+}
diff --git a/source/linux_driver/encoder_drv_test/encoder_dev.h b/source/linux_driver/encoder_drv_test/encoder_dev.h
new file mode 100644
index 0000000..1faa19b
--- /dev/null
+++ b/source/linux_driver/encoder_drv_test/encoder_dev.h
@@ -0,0 +1,39 @@
+/**
+ * @file encoder_dev.h
+ * @brief Manage the hardware encoder unit
+ * @author miaow (3703781@qq.com)
+ * @version 1.0
+ * @date 2022/06/11
+ *
+ * @copyright Copyright (c) 2022  miaow
+ *
+ * @par Changelog:
+ * <table>
+ * <tr><th>Date       <th>Version <th>Author  <th>Description
+ * <tr><td>2022/06/11 <td>0.9     <td>Miaow     <td>Write this module
+ * </table>
+ */
+#ifndef __ENCODER_DEV_H
+#define __ENCODER_DEV_H
+
+#include <stdint.h>
+
+#define ENCODER_DEV_PATH "/dev/encoder"
+
+#define ENCODER_DEV_DIVIDE_NOT_TO_SET 0
+
+#define ENCODER_TRIG_MODE_EXTERNEL 100
+#define ENCODER_TRIG_MODE_INTERNEL 101
+
+int encoder_dev_set_divide(int valve_divide,
+                           int camera_a_divide,
+                           int camera_b_divide,
+                           int camera_c_divide,
+                           int camera_d_divide);
+int encoder_dev_flush(void);
+int encoder_dev_set_trigmod(int mode);
+int encoder_dev_virtual_trig(int count);
+int encoder_dev_init(void);
+int encoder_dev_deinit(void);
+
+#endif
diff --git a/source/linux_driver/encoder_drv_test/main.c b/source/linux_driver/encoder_drv_test/main.c
new file mode 100644
index 0000000..39420db
--- /dev/null
+++ b/source/linux_driver/encoder_drv_test/main.c
@@ -0,0 +1,62 @@
+#include "encoder_dev.h"
+#include <signal.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+
+static void sig_handler(int sig);
+
+int main(int argc, char *argv[])
+{
+    unsigned int a = 100, b = 100, c = 100, d = 100;
+    unsigned int divider = 0;
+    char which[32] = {0};
+    encoder_dev_init();
+    encoder_dev_set_trigmod(ENCODER_TRIG_MODE_EXTERNEL);
+    encoder_dev_set_divide(500, 200, 100, 500, 50);
+    signal(SIGINT, (sig_t)sig_handler);
+    while (1)
+    {
+
+        while (strcmp(which, "a") && strcmp(which, "b") && strcmp(which, "c") && strcmp(which, "d") && strcmp(which, "all"))
+        {
+            printf("which camera(a/b/c/d/all)? ");
+            scanf("%s", which);
+        }
+
+        printf("divider value?(2~2^32-1)? ");
+        scanf("%ud", &divider);
+        if (strcmp(which, "a") == 0)
+        {
+            a = divider;
+        }
+        else if (strcmp(which, "b") == 0)
+        {
+            b = divider;
+        }
+        else if (strcmp(which, "c") == 0)
+        {
+            c = divider;
+        }
+        else if (strcmp(which, "d") == 0)
+        {
+            d = divider;
+        }
+        else if (strcmp(which, "all") == 0)
+        {
+            a = b = c = d = divider;
+        }
+        encoder_dev_set_divide(500, a, b, c, d);
+        printf("divider of camera %s is set to %d\r\n\r\n", which, divider);
+        which[0] = '\0';
+    }
+}
+
+static void sig_handler(int sig)
+{
+    encoder_dev_set_trigmod(ENCODER_TRIG_MODE_INTERNEL);
+    encoder_dev_deinit();
+    printf("\r\n\r\nExisting...");
+    exit(0);
+}
\ No newline at end of file
diff --git a/source/linux_driver/encoder_drv_test/main.h b/source/linux_driver/encoder_drv_test/main.h
new file mode 100644
index 0000000..e69de29