Rewrite the M1 instruction to detect the status flag or timeout and send normal data and read error response packets respectively

Src/command.c

@@ -255,22 +255,34 @@ void handle_command(const uint8_t *frame, uint8_t len) {
         // 仅基础命令，如 M1, M2, M3
         switch (base_cmd) {
             case 1u: // M1: enable sensor report
-                // g_ultrasonic_measure_done = false;
                 gpio_bit_toggle(GPIOA, GPIO_PIN_0);
+                
+                // 启动超声波PWM发送
                 ultrasonic_pwm_out_cycles();
 
-                delay_ms(2); // TODO: 模拟超声结果等待延时
+                // 等待超声测量完成，最多等待1ms (100次 * 10us)
+                // PWM发送约需16.7us (5周期 × 3.33us)，超时时间充足
+                uint16_t timeout_count = 0;
+                const uint16_t max_timeout = 100;
+                
+                while (!g_ultrasonic_measure_done && timeout_count < max_timeout) {
+                    delay_10us(1);  // 延时 10us
+                    timeout_count++;
+                }
 
                 gpio_bit_toggle(GPIOA, GPIO_PIN_0);
 
-                // g_ultrasonic_measure_done = false;
+                // 根据等待结果发送不同的响应
-                send_response(RESP_TYPE_OK, s_report_status_err, sizeof(s_report_status_err));
+                if (g_ultrasonic_measure_done) {
+                    // 测量完成，发送正常响应
+                    send_response(RESP_TYPE_OK, s_report_status_ok, sizeof(s_report_status_ok));
+                } else {
+                    // 超时，发送读取错误包（理论上不应该发生，因为PWM只需16.7us）
+                    static const uint8_t timeout_error_data[] = { 0xFF, 0xFF, 0xFF, 0xFF };
+                    send_response(RESP_TYPE_OK, timeout_error_data, sizeof(timeout_error_data));
+                }
                 return;
 
-                
-                
-                
-
             case 2u: // M2: disable sensor report
                 send_response(RESP_TYPE_OK, s_report_status_ok, sizeof(s_report_status_ok));
                 return;