diff --git a/CMakeLists.txt b/CMakeLists.txt
index f228a1d..e951606 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -29,7 +29,9 @@ set(TARGET_C_SRC
         ${CMAKE_SOURCE_DIR}/src/systick.c
         ${CMAKE_SOURCE_DIR}/src/ultrasonic_driver.c
         ${CMAKE_SOURCE_DIR}/src/mlx90614.c
-        ${CMAKE_SOURCE_DIR}/src/RS485.c
+        ${CMAKE_SOURCE_DIR}/src/rs485.c
+        ${CMAKE_SOURCE_DIR}/src/i2c.c
+        ${CMAKE_SOURCE_DIR}/src/led.c
 )
 
 add_executable(xlsw_3dp_ultrasonic_300K ${TARGET_C_SRC})
diff --git a/inc/RS485.h b/inc/RS485.h
deleted file mode 100644
index a484aae..0000000
--- a/inc/RS485.h
+++ /dev/null
@@ -1,16 +0,0 @@
-//
-// Created by dell on 24-11-29.
-//
-
-#ifndef RS485_H
-#define RS485_H
-
-#include "gd32e23x_it.h"
-#include <stdbool.h>
-#include <string.h>
-
-#define RX_BUFFER_SIZE 64
-
-void process_command(char *cmd);
-
-#endif //RS485_H
diff --git a/inc/i2c.h b/inc/i2c.h
new file mode 100644
index 0000000..13caca9
--- /dev/null
+++ b/inc/i2c.h
@@ -0,0 +1,61 @@
+//
+// Created by dell on 24-12-25.
+//
+
+#ifndef I2C_H
+#define I2C_H
+
+#include "gd32e23x_it.h"
+#include "gd32e23x.h"
+#include "systick.h"
+#include "main.h"
+#include <stdbool.h>
+#include <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <math.h>
+
+/******************************************************************************/
+
+#define I2C_SPEED          20000
+#define RCU_GPIO_I2C       RCU_GPIOF
+#define RCU_I2C            RCU_I2C0
+#define I2C_PHY            I2C0
+#define I2C_SCL_PORT       GPIOF
+#define I2C_SCL_PIN        GPIO_PIN_1
+#define I2C_SDA_PORT       GPIOF
+#define I2C_SDA_PIN        GPIO_PIN_0
+#define I2C_GPIO_AF        GPIO_AF_1
+
+/******************************************************************************/
+
+#define I2C_TIME_OUT    (uint16_t)(10000)
+#define I2C_OK          1
+#define I2C_FAIL        0
+#define I2C_END         1
+
+/******************************************************************************/
+
+typedef enum {
+    I2C_START = 0,
+    I2C_SEND_ADDRESS,
+    I2C_CLEAR_ADDRESS_FLAG,
+    I2C_TRANSMIT_DATA,
+    I2C_STOP
+} i2c_process_enum;
+
+/******************************************************************************/
+
+void i2c_gpio_config(void);
+
+void i2c_config(void);
+
+void i2c_bus_reset(void);
+
+void i2c_scan(void);
+
+uint8_t i2c_write_16bits(uint8_t slave_addr, uint8_t reg_addr, uint8_t data[2]);
+
+uint8_t i2c_read_16bits(uint8_t slave_addr, uint8_t reg_addr, uint8_t *data);
+
+#endif //I2C_H
\ No newline at end of file
diff --git a/inc/led.h b/inc/led.h
new file mode 100644
index 0000000..9fc87ce
--- /dev/null
+++ b/inc/led.h
@@ -0,0 +1,30 @@
+//
+// Created by dell on 24-12-25.
+//
+
+#ifndef LED_H
+#define LED_H
+
+#include "gd32e23x_it.h"
+#include "gd32e23x.h"
+#include "systick.h"
+#include <stdbool.h>
+#include <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <math.h>
+
+/******************************************************************************/
+
+#define LED_PORT            GPIOA
+#define LED_PIN             GPIO_PIN_9
+#define LED_RCU             RCU_GPIOA
+#define LED_TIMER_RCU       RCU_TIMER5
+#define LED_TIMER           TIMER5
+#define LED_IRQ             TIMER5_IRQn
+
+/******************************************************************************/
+
+void led_config(void);
+
+#endif //LED_H
diff --git a/inc/mlx90614.h b/inc/mlx90614.h
index 4230eb0..17ae0ec 100644
--- a/inc/mlx90614.h
+++ b/inc/mlx90614.h
@@ -6,27 +6,19 @@
 #define MLX90614_H
 
 #include "gd32e23x.h"
+#include "i2c.h"
+#include "gd32e23x.h"
+#include "systick.h"
+#include <stdio.h>
 
-#define I2C_SPEED 100000
-#define IR_I2C    I2C0
-#define RCU_IR_GPIO RCU_GPIOF
-#define RCU_I2C RCU_I2C0
-#define I2C_SCL_PORT GPIOF
-#define I2C_SCL_PIN GPIO_PIN_1
-#define I2C_SDA_PORT GPIOF
-#define I2C_SDA_PIN GPIO_PIN_0
-#define I2C_GPIO_AF GPIO_AF_1
+/******************************************************************************/
 
-#define I2C_TIME_OUT    (uint16_t)(5000)
+#define MLX90614_ADDR             (0x5A << 1)
+#define MLX90614_OBJ_TEMP_REG     0x07
+#define MLX90614_AMB_TEMP_REG     0x06
 
-#define SLAVE_ADDR         (0x5A << 1)
-#define REG_ADDR_OBJ_TEMP  0x07
-#define REG_ADDR_AMB_TEMP  0x06
+/******************************************************************************/
 
-/* function declarations */
-/* this function configures I2C Peripheral & GPIO AF for I2C */
-void MLX90614_I2CConfig(void);
-/* this function reads object temperature */
-int MLX90614_GetObjectTemperature(void);
+uint16_t mlx90614_get_objrct_temperature(void);
 
 #endif //MLX90614_H
diff --git a/inc/rs485.h b/inc/rs485.h
new file mode 100644
index 0000000..f714eb3
--- /dev/null
+++ b/inc/rs485.h
@@ -0,0 +1,59 @@
+//
+// Created by dell on 24-11-29.
+//
+
+#ifndef RS485_H
+#define RS485_H
+
+#include "gd32e23x_it.h"
+#include "gd32e23x.h"
+#include "systick.h"
+#include <stdbool.h>
+#include <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <sys/types.h>
+
+/******************************************************************************/
+
+#define RS485_RCU            RCU_USART0
+#define RS485_GPIO_RCU       RCU_GPIOA
+#define RS485_GPIO_PORT      GPIOA
+#define RS485_TX_PIN         GPIO_PIN_2
+#define RS485_RX_PIN         GPIO_PIN_3
+#define RS485_PHY            USART0
+#define RS485_BAUDRATE       115200U
+#define RS485_EN_PIN         GPIO_PIN_4
+
+/******************************************************************************/
+
+#define RX_BUFFER_SIZE           32
+
+#define US_IR_PACKAGE_HEADER     0xD5
+#define US_IR_BOARD_TYPE         0x04
+#define US_IR_PACKAGE_LENGTH     0x02
+
+/******************************************************************************/
+
+typedef enum
+{
+    VALIDATION_SUCCESS = 0,
+    VALIDATION_CRC_ERROR = 1,
+    VALIDATION_HEADER_ERROR = 2,
+    VALIDATION_TYPE_ERROR = 4,
+    VALIDATION_LENGTH_ERROR = 8
+} validation_result_t;
+
+/******************************************************************************/
+
+void rs485_config(void);
+void process_command(uint8_t* cmd, size_t length);
+uint8_t calculate_crc(uint8_t data[], uint8_t data_length);
+validation_result_t validate_package_crc(uint8_t* data, uint8_t data_length);
+validation_result_t validate_package_header(uint8_t* data);
+validation_result_t validate_package_type(uint8_t* data);
+validation_result_t validate_data_length(uint8_t* data);
+void ultrasonic_distance_value_report(void);
+void mlx90614_tempture_value_report(void);
+
+#endif //RS485_H
diff --git a/inc/ultrasonic_driver.h b/inc/ultrasonic_driver.h
index 2a57dbc..6f757da 100644
--- a/inc/ultrasonic_driver.h
+++ b/inc/ultrasonic_driver.h
@@ -6,6 +6,7 @@
 #define ULTRASONIC_DRIVER_H
 
 #include "gd32e23x.h"
+#include "i2c.h"
 
 #define POWER_SUPPLY_12V
 // #define POWER_SUPPLY_24V
@@ -25,23 +26,6 @@
 #define ULTRASONIC_CYCLES   0x05U
 #define ULTRASONIC_TRAN_US  498  // (ms)
 
-#define LED_PORT            GPIOA
-#define LED_PIN             GPIO_PIN_9
-#define LED_RCU             RCU_GPIOA
-#define LED_TIMER_RCU       RCU_TIMER5
-#define LED_TIMER           TIMER5
-#define LED_IRQ             TIMER5_IRQn
-
-#define USART_RCU            RCU_USART0
-#define USART_GPIO_RCU       RCU_GPIOA
-#define USART_GPIO_PORT      GPIOA
-#define USART_TX_PIN         GPIO_PIN_2
-#define USART_RX_PIN         GPIO_PIN_3
-#define USART0_PHY           USART0
-#define USART_BAUDRATE       115200U
-
-#define USART_EN_PIN         GPIO_PIN_4
-
 #define US_TRAN_GPIO_RCU     RCU_GPIOB
 #define US_TRAN_GPIO_PORT    GPIOB
 #define US_TRAN_PIN          GPIO_PIN_1
@@ -65,15 +49,12 @@
 #define US_ECHO_TIMER        TIMER16
 #define US_ECHO_CH           TIMER_CH_0
 
-void led_config(void);
-void usart_config(void);
-void UltraSonic_GPIO_Config(void);
-void UltraSonic_Transmit_Config(void);
-void UltraSonic_PwmOut_Cycles(const uint8_t cycles);
-void UltraSonic_Transmit_Delay(const uint16_t micro_second);
-void UltraSonic_ReceExti_Config(void);
-void UltraSonic_EchoTimer_Config(void);
-void UltraSonic_Receive_Config(void);
-uint16_t UltraSonic_CalcDistance(uint32_t us_value);
+void ultrasonic_gpio_config(void);
+void ultrasonic_pwm_out_cycles(const uint8_t cycles);
+void ultrasonic_transmit_delay(const uint16_t micro_second);
+void ultrasonic_rece_exti_Config(void);
+void ultrasonic_echo_timer_config(void);
+void ultrasonic_receive_config(void);
+uint16_t ultrasonic_calc_distance(uint32_t us_value);
 
 #endif //ULTRASONIC_DRIVER_H
diff --git a/src/RS485.c b/src/RS485.c
deleted file mode 100644
index 993e5a2..0000000
--- a/src/RS485.c
+++ /dev/null
@@ -1,35 +0,0 @@
-//
-// Created by dell on 24-11-29.
-//
-
-#include "RS485.h"
-#include "gd32e23x.h"
-#include "systick.h"
-#include <stdio.h>
-#include <stdlib.h>
-
-#define MAX_CMD_SIZE 16
-#define BUFSIZE 8
-
-extern uint16_t g_distance_uint16;
-extern int g_temperature_int;
-
-void process_command(char *cmd) {
-    if (strncmp(cmd, "M1", 2) == 0) {
-        // printf("M1 -=-=- OK!\r\n");
-        printf("Distance: %d\r\n", g_distance_uint16);
-    } else if (strncmp(cmd, "M2", 2) == 0) {
-        // printf("M2 -=-=- OK!\r\n");
-        printf("Temperature: %d\r\n", g_temperature_int);
-// } else if (strncmp(cmd, "M3", 2) == 0) {
-//     char *param_str = cmd + 2; // Skip "M3"
-//     int param = atoi(param_str + 1); // Skip "S" and convert to integer
-//     if (param >= 0 && param <= 100) {
-//         printf("M3 with parameter %d -=-=- OK!\r\n", param);
-//     } else {
-//         printf("Invalid parameter for M3 command!\r\n");
-//     }
-    } else {
-        printf("Invalid Command!\r\n");
-    }
-}
\ No newline at end of file
diff --git a/src/gd32e23x_it.c b/src/gd32e23x_it.c
index d02df1c..7d55f7b 100644
--- a/src/gd32e23x_it.c
+++ b/src/gd32e23x_it.c
@@ -38,6 +38,7 @@ OF SUCH DAMAGE.
 #include "systick.h"
 #include "ultrasonic_driver.h"
 #include "rs485.h"
+#include "led.h"
 
 __IO uint32_t g_capture_value;
 
@@ -164,21 +165,25 @@ void EXTI0_1_IRQHandler(void) {
 }
 
 void USART0_IRQHandler(void) {
-    if(RESET != usart_interrupt_flag_get(USART0, USART_INT_FLAG_RBNE))
-    {
+    static uint8_t rx_index = 0;
+    static uint8_t rx_buffer[RX_BUFFER_SIZE];
+
+    if (RESET != usart_interrupt_flag_get(USART0, USART_INT_FLAG_RBNE)) {
         usart_interrupt_flag_clear(USART0, USART_INT_FLAG_RBNE);
-        uint8_t received_data = (uint8_t)usart_data_receive(USART0);
+        uint8_t received_data = (uint8_t) usart_data_receive(USART0);
 
         // 将接收到的数据存储到缓冲区
-        if(rx_index < RX_BUFFER_SIZE - 1) {
+        if (rx_index < RX_BUFFER_SIZE - 1) {
             rx_buffer[rx_index++] = received_data;
         }
+    }
 
-        // 检查是否接收到换行符，表示指令结束
-        if(received_data == '\n') {
-            rx_buffer[rx_index] = '\0'; // 添加字符串结束符
-            process_command(rx_buffer); // 处理指令
-            rx_index = 0; // 重置缓冲区索引
-        }
+    if (RESET != usart_interrupt_flag_get(USART0, USART_INT_FLAG_IDLE)) {
+        usart_interrupt_flag_clear(USART0, USART_INT_FLAG_IDLE);
+
+        process_command(rx_buffer, rx_index); // 处理指令
+
+        rx_index = 0; // 重置缓冲区索引
+        return;
     }
 }
\ No newline at end of file
diff --git a/src/i2c.c b/src/i2c.c
new file mode 100644
index 0000000..36e9bd1
--- /dev/null
+++ b/src/i2c.c
@@ -0,0 +1,473 @@
+//
+// Created by dell on 24-12-25.
+//
+
+#include "i2c.h"
+/*!
+    \brief      configure the GPIO ports
+    \param[in]  none
+    \param[out] none
+    \retval     none
+*/
+void i2c_gpio_config(void) {
+    /* enable IIC GPIO clock */
+    rcu_periph_clock_enable(RCU_GPIO_I2C);
+
+    /* connect I2C_SCL_PIN to I2C_SCL */
+    gpio_af_set(I2C_SCL_PORT, I2C_GPIO_AF, I2C_SCL_PIN);
+    /* connect I2C_SDA_PIN to I2C_SDA */
+    gpio_af_set(I2C_SDA_PORT, I2C_GPIO_AF, I2C_SDA_PIN);
+    /* configure GPIO pins of I2C */
+    gpio_mode_set(I2C_SCL_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, I2C_SCL_PIN);
+    gpio_output_options_set(I2C_SCL_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, I2C_SCL_PIN);
+    gpio_mode_set(I2C_SDA_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, I2C_SDA_PIN);
+    gpio_output_options_set(I2C_SDA_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, I2C_SDA_PIN);
+}
+
+/*!
+    \brief      configure the I2CX interface
+    \param[in]  none
+    \param[out] none
+    \retval     none
+*/
+void i2c_config(void) {
+    /* enable I2C clock */
+    rcu_periph_clock_enable(RCU_I2C);
+    /* configure I2C clock */
+    i2c_clock_config(I2C_PHY, I2C_SPEED, I2C_DTCY_2);
+    /* configure I2C address */
+    i2c_mode_addr_config(I2C_PHY, I2C_I2CMODE_ENABLE, I2C_ADDFORMAT_7BITS, 0xA0);
+    /* enable I2CX */
+    i2c_enable(I2C_PHY);
+    /* enable acknowledge */
+    i2c_ack_config(I2C_PHY, I2C_ACK_ENABLE);
+}
+
+/*!
+    \brief      reset I2C bus
+    \param[in]  none
+    \param[out] none
+    \retval     none
+*/
+void i2c_bus_reset(void) {
+    i2c_deinit(I2C_PHY);
+    /* configure SDA/SCL for GPIO */
+    GPIO_BC(I2C_SCL_PORT) |= I2C_SCL_PIN;
+    GPIO_BC(I2C_SDA_PORT) |= I2C_SDA_PIN;
+    gpio_output_options_set(I2C_SCL_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, I2C_SCL_PIN);
+    gpio_output_options_set(I2C_SDA_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, I2C_SDA_PIN);
+    __NOP();
+    __NOP();
+    __NOP();
+    __NOP();
+    __NOP();
+    GPIO_BOP(I2C_SCL_PORT) |= I2C_SCL_PIN;
+    __NOP();
+    __NOP();
+    __NOP();
+    __NOP();
+    __NOP();
+    GPIO_BOP(I2C_SDA_PORT) |= I2C_SDA_PIN;
+    /* connect I2C_SCL_PIN to I2C_SCL */
+    /* connect I2C_SDA_PIN to I2C_SDA */
+    gpio_output_options_set(I2C_SCL_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, I2C_SCL_PIN);
+    gpio_output_options_set(I2C_SDA_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, I2C_SDA_PIN);
+    /* configure the I2CX interface */
+    i2c_config();
+}
+
+/**
+ * @brief 扫描I2C总线，查找连接的设备
+ *
+ * 该函数会扫描I2C总线上的所有地址（1到126），并尝试与每个地址进行通信。
+ * 如果在某个地址上发现了设备，则会打印出该设备的地址。
+ * 最后会打印出找到的设备总数。
+ */
+void i2c_scan(void) {
+    uint32_t timeout;
+    uint8_t address;
+    int found_devices = 0;
+
+    printf("Scanning I2C bus...\r\n");
+
+    for (address = 1; address < 127; address++) {
+        timeout = 0;
+
+        // 生成起始条件
+        while (i2c_flag_get(I2C_PHY, I2C_FLAG_I2CBSY) && (timeout < I2C_TIME_OUT))
+            timeout++;
+        if (timeout >= I2C_TIME_OUT) {
+            continue; // 超时，跳过该地址
+        }
+        i2c_start_on_bus(I2C_PHY);
+        timeout = 0;
+
+        // 等待起始条件发送完成
+        while (!i2c_flag_get(I2C_PHY, I2C_FLAG_SBSEND) && (timeout < I2C_TIME_OUT))
+            timeout++;
+        if (timeout >= I2C_TIME_OUT) {
+            continue; // 超时，跳过该地址
+        }
+        i2c_master_addressing(I2C_PHY, (address << 1), I2C_TRANSMITTER);
+        timeout = 0;
+
+        // 等待地址发送完成
+        while (!i2c_flag_get(I2C_PHY, I2C_FLAG_ADDSEND) && (timeout < I2C_TIME_OUT))
+            timeout++;
+        if (timeout < I2C_TIME_OUT) {
+            i2c_flag_clear(I2C_PHY, I2C_FLAG_ADDSEND);
+            printf("Found device at 0x%02X\r\n", address);
+            found_devices++;
+        }
+
+        // 生成停止条件
+        i2c_stop_on_bus(I2C_PHY);
+
+        timeout = 0;
+
+        while (i2c_flag_get(I2C_PHY, I2C_FLAG_STPDET) && (timeout < I2C_TIME_OUT))
+            timeout++;
+    }
+
+    if (found_devices == 0) {
+        printf("No I2C devices found.\r\n");
+    } else {
+        printf("Total %d I2C devices found.\r\n", found_devices);
+    }
+}
+
+uint8_t i2c_write_16bits(uint8_t slave_addr, uint8_t reg_addr, uint8_t data[2]) {
+    uint8_t state = I2C_START;
+    uint16_t timeout = 0;
+    uint8_t i2c_timeout_flag = 0;
+
+    /* enable acknowledge */
+    i2c_ack_config(I2C_PHY, I2C_ACK_ENABLE);
+    while (!(i2c_timeout_flag)) {
+        switch (state) {
+            case I2C_START:
+                /* i2c master sends start signal only when the bus is idle */
+                while (i2c_flag_get(I2C_PHY, I2C_FLAG_I2CBSY) && (timeout < I2C_TIME_OUT)) {
+                    timeout++;
+                }
+                if (timeout < I2C_TIME_OUT) {
+                    i2c_start_on_bus(I2C_PHY);
+                    timeout = 0;
+                    state = I2C_SEND_ADDRESS;
+                } else {
+                    timeout = 0;
+                    state = I2C_START;
+#ifdef DEBUG_VERBOES
+                    printf("i2c bus is busy in WRITE BYTE!\n");
+#endif
+                }
+                break;
+            case I2C_SEND_ADDRESS:
+                /* i2c master sends START signal successfully */
+                while ((!i2c_flag_get(I2C_PHY, I2C_FLAG_SBSEND)) && (timeout < I2C_TIME_OUT)) {
+                    timeout++;
+                }
+                if (timeout < I2C_TIME_OUT) {
+                    i2c_master_addressing(I2C_PHY, slave_addr, I2C_TRANSMITTER);
+                    timeout = 0;
+                    state = I2C_CLEAR_ADDRESS_FLAG;
+                } else {
+                    timeout = 0;
+                    state = I2C_START;
+#ifdef DEBUG_VERBOES
+                    printf("i2c master sends start signal timeout in WRITE BYTE!\n");
+#endif
+                }
+                break;
+            case I2C_CLEAR_ADDRESS_FLAG:
+                /* address flag set means i2c slave sends ACK */
+                while ((!i2c_flag_get(I2C_PHY, I2C_FLAG_ADDSEND)) && (timeout < I2C_TIME_OUT)) {
+                    timeout++;
+                }
+                if (timeout < I2C_TIME_OUT) {
+                    i2c_flag_clear(I2C_PHY, I2C_FLAG_ADDSEND);
+                    timeout = 0;
+                    state = I2C_TRANSMIT_DATA;
+                } else {
+                    timeout = 0;
+                    state = I2C_START;
+#ifdef DEBUG_VERBOES
+                    printf("i2c master clears address flag timeout in WRITE BYTE!\n");
+#endif
+                }
+                break;
+            case I2C_TRANSMIT_DATA:
+                /* wait until the transmit data buffer is empty */
+                while ((!i2c_flag_get(I2C_PHY, I2C_FLAG_TBE)) && (timeout < I2C_TIME_OUT)) {
+                    timeout++;
+                }
+                if (timeout < I2C_TIME_OUT) {
+                    /* send IIC register address */
+                    i2c_data_transmit(I2C_PHY, reg_addr);
+                    timeout = 0;
+                } else {
+                    timeout = 0;
+                    state = I2C_START;
+#ifdef DEBUG_VERBOES
+                    printf("i2c master sends data timeout in WRITE BYTE!\n");
+#endif
+                }
+
+            /* wait until BTC bit is set */
+                while ((!i2c_flag_get(I2C_PHY, I2C_FLAG_BTC)) && (timeout < I2C_TIME_OUT)) {
+                    timeout++;
+                }
+                if (timeout < I2C_TIME_OUT) {
+                    /* send register MSB value */
+                    i2c_data_transmit(I2C_PHY, data[0]);
+                    timeout = 0;
+                } else {
+                    timeout = 0;
+                    state = I2C_START;
+#ifdef DEBUG_VERBOES
+                    printf("i2c master sends MSB data timeout in WRITE BYTE!\n");
+#endif
+                }
+
+            /* wait until BTC bit is set */
+                while ((!i2c_flag_get(I2C_PHY, I2C_FLAG_BTC)) && (timeout < I2C_TIME_OUT)) {
+                    timeout++;
+                }
+                if (timeout < I2C_TIME_OUT) {
+                    /* send register LSB value */
+                    i2c_data_transmit(I2C_PHY, data[1]);
+                    timeout = 0;
+                    state = I2C_STOP;
+                } else {
+                    timeout = 0;
+                    state = I2C_START;
+#ifdef DEBUG_VERBOES
+                    printf("i2c master sends LSB data timeout in WRITE BYTE!\n");
+#endif
+                }
+
+            /* wait until BTC bit is set */
+                while ((!i2c_flag_get(I2C_PHY, I2C_FLAG_BTC)) && (timeout < I2C_TIME_OUT)) {
+                    timeout++;
+                }
+                if (timeout < I2C_TIME_OUT) {
+                    state = I2C_STOP;
+                    timeout = 0;
+                } else {
+                    timeout = 0;
+                    state = I2C_START;
+#ifdef DEBUG_VERBOES
+                    printf("i2c master sends data timeout in WRITE BYTE!\n");
+#endif
+                }
+                break;
+            case I2C_STOP:
+                /* send a stop condition to I2C bus */
+                i2c_stop_on_bus(I2C_PHY);
+            /* i2c master sends STOP signal successfully */
+                while ((I2C_CTL0(I2C_PHY) & I2C_CTL0_STOP) && (timeout < I2C_TIME_OUT)) {
+                    timeout++;
+                }
+                if (timeout < I2C_TIME_OUT) {
+                    timeout = 0;
+                    state = I2C_END;
+                    i2c_timeout_flag = I2C_OK;
+                } else {
+                    timeout = 0;
+                    state = I2C_START;
+#ifdef DEBUG_VERBOES
+                    printf("i2c master sends stop signal timeout in WRITE BYTE!\n");
+#endif
+                }
+                break;
+            default:
+                state = I2C_START;
+                i2c_timeout_flag = I2C_OK;
+                timeout = 0;
+#ifdef DEBUG_VERBOES
+                printf("i2c master sends start signal in WRITE BYTE.\n");
+#endif
+                break;
+        }
+    }
+    return I2C_END;
+}
+
+uint8_t i2c_read_16bits(uint8_t slave_addr, uint8_t reg_addr, uint8_t *data) {
+    uint8_t state = I2C_START;
+    uint8_t read_cycle = 0;
+    uint16_t timeout = 0;
+    uint8_t i2c_timeout_flag = 0;
+    uint8_t number_of_byte = 2;
+
+    /* enable acknowledge */
+    i2c_ack_config(I2C_PHY, I2C_ACK_ENABLE);
+
+    while (!(i2c_timeout_flag)) {
+        switch (state) {
+            case I2C_START:
+                if (RESET == read_cycle) {
+                    /* i2c master sends start signal only when the bus is idle */
+                    while (i2c_flag_get(I2C_PHY, I2C_FLAG_I2CBSY) && (timeout < I2C_TIME_OUT)) {
+                        timeout++;
+                    }
+                    if (timeout < I2C_TIME_OUT) {
+                        /* whether to send ACK or not for the next byte */
+                        i2c_ackpos_config(I2C_PHY, I2C_ACKPOS_NEXT);
+                    } else {
+                        // i2c_bus_reset();
+                        timeout = 0;
+                        state = I2C_START;
+#ifdef DEBUG_VERBOES
+                        printf("i2c bus is busy in READ!\n");
+#endif
+                    }
+                }
+            /* send the start signal */
+                i2c_start_on_bus(I2C_PHY);
+                timeout = 0;
+                state = I2C_SEND_ADDRESS;
+                break;
+            case I2C_SEND_ADDRESS:
+                /* i2c master sends START signal successfully */
+                while ((!i2c_flag_get(I2C_PHY, I2C_FLAG_SBSEND)) && (timeout < I2C_TIME_OUT)) {
+                    timeout++;
+                }
+                if (timeout < I2C_TIME_OUT) {
+                    if (RESET == read_cycle) {
+                        i2c_master_addressing(I2C_PHY, slave_addr, I2C_TRANSMITTER);
+                        state = I2C_CLEAR_ADDRESS_FLAG;
+                    } else {
+                        i2c_master_addressing(I2C_PHY, slave_addr, I2C_RECEIVER);
+                        i2c_ack_config(I2C_PHY, I2C_ACK_DISABLE);
+                        state = I2C_CLEAR_ADDRESS_FLAG;
+                    }
+                    timeout = 0;
+                } else {
+                    timeout = 0;
+                    state = I2C_START;
+                    read_cycle = RESET;
+#ifdef DEBUG_VERBOES
+                    printf("i2c master sends start signal timeout in READ!\n");
+#endif
+                }
+                break;
+            case I2C_CLEAR_ADDRESS_FLAG:
+                /* address flag set means i2c slave sends ACK */
+                while ((!i2c_flag_get(I2C_PHY, I2C_FLAG_ADDSEND)) && (timeout < I2C_TIME_OUT)) {
+                    timeout++;
+                }
+                if (timeout < I2C_TIME_OUT) {
+                    i2c_flag_clear(I2C_PHY, I2C_FLAG_ADDSEND);
+                    if ((SET == read_cycle) && (1 == number_of_byte)) {
+                        /* send a stop condition to I2C bus */
+                        i2c_stop_on_bus(I2C_PHY);
+                    }
+                    timeout = 0;
+                    state = I2C_TRANSMIT_DATA;
+                } else {
+                    timeout = 0;
+                    state = I2C_START;
+                    read_cycle = RESET;
+#ifdef DEBUG_VERBOES
+                    printf("i2c master clears address flag timeout in READ!\n");
+#endif
+                }
+                break;
+            case I2C_TRANSMIT_DATA:
+                if (RESET == read_cycle) {
+                    /* wait until the transmit data buffer is empty */
+                    while ((!i2c_flag_get(I2C_PHY, I2C_FLAG_TBE)) && (timeout < I2C_TIME_OUT)) {
+                        timeout++;
+                    }
+                    if (timeout < I2C_TIME_OUT) {
+                        /* send the EEPROM's internal address to write to : only one byte address */
+                        i2c_data_transmit(I2C_PHY, reg_addr);
+                        timeout = 0;
+                    } else {
+                        timeout = 0;
+                        state = I2C_START;
+                        read_cycle = RESET;
+#ifdef DEBUG_VERBOES
+                        printf("i2c master wait data buffer is empty timeout in READ!\n");
+#endif
+                    }
+                    /* wait until BTC bit is set */
+                    while ((!i2c_flag_get(I2C_PHY, I2C_FLAG_BTC)) && (timeout < I2C_TIME_OUT)) {
+                        timeout++;
+                    }
+                    if (timeout < I2C_TIME_OUT) {
+                        timeout = 0;
+                        state = I2C_START;
+                        read_cycle = SET;
+                    } else {
+                        timeout = 0;
+                        state = I2C_START;
+                        read_cycle = RESET;
+#ifdef DEBUG_VERBOES
+                        printf("i2c master sends register address timeout in READ!\n");
+#endif
+                    }
+                } else {
+                    while (number_of_byte) {
+                        timeout++;
+                        if (2 == number_of_byte) {
+                            /* wait until BTC bit is set */
+                            while (!i2c_flag_get(I2C_PHY, I2C_FLAG_BTC));
+                            /* send a stop condition to I2C bus */
+                            i2c_stop_on_bus(I2C_PHY);
+                        }
+                        /* wait until RBNE bit is set */
+                        if (i2c_flag_get(I2C_PHY, I2C_FLAG_RBNE)) {
+                            /* read a byte from the EEPROM */
+                            *data = i2c_data_receive(I2C_PHY);
+                            /* point to the next location where the byte read will be saved */
+                            data++;
+                            /* decrement the read bytes counter */
+                            number_of_byte--;
+                            timeout = 0;
+                        }
+                        if (timeout > I2C_TIME_OUT) {
+                            timeout = 0;
+                            state = I2C_START;
+                            read_cycle = 0;
+#ifdef DEBUG_VERBOES
+                            printf("i2c master sends data timeout in READ!\n");
+#endif
+                        }
+                    }
+                    timeout = 0;
+                    state = I2C_STOP;
+                }
+                break;
+            case I2C_STOP:
+                /* i2c master sends STOP signal successfully */
+                while ((I2C_CTL0(I2C_PHY) & I2C_CTL0_STOP) && (timeout < I2C_TIME_OUT)) {
+                    timeout++;
+                }
+                if (timeout < I2C_TIME_OUT) {
+                    timeout = 0;
+                    state = I2C_END;
+                    i2c_timeout_flag = I2C_OK;
+                } else {
+                    timeout = 0;
+                    state = I2C_START;
+                    read_cycle = 0;
+#ifdef DEBUG_VERBOES
+                    printf("i2c master sends stop signal timeout in READ!\n");
+#endif
+                }
+                break;
+            default:
+                state = I2C_START;
+                read_cycle = 0;
+                i2c_timeout_flag = I2C_OK;
+                timeout = 0;
+#ifdef DEBUG_VERBOES
+                printf("i2c master sends start signal in READ.\n");
+#endif
+                break;
+        }
+    }
+    return I2C_END;
+}
diff --git a/src/led.c b/src/led.c
new file mode 100644
index 0000000..5e4fbaa
--- /dev/null
+++ b/src/led.c
@@ -0,0 +1,32 @@
+//
+// Created by dell on 24-12-25.
+//
+
+#include "led.h"
+
+void led_config(void) {
+    rcu_periph_clock_enable(LED_RCU);
+
+    gpio_mode_set(LED_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, LED_PIN);
+    gpio_output_options_set(LED_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, LED_PIN);
+    gpio_bit_write(LED_PORT, LED_PIN, SET);
+
+    rcu_periph_clock_enable(LED_TIMER_RCU);
+    timer_deinit(LED_TIMER);
+
+    timer_parameter_struct timer_initpara;
+    timer_struct_para_init(&timer_initpara);
+    timer_initpara.prescaler = 799;
+    timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
+    timer_initpara.counterdirection = TIMER_COUNTER_UP;
+    timer_initpara.period = 999;
+    timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
+    timer_init(LED_TIMER, &timer_initpara);
+
+    timer_auto_reload_shadow_enable(LED_TIMER);
+    timer_interrupt_enable(LED_TIMER, TIMER_INT_UP);
+
+    timer_enable(LED_TIMER);
+
+    nvic_irq_enable(LED_IRQ, 2);
+}
diff --git a/src/main.c b/src/main.c
index 64bd640..170272b 100644
--- a/src/main.c
+++ b/src/main.c
@@ -9,13 +9,16 @@
 #include "gd32e23x.h"
 #include "systick.h"
 #include "gd32e23x_libopt.h"
-
 #include "ultrasonic_driver.h"
 #include "mlx90614.h"
+#include "i2c.h"
+#include "led.h"
+#include "rs485.h"
 
 extern uint32_t g_capture_value;
+
 uint16_t g_distance_uint16;
-int g_temperature_int;
+uint16_t g_temperature_uint16;
 
 /*!
     \brief      main function
@@ -27,38 +30,36 @@ int main(void)
 {
     /* configure systick */
     systick_config();
-    /* configure ultrasonic board hardware */
-    UltraSonic_Transmit_Config();
-    UltraSonic_Receive_Config();
 
-    MLX90614_I2CConfig();
+
+    i2c_gpio_config();
+    i2c_config();
+
+    led_config();
+
+    rs485_config();
+
+
+    /* configure ultrasonic board hardware */
+    ultrasonic_gpio_config();
+    ultrasonic_receive_config();
 
     /* ---------- debug start ---------- */
 
     /* ---------- debug end ---------- */
 
-    // printf("\r\n");
-    // printf("XLSW-3DP-UltraSonic Analog 300K! V0.1.14\r\n");
-    // printf("\r\n");
-    //
-    // delay_ms(2000);
-
     while (1)
     {
         delay_ms(ULTRASONIC_TRAN_US);
-        UltraSonic_PwmOut_Cycles(ULTRASONIC_CYCLES);
+        ultrasonic_pwm_out_cycles(ULTRASONIC_CYCLES);
         delay_ms(2);
         // printf("cap_val:%ld\t", g_capture_value);
         if (g_capture_value <= CAPTURE_VALUE_MAX) {
-            g_distance_uint16 = UltraSonic_CalcDistance(g_capture_value);
+            g_distance_uint16 = ultrasonic_calc_distance(g_capture_value);
         } else {
             g_distance_uint16 = 0x0000;
         }
-        // const char* result = (g_capture_value <= CAPTURE_VALUE_MAX) ? "Distance: %d\t" : "Over Range\t";
-        // printf(result, distance_uint16);
-
-        // printf("Temp:%d\n", MLX90614_GetObjectTemperature());
-        g_temperature_int = MLX90614_GetObjectTemperature();
+        g_temperature_uint16 = mlx90614_get_objrct_temperature();
     }
 }
 
diff --git a/src/mlx90614.c b/src/mlx90614.c
index d8c5b4d..982abe5 100644
--- a/src/mlx90614.c
+++ b/src/mlx90614.c
@@ -3,9 +3,6 @@
 //
 
 #include "mlx90614.h"
-#include "gd32e23x.h"
-#include "systick.h"
-#include <stdio.h>
 
 /**
   * @brief  This function configure the I2C peripheral & GPIO
@@ -13,24 +10,41 @@
   * @param[out] none
   * @retval None
   */
-void MLX90614_I2CConfig(void) {
-    rcu_periph_clock_enable(RCU_IR_GPIO);
-    rcu_periph_clock_enable(RCU_I2C);
+// void MLX90614_I2CConfig(void) {
+//     rcu_periph_clock_enable(RCU_IR_GPIO);
+//     rcu_periph_clock_enable(RCU_I2C);
+//
+//     gpio_af_set(I2C_SCL_PORT, I2C_GPIO_AF, I2C_SCL_PIN);
+//     gpio_af_set(I2C_SDA_PORT, I2C_GPIO_AF, I2C_SDA_PIN);
+//
+//     gpio_mode_set(I2C_SCL_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, I2C_SCL_PIN);
+//     gpio_output_options_set(I2C_SCL_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, I2C_SCL_PIN);
+//
+//     gpio_mode_set(I2C_SDA_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, I2C_SDA_PIN);
+//     gpio_output_options_set(I2C_SDA_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, I2C_SDA_PIN);
+//
+//     i2c_clock_config(IR_I2C, I2C_SPEED, I2C_DTCY_2);
+//
+//     i2c_mode_addr_config(IR_I2C, I2C_I2CMODE_ENABLE, I2C_ADDFORMAT_7BITS, SLAVE_ADDR);
+//     i2c_enable(IR_I2C);
+//     i2c_ack_config(IR_I2C, I2C_ACK_ENABLE);
+// }
 
-    gpio_af_set(I2C_SCL_PORT, I2C_GPIO_AF, I2C_SCL_PIN);
-    gpio_af_set(I2C_SDA_PORT, I2C_GPIO_AF, I2C_SDA_PIN);
+uint16_t mlx90614_get_objrct_temperature(void) {
+    uint8_t data[2] = {0};
+    uint16_t tempRaw = 0;
 
-    gpio_mode_set(I2C_SCL_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, I2C_SCL_PIN);
-    gpio_output_options_set(I2C_SCL_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, I2C_SCL_PIN);
+    i2c_read_16bits(MLX90614_ADDR, MLX90614_OBJ_TEMP_REG, data);
 
-    gpio_mode_set(I2C_SDA_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, I2C_SDA_PIN);
-    gpio_output_options_set(I2C_SDA_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, I2C_SDA_PIN);
+    tempRaw = ((uint16_t) (data[1] << 8) | data[0]) * 2 - 27315 + 4000;
+    // (Data[1] << 8) | data[0] * 0.02 -273.15  为避免浮点运算，直接放大100倍
+    // 4000是为了避免负数
 
-    i2c_clock_config(IR_I2C, I2C_SPEED, I2C_DTCY_2);
+    if (tempRaw > 12500) {
+        tempRaw = 12500;
+    }
 
-    i2c_mode_addr_config(IR_I2C, I2C_I2CMODE_ENABLE, I2C_ADDFORMAT_7BITS, SLAVE_ADDR);
-    i2c_enable(IR_I2C);
-    i2c_ack_config(IR_I2C, I2C_ACK_ENABLE);
+    return tempRaw;
 }
 
 /**
@@ -39,125 +53,125 @@ void MLX90614_I2CConfig(void) {
   * @param[out] temp_raw: object temperature
   * @retval None
   */
-int MLX90614_GetObjectTemperature(void) {
-    uint8_t data[3] = {0};
-    int temp_raw = 0;
-    uint16_t timeout = 0;
-
-    i2c_ack_config(IR_I2C, I2C_ACK_ENABLE);
-
-    while (i2c_flag_get(IR_I2C, I2C_FLAG_I2CBSY) && (timeout < I2C_TIME_OUT)) //判断IIC总线是否忙，发送起始信号
-        timeout++;
-    if (timeout < I2C_TIME_OUT) {
-        i2c_start_on_bus(IR_I2C);
-        timeout = 0;
-    } else {
-        printf("err\r\n");
-        return -4100; // 超时返回错误
-    }
-
-    while (!i2c_flag_get(IR_I2C, I2C_FLAG_SBSEND) && (timeout < I2C_TIME_OUT)) //判断起始位是否发送，设置sensor地址并设置为写
-        timeout++;
-    if (timeout < I2C_TIME_OUT) {
-        i2c_master_addressing(IR_I2C, SLAVE_ADDR, I2C_TRANSMITTER);
-        timeout = 0;
-    } else {
-        return -4100; // 超时返回错误
-    }
-
-    while (!i2c_flag_get(IR_I2C, I2C_FLAG_ADDSEND) && (timeout < I2C_TIME_OUT))
-        timeout++;
-    if (timeout < I2C_TIME_OUT) {
-        i2c_flag_clear(IR_I2C, I2C_FLAG_ADDSEND);
-        timeout = 0;
-    } else {
-        return -4100; // 超时返回错误
-    }
-
-    while (!i2c_flag_get(IR_I2C, I2C_FLAG_TBE) && (timeout < I2C_TIME_OUT)) //判断地址是否发送完成，然后发送寄存器地址
-        timeout++;
-    if (timeout < I2C_TIME_OUT) {
-        i2c_data_transmit(IR_I2C, REG_ADDR_OBJ_TEMP);
-        timeout = 0;
-        // i2c_start_on_bus(IR_I2C);
-    } else {
-        return -4100; // 超时返回错误
-    }
-
-    while (i2c_flag_get(IR_I2C, I2C_FLAG_BTC) && (timeout < I2C_TIME_OUT)) //判断发送缓冲器是否为空，为空后（发送完毕）重新发送开始信号
-        timeout++;
-    if (timeout < I2C_TIME_OUT) {
-        i2c_start_on_bus(IR_I2C);
-        timeout = 0;
-    } else {
-        return -4100; // 超时返回错误
-    }
-
-    while (!i2c_flag_get(IR_I2C, I2C_FLAG_SBSEND) && (timeout < I2C_TIME_OUT)) {
-        timeout++;
-    }
-    if (timeout < I2C_TIME_OUT) {
-        i2c_master_addressing(IR_I2C, SLAVE_ADDR, I2C_RECEIVER);
-        timeout = 0;
-    } else {
-        return -4100; // 超时返回错误
-    }
-
-    while (!i2c_flag_get(IR_I2C, I2C_FLAG_ADDSEND) && (timeout < I2C_TIME_OUT))
-        timeout++;
-    if (timeout < I2C_TIME_OUT) {
-        i2c_flag_clear(IR_I2C, I2C_FLAG_ADDSEND);
-        timeout = 0;
-    } else {
-        return -4100; // 超时返回错误
-    }
-
-    // 读取第一个字节的数据
-    while (!i2c_flag_get(IR_I2C, I2C_FLAG_RBNE) && (timeout < I2C_TIME_OUT)) {
-        timeout++;
-    }
-    if (timeout < I2C_TIME_OUT) {
-        data[0] = i2c_data_receive(IR_I2C);
-        timeout = 0;
-    } else {
-        return -4100; // 超时返回错误
-    }
-
-    // 读取第二个字节的数据
-    while (!i2c_flag_get(IR_I2C, I2C_FLAG_RBNE) && (timeout < I2C_TIME_OUT)) {
-        timeout++;
-    }
-    if (timeout < I2C_TIME_OUT) {
-        data[1] = i2c_data_receive(IR_I2C);
-        timeout = 0;
-    } else {
-        return -4100; // 超时返回错误
-    }
-
-    i2c_ack_config(IR_I2C, I2C_ACK_DISABLE); // 关闭发送ACK，它会在下一个字节完成后发送NAK
-
-    // 读取第三个字节的数据
-    while (!i2c_flag_get(IR_I2C, I2C_FLAG_RBNE) && (timeout < I2C_TIME_OUT)) {
-        timeout++;
-    }
-    if (timeout < I2C_TIME_OUT) {
-        data[2] = i2c_data_receive(IR_I2C);
-        timeout = 0;
-    } else {
-        return -4100; // 超时返回错误
-    }
-
-    i2c_stop_on_bus(IR_I2C);
-
-    temp_raw = ((uint16_t) (data[1] << 8) | data[0]) * 2 - 27315;
-    // (Data[1] << 8) | data[0] * 0.02 -273.15  为避免浮点运算，直接放大100倍
-
-    if (temp_raw > 8500) {
-        temp_raw = 8500;
-    }
-    if (temp_raw < -4000) {
-        temp_raw = -4000;
-    }
-
-    return temp_raw;
-}
+// int MLX90614_GetObjectTemperature(void) {
+//     uint8_t data[3] = {0};
+//     int temp_raw = 0;
+//     uint16_t timeout = 0;
+//
+//     i2c_ack_config(IR_I2C, I2C_ACK_ENABLE);
+//
+//     while (i2c_flag_get(IR_I2C, I2C_FLAG_I2CBSY) && (timeout < I2C_TIME_OUT)) //判断IIC总线是否忙，发送起始信号
+//         timeout++;
+//     if (timeout < I2C_TIME_OUT) {
+//         i2c_start_on_bus(IR_I2C);
+//         timeout = 0;
+//     } else {
+//         printf("err\r\n");
+//         return -4100; // 超时返回错误
+//     }
+//
+//     while (!i2c_flag_get(IR_I2C, I2C_FLAG_SBSEND) && (timeout < I2C_TIME_OUT)) //判断起始位是否发送，设置sensor地址并设置为写
+//         timeout++;
+//     if (timeout < I2C_TIME_OUT) {
+//         i2c_master_addressing(IR_I2C, SLAVE_ADDR, I2C_TRANSMITTER);
+//         timeout = 0;
+//     } else {
+//         return -4100; // 超时返回错误
+//     }
+//
+//     while (!i2c_flag_get(IR_I2C, I2C_FLAG_ADDSEND) && (timeout < I2C_TIME_OUT))
+//         timeout++;
+//     if (timeout < I2C_TIME_OUT) {
+//         i2c_flag_clear(IR_I2C, I2C_FLAG_ADDSEND);
+//         timeout = 0;
+//     } else {
+//         return -4100; // 超时返回错误
+//     }
+//
+//     while (!i2c_flag_get(IR_I2C, I2C_FLAG_TBE) && (timeout < I2C_TIME_OUT)) //判断地址是否发送完成，然后发送寄存器地址
+//         timeout++;
+//     if (timeout < I2C_TIME_OUT) {
+//         i2c_data_transmit(IR_I2C, REG_ADDR_OBJ_TEMP);
+//         timeout = 0;
+//         // i2c_start_on_bus(IR_I2C);
+//     } else {
+//         return -4100; // 超时返回错误
+//     }
+//
+//     while (i2c_flag_get(IR_I2C, I2C_FLAG_BTC) && (timeout < I2C_TIME_OUT)) //判断发送缓冲器是否为空，为空后（发送完毕）重新发送开始信号
+//         timeout++;
+//     if (timeout < I2C_TIME_OUT) {
+//         i2c_start_on_bus(IR_I2C);
+//         timeout = 0;
+//     } else {
+//         return -4100; // 超时返回错误
+//     }
+//
+//     while (!i2c_flag_get(IR_I2C, I2C_FLAG_SBSEND) && (timeout < I2C_TIME_OUT)) {
+//         timeout++;
+//     }
+//     if (timeout < I2C_TIME_OUT) {
+//         i2c_master_addressing(IR_I2C, SLAVE_ADDR, I2C_RECEIVER);
+//         timeout = 0;
+//     } else {
+//         return -4100; // 超时返回错误
+//     }
+//
+//     while (!i2c_flag_get(IR_I2C, I2C_FLAG_ADDSEND) && (timeout < I2C_TIME_OUT))
+//         timeout++;
+//     if (timeout < I2C_TIME_OUT) {
+//         i2c_flag_clear(IR_I2C, I2C_FLAG_ADDSEND);
+//         timeout = 0;
+//     } else {
+//         return -4100; // 超时返回错误
+//     }
+//
+//     // 读取第一个字节的数据
+//     while (!i2c_flag_get(IR_I2C, I2C_FLAG_RBNE) && (timeout < I2C_TIME_OUT)) {
+//         timeout++;
+//     }
+//     if (timeout < I2C_TIME_OUT) {
+//         data[0] = i2c_data_receive(IR_I2C);
+//         timeout = 0;
+//     } else {
+//         return -4100; // 超时返回错误
+//     }
+//
+//     // 读取第二个字节的数据
+//     while (!i2c_flag_get(IR_I2C, I2C_FLAG_RBNE) && (timeout < I2C_TIME_OUT)) {
+//         timeout++;
+//     }
+//     if (timeout < I2C_TIME_OUT) {
+//         data[1] = i2c_data_receive(IR_I2C);
+//         timeout = 0;
+//     } else {
+//         return -4100; // 超时返回错误
+//     }
+//
+//     i2c_ack_config(IR_I2C, I2C_ACK_DISABLE); // 关闭发送ACK，它会在下一个字节完成后发送NAK
+//
+//     // 读取第三个字节的数据
+//     while (!i2c_flag_get(IR_I2C, I2C_FLAG_RBNE) && (timeout < I2C_TIME_OUT)) {
+//         timeout++;
+//     }
+//     if (timeout < I2C_TIME_OUT) {
+//         data[2] = i2c_data_receive(IR_I2C);
+//         timeout = 0;
+//     } else {
+//         return -4100; // 超时返回错误
+//     }
+//
+//     i2c_stop_on_bus(IR_I2C);
+//
+//     temp_raw = ((uint16_t) (data[1] << 8) | data[0]) * 2 - 27315;
+//     // (Data[1] << 8) | data[0] * 0.02 -273.15  为避免浮点运算，直接放大100倍
+//
+//     if (temp_raw > 8500) {
+//         temp_raw = 8500;
+//     }
+//     if (temp_raw < -4000) {
+//         temp_raw = -4000;
+//     }
+//
+//     return temp_raw;
+// }
diff --git a/src/rs485.c b/src/rs485.c
new file mode 100644
index 0000000..0b42b84
--- /dev/null
+++ b/src/rs485.c
@@ -0,0 +1,145 @@
+//
+// Created by dell on 24-11-29.
+//
+
+#include "RS485.h"
+
+extern uint16_t g_distance_uint16;
+extern uint16_t g_temperature_uint16;
+
+uint8_t package_header[3] = {0xB5, 0xF0, 0x02};
+uint8_t package_data[2] = {0};
+
+void rs485_config(void) {
+    rcu_periph_clock_enable(RS485_GPIO_RCU);
+    rcu_periph_clock_enable(RS485_RCU);
+
+    gpio_af_set(RS485_GPIO_PORT, GPIO_AF_1, GPIO_PIN_2 | GPIO_PIN_3);
+
+    /* configure USART Tx&Rx as alternate function push-pull */
+    gpio_mode_set(RS485_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, RS485_TX_PIN | RS485_RX_PIN);
+    gpio_output_options_set(RS485_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_10MHZ, RS485_TX_PIN | RS485_RX_PIN);
+
+    /* configure RS485 EN Pin */
+    gpio_mode_set(RS485_GPIO_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, RS485_EN_PIN);
+    gpio_output_options_set(RS485_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, RS485_EN_PIN);
+    gpio_bit_write(RS485_GPIO_PORT, RS485_EN_PIN, SET);
+
+    /* USART configure */
+    usart_deinit(RS485_PHY);
+    usart_baudrate_set(RS485_PHY, RS485_BAUDRATE);
+    usart_receive_config(RS485_PHY, USART_RECEIVE_ENABLE);
+    usart_transmit_config(RS485_PHY, USART_TRANSMIT_ENABLE);
+
+    usart_enable(RS485_PHY);
+
+    nvic_irq_enable(USART0_IRQn, 0);
+    usart_interrupt_enable(RS485_PHY, USART_INT_RBNE);
+    usart_interrupt_enable(RS485_PHY, USART_INT_IDLE);
+}
+
+void process_command(uint8_t *cmd, size_t length) {
+    char combined_str[3];
+    validation_result_t validate = VALIDATION_SUCCESS;
+
+    validate = (validate_package_header(cmd) |
+                validate_package_type(cmd) |
+                validate_data_length(cmd) |
+                validate_package_crc(cmd, length));
+
+    switch (validate) {
+        case VALIDATION_SUCCESS:
+            sprintf(combined_str, "%c%c", cmd[3], cmd[4]);
+            if (strcmp(combined_str, "M1") == 0) {
+                ultrasonic_distance_value_report();
+            } else if (strcmp(combined_str, "M2") == 0) {
+                mlx90614_tempture_value_report();
+            } else {
+                printf("%c%c%c%c%c%c%c", 0xB5, 0xF0, 0x03, 0x65, 0x72, 0x72, 0x3C);
+                return;
+            }
+            break;
+        case VALIDATION_CRC_ERROR:
+            printf("%c%c%c%c%c%c%c", 0xB5, 0xF0, 0x03, 0x65, 0x72, 0x72, 0x3F);
+            break;
+        case VALIDATION_HEADER_ERROR:
+            printf("%c%c%c%c%c%c%c", 0xB5, 0xF3, 0x03, 0x65, 0x72, 0x72, 0x3F);
+            break;
+        case VALIDATION_TYPE_ERROR:
+            printf("%c%c%c%c%c%c%c", 0xB5, 0xF4, 0x03, 0x65, 0x72, 0x72, 0x3F);
+            break;
+        case VALIDATION_LENGTH_ERROR:
+            printf("%c%c%c%c%c%c%c", 0xB5, 0xF2, 0x03, 0x65, 0x72, 0x72, 0x3F);
+            break;
+        default:
+            break;
+    }
+}
+
+uint8_t calculate_crc(uint8_t data[], uint8_t data_length) {
+    uint8_t crc = 0;
+
+    for (uint8_t i = 1; i < data_length - 1; i++) {
+        crc += data[i];
+    }
+
+    return (uint8_t) (crc & 0xFF);
+}
+
+validation_result_t validate_package_crc(uint8_t *data, uint8_t data_length) {
+    if (data[data_length - 1] == calculate_crc(data, data_length) && data_length == 3 + data[2] + 1) {
+        return VALIDATION_SUCCESS;
+    } else {
+        return VALIDATION_CRC_ERROR;
+    }
+}
+
+validation_result_t validate_package_header(uint8_t *data) {
+    if (data[0] == US_IR_PACKAGE_HEADER) {
+        return VALIDATION_SUCCESS;
+    } else {
+        return VALIDATION_HEADER_ERROR;
+    }
+}
+
+validation_result_t validate_package_type(uint8_t *data) {
+    if (data[1] == US_IR_BOARD_TYPE) {
+        return VALIDATION_SUCCESS;
+    } else {
+        return VALIDATION_TYPE_ERROR;
+    }
+}
+
+validation_result_t validate_data_length(uint8_t *data) {
+    if (data[2] == US_IR_PACKAGE_LENGTH) {
+        return VALIDATION_SUCCESS;
+    } else {
+        return VALIDATION_LENGTH_ERROR;
+    }
+}
+
+void ultrasonic_distance_value_report(void) {
+    package_data[0] = (g_distance_uint16 >> 8) & 0xFF;
+    package_data[1] = g_distance_uint16 & 0xFF;
+
+    uint8_t combined_data[5];
+    memcpy(combined_data, package_header, 3);
+    memcpy(combined_data + 3, package_data, 2);
+
+    printf("%c%c%c", package_header[0], package_header[1], package_header[2]);
+    printf("%c%c", package_data[0], package_data[1]);
+    printf("%c", calculate_crc(combined_data, 5));
+}
+
+void mlx90614_tempture_value_report(void) {
+    package_data[0] = (g_temperature_uint16 >> 8) & 0xFF;
+    package_data[1] = g_temperature_uint16 & 0xFF;
+
+    uint8_t combined_data[7];
+    memcpy(combined_data, package_header, 3);
+    memcpy(combined_data + 3, package_data, 2);
+
+    printf("%c%c%c", package_header[0], package_header[1], package_header[2]);
+    printf("%c%c", package_data[0], package_data[1]);
+    printf("%c", calculate_crc(combined_data, 5));
+}
diff --git a/src/ultrasonic_driver.c b/src/ultrasonic_driver.c
index 3172129..1cf9e66 100644
--- a/src/ultrasonic_driver.c
+++ b/src/ultrasonic_driver.c
@@ -6,63 +6,7 @@
 #include "gd32e23x.h"
 #include "systick.h"
 
-void led_config(void)
-{
-    rcu_periph_clock_enable(LED_RCU);
-
-    gpio_mode_set(LED_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, LED_PIN);
-    gpio_output_options_set(LED_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, LED_PIN);
-    gpio_bit_write(LED_PORT, LED_PIN, SET);
-
-    rcu_periph_clock_enable(LED_TIMER_RCU);
-    timer_deinit(LED_TIMER);
-
-    timer_parameter_struct timer_initpara;
-    timer_struct_para_init(&timer_initpara);
-    timer_initpara.prescaler = 7199;
-    timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
-    timer_initpara.counterdirection = TIMER_COUNTER_UP;
-    timer_initpara.period = 999;
-    timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
-    timer_init(LED_TIMER, &timer_initpara);
-
-    timer_auto_reload_shadow_enable(LED_TIMER);
-    timer_interrupt_enable(LED_TIMER, TIMER_INT_UP);
-
-    timer_enable(LED_TIMER);
-
-    nvic_irq_enable(LED_IRQ, 0);
-}
-
-void usart_config(void)
-{
-    rcu_periph_clock_enable(USART_GPIO_RCU);
-    rcu_periph_clock_enable(USART_RCU);
-
-    gpio_af_set(USART_GPIO_PORT, GPIO_AF_1, GPIO_PIN_2 | GPIO_PIN_3);
-
-    /* configure USART Tx&Rx as alternate function push-pull */
-    gpio_mode_set(USART_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, USART_TX_PIN | USART_RX_PIN);
-    gpio_output_options_set(USART_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_10MHZ, USART_TX_PIN | USART_RX_PIN);
-
-    /* configure RS485 EN Pin */
-    gpio_mode_set(USART_GPIO_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, USART_EN_PIN);
-    gpio_output_options_set(USART_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, USART_EN_PIN);
-    gpio_bit_write(USART_GPIO_PORT, USART_EN_PIN, SET);
-
-    /* USART configure */
-    usart_deinit(USART0_PHY);
-    usart_baudrate_set(USART0_PHY, USART_BAUDRATE);
-    usart_receive_config(USART0_PHY, USART_RECEIVE_ENABLE);
-    usart_transmit_config(USART0_PHY, USART_TRANSMIT_ENABLE);
-
-    usart_enable(USART0_PHY);
-
-    nvic_irq_enable(USART0_IRQn, 0);
-    usart_interrupt_enable(USART0_PHY, USART_INT_RBNE);
-}
-
-void UltraSonic_GPIO_Config(void)
+void ultrasonic_gpio_config(void)
 {
     rcu_periph_clock_enable(US_TRAN_GPIO_RCU);
 
@@ -100,14 +44,7 @@ void UltraSonic_GPIO_Config(void)
     timer_interrupt_enable(US_TRAN_TIMER, TIMER_INT_UP);
 }
 
-void UltraSonic_Transmit_Config(void)
-{
-    led_config();
-    usart_config();
-    UltraSonic_GPIO_Config();
-}
-
-void UltraSonic_PwmOut_Cycles(const uint8_t cycles)
+void ultrasonic_pwm_out_cycles(const uint8_t cycles)
 {
     uint8_t current_cycle = 0;
 
@@ -131,7 +68,7 @@ void UltraSonic_PwmOut_Cycles(const uint8_t cycles)
     // }
 }
 
-void UltraSonic_Transmit_Delay(const uint16_t micro_second)
+void ultrasonic_transmit_delay(const uint16_t micro_second)
 {
     rcu_periph_clock_enable(US_TRAN_DELAY_RCU);
     timer_deinit(US_TRAN_DELAY_TIMER);
@@ -151,7 +88,7 @@ void UltraSonic_Transmit_Delay(const uint16_t micro_second)
     nvic_irq_enable(TIMER15_IRQn, 1U);
 }
 
-void UltraSonic_ReceExti_Config(void)
+void ultrasonic_rece_exti_Config(void)
 {
     rcu_periph_clock_enable(US_FB_GPIO_RCU);
     rcu_periph_clock_enable(US_FB_EXTI_RCU);
@@ -166,7 +103,7 @@ void UltraSonic_ReceExti_Config(void)
     // exti_interrupt_enable(EXTI_0);
 }
 
-void UltraSonic_EchoTimer_Config(void)
+void ultrasonic_echo_timer_config(void)
 {
     rcu_periph_clock_enable(US_ECHO_RCU);
     timer_deinit(US_ECHO_TIMER);
@@ -190,14 +127,14 @@ void UltraSonic_EchoTimer_Config(void)
     timer_input_capture_config(US_ECHO_TIMER, US_ECHO_CH, &timer_icinitpara);
 }
 
-void UltraSonic_Receive_Config(void)
+void ultrasonic_receive_config(void)
 {
-    UltraSonic_Transmit_Delay(TIME_CORRECTION_US);
-    UltraSonic_ReceExti_Config();
-    UltraSonic_EchoTimer_Config();
+    ultrasonic_transmit_delay(TIME_CORRECTION_US);
+    ultrasonic_rece_exti_Config();
+    ultrasonic_echo_timer_config();
 }
 
-uint16_t UltraSonic_CalcDistance(uint32_t us_value)
+uint16_t ultrasonic_calc_distance(uint32_t us_value)
 {
     uint16_t distace = (TIME_CORRECTION_US + us_value) * 17;
     /*