clean shit

for test input capture PA9->PA6 TIMER0->TIMER2
fix include file name err
2024-09-24 09:36:22 +08:00 · 2024-09-24 00:41:12 +08:00 · 2024-09-23 21:44:45 +08:00 · 2024-09-23 21:01:30 +08:00
23 changed files with 242 additions and 1402 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,15 +3,6 @@ include(cmake/toolchain.cmake)

 project(xlsw_3dp_ultrasonic_300K)

-set(POWER_VOLTAGE "12V")
-set(VERSION_MAJOR 1)
-set(VERSION_MINOR 0)
-set(VERSION_PATCH 0)
-set(VERSION "V${VERSION_MAJOR}.${VERSION_MINOR}.${VERSION_PATCH}")
-string(TIMESTAMP CURRENT_DATE "%Y-%m-%d")
-
-add_definitions(-DPOWER_VOLTAGE="${POWER_VOLTAGE}")
-
 enable_language(C)
 enable_language(CXX)
 enable_language(ASM)
@@ -28,10 +19,7 @@ set(TARGET_C_SRC
        ${CMAKE_SOURCE_DIR}/src/gd32e23x_it.c
        ${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/i2c.c
-        ${CMAKE_SOURCE_DIR}/src/led.c
+        ${CMAKE_SOURCE_DIR}/src/input_capture_exp.c
 )

 add_executable(xlsw_3dp_ultrasonic_300K ${TARGET_C_SRC})
@@ -40,5 +28,5 @@ target_link_libraries(xlsw_3dp_ultrasonic_300K GD32E23X_SDK)
 target_include_directories(xlsw_3dp_ultrasonic_300K PUBLIC inc)

 # Generate .bin and .hex
-generate_binary_file(xlsw_3dp_ultrasonic_300K "XLSW_US-IR_FW")
-generate_hex_file(xlsw_3dp_ultrasonic_300K "XLSW_US-IR_FW")
+generate_binary_file(xlsw_3dp_ultrasonic_300K)
+generate_hex_file(xlsw_3dp_ultrasonic_300K)
--- a/README.md
+++ b/README.md
@@ -1,76 +1,8 @@
 # XLSW-3DP-Ultrasonic-300K

-## 传感器数据传输与样式
-
- RS485
-  - baudrate 115200
-  - 8N1
-
- 命令格式
-  - `M1` 读取超声距离数据
-  - `M2` 读取红外温度数据
-
- 数据格式
-  - 超声 （uint16_t）
-    - 有效值：`M1: 8772` 88.72mm
-    - 最小值：`M1: 4250` 42.50mm
-    - 最大值：`M1: 13005` 130.05mm
-  - 红外 （int）
-    - 有效值：`M2: 2225` 22.25℃
-    - 最小值：`M2: -4000` -40.00℃
-    - 最大值：`M2: 8500` 85.00℃
- 数据获取间隔
-  - 超声波：500ms
-  - 红外：500ms
-
-
-## 供电与数据
-
-本项目支持12V/24V供电，默认编译选项为12V供电。主要相关部分为超声的驱动部分。
-主要校准数据也会以12V为主。如果需要24V供电，请自行修改编译选项。
-
-
-## 条件编译与输出
-
- 条件编译共有两个地方需要修改：
-  1. `ProjectDir/inc/ultrasonic_driver.h` 中配置12V/24V供电，默认为12V供电。
-     `#define POWER_SUPPLY_12V`
-  2. `ProjectDir/CMakeLists.txt` 中配置编译选项，默认为12V供电。
-     `set(POWER_VOLTAGE "12V")`
-
- 输出文件命名：
-`XLSW_US-IR_FW_12V_V0.0.13_2024-x-x.bin/hex` 
-  1. XLSW_US-IR_FW: 表示该项目为300K模拟超声波测距与IR非接触式测温方案的MCU固件
-  2. 12V: 表示目前编译固件为12V供电情况下优化的校正参数，建议与实际对应，这样可以获得更好的测距准确度
-  3. 2024-x-x: 表示编译日期
- 请注意，如果需要修改供电电压，请同时修改以上两个地方，否则可能会导致供电电压不匹配的问题。
-
 ## TODO List

-### 超声
-
 - [x] 超声驱动信号（300KHz 50%duty 5cycles）发送
 - [x] PA2/PA3配置为USART0
 - [x] LED配置存活状态闪烁
- [x] 超声反射回波接受与精准计时
-
- 超声波反射回来后到sensor成功接收，GPIO上的反应主要分为两部分，
-    1. 超声波在发送时产生的余震，24V下大概为230us，12V下大概为210us。（前面所说的时间均为比较保守的时间）
-    2. 超声波会在接触到目标后反射回sensor上，并产生一个低电平，主要就是检测这部分。
-  
- [x] 产生一个210-230us可调节的准确延时。（TIMER15配置为1us计一个数，设置重载为需要的时间，产生中断即可。）
- [x] 在产生指定时间的中断服务函数中，开启EXTI0（PA0,sensor信号接收引脚），开启TIMER14（计时计数器，1us计一个数，计算接收到外部中断的时间）
- [ ] 在外部中断服务函数中，产生一个事件或中断，进入到TIMER14的中断
- [x] TIMER14不存在F4x系列，改用TIMER16.
- [x] 放弃上述流程，多一层中断层，直接在EXTI0的中断服务函数中，直接读取TIMER16的CH_0计数值。
-
-### IR
-
- [x] 配置IIC接口到PF0/1
- [x] 移植读取目标温度的函数
- [ ] 设置不同反射率下的校准
- [x] 读取环境温度
-
-### 条件编译
-
- [x] 自动判断某一个条件编译是否开启，并在CmakeList中添加对应选项，输出文件时加以标识
+- [ ] 超声反射回波接受与精准计时
--- a/about_template.md
+++ b/about_template.md
@@ -15,6 +15,7 @@ set(TARGET_C_SRC
        ${CMAKE_SOURCE_DIR}/src/main.c
        ${CMAKE_SOURCE_DIR}/src/gd32e23x_it.c
        ${CMAKE_SOURCE_DIR}/src/systick.c
+        ${CMAKE_SOURCE_DIR}/src/peripheral.c
 )
 ```
 ## 关于链接脚本
--- a/cmake/toolchain.cmake
+++ b/cmake/toolchain.cmake
@@ -41,12 +41,12 @@ function(print_size_of_target TARGET)
            )
 endfunction()

-function(_generate_file TARGET PREFIX VERSION DATE OUTPUT_EXTENSION OBJCOPY_BFD_OUTPUT)
+function(_generate_file TARGET OUTPUT_EXTENSION OBJCOPY_BFD_OUTPUT)
    get_target_property(TARGET_OUTPUT_NAME ${TARGET} OUTPUT_NAME)
    if (TARGET_OUTPUT_NAME)
-        set(OUTPUT_FILE_NAME "${PREFIX}_${POWER_VOLTAGE}_${VERSION}_${DATE}.${OUTPUT_EXTENSION}")
+        set(OUTPUT_FILE_NAME "${TARGET_OUTPUT_NAME}.${OUTPUT_EXTENSION}")
    else()
-        set(OUTPUT_FILE_NAME "${PREFIX}_${POWER_VOLTAGE}_${VERSION}_${DATE}.${OUTPUT_EXTENSION}")
+        set(OUTPUT_FILE_NAME "${TARGET}.${OUTPUT_EXTENSION}")
    endif()

    get_target_property(RUNTIME_OUTPUT_DIRECTORY ${TARGET} RUNTIME_OUTPUT_DIRECTORY)
@@ -65,12 +65,12 @@ function(_generate_file TARGET PREFIX VERSION DATE OUTPUT_EXTENSION OBJCOPY_BFD_
    )
 endfunction()

-function(generate_binary_file TARGET PREFIX)
-    _generate_file(${TARGET} "${PREFIX}" "${VERSION}" "${CURRENT_DATE}" "bin" "binary")
+function(generate_binary_file TARGET)
+    _generate_file(${TARGET} "bin" "binary")
 endfunction()

-function(generate_hex_file TARGET PREFIX)
-    _generate_file(${TARGET} "${PREFIX}" "${VERSION}" "${CURRENT_DATE}" "hex" "ihex")
+function(generate_hex_file TARGET)
+    _generate_file(${TARGET} "hex" "ihex")
 endfunction()

 set(CMAKE_EXECUTABLE_SUFFIX_C   .elf)
--- a/inc/gd32e23x_it.h
+++ b/inc/gd32e23x_it.h
@@ -49,8 +49,6 @@ void PendSV_Handler(void);
 /* this function handles SysTick exception */
 void SysTick_Handler(void);

-void TIMER5_IRQHandler(void);
-void TIMER15_IRQHandler(void);
-void EXTI0_1_IRQHandler(void);
+void TIMER13_IRQHandler(void);

 #endif /* GD32E23X_IT_H */
--- a/inc/i2c.h
+++ b/inc/i2c.h
@@ -1,61 +0,0 @@
-//
-// 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
--- a/inc/input_capture_exp.h
+++ b/inc/input_capture_exp.h
@@ -0,0 +1,11 @@
+//
+// Created by yelv1 on 24-9-23.
+//
+
+#ifndef INPUT_CAPTURE_EXP_H
+#define INPUT_CAPTURE_EXP_H
+
+void input_capture_config(void);
+void pwm_config(void);
+
+#endif //INPUT_CAPTURE_EXP_H
--- a/inc/led.h
+++ b/inc/led.h
@@ -1,30 +0,0 @@
-//
-// 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
--- a/inc/mlx90614.h
+++ b/inc/mlx90614.h
@@ -1,24 +0,0 @@
-//
-// Created by dell on 24-9-26.
-//
-
-#ifndef MLX90614_H
-#define MLX90614_H
-
-#include "gd32e23x.h"
-#include "i2c.h"
-#include "gd32e23x.h"
-#include "systick.h"
-#include <stdio.h>
-
-/******************************************************************************/
-
-#define MLX90614_ADDR             (0x5A << 1)
-#define MLX90614_OBJ_TEMP_REG     0x07
-#define MLX90614_AMB_TEMP_REG     0x06
-
-/******************************************************************************/
-
-uint16_t mlx90614_get_objrct_temperature(void);
-
-#endif //MLX90614_H
--- a/inc/rs485.h
+++ b/inc/rs485.h
@@ -1,59 +0,0 @@
-//
-// 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
--- a/inc/systick.h
+++ b/inc/systick.h
@@ -24,6 +24,6 @@ void delay_ms(uint32_t count);
 /* delay a time in microseconds */
 void delay_us(uint32_t count);

-void delay_5_nop(void);
+void delay_nop(void);

 #endif /* SYS_TICK_H */
--- a/inc/ultrasonic_driver.h
+++ b/inc/ultrasonic_driver.h
@@ -6,55 +6,15 @@
 #define ULTRASONIC_DRIVER_H

 #include "gd32e23x.h"
-#include "i2c.h"

-#define POWER_SUPPLY_12V
-// #define POWER_SUPPLY_24V
+#define USART_RCU           RCU_USART0
+#define USART_GPIO_RCU      RCU_GPIOA
+#define USARET_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

-#ifdef POWER_SUPPLY_12V
-#define POWER_VOLTAGE       "12V"
-#define TIME_CORRECTION_US  250
-#define CAPTURE_VALUE_MAX   515
-#elif defined(POWER_SUPPLY_24V)
-#define POWER_VOLTAGE       "24V"
-#define TIME_CORRECTION_US  230
-#define CAPTURE_VALUE_MAX   550
-#else
-    #error "Please define either POWER_SUPPLY_12V or POWER_SUPPLY_24V"
-#endif
+void usart_config(void);

-#define ULTRASONIC_CYCLES   0x05U
-#define ULTRASONIC_TRAN_US  498  // (ms)
-
-#define US_TRAN_GPIO_RCU     RCU_GPIOB
-#define US_TRAN_GPIO_PORT    GPIOB
-#define US_TRAN_PIN          GPIO_PIN_1
-#define US_TRAN_AF           GPIO_AF_0
-
-#define US_TRAN_RCU          RCU_TIMER13
-#define US_TRAN_TIMER        TIMER13
-#define US_TRAN_CH           TIMER_CH_0
-
-#define US_TRAN_DELAY_RCU     RCU_TIMER15
-#define US_TRAN_DELAY_TIMER   TIMER15
-
-#define US_FB_GPIO_RCU       RCU_GPIOA
-#define US_FB_EXTI_RCU       RCU_CFGCMP
-#define US_FB_GPIO_PORT      GPIOA
-#define US_FB_GPIO_PIN       GPIO_PIN_0
-#define US_FB_EXTI_IRQ       EXTI0_1_IRQn
-#define US_FB_GPIO_EXTI      EXTI_0
-
-#define US_ECHO_RCU          RCU_TIMER16
-#define US_ECHO_TIMER        TIMER16
-#define US_ECHO_CH           TIMER_CH_0
-
-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
+#endif //ULTRASONIC_DRIVER_H
--- a/openocd_gd32e230f4.cfg
+++ b/openocd_gd32e230f4.cfg
@@ -1,7 +1,7 @@
 # 连接cmsis-dap（喝粥）
 ; interface cmsis-dap
 source [find interface/cmsis-dap.cfg]
-; source [find interface/jlink.cfg]
+
 # 选择SWD
 transport select swd

--- a/src/gd32e23x_it.c
+++ b/src/gd32e23x_it.c
@@ -33,17 +33,8 @@ OF SUCH DAMAGE.
 */

 #include "gd32e23x_it.h"
-#include <stdio.h>
 #include "main.h"
 #include "systick.h"
-#include "ultrasonic_driver.h"
-#include "rs485.h"
-#include "led.h"
-
-__IO uint32_t g_capture_value;
-
-char rx_buffer[RX_BUFFER_SIZE];
-uint8_t rx_index = 0;

 /*!
    \brief      this function handles NMI exception
@@ -67,7 +58,6 @@ void NMI_Handler(void)
 void HardFault_Handler(void)
 {
    /* if Hard Fault exception occurs, go to infinite loop */
-    // log_error("HardFault_Handler");
    while(1) {
    }
 }
@@ -108,82 +98,6 @@ void SysTick_Handler(void)
 {
 }

-/**
-  * @brief  This function handles TIMER5 interrupt request.
-  * @param[in]  none
-  * @param[out] none
-  * @retval None
-  */
-void TIMER5_IRQHandler(void) {
-    if (timer_interrupt_flag_get(LED_TIMER, TIMER_INT_FLAG_UP) == SET)
-    {
-        timer_interrupt_flag_clear(LED_TIMER, TIMER_INT_FLAG_UP);
-        static uint8_t led_status = 0;
-        if (led_status)
-        {
-        gpio_bit_write(LED_PORT, LED_PIN, RESET);
-        timer_autoreload_value_config(LED_TIMER, 19200);
-        } else {
-        gpio_bit_write(LED_PORT, LED_PIN, SET);
-        timer_autoreload_value_config(LED_TIMER, 800);
-        }
-        led_status = !led_status;
-    }
-}
+void TIMER2_IRQHandler(void) {

-/**
-  * @brief  This function handles TIMER15 interrupt request.
-  * @param[in]  none
-  * @param[out] none
-  * @retval None
-  */
-void TIMER15_IRQHandler(void) {
-    if (timer_interrupt_flag_get(TIMER15, TIMER_INT_FLAG_UP) == SET)
-    {
-        timer_interrupt_flag_clear(TIMER15, TIMER_INT_FLAG_UP);
-        exti_interrupt_enable(EXTI_0); // turn on hardware external input interrupt
-        timer_counter_value_config(TIMER16, 0);
-        timer_enable(TIMER16);   // turn on timer to calculate the first ultrasonic echo time
-        timer_disable(TIMER15);
-    }
-}
-
-/**
-  * @brief  This function handles external lines 0 to 1 interrupt request
-  * @param[in]  none
-  * @param[out] none
-  * @retval None
-  */
-void EXTI0_1_IRQHandler(void) {
-    if (exti_interrupt_flag_get(EXTI_0) == SET)
-    {
-        exti_interrupt_flag_clear(EXTI_0);
-        g_capture_value = timer_channel_capture_value_register_read(TIMER16, TIMER_CH_0);
-        timer_disable(TIMER16);
-        exti_interrupt_disable(EXTI_0);
-    }
-}
-
-void USART0_IRQHandler(void) {
-    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);
-
-        // 将接收到的数据存储到缓冲区
-        if (rx_index < RX_BUFFER_SIZE - 1) {
-            rx_buffer[rx_index++] = received_data;
-        }
-    }
-
-    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;
-    }
 }
--- a/src/i2c.c
+++ b/src/i2c.c
@@ -1,473 +0,0 @@
-//
-// 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;
-}
--- a/src/input_capture_exp.c
+++ b/src/input_capture_exp.c
@@ -0,0 +1,105 @@
+//
+// Created by yelv1 on 24-9-23.
+//
+
+#include "input_capture_exp.h"
+#include "gd32e23x.h"
+
+/*
+ * TIMER0-CH2(PA9) output 1K 50%duty
+ * TIMER2 CH0(PA6) input capture
+ */
+
+void input_capture_config(void)
+{
+    rcu_periph_clock_enable(RCU_GPIOA);
+
+    gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_6);
+    gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ,GPIO_PIN_6);
+    gpio_af_set(GPIOA, GPIO_AF_1, GPIO_PIN_6);
+
+    timer_ic_parameter_struct timer_icinitpara;
+    timer_parameter_struct timer_initpara;
+
+    /* enable the TIMER clock */
+    rcu_periph_clock_enable(RCU_TIMER2);
+    /* disable a TIMER */
+    timer_deinit(TIMER2);
+    /* initialize TIMER init parameter struct */
+    timer_struct_para_init(&timer_initpara);
+    /* TIMER2 configuration */
+    timer_initpara.prescaler         = 71;
+    timer_initpara.alignedmode       = TIMER_COUNTER_EDGE;
+    timer_initpara.counterdirection  = TIMER_COUNTER_UP;
+    timer_initpara.period            = 65535;
+    timer_initpara.clockdivision     = TIMER_CKDIV_DIV1;
+    timer_init(TIMER2, &timer_initpara);
+
+    /* TIMER2  configuration */
+    /* initialize TIMER channel input parameter struct */
+    timer_channel_input_struct_para_init(&timer_icinitpara);
+    /* TIMER2 CH0 input capture configuration */
+    timer_icinitpara.icpolarity  = TIMER_IC_POLARITY_RISING;
+    timer_icinitpara.icselection = TIMER_IC_SELECTION_DIRECTTI;
+    timer_icinitpara.icprescaler = TIMER_IC_PSC_DIV1;
+    timer_icinitpara.icfilter    = 0x0;
+    timer_input_capture_config(TIMER2,TIMER_CH_0,&timer_icinitpara);
+
+    /* auto-reload preload enable */
+    timer_auto_reload_shadow_enable(TIMER2);
+    /* clear channel 0 interrupt bit */
+    timer_interrupt_flag_clear(TIMER2,TIMER_INT_FLAG_CH0);
+    /* channel 0 interrupt enable */
+    timer_interrupt_enable(TIMER2,TIMER_INT_CH0);
+
+    /* TIMER2 counter enable */
+    timer_enable(TIMER2);
+
+    nvic_irq_enable(TIMER2_IRQn, 0);
+}
+
+/*
+ * GPIOB-1 PWM output
+ * TIMER13_CH0(AF0)
+ */
+void pwm_config(void)
+{
+    timer_oc_parameter_struct timer_ocinitpara;
+    timer_parameter_struct    timer_initpara;
+
+    rcu_periph_clock_enable(RCU_GPIOA);
+
+    gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_9);
+    gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_9);
+    gpio_af_set(GPIOA, GPIO_AF_2, GPIO_PIN_9);
+
+    rcu_periph_clock_enable(RCU_TIMER0);
+    timer_deinit(TIMER0);
+
+    timer_struct_para_init(&timer_initpara);
+    timer_initpara.prescaler         = 71;
+    timer_initpara.alignedmode       = TIMER_COUNTER_EDGE;
+    timer_initpara.counterdirection  = TIMER_COUNTER_UP;
+    timer_initpara.period            = 999;
+    timer_initpara.clockdivision     = TIMER_CKDIV_DIV1;
+    timer_init(TIMER0, &timer_initpara);
+
+    timer_channel_output_struct_para_init(&timer_ocinitpara);
+    timer_ocinitpara.outputstate  = TIMER_CCX_ENABLE;
+    timer_ocinitpara.outputnstate  = TIMER_CCXN_DISABLE;
+    timer_ocinitpara.ocpolarity   = TIMER_OC_POLARITY_HIGH;
+    timer_ocinitpara.ocnpolarity  = TIMER_OCN_POLARITY_HIGH;
+    timer_ocinitpara.ocidlestate  = TIMER_OC_IDLE_STATE_LOW;
+    timer_ocinitpara.ocnidlestate = TIMER_OCN_IDLE_STATE_LOW;
+    timer_channel_output_config(TIMER0, TIMER_CH_1, &timer_ocinitpara);
+
+    timer_channel_output_pulse_value_config(TIMER0, TIMER_CH_1, 500);
+    timer_channel_output_mode_config(TIMER0, TIMER_CH_1, TIMER_OC_MODE_PWM1);
+    timer_channel_output_shadow_config(TIMER0, TIMER_CH_1, TIMER_OC_SHADOW_DISABLE);
+
+    timer_primary_output_config(TIMER0, ENABLE);
+
+    timer_auto_reload_shadow_enable(TIMER0);
+
+    timer_enable(TIMER0);
+}
--- a/src/led.c
+++ b/src/led.c
@@ -1,32 +0,0 @@
-//
-// 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);
-}
--- a/src/main.c
+++ b/src/main.c
@@ -4,21 +4,16 @@

    \version 2024-02-22, V2.1.0, firmware for GD32E23x
 */
-// #include "main.h"
+#include "main.h"
 #include <stdio.h>
 #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"
+#include "input_capture_exp.h"

-extern uint32_t g_capture_value;
-
-uint16_t g_distance_uint16;
-uint16_t g_temperature_uint16;
+#define ULTRASONIC_CYCLES 0x05U

 /*!
    \brief      main function
@@ -30,46 +25,41 @@ int main(void)
 {
    /* configure systick */
    systick_config();
-
-
-    i2c_gpio_config();
-    i2c_config();
-
-    led_config();
-
-    rs485_config();
-
-
    /* configure ultrasonic board hardware */
-    ultrasonic_gpio_config();
-    ultrasonic_receive_config();
+    // ultrasonic_config();
+    usart_config();
+    input_capture_config();
+
+    pwm_config();

    /* ---------- debug start ---------- */

+
+
+
+
    /* ---------- debug end ---------- */

-    while (1)
+    printf("\r\n");
+    printf("START!\r\n");
+    printf("Input Capture Test!\r\n");
+    printf("\r\n");
+
+    while(1)
    {
-        delay_ms(ULTRASONIC_TRAN_US);
-        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_calc_distance(g_capture_value);
-        } else {
-            g_distance_uint16 = 0x0000;
-        }
-        g_temperature_uint16 = mlx90614_get_objrct_temperature();
+        printf("Input Capture Test!\r\n");
+        delay_ms(500);
+
    }
 }

 /* retarget the C library printf function to the USART */
-int _write(int fd, char* pBuffer, int size)
+int _write (int fd, char *pBuffer, int size)
 {
    for (int i = 0; i < size; i++)
    {
        usart_data_transmit(USART0, (uint8_t)pBuffer[i]);
-        while (RESET == usart_flag_get(USART0, USART_FLAG_TBE));
+        while(RESET == usart_flag_get(USART0, USART_FLAG_TBE));
    }
    return size;
 }
--- a/src/mlx90614.c
+++ b/src/mlx90614.c
@@ -1,177 +0,0 @@
-//
-// Created by dell on 24-9-26.
-//
-
-#include "mlx90614.h"
-
-/**
-  * @brief  This function configure the I2C peripheral & GPIO
-  * @param[in]  none
-  * @param[out] none
-  * @retval None
-  */
-// 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);
-// }
-
-uint16_t mlx90614_get_objrct_temperature(void) {
-    uint8_t data[2] = {0};
-    uint16_t tempRaw = 0;
-
-    i2c_read_16bits(MLX90614_ADDR, MLX90614_OBJ_TEMP_REG, data);
-
-    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
-
-    if (tempRaw > 12500) {
-        tempRaw = 12500;
-    }
-
-    return tempRaw;
-}
-
-/**
-  * @brief  This function read object temperature
-  * @param[in]  none
-  * @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;
-// }
--- a/src/peripheral.c
+++ b/src/peripheral.c
@@ -0,0 +1,63 @@
+//
+// Created by yelv1 on 24-9-22.
+//
+#include "peripheral.h"
+#include "gd32e23x.h"
+
+void usart_config(void)
+{
+    rcu_periph_clock_enable(RCU_GPIOA);
+    rcu_periph_clock_enable(RCU_USART0);
+
+    gpio_af_set(GPIOA, GPIO_AF_1, GPIO_PIN_3);
+    gpio_af_set(GPIOA, GPIO_AF_1, GPIO_PIN_2);
+
+    gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_PULLUP, GPIO_PIN_3);
+    gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_10MHZ, GPIO_PIN_3);
+    gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_PULLUP, GPIO_PIN_2);
+    gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_10MHZ, GPIO_PIN_2);
+
+    usart_deinit(USART0);
+    usart_baudrate_set(USART0, 115200U);
+    usart_receive_config(USART0, USART_RECEIVE_ENABLE);
+    usart_transmit_config(USART0, USART_TRANSMIT_ENABLE);
+
+    usart_enable(USART0);
+
+    gpio_mode_set(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_4);
+    gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_4);
+
+    gpio_bit_write(GPIOA, GPIO_PIN_4, SET);
+}
+
+/*!
+    \brief      led blink configuration
+    \param[in]  none
+    \param[out] none
+    \retval     none
+*/
+void led_blink_config(void)
+{
+    rcu_periph_clock_enable(RCU_GPIOB);
+
+    gpio_mode_set(GPIOB, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_1);
+    gpio_output_options_set(GPIOB, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ, GPIO_PIN_1);
+    gpio_bit_write(GPIOB, GPIO_PIN_1, SET);
+
+    rcu_periph_clock_enable(RCU_TIMER13);
+    timer_deinit(RCU_TIMER13);
+
+    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(TIMER13, &timer_initpara);
+
+    timer_auto_reload_shadow_enable(TIMER13);
+    timer_interrupt_enable(TIMER13, TIMER_INT_UP);
+    nvic_irq_enable(TIMER13_IRQn, 0);
+    timer_enable(TIMER13);
+}
--- a/src/rs485.c
+++ b/src/rs485.c
@@ -1,145 +0,0 @@
-//
-// 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));
-}
--- a/src/systick.c
+++ b/src/systick.c
@@ -96,6 +96,6 @@ void delay_ms(uint32_t count) {
 *
 * ************************************************************************
 */
-void delay_5_nop(void) {
+void delay_nop(void) {
    __NOP();__NOP();__NOP();__NOP();__NOP();
 }
--- a/src/ultrasonic_driver.c
+++ b/src/ultrasonic_driver.c
@@ -6,143 +6,22 @@
 #include "gd32e23x.h"
 #include "systick.h"

-void ultrasonic_gpio_config(void)
+void usart_config(void)
 {
-    rcu_periph_clock_enable(US_TRAN_GPIO_RCU);
+    rcu_periph_clock_enable(USART_GPIO_RCU);
+    rcu_periph_clock_enable(USART_RCU);

-    gpio_mode_set(US_TRAN_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, US_TRAN_PIN);
-    gpio_output_options_set(US_TRAN_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, US_TRAN_PIN);
-    gpio_af_set(US_TRAN_GPIO_PORT, US_TRAN_AF, US_TRAN_PIN);
+    gpio_af_set(USARET_GPIO_PORT, GPIO_AF_1, GPIO_PIN_2 | GPIO_PIN_3);

-    timer_oc_parameter_struct timer_ocinitpara;
-    timer_parameter_struct timer_initpara;
+    /* configure USART Tx as alternate function push-pull */
+    gpio_mode_set(USARET_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, USART_TX_PIN | USART_RX_PIN);
+    gpio_output_options_set(USARET_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_10MHZ, USART_TX_PIN | USART_RX_PIN);

-    rcu_periph_clock_enable(US_TRAN_RCU);
-    timer_deinit(US_TRAN_TIMER);
+    /* 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);

-    timer_struct_para_init(&timer_initpara);
-    timer_initpara.prescaler = 0;
-    timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
-    timer_initpara.counterdirection = TIMER_COUNTER_UP;
-    timer_initpara.period = 239;
-    timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
-    timer_init(US_TRAN_TIMER, &timer_initpara);
-
-    timer_channel_output_struct_para_init(&timer_ocinitpara);
-    timer_ocinitpara.outputstate = TIMER_CCX_ENABLE;
-    timer_ocinitpara.outputnstate = TIMER_CCXN_DISABLE;
-    timer_ocinitpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
-    timer_ocinitpara.ocnpolarity = TIMER_OCN_POLARITY_HIGH;
-    timer_ocinitpara.ocidlestate = TIMER_OC_IDLE_STATE_LOW;
-    timer_ocinitpara.ocnidlestate = TIMER_OCN_IDLE_STATE_LOW;
-    timer_channel_output_config(US_TRAN_TIMER, US_TRAN_CH, &timer_ocinitpara);
-
-    timer_channel_output_pulse_value_config(US_TRAN_TIMER, US_TRAN_CH, 120);
-    timer_channel_output_mode_config(US_TRAN_TIMER, US_TRAN_CH, TIMER_OC_MODE_PWM0);
-    timer_auto_reload_shadow_enable(US_TRAN_TIMER);
-
-    timer_interrupt_enable(US_TRAN_TIMER, TIMER_INT_UP);
-}
-
-void ultrasonic_pwm_out_cycles(const uint8_t cycles)
-{
-    uint8_t current_cycle = 0;
-
-    timer_channel_output_pulse_value_config(US_TRAN_TIMER, US_TRAN_CH, 120);
-    timer_channel_output_mode_config(US_TRAN_TIMER, US_TRAN_CH, TIMER_OC_MODE_PWM1);
-    timer_enable(US_TRAN_TIMER);
-
-    timer_enable(TIMER15);
-
-    while (current_cycle < cycles)
-    {
-        while (!timer_interrupt_flag_get(US_TRAN_TIMER, TIMER_INT_FLAG_UP));
-        timer_interrupt_flag_clear(US_TRAN_TIMER, TIMER_INT_FLAG_UP);
-        current_cycle++;
-    }
-    // delay_nop();
-    timer_disable(US_TRAN_TIMER);
-    // if(gpio_output_bit_get(GPIOB, GPIO_PIN_1) == SET)
-    // {
-    //     gpio_bit_reset(GPIOB, GPIO_PIN_1);
-    // }
-}
-
-void ultrasonic_transmit_delay(const uint16_t micro_second)
-{
-    rcu_periph_clock_enable(US_TRAN_DELAY_RCU);
-    timer_deinit(US_TRAN_DELAY_TIMER);
-
-    timer_parameter_struct timer_initpara;
-    timer_struct_para_init(&timer_initpara);
-    timer_initpara.prescaler = 71;
-    timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
-    timer_initpara.counterdirection = TIMER_COUNTER_UP;
-    timer_initpara.period = micro_second - 1;
-    timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
-    timer_initpara.repetitioncounter = 0;
-    timer_init(US_TRAN_DELAY_TIMER, &timer_initpara);
-
-    timer_auto_reload_shadow_enable(US_TRAN_DELAY_TIMER);
-    timer_interrupt_enable(US_TRAN_DELAY_TIMER, TIMER_INT_UP);
-    nvic_irq_enable(TIMER15_IRQn, 1U);
-}
-
-void ultrasonic_rece_exti_Config(void)
-{
-    rcu_periph_clock_enable(US_FB_GPIO_RCU);
-    rcu_periph_clock_enable(US_FB_EXTI_RCU);
-
-    gpio_mode_set(US_FB_GPIO_PORT, GPIO_MODE_INPUT, GPIO_PUPD_NONE, US_FB_GPIO_PIN);
-    nvic_irq_enable(US_FB_EXTI_IRQ, 0U);
-    syscfg_exti_line_config(EXTI_SOURCE_GPIOA, EXTI_SOURCE_PIN0);
-
-    exti_init(US_FB_GPIO_EXTI, EXTI_INTERRUPT, EXTI_TRIG_FALLING);
-    exti_flag_clear(US_FB_GPIO_EXTI);
-
-    // exti_interrupt_enable(EXTI_0);
-}
-
-void ultrasonic_echo_timer_config(void)
-{
-    rcu_periph_clock_enable(US_ECHO_RCU);
-    timer_deinit(US_ECHO_TIMER);
-
-    timer_parameter_struct timer_initpara;
-    timer_struct_para_init(&timer_initpara);
-    timer_initpara.prescaler = 71;
-    timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
-    timer_initpara.counterdirection = TIMER_COUNTER_UP;
-    timer_initpara.period = 59999;
-    timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
-    timer_initpara.repetitioncounter = 0;
-    timer_init(US_ECHO_TIMER, &timer_initpara);
-
-    timer_ic_parameter_struct timer_icinitpara;
-    timer_channel_input_struct_para_init(&timer_icinitpara);
-    timer_icinitpara.icpolarity = TIMER_IC_POLARITY_BOTH_EDGE;
-    timer_icinitpara.icselection = TIMER_IC_SELECTION_INDIRECTTI;
-    timer_icinitpara.icprescaler = TIMER_IC_PSC_DIV1;
-    timer_icinitpara.icfilter = 0x03;
-    timer_input_capture_config(US_ECHO_TIMER, US_ECHO_CH, &timer_icinitpara);
-}
-
-void ultrasonic_receive_config(void)
-{
-    ultrasonic_transmit_delay(TIME_CORRECTION_US);
-    ultrasonic_rece_exti_Config();
-    ultrasonic_echo_timer_config();
-}
-
-uint16_t ultrasonic_calc_distance(uint32_t us_value)
-{
-    uint16_t distace = (TIME_CORRECTION_US + us_value) * 17;
-    /*
-     *  (TIME_CORRECTION_US + us_value) * 340 m/s
-     *  -----------------------------------------
-     *                  1000 000
-     *  ----------------------------------------------
-     *                          2
-     */
-    return distace;
+    usart_enable(USART0_PHY);
 }
Author	SHA1	Message	Date
yelvlab	f077443081	clean shit	2024-09-24 09:36:22 +08:00
yelvlab	0dbf154070	for test input capture PA9->PA6 TIMER0->TIMER2	2024-09-24 00:41:12 +08:00
yelvlab	899773fe1e	fix include file name err	2024-09-23 21:44:45 +08:00
yelvlab	a3a5dc2af9	开发进行中：添加输入捕获实验支持在ultrasonic_driver项目中，此次提交标志着向主目录添加新的源文件和头文件，旨在支持输入捕获实验。修改了CMakeLists.txt以包含新的input_capture_exp.c文件，同时在src和inc目录下分别创建了相应的源码和头文件。此外，此次提交还引入了输入捕获相关的硬件配置和初始化例程，为后续的功能开发和测试奠定了基础。	2024-09-23 21:01:30 +08:00