update some err

change ultrasonic transmit pin timer to TIMER13 CH0 PB1(AF_0).
rename function name.

README.md

@@ -5,4 +5,14 @@
 - [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
-- [ ] 超声反射回波接受与精准计时
+- [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。

about_template.md

@@ -15,7 +15,6 @@ 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

inc/gd32e23x_it.h

@@ -49,6 +49,8 @@ void PendSV_Handler(void);
 /* this function handles SysTick exception */
 void SysTick_Handler(void);
 
-void TIMER13_IRQHandler(void);
+void TIMER5_IRQHandler(void);
+void TIMER15_IRQHandler(void);
+void EXTI0_1_IRQHandler(void);
 
 #endif /* GD32E23X_IT_H */

inc/peripheral.h

@@ -1,11 +0,0 @@
-//
-// Created by yelv1 on 24-9-22.
-//
-
-#ifndef PERIPHERAL_H
-#define PERIPHERAL_H
-
-void usart_config(void);
-void led_blink_config(void);
-
-#endif //PERIPHERAL_H

inc/ultrasonic_driver.h

@@ -0,0 +1,75 @@
+//
+// Created by dell on 24-9-23.
+//
+
+#ifndef ULTRASONIC_DRIVER_H
+#define ULTRASONIC_DRIVER_H
+
+#include "gd32e23x.h"
+
+#define POWER_SUPPLY_12V
+// #define POWER_SUPPLY_24V
+
+#ifdef POWER_SUPPLY_12V
+    #define TIME_CORRECTION_US  250
+    #define CAPTURE_VALUE_MAX   515
+#elif defined(POWER_SUPPLY_24V)
+    #define TIME_CORRECTION_US  230
+    #define CAPTURE_VALUE_MAX   550
+#else
+    #error "Please define either POWER_SUPPLY_12V or POWER_SUPPLY_24V"
+#endif
+
+#define ULTRASONIC_CYCLES   0x05U
+#define ULTRASONIC_TRAN_US  500  // (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 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
+
+#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 led_config(void);
+void usart_config(void);
+void ultrasonic_config(void);
+void ultrasonic_transmit_config(void);
+void ultrasonic_pwm_out_cycles(const uint8_t cycles);
+void ultrasonic_transmit_delay(const uint16_t micro_second);
+void recevice_exti_config(void);
+void ultrasonic_echo_timer_config(void);
+void ultrasonic_recevice_config(void);
+uint16_t calculate_distance(uint32_t us_value);
+
+#endif //ULTRASONIC_DRIVER_H

inc/usonic_driver.h

@@ -1,18 +0,0 @@
-//
-// Created by dell on 24-9-23.
-//
-
-#ifndef USONIC_DRIVER_H
-#define USONIC_DRIVER_H
-
-#include "gd32e23x.h"
-
-void led_config(void);
-void usart_config(void);
-void ultrasonic_gpio_config(void);
-void ultrasonic_timer_config(void);
-void ultrasonic_config(void);
-void ultrasonic_pwm_out_cycles(uint8_t cycles);
-
-
-#endif //USONIC_DRIVER_H

src/gd32e23x_it.c

@@ -33,8 +33,12 @@ OF SUCH DAMAGE.
 */
 
 #include "gd32e23x_it.h"
+#include <stdio.h>
 #include "main.h"
 #include "systick.h"
+#include "ultrasonic_driver.h"
+
+__IO uint32_t capture_value;
 
 /*!
     \brief      this function handles NMI exception
@@ -98,21 +102,40 @@ void SysTick_Handler(void)
 {
 }
 
-void TIMER13_IRQHandler(void) {
+void TIMER5_IRQHandler(void) {
-    if (timer_interrupt_flag_get(TIMER13, TIMER_INT_FLAG_UP) == SET)
+    if (timer_interrupt_flag_get(LED_TIMER, TIMER_INT_FLAG_UP) == SET)
     {
-        timer_interrupt_flag_clear(TIMER13, TIMER_INT_FLAG_UP);
+        timer_interrupt_flag_clear(LED_TIMER, TIMER_INT_FLAG_UP);
         static uint8_t led_status = 0;
         if (led_status)
         {
-            //! turn on led & reconfig timer13 period to 19000(1900ms)
+        gpio_bit_write(LED_PORT, LED_PIN, RESET);
-            gpio_bit_write(GPIOA, GPIO_PIN_9, RESET);
+        timer_autoreload_value_config(LED_TIMER, 19200);
-            timer_autoreload_value_config(TIMER13, 19200);
         } else {
-            //! turn off led & reconfig timer13 period to 1000(100ms)
+        gpio_bit_write(LED_PORT, LED_PIN, SET);
-            gpio_bit_write(GPIOA, GPIO_PIN_9, SET);
+        timer_autoreload_value_config(LED_TIMER, 800);
-            timer_autoreload_value_config(TIMER13, 800);
         }
         led_status = !led_status;
     }
+}
+
+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);
+    }
+}
+
+void EXTI0_1_IRQHandler(void) {
+    if (exti_interrupt_flag_get(EXTI_0) == SET)
+    {
+        exti_interrupt_flag_clear(EXTI_0);
+        capture_value = timer_channel_capture_value_register_read(TIMER16, TIMER_CH_0);
+        timer_disable(TIMER16);
+        exti_interrupt_disable(EXTI_0);
+    }
 }

src/main.c

@@ -4,15 +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 "usonic_driver.h"
+#include "ultrasonic_driver.h"
 
-#define ULTRASONIC_CYCLES 0x05U
+extern uint32_t capture_value;
+uint16_t distance_uint16;
 
 /*!
     \brief      main function
@@ -25,33 +26,39 @@ int main(void)
     /* configure systick */
     systick_config();
     /* configure ultrasonic board hardware */
-    ultrasonic_config();
+    ultrasonic_transmit_config();
-
+    ultrasonic_recevice_config();
 
     /* ---------- debug start ---------- */
 
 
 
 
-
     /* ---------- debug end ---------- */
 
     printf("\r\n");
-    printf("START!\r\n");
     printf("XLSW-3DP-UltraSonic Analog 300K!\r\n");
     printf("\r\n");
 
+    delay_ms(2000);
+
     while(1)
     {
-        delay_ms(50);
+        delay_ms(ULTRASONIC_TRAN_US);
+
         ultrasonic_pwm_out_cycles(ULTRASONIC_CYCLES);
-        // printf("Send ultra sonic driver signal!\r\n");
+
+        delay_ms(2);
+        printf("cap_val:%ld\t", capture_value);
+
+        const char* result = (capture_value <= CAPTURE_VALUE_MAX) ? "Distance: %d\n" : "Over Range\n";
+        distance_uint16 = calculate_distance(capture_value);
+        printf(result, distance_uint16);
     }
 }
 
 /* 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]);

src/peripheral.c

@@ -1,63 +0,0 @@
-//
-// 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);
-}

src/ultrasonic_driver.c

@@ -2,22 +2,19 @@
 // Created by dell on 24-9-23.
 //
 
-#include "usonic_driver.h"
+#include "ultrasonic_driver.h"
 #include "gd32e23x.h"
 #include "systick.h"
 
-uint8_t speed_pwm = 30;              //bldc default pwm is 30
+void led_config(void) {
+    rcu_periph_clock_enable(LED_RCU);
 
-void led_config(void)
+    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);
-    rcu_periph_clock_enable(RCU_GPIOA);
+    gpio_bit_write(LED_PORT, LED_PIN, SET);
 
-    gpio_mode_set(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_9);
+    rcu_periph_clock_enable(LED_TIMER_RCU);
-    gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_9);
+    timer_deinit(LED_TIMER);
-    gpio_bit_write(GPIOA, GPIO_PIN_9, SET);
-
-    rcu_periph_clock_enable(RCU_TIMER13);
-    timer_deinit(RCU_TIMER13);
 
     timer_parameter_struct timer_initpara;
     timer_struct_para_init(&timer_initpara);
@@ -26,53 +23,47 @@ void led_config(void)
     timer_initpara.counterdirection =TIMER_COUNTER_UP;
     timer_initpara.period           =999;
     timer_initpara.clockdivision    =TIMER_CKDIV_DIV1;
-    timer_init(TIMER13, &timer_initpara);
+    timer_init(LED_TIMER, &timer_initpara);
 
-    timer_auto_reload_shadow_enable(TIMER13);
+    timer_auto_reload_shadow_enable(LED_TIMER);
-    timer_interrupt_enable(TIMER13, TIMER_INT_UP);
+    timer_interrupt_enable(LED_TIMER, TIMER_INT_UP);
-    nvic_irq_enable(TIMER13_IRQn, 0);
+
-    timer_enable(TIMER13);
+    timer_enable(LED_TIMER);
+
+    nvic_irq_enable(LED_IRQ, 0);
 }
 
-void usart_config(void)
+void usart_config(void) {
-{
+    rcu_periph_clock_enable(USART_GPIO_RCU);
-    rcu_periph_clock_enable(RCU_GPIOA);
+    rcu_periph_clock_enable(USART_RCU);
-    rcu_periph_clock_enable(RCU_USART0);
 
-    gpio_af_set(GPIOA, GPIO_AF_1, GPIO_PIN_2 | GPIO_PIN_3);
+    gpio_af_set(USARET_GPIO_PORT, GPIO_AF_1, GPIO_PIN_2 | GPIO_PIN_3);
 
     /* configure USART Tx as alternate function push-pull */
-    gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_PULLUP, GPIO_PIN_2);
+    gpio_mode_set(USARET_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, USART_TX_PIN | USART_RX_PIN);
-    gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_10MHZ, GPIO_PIN_2);
+    gpio_output_options_set(USARET_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_10MHZ, USART_TX_PIN | USART_RX_PIN);
-
-    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);
 
     /* USART configure */
-    usart_deinit(USART0);
+    usart_deinit(USART0_PHY);
-    usart_baudrate_set(USART0, 115200U);
+    usart_baudrate_set(USART0_PHY, USART_BAUDRATE);
-    usart_receive_config(USART0, USART_RECEIVE_ENABLE);
+    usart_receive_config(USART0_PHY, USART_RECEIVE_ENABLE);
-    usart_transmit_config(USART0, USART_TRANSMIT_ENABLE);
+    usart_transmit_config(USART0_PHY, USART_TRANSMIT_ENABLE);
 
-    usart_enable(USART0);
+    usart_enable(USART0_PHY);
 }
 
-void ultrasonic_gpio_config(void)
+void ultrasonic_config(void) {
-{
+    rcu_periph_clock_enable(US_TRAN_GPIO_RCU);
-    rcu_periph_clock_enable(RCU_GPIOB);
 
-    gpio_mode_set(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_1);
+    gpio_mode_set(US_TRAN_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE, US_TRAN_PIN);
-    gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_1);
+    gpio_output_options_set(US_TRAN_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, US_TRAN_PIN);
-    gpio_af_set(GPIOB, GPIO_AF_1, GPIO_PIN_1);
+    gpio_af_set(US_TRAN_GPIO_PORT, US_TRAN_AF, US_TRAN_PIN);
-}
 
-void ultrasonic_timer_config(void)
-{
     timer_oc_parameter_struct timer_ocinitpara;
     timer_parameter_struct    timer_initpara;
 
-    rcu_periph_clock_enable(RCU_TIMER2);
+    rcu_periph_clock_enable(US_TRAN_RCU);
-    timer_deinit(TIMER2);
+    timer_deinit(US_TRAN_TIMER);
 
     timer_struct_para_init(&timer_initpara);
     timer_initpara.prescaler          = 0;
@@ -80,7 +71,7 @@ void ultrasonic_timer_config(void)
     timer_initpara.counterdirection   = TIMER_COUNTER_UP;
     timer_initpara.period             = 239;
     timer_initpara.clockdivision      = TIMER_CKDIV_DIV1;
-    timer_init(TIMER2, &timer_initpara);
+    timer_init(US_TRAN_TIMER, &timer_initpara);
 
     timer_channel_output_struct_para_init(&timer_ocinitpara);
     timer_ocinitpara.outputstate  =TIMER_CCX_ENABLE;
@@ -89,42 +80,114 @@ void ultrasonic_timer_config(void)
     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(TIMER2, TIMER_CH_3, &timer_ocinitpara);
+    timer_channel_output_config(US_TRAN_TIMER, US_TRAN_CH, &timer_ocinitpara);
 
-    timer_channel_output_pulse_value_config(TIMER2, TIMER_CH_3, 120);
+    timer_channel_output_pulse_value_config(US_TRAN_TIMER, US_TRAN_CH, 120);
-    timer_channel_output_mode_config(TIMER2, TIMER_CH_3, TIMER_OC_MODE_PWM0);
+    timer_channel_output_mode_config(US_TRAN_TIMER, US_TRAN_CH, TIMER_OC_MODE_PWM0);
-    timer_auto_reload_shadow_enable(TIMER2);
+    timer_auto_reload_shadow_enable(US_TRAN_TIMER);
 
-    timer_interrupt_enable(TIMER2, TIMER_INT_UP);
+    timer_interrupt_enable(US_TRAN_TIMER, TIMER_INT_UP);
-    // nvic_irq_enable(TIMER2_IRQn, 1);
-    // timer_enable(TIMER2);
 }
 
-void ultrasonic_config(void) {
+void ultrasonic_transmit_config(void) {
     led_config();
     usart_config();
-    ultrasonic_gpio_config();
+    ultrasonic_config();
-    ultrasonic_timer_config();
 }
 
-void ultrasonic_pwm_out_cycles(uint8_t cycles) {
+void ultrasonic_pwm_out_cycles(const uint8_t cycles) {
     uint8_t current_cycle = 0;
 
-    timer_channel_output_pulse_value_config(TIMER2, TIMER_CH_3, 120);
+    timer_channel_output_pulse_value_config(US_TRAN_TIMER, US_TRAN_CH, 120);
-    timer_channel_output_mode_config(TIMER2, TIMER_CH_3, TIMER_OC_MODE_PWM1);
+    timer_channel_output_mode_config(US_TRAN_TIMER, US_TRAN_CH, TIMER_OC_MODE_PWM1);
-    timer_enable(TIMER2);
+    timer_enable(US_TRAN_TIMER);
+
+    timer_enable(TIMER15);
 
     while (current_cycle < cycles)
     {
-        while (!timer_interrupt_flag_get(TIMER2, TIMER_INT_FLAG_UP));
+        while (!timer_interrupt_flag_get(US_TRAN_TIMER, TIMER_INT_FLAG_UP));
-        timer_interrupt_flag_clear(TIMER2, TIMER_INT_FLAG_UP);
+        timer_interrupt_flag_clear(US_TRAN_TIMER, TIMER_INT_FLAG_UP);
         current_cycle ++;
     }
     // delay_nop();
-    timer_disable(TIMER2);
+    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 recevice_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_recevice_config(void) {
+    ultrasonic_transmit_delay(TIME_CORRECTION_US);
+    recevice_exti_config();
+    ultrasonic_echo_timer_config();
+}
+
+uint16_t calculate_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;
+}