diff --git a/src/mylib/device/hc_sr04.c b/src/mylib/device/hc_sr04.c
index 57ff69113b16afdab2fb8ffc3704c37e148442b5..6075b4614c9636f2e204b6a9e8554dd162e7544c 100644
--- a/src/mylib/device/hc_sr04.c
+++ b/src/mylib/device/hc_sr04.c
@@ -1,61 +1,79 @@
 #include <mylib/device/hc_sr04.h>
+#include <mylib/driver/gpio.h>
 
-#if 0
 
 
-#include "bsp_SysTick.h"
-#include "stm32f10x.h"
-#include "stm32f10x_gpio.h"
-#include "stm32f10x_rcc.h"
-#include "stm32f10x_tim.h"
-#include <stdio.h>
+inline static void hc_sr04_delay_us(uint32_t us)
+{
+    HAL_TIM_Base_Start(g_htim);   // 启动定时器
+    while (g_htim->Instance->CNT < us);
+    g_htim->Instance->CNT = 0;
+    HAL_TIM_Base_Stop(g_htim);   // 关闭定时器
+}
 
-uint32_t pulse_width_us = 0;
-uint32_t distance_cm    = 0;
+inline static void hc_sr04_delay_ms(uint32_t ms)
+{
+    HAL_Delay(ms);
+}
 
-void HCSR04_Init(void)
+void HCSR04_Init(TIM_HandleTypeDef* htim, GPIO_TypeDef* port, uint16_t T_pin, uint16_t E_pin)
 {
-    // 定义GPIO的结构体变量
-    GPIO_InitTypeDef GPIO_InitStructure = {0};
-    NVIC_InitTypeDef NVIC_InitStructure;
+    g_htim = htim;
+    g_port = port;
+    g_pin_T  = T_pin;
+    g_pin_E  = E_pin;
+}
 
+void SR04_Trigger(void)
+{
+    Trig_ON;
+    hc_sr04_delay_us(10);
+    Trig_OFF;
+}
 
-    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);   // 使能超声波的GPIO对应的时钟
 
-    /* Trig引脚 */
-    GPIO_InitStructure.GPIO_Pin   = HC_R04_PIN;
-    GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_Out_PP;   //推挽输出
-    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;   // 引脚输出速度设置为快
+void GPIO_EXTI_Callback(uint16_t g_pin)
+{
+    static int count = 0;
+    if (g_pin == HC_R04_PIN) {
+        if (HAL_GPIO_ReadPin(g_port, HC_R04_PIN)) {
+            HAL_TIM_Base_Start(g_htim);
+            __HAL_TIM_SET_COUNTER(g_htim, 0);   //清空定时器的值
+        }
+        else if (HAL_GPIO_ReadPin(g_port, HC_R04_PIN) == 0) {
+            HAL_TIM_Base_Stop(g_htim);               // 停止定时器
+            count       = __HAL_TIM_GET_COUNTER(g_htim);   //获取当前计数值
+            distance_cm = count * 340 / 2 * 0.000001 * 100;
+            //printf("distance_cm is %d\r\n", distance_cm);
+            count = 0;
+        }
+    }
+}
 
-    // 初始化引脚配置
-    GPIO_Init(GPIOC, &GPIO_InitStructure);
+void EXTI9_5_IRQHandler(void)
+{
+    //GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, GPIO_PinSource9);
+    //中断部分不知道怎么处理
+}
 
-    /*Echo引脚*/
-    GPIO_InitStructure.GPIO_Pin   = HC_R04_PIN;              // 选择超声波的引脚
-    GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_IN_FLOATING;   // 设置为双边沿触发外部中断
-    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;        // 引脚输出速度设置为快
+uint32_t Get_Distance(void)
+{
+    return distance_cm;
+}
 
-    // 初始化引脚配置
-    GPIO_Init(GPIOC, &GPIO_InitStructure);
+#if 0
 
 
-    NVIC_InitStructure.NVIC_IRQChannel                   = TIM4_IRQn;   //选择TIM4中断通道
-    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;           //抢占优先级为0
-    NVIC_InitStructure.NVIC_IRQChannelSubPriority        = 1;           //子优先级为1
-    NVIC_InitStructure.NVIC_IRQChannelCmd                = ENABLE;      //使能中断通道
-    NVIC_Init(&NVIC_InitStructure);
+#include "bsp_SysTick.h"
+#include "stm32f10x.h"
+#include "stm32f10x_gpio.h"
+#include "stm32f10x_rcc.h"
+#include "stm32f10x_tim.h"
+#include <stdio.h>
 
-    /*配置定时器4为us级定时器*/
-    RCC_APB2PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
+uint32_t pulse_width_us = 0;
+uint32_t distance_cm    = 0;
 
-    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
-    TIM_TimeBaseInitStructure.TIM_ClockDivision     = TIM_CKD_DIV1;         //时钟分频因子
-    TIM_TimeBaseInitStructure.TIM_CounterMode       = TIM_CounterMode_Up;   //向上计数器
-    TIM_TimeBaseInitStructure.TIM_Period            = 0xFFFF;               //自动装载值
-    TIM_TimeBaseInitStructure.TIM_Prescaler         = 83;                   //分频系数
-    TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
-    TIM_TimeBaseInit(TIM4, &TIM_TimeBaseInitStructure);
-}
 
 //外部中断处理函数
 void EXTI9_5_IRQHandler(void)
@@ -63,13 +81,7 @@ void EXTI9_5_IRQHandler(void)
     GPIO_EXTILineConfig(GPIO_PortSourceGPIOC, GPIO_PinSource9);
 }
 
-void SR04_Trigger(void)
-{
-    // 发送10us的高电平脉冲
-    Trig_ON;
-    Delay_us(10);
-    Trig_OFF;
-}
+
 
 void GPIO_EXTI_Callback(uint16_t GPIO_Pin)
 {
diff --git a/src/mylib/device/hc_sr04.h b/src/mylib/device/hc_sr04.h
index d6a8c625ae72260894a51cf6b62f62d295b867a5..d40c2fd330ea396841df10c84fbb48e6adc020f9 100644
--- a/src/mylib/device/hc_sr04.h
+++ b/src/mylib/device/hc_sr04.h
@@ -1,18 +1,37 @@
 #ifndef _HC_SR04_H
 #define _HC_SR04_H
 
+#include <mylib/driver/gpio.h>
 #include <stdint.h>
 
 /*
     PC8:Trig(发射引脚)
     PC9:Echo(接收引脚)
 */
-#define HC_R04_PIN GPIO_Pin_9
-#define Trig_ON GPIO_WriteBit(GPIOC, GPIO_Pin_8, Bit_SET)
-#define Trig_OFF GPIO_WriteBit(GPIOC, GPIO_Pin_8, Bit_RESET)
-
-
-void HCSR04_Init(void);
+static TIM_HandleTypeDef* g_htim;
+static GPIO_TypeDef*      g_port;
+static uint16_t           g_pin_T;
+static uint16_t           g_pin_E;
+uint32_t distance_cm    = 0;
+uint32_t pulse_width_us = 0;
+
+#define Trig_ON HAL_GPIO_WritePin(g_port, g_pin_T, GPIO_PIN_SET);
+#define Trig_OFF HAL_GPIO_WritePin(g_port, g_pin_T, GPIO_PIN_RESET);
+#define HC_R04_PIN g_pin_E
+
+typedef struct
+{
+    uint32_t   gpio;
+    int8_t     valid;
+} hc_sr04_t;
+
+#define DEVICE_BUZZER_INITIALIZER(_gpio, _valid) \
+    {                                            \
+        .gpio    = _gpio,                        \
+        .valid   = _valid,                       \
+    }
+
+void HCSR04_Init(TIM_HandleTypeDef* htim, GPIO_TypeDef* port, uint16_t T_pin, uint16_t E_pin);
 
 
 void SR04_Trigger(void);