First, let's demonstrate the correct implementation method. We won't show the problematci syntax examples.

void HCSR04_Configuration(void){
    GPIO_InitTypeDef gpioConfiguration;
    TIM_TimeBaseInitTypeDef timerConfig;

    // Enable GPIO peripheral clocks
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
    // Enable timer clock
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);

    // Configure Echo pin as input
    gpioConfiguration.GPIO_Pin = GPIO_Pin_4;
    gpioConfiguration.GPIO_Mode = GPIO_Mode_IN;
    gpioConfiguration.GPIO_OType = GPIO_OType_PP;
    gpioConfiguration.GPIO_Speed = GPIO_Speed_25MHz;
    gpioConfiguration.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_Init(GPIOA, &gpioConfiguration);

    // Configure Trigger pin as output
    gpioConfiguration.GPIO_Pin = GPIO_Pin_7;
    gpioConfiguration.GPIO_Mode = GPIO_Mode_OUT;
    gpioConfiguration.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_Init(GPIOB, &gpioConfiguration);

    // Timer configuration
    timerConfig.TIM_Prescaler = 84 - 1;                 // 84MHz/84 = 1MHz
    timerConfig.TIM_Period = 50000 - 1;
    timerConfig.TIM_CounterMode = TIM_CounterMode_Up;    // Up counting
    timerConfig.TIM_ClockDivision = TIM_CKD_DIV1;        // Clock division
    // Initialize timer with ARR and PSC values
    TIM_TimeBaseInit(TIM6, &timerConfig);

    // Disable timer initially
    TIM_Cmd(TIM6, DISABLE);
}

int Calculate_Distance(void){
    int pulseWidth = 0, distance = 0, timeout = 0;
    
    // Generate trigger pulse
    GPIOB->BSRRH = GPIO_Pin_7;    // Set trigger pin low
    delay_us(8);
    GPIOB->BSRRL = GPIO_Pin_7;    // Set trigger pin high
    delay_us(20);
    GPIOB->BSRRH = GPIO_Pin_7;    // Set trigger pin low

    // Reset timer counter
    TIM6->CNT = 0;

    // Wait for echo signal to go high
    printf("Waiting for echo start\r\n");
    while(!(GPIOA->IDR & GPIO_Pin_4)){
        // Optional: Add timeout handling here
    }

    // Start timer measurement
    TIM_Cmd(TIM6, ENABLE);

    printf("Measuring pulse width\r\n");
    timeout = 0;
    // Wait for echo signal to go low
    while(GPIOA->IDR & GPIO_Pin_4){
        // Optional: Add timeout handling here
    }
    printf("Pulse measurement complete\r\n");

    // Read timer counter value
    pulseWidth = TIM6->CNT;

    // Stop timer
    TIM_Cmd(TIM6, DISABLE);

    // Calculate distance (speed of sound = 340m/s)
    distance = pulseWidth / 58;

    return distance;
}<br></br><br></br>

int main(void){ int measuredDistance = 0;```

<div><div> // Ultrasonic distance measurement</div><div> static uint16_t counter;</div><div> if(counter++ % (2 * 1000) == 0)</div><div>     measuredDistance = Calculate_Distance();</div></div>```
}

Common issues with ultrasonic sensor getting stuck:

Stuck waiting for echo signal<br></br>Issue 1: Sensor hangs immediately on first measurement<br></br>Cause 1: Incorrect GPIO pin mode configuration<br></br>Solution: Ensure the trigger pin is configured as output mode and the echo pin as input mode

Issue 2: First measurement works, but subsequent measurements hang

Cause 2: Processing speed is too fast, causing timing synchrnoization issues

Soultion 2: Add appropriate delay intervals between measurement cycles