新增 CommonCenter 类和 Config 结构体，提供超声波测距功能的配置和实例化支持

Core/App/Center/common_center.hpp

@@ -0,0 +1,16 @@
+#pragma once
+
+#include "../Common/ultrasonic.hpp"
+#include "../config.hpp"
+
+class CommonCenter {
+public:
+    static Ultrasonic& GetUltrasonic() {
+        static Ultrasonic* instance = nullptr;
+        if (instance == nullptr) {
+            instance = new Ultrasonic(
+                Config::kCaptureConfig.trigger, Config::kCaptureConfig.timer, Config::kCaptureConfig.channel);
+        }
+        return *instance;
+    }
+};

Core/App/app.cpp

@@ -3,11 +3,13 @@
 
 #include "Common/serial_port.hpp"
 #include "Helper/gpio_helper.hpp"
+#include "Center/common_center.hpp"
 
 
 void Setup() {
     GpioHelper::EnableAllGpioPeripheral();
     DelaySetup();
+    auto ultrasonic = CommonCenter::GetUltrasonic();
 }
 
 extern "C" void AppStart() {

Core/App/config.hpp

@@ -0,0 +1,14 @@
+#pragma once
+
+#include "stm32h563xx.h"
+#include "tim.h"
+
+#include "./Helper/gpio_helper.hpp"
+
+struct Config {
+    static inline struct {
+        GpioHelper::Gpio trigger;
+        TIM_HandleTypeDef* timer;
+        uint32_t channel;
+    } kCaptureConfig = {{GPIOA, GPIO_PIN_0}, &htim7, TIM_CHANNEL_1};
+};