diff --git a/.config b/.config
index 68b28ab..b0a38e9 100644
--- a/.config
+++ b/.config
@@ -150,7 +150,8 @@ CONFIG_RT_USING_WDT=y
 # CONFIG_RT_USING_TOUCH is not set
 # CONFIG_RT_USING_HWCRYPTO is not set
 # CONFIG_RT_USING_PULSE_ENCODER is not set
-# CONFIG_RT_USING_INPUT_CAPTURE is not set
+CONFIG_RT_USING_INPUT_CAPTURE=y
+CONFIG_RT_INPUT_CAPTURE_RB_SIZE=100
 # CONFIG_RT_USING_WIFI is not set
 
 #
@@ -1051,6 +1052,17 @@ CONFIG_BSP_USING_PWM4_CH1=y
 CONFIG_BSP_USING_PWM4_CH2=y
 CONFIG_BSP_USING_PWM4_CH3=y
 CONFIG_BSP_USING_PWM4_CH4=y
+CONFIG_BSP_USING_CAPTURE=y
+CONFIG_BSP_USING_CAPTURE1=y
+CONFIG_BSP_USING_CAPTURE1_CH1=y
+CONFIG_BSP_USING_CAPTURE1_CH2=y
+# CONFIG_BSP_USING_CAPTURE1_CH3 is not set
+# CONFIG_BSP_USING_CAPTURE1_CH4 is not set
+CONFIG_BSP_USING_CAPTURE2=y
+# CONFIG_BSP_USING_CAPTURE2_CH1 is not set
+# CONFIG_BSP_USING_CAPTURE2_CH2 is not set
+CONFIG_BSP_USING_CAPTURE2_CH3=y
+CONFIG_BSP_USING_CAPTURE2_CH4=y
 CONFIG_BSP_USING_ADC=y
 CONFIG_BSP_USING_ADC1=y
 # CONFIG_BSP_USING_ONCHIP_RTC is not set
diff --git a/board/CubeMX_Config/CubeMX_Config.ioc b/board/CubeMX_Config/CubeMX_Config.ioc
index 7997be3..ae35ea5 100644
--- a/board/CubeMX_Config/CubeMX_Config.ioc
+++ b/board/CubeMX_Config/CubeMX_Config.ioc
@@ -74,51 +74,49 @@ Mcu.Pin24=PE8
 Mcu.Pin25=PE9
 Mcu.Pin26=PE11
 Mcu.Pin27=PE12
-Mcu.Pin28=PE13
-Mcu.Pin29=PE14
+Mcu.Pin28=PB10
+Mcu.Pin29=PB12
 Mcu.Pin3=PE5
-Mcu.Pin30=PB10
-Mcu.Pin31=PB12
-Mcu.Pin32=PB13
-Mcu.Pin33=PB14
-Mcu.Pin34=PB15
-Mcu.Pin35=PD14
-Mcu.Pin36=PD15
-Mcu.Pin37=PC6
-Mcu.Pin38=PC7
-Mcu.Pin39=PC9
+Mcu.Pin30=PB13
+Mcu.Pin31=PB14
+Mcu.Pin32=PB15
+Mcu.Pin33=PD14
+Mcu.Pin34=PD15
+Mcu.Pin35=PC6
+Mcu.Pin36=PC7
+Mcu.Pin37=PC9
+Mcu.Pin38=PA8
+Mcu.Pin39=PA9
 Mcu.Pin4=PE6
-Mcu.Pin40=PA8
-Mcu.Pin41=PA9
-Mcu.Pin42=PA10
-Mcu.Pin43=PA11
-Mcu.Pin44=PA12
-Mcu.Pin45=PA13
-Mcu.Pin46=PA14
-Mcu.Pin47=PC10
-Mcu.Pin48=PC11
-Mcu.Pin49=PC12
+Mcu.Pin40=PA10
+Mcu.Pin41=PA11
+Mcu.Pin42=PA12
+Mcu.Pin43=PA13
+Mcu.Pin44=PA14
+Mcu.Pin45=PC10
+Mcu.Pin46=PC11
+Mcu.Pin47=PC12
+Mcu.Pin48=PD2
+Mcu.Pin49=PD5
 Mcu.Pin5=PH0 - OSC_IN
-Mcu.Pin50=PD2
-Mcu.Pin51=PD5
-Mcu.Pin52=PD6
-Mcu.Pin53=PB3
-Mcu.Pin54=PB4
-Mcu.Pin55=PB6
-Mcu.Pin56=PB7
-Mcu.Pin57=PB8
-Mcu.Pin58=PB9
-Mcu.Pin59=PE0
+Mcu.Pin50=PD6
+Mcu.Pin51=PB3
+Mcu.Pin52=PB4
+Mcu.Pin53=PB6
+Mcu.Pin54=PB7
+Mcu.Pin55=PB8
+Mcu.Pin56=PB9
+Mcu.Pin57=PE0
+Mcu.Pin58=PE1
+Mcu.Pin59=VP_SYS_VS_Systick
 Mcu.Pin6=PH1 - OSC_OUT
-Mcu.Pin60=PE1
-Mcu.Pin61=VP_SYS_VS_Systick
-Mcu.Pin62=VP_TIM1_VS_ClockSourceINT
-Mcu.Pin63=VP_TIM3_VS_ClockSourceINT
-Mcu.Pin64=VP_TIM4_VS_ClockSourceINT
+Mcu.Pin60=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin61=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin62=VP_TIM4_VS_ClockSourceINT
 Mcu.Pin7=PC0
 Mcu.Pin8=PC1
 Mcu.Pin9=PC2
-Mcu.PinsNb=65
+Mcu.PinsNb=63
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F413VGTx
@@ -224,8 +222,6 @@ PE1.Signal=UART8_TX
 PE11.Signal=S_TIM1_CH2
 PE12.Mode=Full_Duplex_Master
 PE12.Signal=SPI4_SCK
-PE13.Signal=S_TIM1_CH3
-PE14.Signal=S_TIM1_CH4
 PE2.Mode=Asynchronous
 PE2.Signal=UART10_RX
 PE3.Mode=Asynchronous
@@ -338,10 +334,6 @@ SH.S_TIM1_CH1.0=TIM1_CH1,Input_Capture1_from_TI1
 SH.S_TIM1_CH1.ConfNb=1
 SH.S_TIM1_CH2.0=TIM1_CH2,Input_Capture2_from_TI2
 SH.S_TIM1_CH2.ConfNb=1
-SH.S_TIM1_CH3.0=TIM1_CH3,Input_Capture3_from_TI3
-SH.S_TIM1_CH3.ConfNb=1
-SH.S_TIM1_CH4.0=TIM1_CH4,Input_Capture4_from_TI4
-SH.S_TIM1_CH4.ConfNb=1
 SH.S_TIM2_CH3.0=TIM2_CH3,Input_Capture3_from_TI3
 SH.S_TIM2_CH3.ConfNb=1
 SH.S_TIM2_CH4.0=TIM2_CH4,Input_Capture4_from_TI4
@@ -375,9 +367,7 @@ SPI4.VirtualNSS=VM_NSSHARD
 SPI4.VirtualType=VM_MASTER
 TIM1.Channel-Input_Capture1_from_TI1=TIM_CHANNEL_1
 TIM1.Channel-Input_Capture2_from_TI2=TIM_CHANNEL_2
-TIM1.Channel-Input_Capture3_from_TI3=TIM_CHANNEL_3
-TIM1.Channel-Input_Capture4_from_TI4=TIM_CHANNEL_4
-TIM1.IPParameters=Channel-Input_Capture1_from_TI1,Channel-Input_Capture2_from_TI2,Channel-Input_Capture3_from_TI3,Channel-Input_Capture4_from_TI4
+TIM1.IPParameters=Channel-Input_Capture1_from_TI1,Channel-Input_Capture2_from_TI2
 TIM12.Channel-Input_Capture1_from_TI1=TIM_CHANNEL_1
 TIM12.Channel-Input_Capture2_from_TI2=TIM_CHANNEL_2
 TIM12.IPParameters=Channel-Input_Capture1_from_TI1,Channel-Input_Capture2_from_TI2
diff --git a/board/CubeMX_Config/Inc/main.h b/board/CubeMX_Config/Inc/main.h
index b257260..65f428f 100644
--- a/board/CubeMX_Config/Inc/main.h
+++ b/board/CubeMX_Config/Inc/main.h
@@ -7,7 +7,7 @@
   ******************************************************************************
   * @attention
   *
-  * Copyright (c) 2022 STMicroelectronics.
+  * Copyright (c) 2023 STMicroelectronics.
   * All rights reserved.
   *
   * This software is licensed under terms that can be found in the LICENSE file
diff --git a/board/CubeMX_Config/Inc/stm32f4xx_it.h b/board/CubeMX_Config/Inc/stm32f4xx_it.h
index 14e5c37..37f04b4 100644
--- a/board/CubeMX_Config/Inc/stm32f4xx_it.h
+++ b/board/CubeMX_Config/Inc/stm32f4xx_it.h
@@ -6,7 +6,7 @@
   ******************************************************************************
   * @attention
   *
-  * Copyright (c) 2022 STMicroelectronics.
+  * Copyright (c) 2023 STMicroelectronics.
   * All rights reserved.
   *
   * This software is licensed under terms that can be found in the LICENSE file
diff --git a/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c b/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
index dd2e789..0b78113 100644
--- a/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
+++ b/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
@@ -7,7 +7,7 @@
   ******************************************************************************
   * @attention
   *
-  * Copyright (c) 2022 STMicroelectronics.
+  * Copyright (c) 2023 STMicroelectronics.
   * All rights reserved.
   *
   * This software is licensed under terms that can be found in the LICENSE file
@@ -525,12 +525,10 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
     /**TIM1 GPIO Configuration
     PE9     ------> TIM1_CH1
     PE11     ------> TIM1_CH2
-    PE13     ------> TIM1_CH3
-    PE14     ------> TIM1_CH4
     */
-    GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_11|GPIO_PIN_13|GPIO_PIN_14;
+    GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_11;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Pull = GPIO_PULLDOWN;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
     GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
     HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
@@ -588,7 +586,7 @@ void HAL_TIM_IC_MspInit(TIM_HandleTypeDef* htim_ic)
     */
     GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_3;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Pull = GPIO_PULLDOWN;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
     GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
@@ -703,10 +701,8 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
     /**TIM1 GPIO Configuration
     PE9     ------> TIM1_CH1
     PE11     ------> TIM1_CH2
-    PE13     ------> TIM1_CH3
-    PE14     ------> TIM1_CH4
     */
-    HAL_GPIO_DeInit(GPIOE, GPIO_PIN_9|GPIO_PIN_11|GPIO_PIN_13|GPIO_PIN_14);
+    HAL_GPIO_DeInit(GPIOE, GPIO_PIN_9|GPIO_PIN_11);
 
   /* USER CODE BEGIN TIM1_MspDeInit 1 */
 
diff --git a/board/CubeMX_Config/Src/stm32f4xx_it.c b/board/CubeMX_Config/Src/stm32f4xx_it.c
index 3ee6609..3501567 100644
--- a/board/CubeMX_Config/Src/stm32f4xx_it.c
+++ b/board/CubeMX_Config/Src/stm32f4xx_it.c
@@ -6,7 +6,7 @@
   ******************************************************************************
   * @attention
   *
-  * Copyright (c) 2022 STMicroelectronics.
+  * Copyright (c) 2023 STMicroelectronics.
   * All rights reserved.
   *
   * This software is licensed under terms that can be found in the LICENSE file
diff --git a/board/Kconfig b/board/Kconfig
index 28108ac..1b6c39b 100644
--- a/board/Kconfig
+++ b/board/Kconfig
@@ -194,7 +194,7 @@ menu "On-chip Peripheral Drivers"
                 depends on BSP_USING_SPI2
                 select BSP_SPI2_TX_USING_DMA
                 default n
-                 
+
         endif
 
     menuconfig BSP_USING_I2C1
@@ -275,6 +275,50 @@ menu "On-chip Peripheral Drivers"
             endif
         endif
 
+    menuconfig BSP_USING_CAPTURE
+        bool "Enable input capture"
+        default n
+        select RT_USING_INPUT_CAPTURE
+        if BSP_USING_CAPTURE
+
+        menuconfig BSP_USING_CAPTURE1
+            bool "Enable capture1"
+            default n
+            if BSP_USING_CAPTURE1
+                config BSP_USING_CAPTURE1_CH1
+                    bool "Enable capture1 channel1"
+                    default n
+                config BSP_USING_CAPTURE1_CH2
+                    bool "Enable capture1 channel2"
+                    default n
+                config BSP_USING_CAPTURE1_CH3
+                    bool "Enable capture1 channel3"
+                    default n
+                config BSP_USING_CAPTURE1_CH4
+                    bool "Enable capture1 channel4"
+                    default n
+            endif
+
+        menuconfig BSP_USING_CAPTURE2
+            bool "Enable capture2"
+            default n
+            if BSP_USING_CAPTURE2
+                config BSP_USING_CAPTURE2_CH1
+                    bool "Enable capture2 channel1"
+                    default n
+                config BSP_USING_CAPTURE2_CH2
+                    bool "Enable capture2 channel2"
+                    default n
+                config BSP_USING_CAPTURE2_CH3
+                    bool "Enable capture2 channel3"
+                    default n
+                config BSP_USING_CAPTURE2_CH4
+                    bool "Enable capture2 channel4"
+                    default n
+            endif
+
+        endif
+
     menuconfig BSP_USING_ADC
         bool "Enable ADC"
         default n
diff --git a/board/board.c b/board/board.c
index 6ab2bbc..8ca1a5e 100644
--- a/board/board.c
+++ b/board/board.c
@@ -104,3 +104,6 @@ INIT_DEVICE_EXPORT(stm32_pwm_init);
 
 extern int stm32_adc_init(void);
 INIT_BOARD_EXPORT(stm32_adc_init);
+
+extern int stm32_capture_init(void);
+INIT_APP_EXPORT(stm32_capture_init);
diff --git a/libraries/HAL_Drivers/SConscript b/libraries/HAL_Drivers/SConscript
index de3b27a..7632fa2 100644
--- a/libraries/HAL_Drivers/SConscript
+++ b/libraries/HAL_Drivers/SConscript
@@ -105,6 +105,9 @@ if GetDepend(['BSP_USING_USBD']):
 if GetDepend(['BSP_USING_PULSE_ENCODER']):
     src += ['drv_pulse_encoder.c']
 
+if GetDepend(['BSP_USING_CAPTURE']):
+    src += ['drv_inputcapture.c']
+
 if GetDepend(['BSP_USING_USBH']):
     src += ['drv_usbh.c']
 
diff --git a/libraries/HAL_Drivers/drv_inputcapture.c b/libraries/HAL_Drivers/drv_inputcapture.c
new file mode 100644
index 0000000..4e69ea9
--- /dev/null
+++ b/libraries/HAL_Drivers/drv_inputcapture.c
@@ -0,0 +1,605 @@
+/* 
+ * Copyright (c) 2006-2022, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ */
+
+#include <board.h>
+
+#ifdef BSP_USING_CAPTURE
+
+#include "drv_config.h"
+
+#define CAPTURE1_CONFIG \
+{ \
+    .timer.Instance = TIM1, \
+    .iqrn = TIM1_CC_IRQn, \
+    .timerx = 1, \
+    .advanced = RT_TRUE, \
+}
+
+#define CAPTURE2_CONFIG \
+{ \
+    .timer.Instance = TIM2, \
+    .iqrn = TIM2_IRQn, \
+    .timerx = 2, \
+}
+
+#define LOG_TAG "drv.tcap"
+#include <drv_log.h>
+
+#define MAX_PERIOD 65535
+#define MAX_PULSE 1000
+
+typedef enum {
+    POLARITY_BOTHEDGE,
+    POLARITY_RISING,
+    POLARITY_FALLING,
+}trigger_polarity;
+
+struct pulse_data
+{
+    rt_uint32_t last_overflow;
+    rt_uint32_t last_cnt;
+    trigger_polarity polarity;
+};
+
+struct stm32_capture_device;
+
+struct stm32_capture
+{
+    TIM_HandleTypeDef timer;
+    IRQn_Type iqrn;
+    rt_uint8_t timerx;
+    rt_uint8_t advanced;
+
+    rt_uint8_t inited;
+    rt_uint32_t tim_overflow;
+    struct stm32_capture_device *channels[4];
+};
+
+enum
+{
+#ifdef BSP_USING_CAPTURE1
+    CAPTURE1_INDEX,
+#endif
+#ifdef BSP_USING_CAPTURE2
+    CAPTURE2_INDEX,
+#endif
+#ifdef BSP_USING_CAPTURE3
+    CAPTURE3_INDEX,
+#endif
+#ifdef BSP_USING_CAPTURE4
+    CAPTURE4_INDEX,
+#endif
+#ifdef BSP_USING_CAPTURE5
+    CAPTURE5_INDEX,
+#endif
+#ifdef BSP_USING_CAPTURE6
+    CAPTURE6_INDEX,
+#endif
+#ifdef BSP_USING_CAPTURE7
+    CAPTURE7_INDEX,
+#endif
+#ifdef BSP_USING_CAPTURE8
+    CAPTURE8_INDEX,
+#endif
+#ifdef BSP_USING_CAPTURE9
+    CAPTURE9_INDEX,
+#endif
+#ifdef BSP_USING_CAPTURE10
+    CAPTURE10_INDEX,
+#endif
+};
+
+static struct stm32_capture stm32_capture_obj[] = 
+{
+#ifdef BSP_USING_CAPTURE1
+    CAPTURE1_CONFIG,
+#endif
+#ifdef BSP_USING_CAPTURE2
+    CAPTURE2_CONFIG,
+#endif
+#ifdef BSP_USING_CAPTURE3
+    CAPTURE3_CONFIG,
+#endif
+#ifdef BSP_USING_CAPTURE4
+    CAPTURE4_CONFIG,
+#endif
+#ifdef BSP_USING_CAPTURE5
+    CAPTURE5_CONFIG,
+#endif
+#ifdef BSP_USING_CAPTURE6
+    CAPTURE6_CONFIG,
+#endif
+#ifdef BSP_USING_CAPTURE7
+    CAPTURE7_CONFIG,
+#endif
+#ifdef BSP_USING_CAPTURE8
+    CAPTURE8_CONFIG,
+#endif
+#ifdef BSP_USING_CAPTURE9
+    CAPTURE9_CONFIG,
+#endif
+#ifdef BSP_USING_CAPTURE10
+    CAPTURE10_CONFIG,
+#endif
+};
+
+struct stm32_capture_device
+{
+    struct rt_inputcapture_device parent;
+    struct stm32_capture *timer;
+    rt_uint8_t ch;
+    rt_uint8_t opend;
+    struct pulse_data data;
+    rt_uint32_t pulsewidth_us;
+};
+
+static struct stm32_capture_device stm32_capture_devices[] = 
+{
+#ifdef BSP_USING_CAPTURE1_CH1
+    {{0}, &stm32_capture_obj[CAPTURE1_INDEX], 1, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE1_CH2
+    {{0}, &stm32_capture_obj[CAPTURE1_INDEX], 2, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE1_CH3
+    {{0}, &stm32_capture_obj[CAPTURE1_INDEX], 3, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE1_CH4
+    {{0}, &stm32_capture_obj[CAPTURE1_INDEX], 4, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE2_CH1
+    {{0}, &stm32_capture_obj[CAPTURE2_INDEX], 1, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE2_CH2
+    {{0}, &stm32_capture_obj[CAPTURE2_INDEX], 2, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE2_CH3
+    {{0}, &stm32_capture_obj[CAPTURE2_INDEX], 3, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE2_CH4
+    {{0}, &stm32_capture_obj[CAPTURE2_INDEX], 4, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE3_CH1
+    {{0}, &stm32_capture_obj[CAPTURE3_INDEX], 1, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE3_CH2
+    {{0}, &stm32_capture_obj[CAPTURE3_INDEX], 2, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE3_CH3
+    {{0}, &stm32_capture_obj[CAPTURE3_INDEX], 3, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE3_CH4
+    {{0}, &stm32_capture_obj[CAPTURE3_INDEX], 4, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE4_CH1
+    {{0}, &stm32_capture_obj[CAPTURE4_INDEX], 1, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE4_CH2
+    {{0}, &stm32_capture_obj[CAPTURE4_INDEX], 2, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE4_CH3
+    {{0}, &stm32_capture_obj[CAPTURE4_INDEX], 3, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE4_CH4
+    {{0}, &stm32_capture_obj[CAPTURE4_INDEX], 4, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE5_CH1
+    {{0}, &stm32_capture_obj[CAPTURE5_INDEX], 1, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE5_CH2
+    {{0}, &stm32_capture_obj[CAPTURE5_INDEX], 2, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE5_CH3
+    {{0}, &stm32_capture_obj[CAPTURE5_INDEX], 3, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE5_CH4
+    {{0}, &stm32_capture_obj[CAPTURE5_INDEX], 4, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE6_CH1
+    {{0}, &stm32_capture_obj[CAPTURE6_INDEX], 1, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE6_CH2
+    {{0}, &stm32_capture_obj[CAPTURE6_INDEX], 2, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE6_CH3
+    {{0}, &stm32_capture_obj[CAPTURE6_INDEX], 3, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE6_CH4
+    {{0}, &stm32_capture_obj[CAPTURE6_INDEX], 4, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE7_CH1
+    {{0}, &stm32_capture_obj[CAPTURE7_INDEX], 1, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE7_CH2
+    {{0}, &stm32_capture_obj[CAPTURE7_INDEX], 2, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE7_CH3
+    {{0}, &stm32_capture_obj[CAPTURE7_INDEX], 3, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE7_CH4
+    {{0}, &stm32_capture_obj[CAPTURE7_INDEX], 4, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE8_CH1
+    {{0}, &stm32_capture_obj[CAPTURE8_INDEX], 1, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE8_CH2
+    {{0}, &stm32_capture_obj[CAPTURE8_INDEX], 2, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE8_CH3
+    {{0}, &stm32_capture_obj[CAPTURE8_INDEX], 3, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE8_CH4
+    {{0}, &stm32_capture_obj[CAPTURE8_INDEX], 4, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE9_CH1
+    {{0}, &stm32_capture_obj[CAPTURE9_INDEX], 1, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE9_CH2
+    {{0}, &stm32_capture_obj[CAPTURE9_INDEX], 2, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE9_CH3
+    {{0}, &stm32_capture_obj[CAPTURE9_INDEX], 3, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE9_CH4
+    {{0}, &stm32_capture_obj[CAPTURE9_INDEX], 4, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE10_CH1
+    {{0}, &stm32_capture_obj[CAPTURE10_INDEX], 1, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE10_CH2
+    {{0}, &stm32_capture_obj[CAPTURE10_INDEX], 2, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE10_CH3
+    {{0}, &stm32_capture_obj[CAPTURE10_INDEX], 3, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE10_CH4
+    {{0}, &stm32_capture_obj[CAPTURE10_INDEX], 4, {0}},
+#endif
+};
+
+static rt_uint64_t get_timer_clock(TIM_HandleTypeDef *htim)
+{
+    rt_uint64_t tim_clock = 0;
+
+#if defined(SOC_SERIES_STM32F2) || defined(SOC_SERIES_STM32F4) || defined(SOC_SERIES_STM32F7)
+    if (htim->Instance == TIM9 || htim->Instance == TIM10 || htim->Instance == TIM11 || htim->Instance == TIM1 || htim->Instance == TIM8)
+#elif defined(SOC_SERIES_STM32L4)
+    if (htim->Instance == TIM15 || htim->Instance == TIM16 || htim->Instance == TIM17)
+#elif defined(SOC_SERIES_STM32MP1)
+    if (htim->Instance == TIM4)
+#elif defined(SOC_SERIES_STM32F1) || defined(SOC_SERIES_STM32F0) || defined(SOC_SERIES_STM32G0)
+    if (0)
+#endif
+    {
+#if !defined(SOC_SERIES_STM32F0) && !defined(SOC_SERIES_STM32G0)
+#ifdef STM32F413xx
+        tim_clock = HAL_RCC_GetPCLK2Freq();
+#else
+        tim_clock = HAL_RCC_GetPCLK2Freq() * 2;
+#endif
+#endif
+    }
+    else
+    {
+#if defined(SOC_SERIES_STM32L4) || defined(SOC_SERIES_STM32F0) || defined(SOC_SERIES_STM32G0)
+        tim_clock = HAL_RCC_GetPCLK1Freq();
+#else
+        tim_clock = HAL_RCC_GetPCLK1Freq() * 2;
+#endif
+    }
+
+    return tim_clock;
+}
+
+static void rt_hw_capture_timer_init(struct stm32_capture *device)
+{
+    TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+    TIM_MasterConfigTypeDef sMasterConfig = {0};
+    TIM_IC_InitTypeDef sConfigIC = {0};
+    rt_uint64_t tim_clock;
+
+    if (device->inited)
+    {
+        return;
+    }
+
+    tim_clock = get_timer_clock(&device->timer) / 1000000;
+
+    /* configure the timer to ic mode */
+    device->timer.Init.Prescaler = tim_clock-1;
+    device->timer.Init.CounterMode = TIM_COUNTERMODE_UP;
+    device->timer.Init.Period = MAX_PERIOD-1;
+    device->timer.Init.AutoReloadPreload = MAX_PERIOD-1;
+    device->timer.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+#if defined(SOC_SERIES_STM32F1) || defined(SOC_SERIES_STM32L4)
+    device->timer.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+#else
+    device->timer.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
+#endif
+
+    if (device->advanced && HAL_TIM_Base_Init(&device->timer) != HAL_OK)
+    {
+        Error_Handler();
+    }
+
+    if (HAL_TIM_IC_Init(&device->timer) != HAL_OK)
+    {
+        Error_Handler();
+    }
+
+    HAL_NVIC_SetPriority(device->iqrn, 0, 0);
+    HAL_NVIC_EnableIRQ(device->iqrn);
+
+    sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+    if (HAL_TIM_ConfigClockSource(&device->timer, &sClockSourceConfig) != HAL_OK)
+    {
+        Error_Handler();
+    }
+
+    sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+    sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+    if (HAL_TIMEx_MasterConfigSynchronization(&device->timer, &sMasterConfig) != HAL_OK)
+    {
+        Error_Handler();
+    }
+
+    sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
+    sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
+    sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
+    sConfigIC.ICFilter = 0;
+
+    if (device->channels[0] != RT_NULL && HAL_TIM_IC_ConfigChannel(&device->timer, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    if (device->channels[1] != RT_NULL && HAL_TIM_IC_ConfigChannel(&device->timer, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    if (device->channels[2] != RT_NULL && HAL_TIM_IC_ConfigChannel(&device->timer, &sConfigIC, TIM_CHANNEL_3) != HAL_OK)
+    {
+        Error_Handler();
+    }
+    if (device->channels[3] != RT_NULL && HAL_TIM_IC_ConfigChannel(&device->timer, &sConfigIC, TIM_CHANNEL_4) != HAL_OK)
+    {
+        Error_Handler();
+    }
+
+    __HAL_TIM_DISABLE(&device->timer);
+    __HAL_TIM_SET_COUNTER(&device->timer,0);
+    __HAL_TIM_ENABLE_IT(&device->timer,TIM_IT_UPDATE);
+    __HAL_TIM_ENABLE(&device->timer);
+
+    device->inited = RT_TRUE;
+}
+
+static rt_err_t rt_hw_capture_open(struct rt_inputcapture_device *inputcapture)
+{
+    struct stm32_capture_device *device_ch;
+    rt_uint32_t ch;
+
+    rt_enter_critical();
+
+    device_ch = rt_container_of(inputcapture, struct stm32_capture_device, parent);
+    if (device_ch->opend)
+    {
+        rt_exit_critical();
+        return RT_EOK;
+    }
+    device_ch->opend = RT_TRUE;
+
+    rt_hw_capture_timer_init(device_ch->timer);
+
+    rt_exit_critical();
+
+    switch (device_ch->ch)
+    {
+    case 1:
+        ch = TIM_CHANNEL_1;
+        break;
+    case 2:
+        ch = TIM_CHANNEL_2;
+        break;
+    case 3:
+        ch = TIM_CHANNEL_3;
+        break;
+    default:
+        ch = TIM_CHANNEL_4;
+        break;
+    }
+
+    HAL_TIM_IC_Start_IT(&device_ch->timer->timer, ch);
+
+    return RT_EOK;
+}
+
+void TIM2_IRQHandler(void)
+{
+    /* enter interrupt */
+    rt_interrupt_enter();
+    HAL_TIM_IRQHandler(&stm32_capture_obj[CAPTURE2_INDEX].timer);
+    /* leave interrupt */
+    rt_interrupt_leave();
+}
+
+void TIM1_CC_IRQHandler(void)          
+{
+    /* enter interrupt */
+    rt_interrupt_enter();
+    HAL_TIM_IRQHandler(&stm32_capture_obj[CAPTURE1_INDEX].timer);
+    /* leave interrupt */
+    rt_interrupt_leave();
+}
+
+void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
+{
+    int i = 0;
+
+    for (i = 0; i < sizeof(stm32_capture_obj) / sizeof(stm32_capture_obj[0]); i++)
+    {
+        if (stm32_capture_obj[i].timer.Instance == htim->Instance)
+        {
+            stm32_capture_obj[i].tim_overflow ++;
+        }
+    }
+}
+
+static void _capture_computer(struct stm32_capture_device *dev, rt_uint32_t channel)
+{
+    rt_uint32_t trigger_overflow = 0;
+    rt_uint32_t trigger_cnt = 0;
+
+    if (dev->data.polarity == POLARITY_RISING)
+    {
+        TIM_RESET_CAPTUREPOLARITY(&dev->timer->timer, channel);
+        TIM_SET_CAPTUREPOLARITY(&dev->timer->timer,channel, TIM_ICPOLARITY_FALLING);
+        dev->data.polarity = POLARITY_FALLING;
+    }
+    else
+    {
+        TIM_RESET_CAPTUREPOLARITY(&dev->timer->timer, channel);
+        TIM_SET_CAPTUREPOLARITY(&dev->timer->timer,channel, TIM_ICPOLARITY_RISING);
+        dev->data.polarity = POLARITY_RISING;
+    }
+
+    trigger_cnt = HAL_TIM_ReadCapturedValue(&dev->timer->timer, channel);
+    trigger_overflow = dev->timer->tim_overflow;
+
+    if((trigger_overflow < dev->data.last_overflow) ||
+       ((trigger_overflow - dev->data.last_overflow) > MAX_PULSE))
+    {
+        dev->data.last_overflow = trigger_overflow;
+        dev->data.last_cnt = trigger_cnt;
+
+        return;
+    }
+
+    dev->pulsewidth_us = (trigger_overflow - dev->data.last_overflow)*MAX_PERIOD
+                            + trigger_cnt - dev->data.last_cnt;
+
+    rt_hw_inputcapture_isr(&dev->parent, dev->data.polarity != POLARITY_FALLING);
+
+    dev->data.last_overflow = trigger_overflow;
+    dev->data.last_cnt = trigger_cnt;
+
+    return;
+}
+
+void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
+{
+    int i = 0;
+    rt_uint32_t ch, to;
+
+    for (i = 0; i < sizeof(stm32_capture_devices) / sizeof(stm32_capture_devices[0]); i++)
+    {
+        switch (stm32_capture_devices[i].ch)
+        {
+        case 1:
+            ch = HAL_TIM_ACTIVE_CHANNEL_1;
+            to = TIM_CHANNEL_1;
+            break;
+        case 2:
+            ch = HAL_TIM_ACTIVE_CHANNEL_2;
+            to = TIM_CHANNEL_2;
+            break;
+        case 3:
+            ch = HAL_TIM_ACTIVE_CHANNEL_3;
+            to = TIM_CHANNEL_3;
+            break;
+        default:
+            ch = HAL_TIM_ACTIVE_CHANNEL_4;
+            to = TIM_CHANNEL_4;
+            break;
+        }
+
+        if (htim->Channel == ch && htim->Instance == stm32_capture_devices[i].timer->timer.Instance)
+        {
+            _capture_computer(&stm32_capture_devices[i], to);
+        }
+    }
+}
+
+static rt_err_t rt_hw_capture_get_pulsewidth (struct rt_inputcapture_device *inputcapture, rt_uint32_t *pulsewidth_us)
+{
+    struct stm32_capture_device *device;
+
+    device = rt_container_of(inputcapture, struct stm32_capture_device, parent);
+    *pulsewidth_us = device->pulsewidth_us;
+
+    return RT_EOK;
+}
+
+static rt_err_t rt_hw_capture_init (struct rt_inputcapture_device *inputcapture)
+{
+    return RT_EOK;
+}
+
+static rt_err_t rt_hw_capture_close (struct rt_inputcapture_device *inputcapture)
+{
+    struct stm32_capture_device *device_ch;
+    rt_uint32_t ch;
+
+    rt_enter_critical();
+
+    device_ch = rt_container_of(inputcapture, struct stm32_capture_device, parent);
+    if (!device_ch->opend)
+    {
+        rt_exit_critical();
+        return RT_EOK;
+    }
+
+    switch (device_ch->ch)
+    {
+    case 1:
+        ch = TIM_CHANNEL_1;
+        break;
+    case 2:
+        ch = TIM_CHANNEL_2;
+        break;
+    case 3:
+        ch = TIM_CHANNEL_3;
+        break;
+    default:
+        ch = TIM_CHANNEL_4;
+        break;
+    }
+
+    HAL_TIM_IC_Stop_IT(&device_ch->timer->timer, ch);
+    device_ch->opend = RT_FALSE;
+
+    rt_exit_critical();
+
+    return RT_EOK;
+}
+
+static const struct rt_inputcapture_ops _drv_ops = {
+    .init = rt_hw_capture_init,
+    .open = rt_hw_capture_open,
+    .close = rt_hw_capture_close,
+    .get_pulsewidth = rt_hw_capture_get_pulsewidth,
+};
+
+int stm32_capture_init(void)
+{
+    int i = 0;
+    char name[] = "tc00ch0";
+
+    for (i = 0; i < sizeof(stm32_capture_devices) / sizeof(stm32_capture_devices[0]); i++)
+    {
+        stm32_capture_devices[i].timer->channels[stm32_capture_devices[i].ch - 1] = &stm32_capture_devices[i];
+        stm32_capture_devices[i].parent.ops = &_drv_ops;
+
+        rt_snprintf(name, sizeof(name),"tc%dch%d", stm32_capture_devices[i].timer->timerx, stm32_capture_devices[i].ch);
+        rt_device_inputcapture_register(&stm32_capture_devices[i].parent, name, RT_NULL);
+    }
+
+    return RT_EOK;
+}
+
+#endif
diff --git a/libraries/STM32F4xx_HAL/SConscript b/libraries/STM32F4xx_HAL/SConscript
index 52376c0..4d64ec8 100644
--- a/libraries/STM32F4xx_HAL/SConscript
+++ b/libraries/STM32F4xx_HAL/SConscript
@@ -46,7 +46,7 @@ if GetDepend(['RT_USING_USB']):
 if GetDepend(['RT_USING_CAN']):
     src += ['STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c']
 
-if GetDepend(['RT_USING_HWTIMER']) or GetDepend(['RT_USING_PWM']) or GetDepend(['RT_USING_PULSE_ENCODER']):
+if GetDepend(['RT_USING_HWTIMER']) or GetDepend(['RT_USING_PWM']) or GetDepend(['RT_USING_PULSE_ENCODER']) or GetDepend(['RT_USING_INPUT_CAPTURE']):
     src += ['STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c']
     src += ['STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c']
     src += ['STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_lptim.c']
diff --git a/project.uvoptx b/project.uvoptx
index 7e4e9b0..4a21d4c 100644
--- a/project.uvoptx
+++ b/project.uvoptx
@@ -303,18 +303,6 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>rt-thread\components\libc\cplusplus\cxx_crt.cpp</PathWithFileName>
-      <FilenameWithoutPath>cxx_crt.cpp</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>2</GroupNumber>
-      <FileNumber>10</FileNumber>
-      <FileType>8</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
       <PathWithFileName>rt-thread\components\libc\cplusplus\cxx_Thread.cpp</PathWithFileName>
       <FilenameWithoutPath>cxx_Thread.cpp</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
@@ -322,7 +310,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>11</FileNumber>
+      <FileNumber>10</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -334,7 +322,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>12</FileNumber>
+      <FileNumber>11</FileNumber>
       <FileType>8</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -344,6 +332,18 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>12</FileNumber>
+      <FileType>8</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>rt-thread\components\libc\cplusplus\cxx_crt.cpp</PathWithFileName>
+      <FilenameWithoutPath>cxx_crt.cpp</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
     <File>
       <GroupNumber>2</GroupNumber>
       <FileNumber>13</FileNumber>
@@ -571,6 +571,18 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
+      <PathWithFileName>rt-thread\components\drivers\misc\rt_inputcapture.c</PathWithFileName>
+      <FilenameWithoutPath>rt_inputcapture.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>4</GroupNumber>
+      <FileNumber>31</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
       <PathWithFileName>rt-thread\components\drivers\serial\serial.c</PathWithFileName>
       <FilenameWithoutPath>serial.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
@@ -578,7 +590,7 @@
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>31</FileNumber>
+      <FileNumber>32</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -598,7 +610,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>32</FileNumber>
+      <FileNumber>33</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -610,7 +622,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>33</FileNumber>
+      <FileNumber>34</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -622,7 +634,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>34</FileNumber>
+      <FileNumber>35</FileNumber>
       <FileType>2</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -634,7 +646,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>35</FileNumber>
+      <FileNumber>36</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -646,7 +658,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>36</FileNumber>
+      <FileNumber>37</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -658,7 +670,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>37</FileNumber>
+      <FileNumber>38</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -670,7 +682,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>38</FileNumber>
+      <FileNumber>39</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -682,7 +694,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>39</FileNumber>
+      <FileNumber>40</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -694,7 +706,19 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>40</FileNumber>
+      <FileNumber>41</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>libraries\HAL_Drivers\drv_inputcapture.c</PathWithFileName>
+      <FilenameWithoutPath>drv_inputcapture.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>5</GroupNumber>
+      <FileNumber>42</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -706,7 +730,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>41</FileNumber>
+      <FileNumber>43</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -726,7 +750,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>42</FileNumber>
+      <FileNumber>44</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -738,7 +762,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>43</FileNumber>
+      <FileNumber>45</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -750,19 +774,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>44</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>rt-thread\components\fal\src\fal.c</PathWithFileName>
-      <FilenameWithoutPath>fal.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>6</GroupNumber>
-      <FileNumber>45</FileNumber>
+      <FileNumber>46</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -772,6 +784,18 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
+    <File>
+      <GroupNumber>6</GroupNumber>
+      <FileNumber>47</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>rt-thread\components\fal\src\fal.c</PathWithFileName>
+      <FilenameWithoutPath>fal.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
   <Group>
@@ -782,7 +806,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>46</FileNumber>
+      <FileNumber>48</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -794,7 +818,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>47</FileNumber>
+      <FileNumber>49</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -806,7 +830,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>48</FileNumber>
+      <FileNumber>50</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -818,7 +842,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>49</FileNumber>
+      <FileNumber>51</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -838,7 +862,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>50</FileNumber>
+      <FileNumber>52</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -858,7 +882,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>51</FileNumber>
+      <FileNumber>53</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -870,7 +894,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>52</FileNumber>
+      <FileNumber>54</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -882,7 +906,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>53</FileNumber>
+      <FileNumber>55</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -894,7 +918,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>54</FileNumber>
+      <FileNumber>56</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -906,7 +930,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>55</FileNumber>
+      <FileNumber>57</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -918,7 +942,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>56</FileNumber>
+      <FileNumber>58</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -930,7 +954,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>57</FileNumber>
+      <FileNumber>59</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -942,7 +966,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>58</FileNumber>
+      <FileNumber>60</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -954,7 +978,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>59</FileNumber>
+      <FileNumber>61</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -966,7 +990,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>60</FileNumber>
+      <FileNumber>62</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -978,7 +1002,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>61</FileNumber>
+      <FileNumber>63</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -990,7 +1014,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>62</FileNumber>
+      <FileNumber>64</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1002,7 +1026,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>63</FileNumber>
+      <FileNumber>65</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1022,7 +1046,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>64</FileNumber>
+      <FileNumber>66</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1034,7 +1058,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>65</FileNumber>
+      <FileNumber>67</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1046,7 +1070,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>66</FileNumber>
+      <FileNumber>68</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1058,7 +1082,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>67</FileNumber>
+      <FileNumber>69</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1070,7 +1094,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>68</FileNumber>
+      <FileNumber>70</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1082,7 +1106,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>69</FileNumber>
+      <FileNumber>71</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1094,7 +1118,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>70</FileNumber>
+      <FileNumber>72</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1106,7 +1130,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>71</FileNumber>
+      <FileNumber>73</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1118,7 +1142,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>72</FileNumber>
+      <FileNumber>74</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1130,7 +1154,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>73</FileNumber>
+      <FileNumber>75</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1142,7 +1166,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>74</FileNumber>
+      <FileNumber>76</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1154,7 +1178,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>75</FileNumber>
+      <FileNumber>77</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1166,7 +1190,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>76</FileNumber>
+      <FileNumber>78</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1178,7 +1202,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>77</FileNumber>
+      <FileNumber>79</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1190,7 +1214,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>78</FileNumber>
+      <FileNumber>80</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1202,7 +1226,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>79</FileNumber>
+      <FileNumber>81</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1214,7 +1238,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>80</FileNumber>
+      <FileNumber>82</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1226,7 +1250,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>81</FileNumber>
+      <FileNumber>83</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1238,7 +1262,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>82</FileNumber>
+      <FileNumber>84</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1250,7 +1274,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>83</FileNumber>
+      <FileNumber>85</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1262,7 +1286,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>84</FileNumber>
+      <FileNumber>86</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1274,7 +1298,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>85</FileNumber>
+      <FileNumber>87</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1286,7 +1310,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>86</FileNumber>
+      <FileNumber>88</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1298,7 +1322,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>87</FileNumber>
+      <FileNumber>89</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1310,7 +1334,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>88</FileNumber>
+      <FileNumber>90</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1322,7 +1346,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>89</FileNumber>
+      <FileNumber>91</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1334,7 +1358,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>90</FileNumber>
+      <FileNumber>92</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1346,7 +1370,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>91</FileNumber>
+      <FileNumber>93</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1366,7 +1390,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>92</FileNumber>
+      <FileNumber>94</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1380,13 +1404,13 @@
 
   <Group>
     <GroupName>Utilities</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>12</GroupNumber>
-      <FileNumber>93</FileNumber>
+      <FileNumber>95</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1398,7 +1422,7 @@
     </File>
     <File>
       <GroupNumber>12</GroupNumber>
-      <FileNumber>94</FileNumber>
+      <FileNumber>96</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1410,7 +1434,7 @@
     </File>
     <File>
       <GroupNumber>12</GroupNumber>
-      <FileNumber>95</FileNumber>
+      <FileNumber>97</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
diff --git a/project.uvprojx b/project.uvprojx
index acb0b8d..328ccfa 100644
--- a/project.uvprojx
+++ b/project.uvprojx
@@ -428,11 +428,6 @@
         <Group>
           <GroupName>CPlusPlus</GroupName>
           <Files>
-            <File>
-              <FileName>cxx_crt.cpp</FileName>
-              <FileType>8</FileType>
-              <FilePath>rt-thread\components\libc\cplusplus\cxx_crt.cpp</FilePath>
-            </File>
             <File>
               <FileName>cxx_Thread.cpp</FileName>
               <FileType>8</FileType>
@@ -448,6 +443,11 @@
               <FileType>8</FileType>
               <FilePath>rt-thread\components\libc\cplusplus\cxx_Mutex.cpp</FilePath>
             </File>
+            <File>
+              <FileName>cxx_crt.cpp</FileName>
+              <FileType>8</FileType>
+              <FilePath>rt-thread\components\libc\cplusplus\cxx_crt.cpp</FilePath>
+            </File>
             <File>
               <FileName>cxx_Semaphore.cpp</FileName>
               <FileType>8</FileType>
@@ -543,6 +543,11 @@
               <FileType>1</FileType>
               <FilePath>rt-thread\components\drivers\misc\rt_drv_pwm.c</FilePath>
             </File>
+            <File>
+              <FileName>rt_inputcapture.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>rt-thread\components\drivers\misc\rt_inputcapture.c</FilePath>
+            </File>
             <File>
               <FileName>serial.c</FileName>
               <FileType>1</FileType>
@@ -598,6 +603,11 @@
               <FileType>1</FileType>
               <FilePath>libraries\HAL_Drivers\drv_gpio.c</FilePath>
             </File>
+            <File>
+              <FileName>drv_inputcapture.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>libraries\HAL_Drivers\drv_inputcapture.c</FilePath>
+            </File>
             <File>
               <FileName>drv_pwm.c</FileName>
               <FileType>1</FileType>
@@ -623,16 +633,16 @@
               <FileType>1</FileType>
               <FilePath>rt-thread\components\fal\src\fal_partition.c</FilePath>
             </File>
-            <File>
-              <FileName>fal.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>rt-thread\components\fal\src\fal.c</FilePath>
-            </File>
             <File>
               <FileName>fal_flash.c</FileName>
               <FileType>1</FileType>
               <FilePath>rt-thread\components\fal\src\fal_flash.c</FilePath>
             </File>
+            <File>
+              <FileName>fal.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>rt-thread\components\fal\src\fal.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
diff --git a/rt-thread/components/drivers/misc/rt_inputcapture.c b/rt-thread/components/drivers/misc/rt_inputcapture.c
index c7a9eda..6f4c229 100644
--- a/rt-thread/components/drivers/misc/rt_inputcapture.c
+++ b/rt-thread/components/drivers/misc/rt_inputcapture.c
@@ -181,10 +181,7 @@ void rt_hw_inputcapture_isr(struct rt_inputcapture_device *inputcapture, rt_bool
     }
 
     data.is_high = level;
-    if (rt_ringbuffer_put(inputcapture->ringbuff, (rt_uint8_t *)&data, sizeof(struct rt_inputcapture_data)) == 0)
-    {
-        LOG_W("inputcapture ringbuffer doesn't have enough space.");
-    }
+    rt_ringbuffer_put(inputcapture->ringbuff, (rt_uint8_t *)&data, sizeof(struct rt_inputcapture_data));
 
     receive_size =  rt_ringbuffer_data_len(inputcapture->ringbuff) / sizeof(struct rt_inputcapture_data);
 
diff --git a/rtconfig.h b/rtconfig.h
index 8397591..0f18562 100644
--- a/rtconfig.h
+++ b/rtconfig.h
@@ -88,6 +88,8 @@
 #define RT_USING_ADC
 #define RT_USING_PWM
 #define RT_USING_WDT
+#define RT_USING_INPUT_CAPTURE
+#define RT_INPUT_CAPTURE_RB_SIZE 100
 
 /* Using USB */
 
@@ -304,6 +306,13 @@
 #define BSP_USING_PWM4_CH2
 #define BSP_USING_PWM4_CH3
 #define BSP_USING_PWM4_CH4
+#define BSP_USING_CAPTURE
+#define BSP_USING_CAPTURE1
+#define BSP_USING_CAPTURE1_CH1
+#define BSP_USING_CAPTURE1_CH2
+#define BSP_USING_CAPTURE2
+#define BSP_USING_CAPTURE2_CH3
+#define BSP_USING_CAPTURE2_CH4
 #define BSP_USING_ADC
 #define BSP_USING_ADC1
 #define BSP_USING_ON_CHIP_FLASH