特性：实现电机控制与霍尔传感器功能

新增电机板级支持包：基于 AT8236-MS 驱动芯片，实现了对 4 个直流电机的 PWM 控制。
实现霍尔传感器功能：用于速度测量和脉冲计数。
更新 GPIO 初始化：为霍尔传感器添加了外部中断（EXTI）配置。
修改系统时钟配置：改用高速外部时钟（HSE）并调整了锁相环（PLL）设置。
更改定时器配置：将时基生成从 TIM8 改为 TIM4。
增强 FreeRTOS 任务：实现从霍尔传感器周期性读取并更新速度数据。
更新项目配置：以反映外设使用情况和优先级的变更。

Core/Src/freertos.c

@@ -1,20 +1,20 @@
 /* USER CODE BEGIN Header */
 /**
-  ******************************************************************************
-  * File Name          : freertos.c
-  * Description        : Code for freertos applications
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2026 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
+ ******************************************************************************
+ * File Name          : freertos.c
+ * Description        : Code for freertos applications
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2026 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
 /* USER CODE END Header */
 
 /* Includes ------------------------------------------------------------------*/
@@ -25,11 +25,14 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-#include "bsp_uart.h"
 #include "bsp_beep.h"
-#include "usart.h"
+#include "bsp_motor.h"
+#include "bsp_uart.h"
 #include "elog.h"
 #include "protocol.h"
+#include "usart.h"
+#include "bsp_hall.h" // 添加对 bsp_hall.h 的包含
+
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -65,6 +68,13 @@ const osThreadAttr_t CarCtrlTask_attributes = {
   .stack_size = 256 * 4,
   .priority = (osPriority_t) osPriorityNormal,
 };
+/* Definitions for timerTask */
+osThreadId_t timerTaskHandle;
+const osThreadAttr_t timerTask_attributes = {
+  .name = "timerTask",
+  .stack_size = 512 * 4,
+  .priority = (osPriority_t) osPriorityBelowNormal,
+};
 /* Definitions for CmdQueue */
 osMessageQueueId_t CmdQueueHandle;
 const osMessageQueueAttr_t CmdQueue_attributes = {
@@ -73,7 +83,7 @@ const osMessageQueueAttr_t CmdQueue_attributes = {
 
 /* Private function prototypes -----------------------------------------------*/
 /* USER CODE BEGIN FunctionPrototypes */
-	#ifdef __GNUC__
+#ifdef __GNUC__
 #define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
 #else
 #define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
@@ -87,6 +97,7 @@ PUTCHAR_PROTOTYPE {
 
 void StartDefaultTask(void *argument);
 void CarCtrl_Task(void *argument);
+void speed_get(void *argument);
 
 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
 
@@ -100,7 +111,10 @@ void MX_FREERTOS_Init(void) {
   easylogger_init();
   BEEP_Init();
   BSP_UART1_Init();
-   elog_raw("FreeRTOS Initialized\r\n");
+  elog_raw("FreeRTOS Initialized\r\n");
+
+  motor_init(); // 初始化电机相关外设
+  hall_init(); // 初始化霍尔传感器
 
 
   /* USER CODE END Init */
@@ -132,6 +146,9 @@ void MX_FREERTOS_Init(void) {
   /* creation of CarCtrlTask */
   CarCtrlTaskHandle = osThreadNew(CarCtrl_Task, NULL, &CarCtrlTask_attributes);
 
+  /* creation of timerTask */
+  timerTaskHandle = osThreadNew(speed_get, NULL, &timerTask_attributes);
+
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
   /* USER CODE END RTOS_THREADS */
@@ -144,46 +161,62 @@ void MX_FREERTOS_Init(void) {
 
 /* USER CODE BEGIN Header_StartDefaultTask */
 /**
-  * @brief  Function implementing the initTask thread.
-  * @param  argument: Not used
-  * @retval None
-  */
+ * @brief  Function implementing the initTask thread.
+ * @param  argument: Not used
+ * @retval None
+ */
 /* USER CODE END Header_StartDefaultTask */
 void StartDefaultTask(void *argument)
 {
   /* USER CODE BEGIN StartDefaultTask */
   /* Infinite loop */
-  for(;;)
-  {
+  for (;;) {
+
+    HAL_GPIO_TogglePin(RUN_LED_GPIO_Port, RUN_LED_Pin);
 
-        HAL_GPIO_TogglePin(RUN_LED_GPIO_Port, RUN_LED_Pin);
 
     osDelay(1000);
-
   }
   /* USER CODE END StartDefaultTask */
 }
 
 /* USER CODE BEGIN Header_CarCtrl_Task */
 /**
-* @brief Function implementing the CarCtrlTask thread.
-* @param argument: Not used
-* @retval None
-*/
+ * @brief Function implementing the CarCtrlTask thread.
+ * @param argument: Not used
+ * @retval None
+ */
 /* USER CODE END Header_CarCtrl_Task */
 __weak void CarCtrl_Task(void *argument)
 {
   /* USER CODE BEGIN CarCtrl_Task */
 
   /* Infinite loop */
-  for(;;)
-  {
+  for (;;) {
 
     osDelay(1); // osMessageQueueGet 已经是阻塞的，不需要额外的 osDelay
   }
   /* USER CODE END CarCtrl_Task */
 }
 
+/* USER CODE BEGIN Header_speed_get */
+/**
+* @brief Function implementing the timerTask thread.
+* @param argument: Not used
+* @retval None
+*/
+/* USER CODE END Header_speed_get */
+__weak void speed_get(void *argument)
+{
+  /* USER CODE BEGIN speed_get */
+  /* Infinite loop */
+  for(;;)
+  {
+    osDelay(1);
+  }
+  /* USER CODE END speed_get */
+}
+
 /* Private application code --------------------------------------------------*/
 /* USER CODE BEGIN Application */