feat: 集成循迹与超声波驱动并优化控制任务节拍

- 新增 HC-SR04 驱动与测距接口（bsp_sr04）

- 增加循迹状态读取与输出，完善任务内日志

- 调整 CarCtrl 闭环更新周期，匹配霍尔测速周期，降低抖动

- 同步更新 CubeMX/CMake 生成配置与相关引脚定义

Core/Inc/adc.h

@@ -1,52 +0,0 @@
-/* USER CODE BEGIN Header */
-/**
-  ******************************************************************************
-  * @file    adc.h
-  * @brief   This file contains all the function prototypes for
-  *          the adc.c file
-  ******************************************************************************
-  * @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 */
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __ADC_H__
-#define __ADC_H__
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ------------------------------------------------------------------*/
-#include "main.h"
-
-/* USER CODE BEGIN Includes */
-
-/* USER CODE END Includes */
-
-extern ADC_HandleTypeDef hadc1;
-
-/* USER CODE BEGIN Private defines */
-
-/* USER CODE END Private defines */
-
-void MX_ADC1_Init(void);
-
-/* USER CODE BEGIN Prototypes */
-
-/* USER CODE END Prototypes */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __ADC_H__ */
-

Core/Inc/main.h

@@ -59,8 +59,6 @@ void Error_Handler(void);
 /* Private defines -----------------------------------------------------------*/
 #define RUN_LED_Pin GPIO_PIN_13
 #define RUN_LED_GPIO_Port GPIOC
-#define HC_SR04_Pin GPIO_PIN_0
-#define HC_SR04_GPIO_Port GPIOA
 #define M4_W_Pin GPIO_PIN_2
 #define M4_W_GPIO_Port GPIOA
 #define M4_S_Pin GPIO_PIN_3
@@ -102,6 +100,10 @@ void Error_Handler(void);
 #define H1_GPIO_Port GPIOD
 #define LED_Pin GPIO_PIN_15
 #define LED_GPIO_Port GPIOD
+#define ECHO_Pin GPIO_PIN_8
+#define ECHO_GPIO_Port GPIOC
+#define TRIG_Pin GPIO_PIN_9
+#define TRIG_GPIO_Port GPIOC
 #define M3_W_Pin GPIO_PIN_15
 #define M3_W_GPIO_Port GPIOA
 #define M3_S_Pin GPIO_PIN_3

Core/Inc/stm32f1xx_hal_conf.h

@@ -34,7 +34,7 @@
   */
 
 #define HAL_MODULE_ENABLED
-  #define HAL_ADC_MODULE_ENABLED
+  /*#define HAL_ADC_MODULE_ENABLED   */
 /*#define HAL_CRYP_MODULE_ENABLED   */
 /*#define HAL_CAN_MODULE_ENABLED   */
 /*#define HAL_CAN_LEGACY_MODULE_ENABLED   */