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/Src/adc.c

@@ -1,122 +0,0 @@
-/* USER CODE BEGIN Header */
-/**
-  ******************************************************************************
-  * @file    adc.c
-  * @brief   This file provides code for the configuration
-  *          of the ADC instances.
-  ******************************************************************************
-  * @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 ------------------------------------------------------------------*/
-#include "adc.h"
-
-/* USER CODE BEGIN 0 */
-
-/* USER CODE END 0 */
-
-ADC_HandleTypeDef hadc1;
-
-/* ADC1 init function */
-void MX_ADC1_Init(void)
-{
-
-  /* USER CODE BEGIN ADC1_Init 0 */
-
-  /* USER CODE END ADC1_Init 0 */
-
-  ADC_ChannelConfTypeDef sConfig = {0};
-
-  /* USER CODE BEGIN ADC1_Init 1 */
-
-  /* USER CODE END ADC1_Init 1 */
-
-  /** Common config
-  */
-  hadc1.Instance = ADC1;
-  hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
-  hadc1.Init.ContinuousConvMode = DISABLE;
-  hadc1.Init.DiscontinuousConvMode = DISABLE;
-  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
-  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
-  hadc1.Init.NbrOfConversion = 1;
-  if (HAL_ADC_Init(&hadc1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  /** Configure Regular Channel
-  */
-  sConfig.Channel = ADC_CHANNEL_0;
-  sConfig.Rank = ADC_REGULAR_RANK_1;
-  sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
-  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN ADC1_Init 2 */
-
-  /* USER CODE END ADC1_Init 2 */
-
-}
-
-void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
-{
-
-  GPIO_InitTypeDef GPIO_InitStruct = {0};
-  if(adcHandle->Instance==ADC1)
-  {
-  /* USER CODE BEGIN ADC1_MspInit 0 */
-
-  /* USER CODE END ADC1_MspInit 0 */
-    /* ADC1 clock enable */
-    __HAL_RCC_ADC1_CLK_ENABLE();
-
-    __HAL_RCC_GPIOA_CLK_ENABLE();
-    /**ADC1 GPIO Configuration
-    PA0-WKUP     ------> ADC1_IN0
-    */
-    GPIO_InitStruct.Pin = HC_SR04_Pin;
-    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
-    HAL_GPIO_Init(HC_SR04_GPIO_Port, &GPIO_InitStruct);
-
-  /* USER CODE BEGIN ADC1_MspInit 1 */
-
-  /* USER CODE END ADC1_MspInit 1 */
-  }
-}
-
-void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
-{
-
-  if(adcHandle->Instance==ADC1)
-  {
-  /* USER CODE BEGIN ADC1_MspDeInit 0 */
-
-  /* USER CODE END ADC1_MspDeInit 0 */
-    /* Peripheral clock disable */
-    __HAL_RCC_ADC1_CLK_DISABLE();
-
-    /**ADC1 GPIO Configuration
-    PA0-WKUP     ------> ADC1_IN0
-    */
-    HAL_GPIO_DeInit(HC_SR04_GPIO_Port, HC_SR04_Pin);
-
-  /* USER CODE BEGIN ADC1_MspDeInit 1 */
-
-  /* USER CODE END ADC1_MspDeInit 1 */
-  }
-}
-
-/* USER CODE BEGIN 1 */
-
-/* USER CODE END 1 */

Core/Src/freertos.c

@@ -33,6 +33,7 @@
 #include "usart.h"
 #include "bsp_hall.h" // 添加对 bsp_hall.h 的包含
 #include "bsp_track_ir.h" // 添加对 bsp_track_ir.h 的包含
+#include "bsp_sr04.h"    // 添加超声波头文件
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -75,6 +76,13 @@ const osThreadAttr_t timerTask_attributes = {
   .stack_size = 512 * 4,
   .priority = (osPriority_t) osPriorityBelowNormal,
 };
+/* Definitions for sr04Task */
+osThreadId_t sr04TaskHandle;
+const osThreadAttr_t sr04Task_attributes = {
+  .name = "sr04Task",
+  .stack_size = 128 * 4,
+  .priority = (osPriority_t) osPriorityLow,
+};
 /* Definitions for CmdQueue */
 osMessageQueueId_t CmdQueueHandle;
 const osMessageQueueAttr_t CmdQueue_attributes = {
@@ -98,6 +106,7 @@ PUTCHAR_PROTOTYPE {
 void StartDefaultTask(void *argument);
 void CarCtrl_Task(void *argument);
 void speed_get(void *argument);
+void sr04_task(void *argument);
 
 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
 
@@ -116,6 +125,7 @@ void MX_FREERTOS_Init(void) {
   motor_init(); // 初始化电机相关外设
   hall_init(); // 初始化霍尔传感器
   track_ir_init(); // 初始化轨迹红外传感器
+  sr04_init(); // 初始化超声波
 
   /* USER CODE END Init */
 
@@ -149,6 +159,9 @@ void MX_FREERTOS_Init(void) {
   /* creation of timerTask */
   timerTaskHandle = osThreadNew(speed_get, NULL, &timerTask_attributes);
 
+  /* creation of sr04Task */
+  sr04TaskHandle = osThreadNew(sr04_task, NULL, &sr04Task_attributes);
+
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
   /* USER CODE END RTOS_THREADS */
@@ -170,11 +183,18 @@ void StartDefaultTask(void *argument)
 {
   /* USER CODE BEGIN StartDefaultTask */
   /* Infinite loop */
+  uint32_t last_log_tick = 0;
   for (;;) {
+    track_ir_state_t state = track_ir_basic_judge();
+    uint32_t now_tick = HAL_GetTick();
 
-        track_ir_state_t state = track_ir_basic_judge();
-        printf("循迹状态: %s\r\n", track_ir_state_to_string(state));
-        HAL_Delay(100);
+    /* 降低串口打印频率，避免阻塞式输出影响电机节拍 */
+    if ((now_tick - last_log_tick) >= 500U) {
+      printf("循迹状态: %s\r\n", track_ir_state_to_string(state));
+      printf("当前距离: %.2f cm\r\n", sr04_get_distance());
+      last_log_tick = now_tick;
+    }
+    osDelay(100);
   }
   /* USER CODE END StartDefaultTask */
 }
@@ -216,6 +236,26 @@ __weak void speed_get(void *argument)
   /* USER CODE END speed_get */
 }
 
+/* USER CODE BEGIN Header_sr04_task */
+/**
+* @brief Function implementing the sr04Task thread.
+* @param argument: Not used
+* @retval None
+*/
+/* USER CODE END Header_sr04_task */
+void sr04_task(void *argument)
+{
+  /* USER CODE BEGIN sr04_task */
+  /* Infinite loop */
+  for(;;)
+  {
+    /* 超声波单独运行，避免阻塞控制任务 */
+    sr04_measure();
+    osDelay(100);
+  }
+  /* USER CODE END sr04_task */
+}
+
 /* Private application code --------------------------------------------------*/
 /* USER CODE BEGIN Application */
 

Core/Src/gpio.c

@@ -52,7 +52,7 @@ void MX_GPIO_Init(void)
   __HAL_RCC_GPIOD_CLK_ENABLE();
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOC, RUN_LED_Pin|SDA_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOC, RUN_LED_Pin|SDA_Pin|TRIG_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(RST_GPIO_Port, RST_Pin, GPIO_PIN_RESET);
@@ -60,8 +60,8 @@ void MX_GPIO_Init(void)
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET);
 
-  /*Configure GPIO pins : RUN_LED_Pin SDA_Pin */
-  GPIO_InitStruct.Pin = RUN_LED_Pin|SDA_Pin;
+  /*Configure GPIO pins : RUN_LED_Pin SDA_Pin TRIG_Pin */
+  GPIO_InitStruct.Pin = RUN_LED_Pin|SDA_Pin|TRIG_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
@@ -105,6 +105,12 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct);
 
+  /*Configure GPIO pin : ECHO_Pin */
+  GPIO_InitStruct.Pin = ECHO_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(ECHO_GPIO_Port, &GPIO_InitStruct);
+
   /* EXTI interrupt init*/
   HAL_NVIC_SetPriority(EXTI9_5_IRQn, 5, 0);
   HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);

Core/Src/main.c

@@ -19,7 +19,6 @@
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
 #include "cmsis_os.h"
-#include "adc.h"
 #include "dma.h"
 #include "spi.h"
 #include "tim.h"
@@ -94,7 +93,6 @@ int main(void)
   /* Initialize all configured peripherals */
   MX_GPIO_Init();
   MX_DMA_Init();
-  MX_ADC1_Init();
   MX_SPI1_Init();
   MX_TIM1_Init();
   MX_TIM2_Init();
@@ -135,7 +133,6 @@ void SystemClock_Config(void)
 {
   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
-  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
 
   /** Initializes the RCC Oscillators according to the specified parameters
   * in the RCC_OscInitTypeDef structure.
@@ -165,12 +162,6 @@ void SystemClock_Config(void)
   {
     Error_Handler();
   }
-  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
-  PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
-  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
-  {
-    Error_Handler();
-  }
 }
 
 /* USER CODE BEGIN 4 */