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/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 */