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

cmake/stm32cubemx/CMakeLists.txt

@@ -25,7 +25,6 @@ set(MX_Application_Src
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/main.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/gpio.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/freertos.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/adc.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/dma.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/spi.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/tim.c
@@ -44,8 +43,6 @@ set(STM32_Drivers_Src
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc_ex.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c