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

f103_car.ioc

@@ -1,10 +1,4 @@
 #MicroXplorer Configuration settings - do not modify
-ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_0
-ADC1.IPParameters=Rank-0\#ChannelRegularConversion,master,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag
-ADC1.NbrOfConversionFlag=1
-ADC1.Rank-0\#ChannelRegularConversion=1
-ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_1CYCLE_5
-ADC1.master=1
 CAD.formats=
 CAD.pinconfig=
 CAD.provider=
@@ -39,68 +33,68 @@ Dma.USART2_TX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
 Dma.USART2_TX.2.PeriphInc=DMA_PINC_DISABLE
 Dma.USART2_TX.2.Priority=DMA_PRIORITY_LOW
 Dma.USART2_TX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
-FREERTOS.FootprintOK=false
+FREERTOS.FootprintOK=true
 FREERTOS.IPParameters=Tasks01,FootprintOK,Queues01,configTOTAL_HEAP_SIZE
 FREERTOS.Queues01=CmdQueue,16,16,1,Dynamic,NULL,NULL
-FREERTOS.Tasks01=initTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;CarCtrlTask,24,256,CarCtrl_Task,As weak,NULL,Dynamic,NULL,NULL;timerTask,16,512,speed_get,As weak,NULL,Dynamic,NULL,NULL
+FREERTOS.Tasks01=initTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;CarCtrlTask,24,256,CarCtrl_Task,As weak,NULL,Dynamic,NULL,NULL;timerTask,16,512,speed_get,As weak,NULL,Dynamic,NULL,NULL;sr04Task,8,128,sr04_task,Default,NULL,Dynamic,NULL,NULL
 FREERTOS.configTOTAL_HEAP_SIZE=10000
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
 Mcu.CPN=STM32F103VET6
 Mcu.Family=STM32F1
-Mcu.IP0=ADC1
-Mcu.IP1=DMA
-Mcu.IP10=USART1
-Mcu.IP11=USART2
-Mcu.IP2=FREERTOS
-Mcu.IP3=NVIC
-Mcu.IP4=RCC
-Mcu.IP5=SPI1
-Mcu.IP6=SYS
-Mcu.IP7=TIM1
-Mcu.IP8=TIM2
-Mcu.IP9=TIM3
-Mcu.IPNb=12
+Mcu.IP0=DMA
+Mcu.IP1=FREERTOS
+Mcu.IP10=USART2
+Mcu.IP2=NVIC
+Mcu.IP3=RCC
+Mcu.IP4=SPI1
+Mcu.IP5=SYS
+Mcu.IP6=TIM1
+Mcu.IP7=TIM2
+Mcu.IP8=TIM3
+Mcu.IP9=USART1
+Mcu.IPNb=11
 Mcu.Name=STM32F103V(C-D-E)Tx
 Mcu.Package=LQFP100
 Mcu.Pin0=PC13-TAMPER-RTC
 Mcu.Pin1=OSC_IN
-Mcu.Pin10=PC5
-Mcu.Pin11=PB0
-Mcu.Pin12=PE9
-Mcu.Pin13=PE11
-Mcu.Pin14=PE13
-Mcu.Pin15=PE14
-Mcu.Pin16=PB14
-Mcu.Pin17=PB15
-Mcu.Pin18=PD8
-Mcu.Pin19=PD9
+Mcu.Pin10=PB0
+Mcu.Pin11=PE9
+Mcu.Pin12=PE11
+Mcu.Pin13=PE13
+Mcu.Pin14=PE14
+Mcu.Pin15=PB14
+Mcu.Pin16=PB15
+Mcu.Pin17=PD8
+Mcu.Pin18=PD9
+Mcu.Pin19=PD11
 Mcu.Pin2=OSC_OUT
-Mcu.Pin20=PD11
-Mcu.Pin21=PD12
-Mcu.Pin22=PD13
-Mcu.Pin23=PD14
-Mcu.Pin24=PD15
-Mcu.Pin25=PC6
-Mcu.Pin26=PA9
-Mcu.Pin27=PA10
-Mcu.Pin28=PA13
-Mcu.Pin29=PA14
-Mcu.Pin3=PA0-WKUP
-Mcu.Pin30=PA15
-Mcu.Pin31=PD5
-Mcu.Pin32=PD6
-Mcu.Pin33=PB3
-Mcu.Pin34=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin35=VP_SYS_VS_tim4
-Mcu.Pin4=PA2
-Mcu.Pin5=PA3
-Mcu.Pin6=PA5
-Mcu.Pin7=PA6
-Mcu.Pin8=PA7
-Mcu.Pin9=PC4
-Mcu.PinsNb=36
+Mcu.Pin20=PD12
+Mcu.Pin21=PD13
+Mcu.Pin22=PD14
+Mcu.Pin23=PD15
+Mcu.Pin24=PC6
+Mcu.Pin25=PC8
+Mcu.Pin26=PC9
+Mcu.Pin27=PA9
+Mcu.Pin28=PA10
+Mcu.Pin29=PA13
+Mcu.Pin3=PA2
+Mcu.Pin30=PA14
+Mcu.Pin31=PA15
+Mcu.Pin32=PD5
+Mcu.Pin33=PD6
+Mcu.Pin34=PB3
+Mcu.Pin35=VP_FREERTOS_VS_CMSIS_V2
+Mcu.Pin36=VP_SYS_VS_tim4
+Mcu.Pin4=PA3
+Mcu.Pin5=PA5
+Mcu.Pin6=PA6
+Mcu.Pin7=PA7
+Mcu.Pin8=PC4
+Mcu.Pin9=PC5
+Mcu.PinsNb=37
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F103VETx
@@ -134,9 +128,6 @@ OSC_IN.Mode=HSE-External-Oscillator
 OSC_IN.Signal=RCC_OSC_IN
 OSC_OUT.Mode=HSE-External-Oscillator
 OSC_OUT.Signal=RCC_OSC_OUT
-PA0-WKUP.GPIOParameters=GPIO_Label
-PA0-WKUP.GPIO_Label=HC-SR04
-PA0-WKUP.Signal=ADCx_IN0
 PA10.Mode=Asynchronous
 PA10.Signal=USART1_RX
 PA13.Mode=Serial_Wire
@@ -189,6 +180,14 @@ PC5.Locked=true
 PC5.Signal=GPXTI5
 PC6.Locked=true
 PC6.Signal=S_TIM3_CH1
+PC8.GPIOParameters=GPIO_Label
+PC8.GPIO_Label=ECHO
+PC8.Locked=true
+PC8.Signal=GPIO_Input
+PC9.GPIOParameters=GPIO_Label
+PC9.GPIO_Label=TRIG
+PC9.Locked=true
+PC9.Signal=GPIO_Output
 PCC.Checker=false
 PCC.Line=STM32F103
 PCC.MCU=STM32F103V(C-D-E)Tx
@@ -273,7 +272,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_SPI1_Init-SPI1-false-HAL-true,6-MX_TIM1_Init-TIM1-false-HAL-true,7-MX_TIM2_Init-TIM2-false-HAL-true,8-MX_USART1_UART_Init-USART1-false-HAL-true,9-MX_USART2_UART_Init-USART2-false-HAL-true,10-MX_TIM3_Init-TIM3-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_SPI1_Init-SPI1-false-HAL-true,5-MX_TIM1_Init-TIM1-false-HAL-true,6-MX_TIM2_Init-TIM2-false-HAL-true,7-MX_USART1_UART_Init-USART1-false-HAL-true,8-MX_USART2_UART_Init-USART2-false-HAL-true,9-MX_TIM3_Init-TIM3-false-HAL-true
 RCC.ADCFreqValue=12000000
 RCC.ADCPresc=RCC_ADCPCLK2_DIV6
 RCC.AHBFreq_Value=72000000
@@ -301,8 +300,6 @@ RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
 RCC.TimSysFreq_Value=72000000
 RCC.USBFreq_Value=72000000
 RCC.VCOOutput2Freq_Value=8000000
-SH.ADCx_IN0.0=ADC1_IN0,IN0
-SH.ADCx_IN0.ConfNb=1
 SH.GPXTI14.0=GPIO_EXTI14
 SH.GPXTI14.ConfNb=1
 SH.GPXTI15.0=GPIO_EXTI15