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

CMakeLists.txt

@@ -57,6 +57,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     ${CMAKE_CURRENT_SOURCE_DIR}/Core/Bsp/bsp_hall.c
     ${CMAKE_CURRENT_SOURCE_DIR}/Core/Bsp/bsp_pid.c
     ${CMAKE_CURRENT_SOURCE_DIR}/Core/Bsp/bsp_track_ir.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/Core/Bsp/bsp_sr04.c
 )
 
 # Add include paths

Core/Bsp/bsp_hall.c

@@ -1,4 +1,5 @@
 #include "bsp_hall.h"
+#include "bsp_sr04.h"
 
 
 /* 霍尔传感器数据结构体定义描述 */
@@ -134,7 +135,10 @@ float hall_update_speed(motor_id_t motor_id, uint32_t interval_ms)
 void speed_get(void *argument) {
   /* USER CODE BEGIN speed_get */
   /* Infinite loop */
+
   for (;;) {
+
+
     /* 在每 100ms 执行一次的任务中 */
     for (int i = 0; i < MOTOR_COUNT; i++) {
         hall_update_speed(i, 100);

Core/Bsp/bsp_sr04.c

@@ -0,0 +1,90 @@
+#include "bsp_sr04.h"
+#include "cmsis_os.h"
+
+/* 
+ * 声音在 20℃ 时的速度约为 340m/s
+ * 距离 (cm) = (微秒时间 * 0.0343) / 2
+ */
+#define SOUND_SPEED_CM_US 0.0343f
+
+static sr04_data_t sr04_dev = {0};
+
+/**
+ * @brief 使用 DWT (Cortex-M 内部计数器) 实现精准微秒延迟
+ * @note  72MHz 下计数 72 次即为 1us，这是最高精度的延时/计时方式，不占用通用定时器
+ */
+static void delay_us(uint32_t us)
+{
+    uint32_t start_tick = DWT->CYCCNT;
+    uint32_t delay_ticks = us * (SystemCoreClock / 1000000);
+    
+    while ((DWT->CYCCNT - start_tick) < delay_ticks);
+}
+
+void sr04_init(void)
+{
+    /* 1. 初始化 DWT 计数器 (Cortex-M3 内核自带) */
+    CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk; 
+    DWT->CYCCNT = 0; 
+    DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
+
+    /* 2. 引脚初始状态 */
+    HAL_GPIO_WritePin(TRIG_GPIO_Port, TRIG_Pin, GPIO_PIN_RESET);
+    HAL_Delay(50); // 等待模块内部稳定
+    sr04_dev.distance = 0.0f;
+}
+
+float sr04_measure(void)
+{
+    uint32_t start_time = 0;
+    uint32_t end_time = 0;
+    uint32_t timeout_cnt = 0;
+
+    /* 0. 确保 Trig 电平已经提前拉低，防止状态异常 */
+    HAL_GPIO_WritePin(TRIG_GPIO_Port, TRIG_Pin, GPIO_PIN_RESET);
+    delay_us(5);
+
+    /* 1. 发送触发信号：给 20us 宽脉冲（新版 HC-SR04 常需更稳的触发） */
+    HAL_GPIO_WritePin(TRIG_GPIO_Port, TRIG_Pin, GPIO_PIN_SET);
+    delay_us(25); 
+    HAL_GPIO_WritePin(TRIG_GPIO_Port, TRIG_Pin, GPIO_PIN_RESET);
+
+    /* 2. 等待 Echo 引脚变高 (开始计时) */
+    // 超时判断改为 10ms (Echo 通常在 Trig 后很快变高)
+    timeout_cnt = HAL_GetTick();
+    while (HAL_GPIO_ReadPin(ECHO_GPIO_Port, ECHO_Pin) == GPIO_PIN_RESET) {
+        if ((HAL_GetTick() - timeout_cnt) > 10) { 
+            // 如果死活等不到高电平，说明模块没被触发或 ECHO 引脚接线/电平不对
+            sr04_dev.distance = 0.0f; 
+            return 0.0f;
+        }
+    }
+    start_time = DWT->CYCCNT;
+
+    /* 3. 等待 Echo 引脚变低 (结束计时) */
+    while (HAL_GPIO_ReadPin(ECHO_GPIO_Port, ECHO_Pin) == GPIO_PIN_SET) {
+        // 简单保护以防挂死，超过 30ms (5米) 强退
+        if ((DWT->CYCCNT - start_time) > (SystemCoreClock / 33)) break; 
+    }
+    end_time = DWT->CYCCNT;
+
+    /* 4. 精准计算距离 */
+    // 振荡次数 / (频率 / 1000000) = 微秒数
+    float duration_us = (float)(end_time - start_time) / (SystemCoreClock / 1000000);
+    
+    // 距离 (cm) = (时间 * 声速) / 2
+    // 在这里我们加一个微小的补偿，如果 duration_us 过小也视为 0
+    if (duration_us < 5.0f) {
+        sr04_dev.distance = 0.0f;
+    } else {
+        sr04_dev.distance = (duration_us * SOUND_SPEED_CM_US) / 2.0f;
+    }
+    sr04_dev.last_tick = HAL_GetTick();
+
+    return sr04_dev.distance;
+}
+
+float sr04_get_distance(void)
+{
+    return sr04_dev.distance;
+}

Core/Bsp/bsp_sr04.h

@@ -0,0 +1,33 @@
+#ifndef __BSP_SR04_H
+#define __BSP_SR04_H
+
+#include "main.h"
+
+/**
+ * @brief 超声波模块数据结构
+ */
+typedef struct {
+    float distance;        // 测量距离 (单位: cm)
+    uint32_t last_tick;    // 上次测量时间戳
+} sr04_data_t;
+
+/**
+ * @brief 超声波模块初始化
+ * @note  由于没有空闲硬件定时器捕获通道，本驱动采用 GPIO + 软件计数/HAL_GetTick 的方式
+ *        建议在 main.c 中确保 TRIG 引脚初始电平为低。
+ */
+void sr04_init(void);
+
+/**
+ * @brief 触发一次测距
+ * @return float 返回当前测量距离 (cm)。若超时或错误返回 -1.0
+ */
+float sr04_measure(void);
+
+/**
+ * @brief 获取最近一次测量的距离接口
+ * @return float 距离 (cm)
+ */
+float sr04_get_distance(void);
+
+#endif /* __BSP_SR04_H */

Core/Bsp/protocol.c

@@ -348,8 +348,11 @@ void CarCtrl_Task(void *argument) {
     /* 2. 执行 PID 闭环控制更新 */
     CarCtrl_UpdateClosedLoop();
 
-    /* 闭环频率建议：20ms 次 (50Hz) */
+    /*
-    osDelay(20);
+     * 与 hall_update_speed() 的 100ms 采样周期对齐，避免 PID 使用过期速度反复修正。
+     * 如果后续把测速周期改成 20ms，这里也要同步改回 20ms。
+     */
+    osDelay(100);
   }
   /* USER CODE END CarCtrl_Task */
 }

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   */

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();
+    /* 降低串口打印频率，避免阻塞式输出影响电机节拍 */
-        printf("循迹状态: %s\r\n", track_ir_state_to_string(state));
+    if ((now_tick - last_log_tick) >= 500U) {
-        HAL_Delay(100);
+      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 */
+  /*Configure GPIO pins : RUN_LED_Pin SDA_Pin TRIG_Pin */
-  GPIO_InitStruct.Pin = RUN_LED_Pin|SDA_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 */

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

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.IP0=DMA
-Mcu.IP1=DMA
+Mcu.IP1=FREERTOS
-Mcu.IP10=USART1
+Mcu.IP10=USART2
-Mcu.IP11=USART2
+Mcu.IP2=NVIC
-Mcu.IP2=FREERTOS
+Mcu.IP3=RCC
-Mcu.IP3=NVIC
+Mcu.IP4=SPI1
-Mcu.IP4=RCC
+Mcu.IP5=SYS
-Mcu.IP5=SPI1
+Mcu.IP6=TIM1
-Mcu.IP6=SYS
+Mcu.IP7=TIM2
-Mcu.IP7=TIM1
+Mcu.IP8=TIM3
-Mcu.IP8=TIM2
+Mcu.IP9=USART1
-Mcu.IP9=TIM3
+Mcu.IPNb=11
-Mcu.IPNb=12
 Mcu.Name=STM32F103V(C-D-E)Tx
 Mcu.Package=LQFP100
 Mcu.Pin0=PC13-TAMPER-RTC
 Mcu.Pin1=OSC_IN
-Mcu.Pin10=PC5
+Mcu.Pin10=PB0
-Mcu.Pin11=PB0
+Mcu.Pin11=PE9
-Mcu.Pin12=PE9
+Mcu.Pin12=PE11
-Mcu.Pin13=PE11
+Mcu.Pin13=PE13
-Mcu.Pin14=PE13
+Mcu.Pin14=PE14
-Mcu.Pin15=PE14
+Mcu.Pin15=PB14
-Mcu.Pin16=PB14
+Mcu.Pin16=PB15
-Mcu.Pin17=PB15
+Mcu.Pin17=PD8
-Mcu.Pin18=PD8
+Mcu.Pin18=PD9
-Mcu.Pin19=PD9
+Mcu.Pin19=PD11
 Mcu.Pin2=OSC_OUT
-Mcu.Pin20=PD11
+Mcu.Pin20=PD12
-Mcu.Pin21=PD12
+Mcu.Pin21=PD13
-Mcu.Pin22=PD13
+Mcu.Pin22=PD14
-Mcu.Pin23=PD14
+Mcu.Pin23=PD15
-Mcu.Pin24=PD15
+Mcu.Pin24=PC6
-Mcu.Pin25=PC6
+Mcu.Pin25=PC8
-Mcu.Pin26=PA9
+Mcu.Pin26=PC9
-Mcu.Pin27=PA10
+Mcu.Pin27=PA9
-Mcu.Pin28=PA13
+Mcu.Pin28=PA10
-Mcu.Pin29=PA14
+Mcu.Pin29=PA13
-Mcu.Pin3=PA0-WKUP
+Mcu.Pin3=PA2
-Mcu.Pin30=PA15
+Mcu.Pin30=PA14
-Mcu.Pin31=PD5
+Mcu.Pin31=PA15
-Mcu.Pin32=PD6
+Mcu.Pin32=PD5
-Mcu.Pin33=PB3
+Mcu.Pin33=PD6
-Mcu.Pin34=VP_FREERTOS_VS_CMSIS_V2
+Mcu.Pin34=PB3
-Mcu.Pin35=VP_SYS_VS_tim4
+Mcu.Pin35=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin4=PA2
+Mcu.Pin36=VP_SYS_VS_tim4
-Mcu.Pin5=PA3
+Mcu.Pin4=PA3
-Mcu.Pin6=PA5
+Mcu.Pin5=PA5
-Mcu.Pin7=PA6
+Mcu.Pin6=PA6
-Mcu.Pin8=PA7
+Mcu.Pin7=PA7
-Mcu.Pin9=PC4
+Mcu.Pin8=PC4
-Mcu.PinsNb=36
+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