feat(ui): 新增裁判系统自定义UI(0x0301)并打通键鼠→底盘链路

键鼠控制(此前 WASD 无反应):
- 云台 robot_cmd_task:0x0304 与 USART3 帧内键鼠合并为共享视图 keyboard_merged(0x0304 优先);
  键鼠模式由帧内键鼠动作进入,动云台左摇杆退出
- c_comm_task/c_comm:键鼠在控时底盘摇杆由 WASD+鼠标合成,改读共享视图(此前只认 0x0304)
- dr16/调试输出:新增帧内键鼠原始字节诊断(key_lo/key_hi/mouse_*/s1/frames)

自定义UI(底盘板经裁判系统 USART6 绘制到选手端):
- 新增 底盘/modules/comms/referee_ui.c|h:15 字节图形组包(带编译期断言),
  v5 卡片式 HUD = 俯仰梯(pitch) + 罗盘刻度带(底盘朝向) + 预估底盘功率 + 超级电容
  + 摩擦轮 L/R 转速 + 小陀螺状态,yaw 在刻度带右侧;5Hz 刷新,约 50 图元/8 包
- referee.c 新增 referee_send_frame()(cmd 0x0301 机器人交互数据,CRC8+CRC16,USART6 TX DMA)
- 新增 CToC 0x1B9:云台把 pitch 与摩擦轮转速带给底盘(底盘本地没有这两个量)
- 版式避开官方保留区:顶部比分条/左下小地图/右下战车模块/中部两块官方保留

验证:云台 Code=99540 RO=1764 RW=420 ZI=62572;底盘 Code=99452 RO=1928 RW=416 ZI=62584;均 0 错误 0 警告。
未做实机验证(当前无板/无图传);UI 协议常量(UI_RECEIVER_ID/UI_SEND_HZ)与版式坐标集中在 referee_ui.h 宏区,便于按协议 PDF 一处校正。

云台/Application/Task/Src/c_comm_task.c

@@ -33,28 +33,38 @@ void c_comm_task(void const * argument)
     for (;;)
     {
 #if defined(ROBOT_TYPE_GIMBAL)
-        uint8_t kb_online = (keyboard_data.last_tick != 0 &&
-                             HAL_GetTick() - keyboard_data.last_tick < DEVICE_OFFLINE_TIME_MS * 10);
+        /* 键鼠来源已由 robot_cmd_task 合并(0x0304 优先,否则 USART3 帧内键鼠)。
+         * 直接用共享视图,保证"云台怎么控、底盘就怎么收"——否则 WASD 合成的
+         * 底盘摇杆会因为这里只认 0x0304 而被整段跳过(客户端键鼠走帧内时平移失效)。 */
+        uint8_t kb_online = keyboard_merged_online;
         uint8_t kb[12];
-        kb[0] = (uint8_t)(keyboard_data.mouse_rl & 0xFF);
-        kb[1] = (uint8_t)((uint16_t)keyboard_data.mouse_rl >> 8);
-        kb[2] = (uint8_t)(keyboard_data.mouse_du & 0xFF);
-        kb[3] = (uint8_t)((uint16_t)keyboard_data.mouse_du >> 8);
-        kb[4] = (uint8_t)(keyboard_data.mouse_wheel & 0xFF);
-        kb[5] = (uint8_t)((uint16_t)keyboard_data.mouse_wheel >> 8);
-        kb[6] = keyboard_data.mouse_key_l;
-        kb[7] = keyboard_data.mouse_key_r;
-        kb[8] = (uint8_t)(keyboard_data.key_w | (keyboard_data.key_s << 1) |
-                          (keyboard_data.key_a << 2) | (keyboard_data.key_d << 3) |
-                          (keyboard_data.key_shift << 4) | (keyboard_data.key_ctrl << 5) |
-                          (keyboard_data.key_q << 6) | (keyboard_data.key_e << 7));
-        kb[9] = (uint8_t)(keyboard_data.key_alpha1 | (keyboard_data.key_alpha2 << 1));
+        kb[0] = (uint8_t)(keyboard_merged.mouse_rl & 0xFF);
+        kb[1] = (uint8_t)((uint16_t)keyboard_merged.mouse_rl >> 8);
+        kb[2] = (uint8_t)(keyboard_merged.mouse_du & 0xFF);
+        kb[3] = (uint8_t)((uint16_t)keyboard_merged.mouse_du >> 8);
+        kb[4] = (uint8_t)(keyboard_merged.mouse_wheel & 0xFF);
+        kb[5] = (uint8_t)((uint16_t)keyboard_merged.mouse_wheel >> 8);
+        kb[6] = keyboard_merged.mouse_key_l;
+        kb[7] = keyboard_merged.mouse_key_r;
+        kb[8] = (uint8_t)(keyboard_merged.key_w | (keyboard_merged.key_s << 1) |
+                          (keyboard_merged.key_a << 2) | (keyboard_merged.key_d << 3) |
+                          (keyboard_merged.key_shift << 4) | (keyboard_merged.key_ctrl << 5) |
+                          (keyboard_merged.key_q << 6) | (keyboard_merged.key_e << 7));
+        kb[9] = (uint8_t)(keyboard_merged.key_alpha1 | (keyboard_merged.key_alpha2 << 1));
         kb[10] = 0;
         kb[11] = 0;
 
         c_comm_master_send(kb_online, kb, gimbal_motor_offline(),
                            cmd_robot.spin_flag);  // 故障位+小陀螺使能位
 
+        /* 0x1B9 自定义UI 专用量:底盘本地没有 pitch 与摩擦轮转速,
+         * 由云台随板间通讯带给它(见 底盘/modules/comms/referee_ui.c)。
+         * pitch 取云台 pitch 环反馈 -att_deg_roll;摩擦轮转速取电机反馈 rpm。 */
+        c_comm_master_send_ui(-att_deg_roll,
+                              (float)motor_friction_l.fdb.rotor_speed,
+                              (float)motor_friction_r.fdb.rotor_speed,
+                              cmd_robot.spin_flag);
+
         /* 0x1A9 姿态帧:跟随符号自动综合的数据源
          * flags:bit0=att_ready bit1=tick增向CCW bit2=bit1有效 */
         {