chore: 导入 Simba-OmniInfantry 基线(云台/底盘双工程)

- 云台(ROBOT_TYPE_GIMBAL)与底盘(ROBOT_TYPE_CHASSIS)完整固件源码 - 新增根级 .gitignore,排除 Keil MDK-ARM 构建产物(.o/.d/.crf/.axf/.lnp/.map/.htm/.sct/.dep/.iex/.lst 等) 与 *.uvguix.* / DebugConfig/(与机器绑定的 UI 布局) - core.autocrlf=false,避免固件源码在检出时被改动换行符
2026-09-12 10:28:21 +08:00
commit a4da5ad17c
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+/* =============================================================================
+ * gimbal_task.c - 云台控制任务(2ms)
+ * 状态机:
+ *   YAW_WAIT   等待"姿态就绪+云台电机在线"(遥控可后到)
+ *   YAW_RUN    正常串级控制(符号用参数回退值,直至手势自检完成)
+ *   YAW_DETECT 装配符号自检——**仅由操作手手势显式触发,绝不自动执行**:
+ *              遥控在线时"左摇杆推到最左 + 右摇杆推到最右"保持 0.5s。
+ *              检测期间云台会轻转几度(约 20% 电压脉冲 60ms),操作手应
+ *              确认云台周围无人后再做手势。失败重试 3 次后回退参数符号。
+ * 任意门控失效(遥控离线/电机掉线/姿态不可用/底盘故障)立即清零输出
+ * 拨弹电流由 shoot_task 写入共享变量,本任务与 Pitch 共帧发送(0x1FF CAN1)
+ * ========================================================================== */
+#include "app_tasks.h"
+#include "cmsis_os.h"
+#include "FreeRTOS.h"
+#include "task.h"
+#include "robot_typedef.h"
+#include "gimbal.h"
+#include "bmi088.h"
+#include "attitude.h"
+#include "dr16.h"
+#include "c_comm.h"
+#include "robot_param.h"
+
+/* 校准手势:左摇杆推最左 + 右摇杆推最右(正常操控不可能误触) */
+#define CALIB_GESTURE_L_RL   400   // < 400 即最左
+#define CALIB_GESTURE_R_RL   1600  // > 1600 即最右
+#define CALIB_GESTURE_MS     500   // 保持时长
+#define CALIB_GESTURE_TICKS  (CALIB_GESTURE_MS / 2)  // 2ms 任务
+
+typedef enum
+{
+    YAW_WAIT = 0,
+    YAW_RUN,
+    YAW_DETECT,
+} yaw_state_e;
+
+void gimbal_task(void const * argument)
+{
+    TickType_t last_wake = xTaskGetTickCount();
+    yaw_state_e state = YAW_WAIT;
+    uint8_t detect_retry = 0;
+    uint16_t gesture_cnt = 0;
+    uint8_t force_reset = 0;
+
+    while (!app_ready)
+        osDelay(2);
+
+    for (;;)
+    {
+        const uint8_t gates_ok = (cmd_robot.online && !gimbal_motor_offline() &&
+                                  bmi088_online && att_ready && !ctoc_chassis_fault());
+
+        /* 校准手势检测(仅遥控在线时可能成立;500 个采样窗防抖) */
+        if (cmd_robot.online && !gimbal_motor_offline() &&
+            dr16.rc_l_RL < CALIB_GESTURE_L_RL && dr16.rc_r_RL > CALIB_GESTURE_R_RL)
+        {
+            if (gesture_cnt < CALIB_GESTURE_TICKS)
+                gesture_cnt++;
+        }
+        else
+            gesture_cnt = 0;
+        const uint8_t gesture = (gesture_cnt >= CALIB_GESTURE_TICKS);
+        if (gesture)
+            gesture_cnt = 0;
+
+        switch (state)
+        {
+            case YAW_WAIT:
+                gimbal_output_zero();
+                /* 姿态与电机就绪即可进入运行(符号先用参数回退值) */
+                if (!gimbal_motor_offline() && bmi088_online && att_ready)
+                {
+                    force_reset = 1;  // 首次控制同步目标角
+                    state = YAW_RUN;
+                }
+                break;
+
+            case YAW_DETECT:
+                if (gimbal_detect_yaw_sign())
+                {
+                    force_reset = 1;  // 检测期间云台被动转过,重锁目标
+                    state = YAW_RUN;
+                }
+                else if (++detect_retry >= 3)
+                {
+                    detect_retry = 0;
+                    force_reset = 1;
+                    state = YAW_RUN;  // 回退参数符号
+                }
+                else
+                    gimbal_output_zero();
+                break;
+
+            case YAW_RUN:
+            default:
+                if (gesture && !gimbal_motor_offline() && att_ready)
+                {
+                    detect_retry = 0;
+                    state = YAW_DETECT;  // 操作手主动请求自检
+                }
+                else if (gates_ok)
+                {
+                    gimbal_control(cmd_robot.gimbal_yaw_delta,
+                                   cmd_robot.gimbal_pitch_delta,
+                                   (uint8_t)(force_reset || cmd_robot.gimbal_reset));
+                    force_reset = 0;
+                }
+                else
+                {
+                    gimbal_output_zero();
+                    force_reset = 1;
+                    state = YAW_WAIT;  // 门控失效回等待,恢复后重锁目标
+                }
+                break;
+        }
+
+        monitor_heartbeat(HB_GIMBAL);
+        vTaskDelayUntil(&last_wake, pdMS_TO_TICKS(2));
+    }
+}