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

云台/Application/Task/Src/referee_task.c

@@ -0,0 +1,35 @@
+/* =============================================================================
+ * referee_task.c - 裁判系统链路监测
+ * 解析在 USART6 空闲中断完成(referee_parse_bytes 流式喂入),
+ * 本任务仅做 100ms 周期的链路超时监测与心跳上报
+ * ========================================================================== */
+#include "app_tasks.h"
+#include "cmsis_os.h"
+#include "bsp_usart.h"
+#include "referee.h"
+#include "robot_param.h"
+
+/* referee_task:裁判系统链路监测
+ * 解析在接收中断完成(referee_parse_bytes),本任务仅做超时监测与心跳 */
+
+void referee_frame_callback(const uint8_t * frame, uint16_t len)
+{
+    referee_parse_bytes(frame, len);
+}
+
+void referee_task(void const * argument)
+{
+    while (!app_ready)
+        osDelay(2);
+
+    for (;;)
+    {
+        /* 链路超时置断线 */
+        if (referee.link_status &&
+            HAL_GetTick() - referee.last_update_tick > DEVICE_OFFLINE_TIME_MS * 10)
+            referee.link_status = 0;
+
+        monitor_heartbeat(HB_REFEREE);
+        osDelay(100);
+    }
+}