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/shoot_task.c

@@ -0,0 +1,42 @@
+/* =============================================================================
+ * shoot_task.c - 发射机构任务(2ms)
+ * shoot_control() 计算摩擦轮/拨弹电流 -> shoot_send_cmd() 发 0x200;
+ * 拨弹电流由云台任务与 Pitch 共帧发送;发射机构上电状态来自底盘 0x019
+ * ========================================================================== */
+#include "app_tasks.h"
+#include "cmsis_os.h"
+#include "FreeRTOS.h"
+#include "task.h"
+#include "robot_typedef.h"
+#include "gimbal.h"
+#include "shoot.h"
+#include "c_comm.h"
+#include "dr16.h"
+
+/* shoot_task(云台板,2ms):摩擦轮/拨弹控制
+ * 发射机构上电状态来自底盘 0x019(ctoc_shooter_power) */
+
+void shoot_task(void const * argument)
+{
+    TickType_t last_wake = xTaskGetTickCount();
+
+    while (!app_ready)
+        osDelay(2);
+
+    for (;;)
+    {
+        if (cmd_robot.online && !gimbal_motor_offline() && !ctoc_chassis_fault())
+        {
+            shoot_control(cmd_robot.friction_on, cmd_robot.fire, cmd_robot.eject,
+                          ctoc_shooter_power);
+            shoot_send_cmd();
+        }
+        else
+        {
+            shoot_output_zero();
+        }
+
+        monitor_heartbeat(HB_SHOOT);
+        vTaskDelayUntil(&last_wake, pdMS_TO_TICKS(2));
+    }
+}