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/Bsp/Inc/bsp_can.h

@@ -0,0 +1,33 @@
+#ifndef BSP_CAN_H
+#define BSP_CAN_H
+#include "stm32f4xx_hal.h"
+
+// clang-format off
+#define BOARD_DATA_ANY     ((uint16_t)0x500)
+#define BOARD_DATA_UINT16  ((uint16_t)0x600)
+// clang-format on
+
+typedef CAN_HandleTypeDef hcan_t;
+
+typedef struct __CanCtrlData
+{
+    hcan_t * hcan;
+    CAN_TxHeaderTypeDef tx_header;
+    uint8_t tx_data[8];
+} CanCtrlData_s;
+
+/* CAN 接收回调:在 CAN RX0 中断上下文中执行,必须尽量短 */
+typedef void (*can_rx_callback_f)(uint32_t std_id, const uint8_t rx_data[8], uint32_t dlc);
+
+extern hcan_t hcan1;
+extern hcan_t hcan2;
+
+/* 初始化过滤器并启动两路 CAN,同时使能 CAN1_RX0/CAN2_RX0 NVIC(ioc 未开 CAN2 中断,由代码补齐)
+ * 必须在 osKernelStart 之后的任务上下文中调用一次 */
+extern void can_start(void);
+
+/* 注册按 (hcan, 标准ID) 分发的接收回调,返回 0-成功,-1-表满 */
+extern int can_rx_register(hcan_t * hcan, uint32_t std_id, can_rx_callback_f callback);
+
+extern void CAN_SendTxMessage(CanCtrlData_s * can_ctrl_data);
+#endif

云台/Bsp/Inc/bsp_uart.h

@@ -0,0 +1,18 @@
+#ifndef BSP_UART_H
+#define BSP_UART_H
+#include "stm32f4xx_hal.h"
+#include "usart.h"
+
+typedef UART_HandleTypeDef huart_t;
+#define UART1 huart6  //(3pin)与板上的标识相对应
+#define UART2 huart1  //(4pin)与板上的标识相对应
+
+typedef enum __UartSendState {
+    UART_SEND_FAIL = 0,
+    UART_SEND_OK,
+} UartSendState_e;
+
+extern UartSendState_e UartSendTxMessage(
+    UART_HandleTypeDef * huart, uint8_t * pData, uint16_t Size, uint32_t Timeout);
+
+#endif  // BSP_UART_H

云台/Bsp/Inc/bsp_usart.h

@@ -0,0 +1,34 @@
+#ifndef BSP_USART_H
+#define BSP_USART_H
+
+#include "stm32f4xx_hal.h"
+
+/* 串口接收按"整帧"递交给注册回调(CAN 的按 ID 分发见 bsp_can.h) */
+typedef void (*usart_rx_callback_f)(const uint8_t * frame, uint16_t len);
+
+/* ---- 接收 ----
+ * 初始化在任务上下文调用一次;回调在中断上下文递交整帧,须尽量短 */
+extern void usart1_init(uint8_t * rx_buf, uint16_t dma_buf_num, usart_rx_callback_f callback);
+extern void usart3_init(uint8_t * rx_buf, uint16_t dma_buf_num, usart_rx_callback_f callback);
+extern void usart6_init(uint8_t * rx_buf, uint16_t dma_buf_num, usart_rx_callback_f callback);
+
+extern int usart_rx_register(UART_HandleTypeDef * huart, usart_rx_callback_f callback);
+
+/* 各 USARTx_IRQHandler 的 USER CODE 区调用(需在 HAL_UART_IRQHandler 之前) */
+extern void usart1_idle_isr(void);
+extern void usart3_idle_isr(void);
+extern void usart6_idle_isr(void);
+
+/* ---- 发送 ----
+ * TX DMA 启动后 data 缓冲须保持有效直至传输完成 */
+extern void usart1_tx_dma_init(void);
+extern void usart1_tx_dma_enable(uint8_t * data, uint16_t len);
+extern void usart6_tx_dma_enable(uint8_t * data, uint16_t len);
+
+/* ---- 诊断(debug_task 打印) ---- */
+extern volatile uint32_t dbg_usart1_idle;
+extern volatile uint32_t dbg_usart3_idle;
+extern volatile uint32_t dbg_usart6_idle;
+extern volatile uint16_t dbg_usart3_last_len;
+extern volatile uint16_t dbg_usart6_last_len;
+#endif