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/modules/BUZZER/buzzer.c

@@ -0,0 +1,44 @@
+/* =============================================================================
+ * buzzer.c - C 板无源蜂鸣器(TIM4_CH3, PD14)
+ * 说明:  音调表与 legacy 完全一致(ARR 固定 10 分频,改 PSC 变调,
+ *        装载用 HAL_TIM_GenerateEvent 立即生效);buzzer_init 必须在
+ *        CAN_Task 中调用一次启动 PWM 输出,否则所有报警/音效无声
+ * ========================================================================== */
+#include "buzzer.h"
+#include "tim.h"
+
+extern TIM_HandleTypeDef htim4;
+
+/* 蜂鸣器音调频率表(ARR 固定 10 分频下的 PSC 值,与 legacy 一致) */
+static const uint16_t buzzer_tone_freq[37] = {
+    0,
+    32107, 30305, 28604, 26999, 25483, 24053, 22703, 21429, 20226, 19091, 18019, 17008,
+    16053, 15152, 14302, 13499, 12742, 12026, 11352, 10714, 10113, 9545, 9010, 8504,
+    8027, 7576, 7151, 6750, 6371, 6013, 5676, 5357, 5056, 4773, 4505, 4252,
+};
+
+void buzzer_init(void)
+{
+    /* 与 legacy 相同:ARR=10 分频,CubeMX 的 ARR=65535 改为 9 */
+    __HAL_TIM_SET_AUTORELOAD(&htim4, 10 - 1);
+    __HAL_TIM_SET_PRESCALER(&htim4, 19091);
+    __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, 0);
+    HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
+}
+
+void buzzer_on(buzzer_tone_e tone)
+{
+    if (tone != BUZZER_P)
+    {
+        __HAL_TIM_SET_PRESCALER(&htim4, buzzer_tone_freq[tone]);
+        HAL_TIM_GenerateEvent(&htim4, TIM_EVENTSOURCE_UPDATE);  // 立即装载 PSC
+        __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, 5);  // 占空比 50%
+    }
+    else
+        __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, 0);
+}
+
+void buzzer_off(void)
+{
+    __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, 0);
+}

云台/modules/BUZZER/buzzer.h

@@ -0,0 +1,19 @@
+#ifndef BUZZER_H
+#define BUZZER_H
+
+#include <stdint.h>
+
+/* C 板无源蜂鸣器(TIM4_CH3, PD14),音调表与 legacy 完全一致 */
+
+typedef enum
+{
+    BUZZER_P = 0,  // 空拍
+    BUZZER_L1, BUZZER_L1_, BUZZER_L2, BUZZER_L2_, BUZZER_L3, BUZZER_L4, BUZZER_L4_, BUZZER_L5, BUZZER_L5_, BUZZER_L6, BUZZER_L6_, BUZZER_L7,  // 低音
+    BUZZER_M1, BUZZER_M1_, BUZZER_M2, BUZZER_M2_, BUZZER_M3, BUZZER_M4, BUZZER_M4_, BUZZER_M5, BUZZER_M5_, BUZZER_M6, BUZZER_M6_, BUZZER_M7,  // 中音
+    BUZZER_H1, BUZZER_H1_, BUZZER_H2, BUZZER_H2_, BUZZER_H3, BUZZER_H4, BUZZER_H4_, BUZZER_H5, BUZZER_H5_, BUZZER_H6, BUZZER_H6_, BUZZER_H7,  // 高音
+} buzzer_tone_e;
+
+extern void buzzer_init(void);
+extern void buzzer_on(buzzer_tone_e tone);
+extern void buzzer_off(void);
+#endif