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/shoot/shoot.c

@@ -0,0 +1,101 @@
+/* =============================================================================
+ * shoot.c - 发射机构:摩擦轮 2xM3508(0x200 CAN1 槽1/2)+ 拨弹 M2006
+ * 逻辑(与 legacy 一致):
+ *   摩擦轮开关受发射机构上电状态门控(可由 DEBUG_SHOOT_WITHOUT_REFEREE 绕过),
+ *   开启时联动激光(PC8=TIM3_CH3 PWM,占空比 0/满 对应关/开)
+ *   拨弹仅在摩擦轮开启后允许;fire=GIMBAL_RAMMER_SPEED(-5400),eject 反向
+ * 拨弹电流经 shoot_share_rammer_current() 交给云台共帧发送(0x1FF CAN1)
+ * ========================================================================== */
+#include "shoot.h"
+#include "gimbal.h"
+#include "pid.h"
+#include "tim.h"
+#include "robot_param.h"
+
+extern TIM_HandleTypeDef htim3;
+
+uint8_t shoot_friction_flag = 0;
+
+static PID_PositionTypeDef friction_l_pid, friction_r_pid, rammer_pid;
+
+/* 激光:PC8 = TIM3_CH3(10kHz PWM,ARR=8399),占空比 0/满 对应关/开 */
+#define LASER_ON() __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_3, 8399)
+#define LASER_OFF() __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_3, 0)
+
+static void laser_init(void)
+{
+    __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_3, 0);
+    HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
+}
+
+void shoot_init(void)
+{
+    PID_PositionStructureInit(&friction_l_pid, 0);
+    PID_PositionSetParameter(&friction_l_pid, GIMBAL_FRICTION_WHEEL_KP, GIMBAL_FRICTION_WHEEL_KI, GIMBAL_FRICTION_WHEEL_KD);
+    PID_PositionSetEkRange(&friction_l_pid, -5, 5);
+    PID_PositionSetOUTRange(&friction_l_pid, -15000, 15000);
+
+    PID_PositionStructureInit(&friction_r_pid, 0);
+    PID_PositionSetParameter(&friction_r_pid, GIMBAL_FRICTION_WHEEL_KP, GIMBAL_FRICTION_WHEEL_KI, GIMBAL_FRICTION_WHEEL_KD);
+    PID_PositionSetEkRange(&friction_r_pid, -5, 5);
+    PID_PositionSetOUTRange(&friction_r_pid, -15000, 15000);
+
+    PID_PositionStructureInit(&rammer_pid, GIMBAL_RAMMER_SPEED);
+    PID_PositionSetParameter(&rammer_pid, GIMBAL_RAMMER_KP, GIMBAL_RAMMER_KI, GIMBAL_RAMMER_KD);
+    PID_PositionSetEkRange(&rammer_pid, -20, 20);
+    PID_PositionSetOUTRange(&rammer_pid, -30000, 30000);
+
+    laser_init();
+}
+
+void shoot_control(uint8_t friction_on, uint8_t fire, uint8_t eject, uint8_t shooter_power_on)
+{
+    /* 摩擦轮(与 legacy 逻辑一致:发射机构上电才允许开启;
+     * 台架调试时可经 DEBUG_SHOOT_WITHOUT_REFEREE 绕过裁判系统检查) */
+    if (friction_on && (shooter_power_on || DEBUG_SHOOT_WITHOUT_REFEREE))
+    {
+        friction_l_pid.Need_Value = -GIMBAL_FRICTION_WHEEL_SPEED;
+        friction_r_pid.Need_Value = GIMBAL_FRICTION_WHEEL_SPEED;
+        LASER_ON();
+        shoot_friction_flag = 1;
+    }
+    else
+    {
+        friction_l_pid.Need_Value = 0;
+        friction_r_pid.Need_Value = 0;
+        LASER_OFF();
+        shoot_friction_flag = 0;
+    }
+
+    /* 拨弹:仅在摩擦轮开启时允许 */
+    if (shoot_friction_flag)
+    {
+        if (fire)
+            rammer_pid.Need_Value = GIMBAL_RAMMER_SPEED;
+        else if (eject)
+            rammer_pid.Need_Value = -GIMBAL_RAMMER_SPEED;
+        else
+            rammer_pid.Need_Value = 0;
+    }
+    else
+        rammer_pid.Need_Value = 0;
+
+    PID_PositionCalc(&friction_l_pid, motor_friction_l.fdb.rotor_speed);
+    PID_PositionCalc(&friction_r_pid, motor_friction_r.fdb.rotor_speed);
+    PID_PositionCalc(&rammer_pid, motor_rammer.fdb.rotor_speed);
+
+    /* 拨弹电流交给云台控制帧统一发送(0x1FF CAN1 共帧) */
+    shoot_share_rammer_current((int16_t)rammer_pid.OUT);
+}
+
+void shoot_send_cmd(void)
+{
+    dji_motor_send_current_low(&hcan1, (int16_t)friction_l_pid.OUT, (int16_t)friction_r_pid.OUT, 0, 0);
+}
+
+void shoot_output_zero(void)
+{
+    dji_motor_send_current_low(&hcan1, 0, 0, 0, 0);
+    LASER_OFF();
+    shoot_friction_flag = 0;
+}

云台/modules/shoot/shoot.h

@@ -0,0 +1,28 @@
+#ifndef SHOOT_H
+#define SHOOT_H
+
+#include <stdint.h>
+
+/* 发射机构:摩擦轮 2×M3508(0x200 CAN1 槽1/2)+ 拨弹 M2006(电流由云台共帧发送)
+ * 摩擦轮开启时联动激光(PC8,经 TIM3 CH3 PWM) */
+
+/* 初始化摩擦轮/拨弹 PID(can_start 之后调用) */
+extern void shoot_init(void);
+
+/* 发射控制(2ms 调用)
+ * friction_on:摩擦轮开关;fire:发射;eject:退弹
+ * shooter_power_on:发射机构上电状态(来自底盘 0x019) */
+extern void shoot_control(uint8_t friction_on, uint8_t fire, uint8_t eject, uint8_t shooter_power_on);
+
+/* 发送摩擦轮电流帧(0x200 CAN1) */
+extern void shoot_send_cmd(void);
+
+/* 摩擦轮输出清零 */
+extern void shoot_output_zero(void);
+
+/* 摩擦轮当前开关状态(供激光联动与调试) */
+extern uint8_t shoot_friction_flag;
+
+/* 拨弹电流写入共享变量(由 shoot 模块调用,云台共帧发送) */
+extern void shoot_share_rammer_current(int16_t current);
+#endif