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
2026-09-12 10:28:21 +08:00
commit a4da5ad17c
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+/* =============================================================================
+ * c_comm_task.c - 板间通讯周期发送(2ms)
+ * 云台板:  c_comm_master_send() 转发摇杆/控制状态(键鼠在线时用合成量)
+ * 底盘板:  c_comm_slave_send() 回传发射机构上电状态
+ * 接收方向在中断内由 c_comm 模块的回调完成,本任务只负责发送节拍
+ * ========================================================================== */
+#include "app_tasks.h"
+#include "cmsis_os.h"
+#include "FreeRTOS.h"
+#include "task.h"
+#include "c_comm.h"
+#include "robot_typedef.h"
+#include "robot_param.h"
+#if defined(ROBOT_TYPE_GIMBAL)
+#include "robot_cmd_task.h"
+#include "gimbal.h"
+#include "attitude.h"
+#elif defined(ROBOT_TYPE_CHASSIS)
+#include "chassis.h"
+#endif
+
+/* c_comm_task(2ms):板间通讯周期发送
+ * 云台板:向底盘转发摇杆与控制状态(键鼠在线时用合成量替代摇杆)
+ * 底盘板:向云台回传发射机构上电状态 */
+
+void c_comm_task(void const * argument)
+{
+    TickType_t last_wake = xTaskGetTickCount();
+
+    while (!app_ready)
+        osDelay(2);
+
+    for (;;)
+    {
+#if defined(ROBOT_TYPE_GIMBAL)
+        uint8_t kb_online = (keyboard_data.last_tick != 0 &&
+                             HAL_GetTick() - keyboard_data.last_tick < DEVICE_OFFLINE_TIME_MS * 10);
+        uint8_t kb[12];
+        kb[0] = (uint8_t)(keyboard_data.mouse_rl & 0xFF);
+        kb[1] = (uint8_t)((uint16_t)keyboard_data.mouse_rl >> 8);
+        kb[2] = (uint8_t)(keyboard_data.mouse_du & 0xFF);
+        kb[3] = (uint8_t)((uint16_t)keyboard_data.mouse_du >> 8);
+        kb[4] = (uint8_t)(keyboard_data.mouse_wheel & 0xFF);
+        kb[5] = (uint8_t)((uint16_t)keyboard_data.mouse_wheel >> 8);
+        kb[6] = keyboard_data.mouse_key_l;
+        kb[7] = keyboard_data.mouse_key_r;
+        kb[8] = (uint8_t)(keyboard_data.key_w | (keyboard_data.key_s << 1) |
+                          (keyboard_data.key_a << 2) | (keyboard_data.key_d << 3) |
+                          (keyboard_data.key_shift << 4) | (keyboard_data.key_ctrl << 5) |
+                          (keyboard_data.key_q << 6) | (keyboard_data.key_e << 7));
+        kb[9] = (uint8_t)(keyboard_data.key_alpha1 | (keyboard_data.key_alpha2 << 1));
+        kb[10] = 0;
+        kb[11] = 0;
+
+        c_comm_master_send(kb_online, kb, gimbal_motor_offline(),
+                           cmd_robot.spin_flag);  // 故障位+小陀螺使能位
+
+        /* 0x1A9 姿态帧:双 INS 跟随方案的数据源 */
+        c_comm_master_send_attitude(att_deg_yaw, att_ready);
+#elif defined(ROBOT_TYPE_CHASSIS)
+        c_comm_slave_send(chassis_motor_offline());  // 携带底盘电机故障位
+#endif
+
+        monitor_heartbeat(HB_CCOMM);
+        vTaskDelayUntil(&last_wake, pdMS_TO_TICKS(2));
+    }
+}