refactor: rename opencv module to master_machine, remove old master_process

- Delete modules/master_machine/ (old seasky protocol vision module)
- Rename modules/opencv/ → modules/master_machine/
- Rename opencv.h/c → master_machine.h/c
- Remove master_process.h include from robot_def.h and ins_task.c
- Remove VisionSetAltitude() call from ins_task.c (send not needed)
- Update all #include paths and CMakeLists.txt

modules/master_machine/master_machine.h

@@ -0,0 +1,75 @@
+#ifndef MASTER_MACHINE_H
+#define MASTER_MACHINE_H
+
+#include "bsp_usart.h"
+#include "bsp_dwt.h"
+#include "bsp_log.h"
+#include "usart.h"
+#include "daemon.h"
+#include <string.h>
+
+/*
+ * 上位机串口协议 — 三种帧类型, 通过帧头区分
+ *
+ * ---- 自动/视觉追踪数据帧 0xA5 (10 字节) ----
+ *   [SOF:0xA5][error_x:4][error_y:4][checksum:1]
+ *   error_x/y: float, 归一化误差, 视觉PID外环反馈值
+ *
+ * ---- 手动控制数据帧 0xA6 (11 字节) ----
+ *   [SOF:0xA6][zero_force:1][yaw_ref:4][pitch_ref:4][checksum:1]
+ *   zero_force: 0=正常角度控制, 1=零力/保持当前位置
+ *   yaw_ref/pitch_ref: float, 角度参考值 (degrees)
+ *
+ * ---- 命令帧 0xA7 (3 字节) ----
+ *   [SOF:0xA7][cmd:1][checksum:1]
+ *   cmd: 0x01=切换到自动模式, 0x02=切换到手动模式, 0x03=激光开, 0x04=激光关
+ *
+ * checksum: 帧头到数据末尾前一字节累加和取低8位
+ */
+
+#define VISION_SOF_AUTO    0xA5
+#define VISION_SOF_MANUAL  0xA6
+#define VISION_SOF_CMD     0xA7
+
+#define VISION_AUTO_LEN    10
+#define VISION_MANUAL_LEN  11
+#define VISION_CMD_LEN     3
+
+/* 命令码 */
+#define VISION_CMD_SWITCH_AUTO   0x01
+#define VISION_CMD_SWITCH_MANUAL 0x02
+#define VISION_CMD_LASER_ON      0x03
+#define VISION_CMD_LASER_OFF     0x04
+
+/* 工作模式 */
+typedef enum
+{
+    VISION_MODE_AUTO   = 0,  // 自动/视觉追踪
+    VISION_MODE_MANUAL = 1,  // 手动
+} Vision_Mode_e;
+
+typedef struct
+{
+    /* 自动模式数据 */
+    float error_x;
+    float error_y;
+    uint8_t auto_updated;   // 收到新的自动数据帧标志
+
+    /* 手动模式数据 */
+    uint8_t zero_force;
+    float yaw_ref;
+    float pitch_ref;
+    uint8_t manual_updated; // 收到新的手动数据帧标志
+
+    /* 命令 */
+    uint8_t cmd;            // 最新命令码
+    uint8_t cmd_pending;    // 有待处理命令标志
+
+    float frequency;        // 接收频率 (Hz)
+} VisionData_t;
+
+extern VisionData_t vision_data;
+
+void Vision_Uart_Init(UART_HandleTypeDef *_handle);
+
+#endif // MASTER_MACHINE_H