Initial commit: TC264 smart car project with IPS200 menu system

- IPS200 display menu with real-time status and parameter settings
- Camera image processing and line tracking
- IMU attitude solution and PID control
- WiFi SPI oscilloscope data transmission

code/pid_tuning.h

@@ -0,0 +1,30 @@
+#ifndef _PID_TUNING_H_
+#define _PID_TUNING_H_
+
+#include "zf_common_typedef.h"
+
+#define PID_TUNING_LOOP_COUNT   3
+
+/*============================================================
+ * 调参桥接模块
+ *
+ * 把菜单的 test_user_value 和 test_pid_value 同步到真实的
+ * PID 结构体, 同时提供虚拟示波器数据输出。
+ *
+ * 调用方式:
+ *   pid_tuning_sync()          — 每个控制周期调用, 同步参数
+ *   pid_tuning_scope_output()  — 每 50ms 调用, 发送波形数据
+ *============================================================*/
+
+/* 将菜单参数同步到真实 PID */
+void pid_tuning_sync(void);
+
+/* 速度环 PWM 输出值 (供调试/显示) */
+extern float g_last_pwm;
+extern float g_last_pwm_left;
+extern float g_last_pwm_right;
+
+/* 将关键变量发送到虚拟示波器 (4通道 int16) */
+void pid_tuning_scope_output(void);
+
+#endif /* _PID_TUNING_H_ */