refactor: migrate from DJI motors to DM motors, simplify to gimbal-only control

- Rewrite DM motor driver based on DM_6220 reference protocol (MIT/PosVel/Velocity modes)
- Use velocity control mode: MCU runs angle PID with IMU feedback, motor handles speed loop
- Rewrite vision protocol with 3 frame types (0xA5 auto data, 0xA6 manual data, 0xA7 command)
- Decouple serial parsing (opencv module) from mode switching (robot_cmd module)
- Implement dual-loop architecture: vision PID outer loop → angle ref → motor PID inner loop
- Add KF/PID reset on mode switch transitions
- Merge motor_reverse_flag and feedback_reverse_flag into single output_reverse flag
- Remove DMMotorEnable/DMMotorStop (motor always runs, controlled by angle ref)
- Remove unused modules: DJI/LK/HT/step/servo motors, chassis, shoot, referee
- Add ExitRun0Mode() for STM32H723 power supply configuration
- Clean up CMakeLists: 115 → 76 C source files

CMakeLists.txt

@@ -75,47 +75,35 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     bsp/log/bsp_log.c
     bsp/bsp_tools.c
 
-    # modules
+    # modules - algorithm
     modules/algorithm/controller.c
     modules/algorithm/kalman_filter.c
     modules/algorithm/QuaternionEKF.c
     modules/algorithm/crc8.c
     modules/algorithm/crc16.c
     modules/algorithm/user_lib.c
-    modules/bluetooth/HC05.c
+    # modules - sensors
     modules/BMI088/bmi088.c
     modules/imu/BMI088driver.c
     modules/imu/BMI088Middleware.c
     modules/imu/ins_task.c
+    # modules - communication
     modules/master_machine/master_process.c
     modules/master_machine/seasky_protocol.c
-    modules/motor/DJImotor/dji_motor.c
-    modules/motor/HTmotor/HT04.c
-    modules/motor/LKmotor/LK9025.c
-    modules/motor/DMmotor/dmmotor.c
-    modules/motor/step_motor/step_motor.c
-    modules/motor/step_motor/X_V2.c
-    modules/motor/servo_motor/servo_motor.c
-    modules/motor/motor_task.c
-    modules/oled/oled.c
-    modules/referee/crc_ref.c
-    modules/referee/rm_referee.c
-    modules/referee/referee_UI.c
-    modules/referee/referee_task.c
     modules/remote/remote_control.c
-    modules/super_cap/super_cap.c
-    modules/can_comm/can_comm.c
+    modules/timachine/board_comm.c
+    # modules - motor
+    modules/motor/DMmotor/dmmotor.c
+    modules/motor/motor_task.c
+    # modules - system
     modules/message_center/message_center.c
     modules/daemon/daemon.c
     modules/alarm/buzzer.c
     modules/vofa/vofa.c
     modules/opencv/opencv.c
-    modules/timachine/board_comm.c
 
     # application
     application/gimbal/gimbal.c
-    application/chassis/chassis.c
-    application/shoot/shoot.c
     application/cmd/robot_cmd.c
     application/robot.c
 )
@@ -144,21 +132,12 @@ target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
 
     # modules
     modules/algorithm
-    modules/bluetooth
     modules/BMI088
     modules/imu
     modules/master_machine
-    modules/motor/DJImotor
-    modules/motor/LKmotor
-    modules/motor/HTmotor
-    modules/motor/step_motor
-    modules/motor/servo_motor
     modules/motor/DMmotor
     modules/motor
-    modules/oled
-    modules/referee
     modules/remote
-    modules/super_cap
     modules/can_comm
     modules/message_center
     modules/daemon
@@ -169,8 +148,6 @@ target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
     modules
 
     # application
-    application/chassis
-    application/shoot
     application/gimbal
     application/cmd
     application