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

application/cmd/robot_cmd.h

@@ -1,18 +1,14 @@
 #ifndef ROBOT_CMD_H
 #define ROBOT_CMD_H
 
-
 /**
  * @brief 机器人核心控制任务初始化,会被RobotInit()调用
- * 
  */
 void RobotCMDInit();
 
 /**
- * @brief 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率)
- * 
+ * @brief 机器人核心控制任务,500Hz频率运行
  */
 void RobotCMDTask();
 
-
-#endif // !ROBOT_CMD_H
+#endif // ROBOT_CMD_H