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/robot.c

@@ -3,58 +3,23 @@
 #include "robot_def.h"
 #include "robot_task.h"
 
-// 编译warning,提醒开发者修改机器人参数
-#ifndef ROBOT_DEF_PARAM_WARNING
-#define ROBOT_DEF_PARAM_WARNING
-#pragma message "check if you have configured the parameters in robot_def.h, IF NOT, please refer to the comments AND DO IT, otherwise the robot will have FATAL ERRORS!!!"
-#endif // !ROBOT_DEF_PARAM_WARNING
-
-#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
-#include "chassis.h"
-#endif
-
-#if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
 #include "gimbal.h"
-#include "shoot.h"
 #include "robot_cmd.h"
-#endif
-
 
 void RobotInit()
-{  
-    // 关闭中断,防止在初始化过程中发生中断
-    // 请不要在初始化过程中使用中断和延时函数！
-    // 若必须,则只允许使用DWT_Delay()
+{
     __disable_irq();
-    
-    BSPInit();
 
-#if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
+    BSPInit();
     RobotCMDInit();
     GimbalInit();
-    // ShootInit();
-#endif
+    OSTaskInit();
 
-#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
-    //ChassisInit();
-#endif
-
-    OSTaskInit(); // 创建基础任务
-
-    // 初始化完成,开启中断
     __enable_irq();
 }
 
 void RobotTask()
 {
-#if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
     RobotCMDTask();
     GimbalTask();
-    // ShootTask();
-#endif
-
-#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
-    //ChassisTask();
-#endif
-
-}
+}