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_task.h

@@ -1,4 +1,3 @@
-/* 注意该文件应只用于任务初始化,只能被robot.c包含*/
 #pragma once
 
 #include "FreeRTOS.h"
@@ -9,12 +8,8 @@
 #include "robot.h"
 #include "ins_task.h"
 #include "motor_task.h"
-#include "referee_task.h"
-#include "master_process.h"
 #include "daemon.h"
-#include "HT04.h"
 #include "buzzer.h"
-#include "dmmotor.h"
 
 #include "bsp_log.h"
 
@@ -22,23 +17,16 @@ osThreadId insTaskHandle;
 osThreadId robotTaskHandle;
 osThreadId motorTaskHandle;
 osThreadId daemonTaskHandle;
-osThreadId uiTaskHandle;
 
 void StartINSTASK(void const *argument);
 void StartMOTORTASK(void const *argument);
 void StartDAEMONTASK(void const *argument);
 void StartROBOTTASK(void const *argument);
-void StartUITASK(void const *argument);
 
-/**
- * @brief 初始化机器人任务,所有持续运行的任务都在这里初始化
- *
- */
 void OSTaskInit()
 {
     osThreadDef(instask, StartINSTASK, osPriorityAboveNormal, 0, 1024);
-    insTaskHandle = osThreadCreate(osThread(instask), NULL); // 由于是阻塞读取传感器,为姿态解算设置较高优先级,确保以1khz的频率执行
-    // // 后续修改为读取传感器数据准备好的中断处理,
+    insTaskHandle = osThreadCreate(osThread(instask), NULL);
 
     osThreadDef(motortask, StartMOTORTASK, osPriorityNormal, 0, 256);
     motorTaskHandle = osThreadCreate(osThread(motortask), NULL);
@@ -48,36 +36,27 @@ void OSTaskInit()
 
     osThreadDef(robottask, StartROBOTTASK, osPriorityNormal, 0, 1024);
     robotTaskHandle = osThreadCreate(osThread(robottask), NULL);
-
-    // osThreadDef(uitask, StartUITASK, osPriorityNormal, 0, 512);
-    // uiTaskHandle = osThreadCreate(osThread(uitask), NULL);
-     DMMotorControlInit(); // 初始化大电机
-
-
 }
 
 __attribute__((noreturn)) void StartINSTASK(void const *argument)
 {
-    static float ins_start;
-    static float ins_dt;
-    INS_Init(); // 确保BMI088被正确初始化.
+    static float ins_start, ins_dt;
+    INS_Init();
     LOGINFO("[freeRTOS] INS Task Start");
     for (;;)
     {
-        // 1kHz
         ins_start = DWT_GetTimeline_ms();
         INS_Task();
         ins_dt = DWT_GetTimeline_ms() - ins_start;
         if (ins_dt > 1)
-            LOGERROR("[freeRTOS] INS Task is being DELAY! dt = [%f]", &ins_dt);
+            LOGERROR("[freeRTOS] INS Task DELAY dt=%.3f", ins_dt);
         osDelay(1);
     }
 }
 
 __attribute__((noreturn)) void StartMOTORTASK(void const *argument)
 {
-    static float motor_dt;
-    static float motor_start;
+    static float motor_start, motor_dt;
     LOGINFO("[freeRTOS] MOTOR Task Start");
     for (;;)
     {
@@ -85,56 +64,39 @@ __attribute__((noreturn)) void StartMOTORTASK(void const *argument)
         MotorControlTask();
         motor_dt = DWT_GetTimeline_ms() - motor_start;
         if (motor_dt > 1)
-            LOGERROR("[freeRTOS] MOTOR Task is being DELAY! dt = [%f]", &motor_dt);
+            LOGERROR("[freeRTOS] MOTOR Task DELAY dt=%.3f", motor_dt);
         osDelay(1);
     }
 }
 
 __attribute__((noreturn)) void StartDAEMONTASK(void const *argument)
 {
-    static float daemon_dt;
-    static float daemon_start;
+    static float daemon_start, daemon_dt;
     BuzzerInit();
     LOGINFO("[freeRTOS] Daemon Task Start");
     for (;;)
     {
-        // 100Hz
         daemon_start = DWT_GetTimeline_ms();
         DaemonTask();
         BuzzerTask();
         daemon_dt = DWT_GetTimeline_ms() - daemon_start;
         if (daemon_dt > 10)
-            LOGERROR("[freeRTOS] Daemon Task is being DELAY! dt = [%f]", &daemon_dt);
+            LOGERROR("[freeRTOS] Daemon Task DELAY dt=%.3f", daemon_dt);
         osDelay(10);
     }
 }
 
 __attribute__((noreturn)) void StartROBOTTASK(void const *argument)
 {
-    static float robot_dt;
-    static float robot_start;
+    static float robot_start, robot_dt;
     LOGINFO("[freeRTOS] ROBOT core Task Start");
-    // 200Hz-500Hz,若有额外的控制任务如平衡步兵可能需要提升至1kHz
     for (;;)
     {
         robot_start = DWT_GetTimeline_ms();
         RobotTask();
         robot_dt = DWT_GetTimeline_ms() - robot_start;
         if (robot_dt > 5)
-            LOGERROR("[freeRTOS] ROBOT core Task is being DELAY! dt = [%f]", &robot_dt);
+            LOGERROR("[freeRTOS] ROBOT core Task DELAY dt=%.3f", robot_dt);
         osDelay(2);
     }
 }
-
-__attribute__((noreturn)) void StartUITASK(void const *argument)
-{
-    LOGINFO("[freeRTOS] UI Task Start");
-    MyUIInit();
-    LOGINFO("[freeRTOS] UI Init Done, communication with ref has established");
-    for (;;)
-    {
-        // 每给裁判系统发送一包数据会挂起一次,详见UITask函数的refereeSend()
-        UITask();
-        osDelay(1); // 即使没有任何UI需要刷新,也挂起一次,防止卡在UITask中无法切换
-    }
-}