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

modules/algorithm/controller.c

@@ -28,8 +28,8 @@ static void f_Changing_Integration_Rate(PIDInstance *pid)
         // 积分呈累积趋势
         if (abs(pid->Err) <= pid->CoefB)
             return; // Full integral
-        if (abs(pid->Err) <= (pid->CoefA + pid->CoefB))
-            pid->ITerm *= (pid->CoefA - abs(pid->Err) + pid->CoefB) / pid->CoefA;
+        if (abs(pid->Err) <= (pid->CoefB + pid->CoefA))
+            pid->ITerm *= (pid->CoefB + pid->CoefA - abs(pid->Err)) / pid->CoefA;
         else // 最大阈值,不使用积分
             pid->ITerm = 0;
     }