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/motor/motor_def.h

@@ -49,19 +49,13 @@ typedef enum
     OTHER_FEED,
 } Feedback_Source_e;
 
-/* 电机正反转标志 */
+/* 输出反向标志: 取反最终PID输出 */
 typedef enum
 {
-    MOTOR_DIRECTION_NORMAL = 0,
-    MOTOR_DIRECTION_REVERSE = 1
-} Motor_Reverse_Flag_e;
+    OUTPUT_DIRECTION_NORMAL  = 0,
+    OUTPUT_DIRECTION_REVERSE = 1,
+} Output_Reverse_Flag_e;
 
-/* 反馈量正反标志 */
-typedef enum
-{
-    FEEDBACK_DIRECTION_NORMAL = 0,
-    FEEDBACK_DIRECTION_REVERSE = 1
-} Feedback_Reverse_Flag_e;
 typedef enum
 {
     MOTOR_STOP = 0,
@@ -77,14 +71,13 @@ typedef enum
 /* 电机控制设置,包括闭环类型,反转标志和反馈来源 */
 typedef struct
 {
-    Closeloop_Type_e outer_loop_type;              // 最外层的闭环,未设置时默认为最高级的闭环
-    Closeloop_Type_e close_loop_type;              // 使用几个闭环(串级)
-    Motor_Reverse_Flag_e motor_reverse_flag;       // 是否反转
-    Feedback_Reverse_Flag_e feedback_reverse_flag; // 反馈是否反向
-    Feedback_Source_e angle_feedback_source;       // 角度反馈类型
-    Feedback_Source_e speed_feedback_source;       // 速度反馈类型
-    uint8_t feedforward_flag;            // 前馈标志
-    MOTOR_SEND_MODE_e send_mode;                   // 发送模式
+    Closeloop_Type_e outer_loop_type;        // 最外层的闭环
+    Closeloop_Type_e close_loop_type;        // 使用几个闭环(串级)
+    Output_Reverse_Flag_e output_reverse;    // 输出反向
+    Feedback_Source_e angle_feedback_source; // 角度反馈类型
+    Feedback_Source_e speed_feedback_source; // 速度反馈类型
+    uint8_t feedforward_flag;                // 前馈标志
+    MOTOR_SEND_MODE_e send_mode;             // 发送模式
 
 
 } Motor_Control_Setting_s;
@@ -111,12 +104,7 @@ typedef struct
 typedef enum
 {
     MOTOR_TYPE_NONE = 0,
-    GM6020,
-    M3508,
-    M2006,
-    LK9025,
-    HT04,
-    GM6020_NEW //新版固件6020
+    DM_MOTOR,
 } Motor_Type_e;
 
 /**