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_task.c

@@ -1,25 +1,7 @@
 #include "motor_task.h"
-#include "LK9025.h"
-#include "HT04.h"
-#include "dji_motor.h"
-#include "step_motor.h"
-#include "servo_motor.h"
+#include "dmmotor.h"
 
 void MotorControlTask()
 {
-    // static uint8_t cnt = 0; 设定不同电机的任务频率
-    // if(cnt%5==0) //200hz
-    // if(cnt%10==0) //100hz
-    DJIMotorControl();
-
-    /* 如果有对应的电机则取消注释,可以加入条件编译或者register对应的idx判断是否注册了电机 */
-    LKMotorControl();
-
-    // legacy support
-    // 由于ht04电机的反馈方式为接收到一帧消息后立刻回传,以此方式连续发送可能导致总线拥塞
-    // 为了保证高频率控制,HTMotor中提供了以任务方式启动控制的接口,可通过宏定义切换
-    // HTMotorControl();
-    // 将所有的CAN设备集中在一处发送,最高反馈频率仅能达到500Hz,为了更好的控制效果,应使用新的HTMotorControlInit()接口
-
-    // StepMotorControl();
+    DMMotorControl();
 }