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/opencv/opencv.h

@@ -1,22 +1,75 @@
 #ifndef OPENCV_H
 #define OPENCV_H
+
 #include "bsp_usart.h"
-#include "opencv.h"
-#include "bsp_log.h"
 #include "bsp_dwt.h"
+#include "bsp_log.h"
 #include "usart.h"
-#include "robot_def.h"
+#include "daemon.h"
 #include <string.h>
-#include <stdio.h>
 
+/*
+ * 上位机串口协议 — 三种帧类型, 通过帧头区分
+ *
+ * ---- 自动/视觉追踪数据帧 0xA5 (10 字节) ----
+ *   [SOF:0xA5][error_x:4][error_y:4][checksum:1]
+ *   error_x/y: float, 归一化误差, 视觉PID外环反馈值
+ *
+ * ---- 手动控制数据帧 0xA6 (11 字节) ----
+ *   [SOF:0xA6][zero_force:1][yaw_ref:4][pitch_ref:4][checksum:1]
+ *   zero_force: 0=正常角度控制, 1=零力/保持当前位置
+ *   yaw_ref/pitch_ref: float, 角度参考值 (degrees)
+ *
+ * ---- 命令帧 0xA7 (3 字节) ----
+ *   [SOF:0xA7][cmd:1][checksum:1]
+ *   cmd: 0x01=切换到自动模式, 0x02=切换到手动模式, 0x03=激光开, 0x04=激光关
+ *
+ * checksum: 帧头到数据末尾前一字节累加和取低8位
+ */
 
+#define VISION_SOF_AUTO    0xA5
+#define VISION_SOF_MANUAL  0xA6
+#define VISION_SOF_CMD     0xA7
 
+#define VISION_AUTO_LEN    10
+#define VISION_MANUAL_LEN  11
+#define VISION_CMD_LEN     3
+
+/* 命令码 */
+#define VISION_CMD_SWITCH_AUTO   0x01
+#define VISION_CMD_SWITCH_MANUAL 0x02
+#define VISION_CMD_LASER_ON      0x03
+#define VISION_CMD_LASER_OFF     0x04
+
+/* 工作模式 */
+typedef enum
+{
+    VISION_MODE_AUTO   = 0,  // 自动/视觉追踪
+    VISION_MODE_MANUAL = 1,  // 手动
+} Vision_Mode_e;
+
+typedef struct
+{
+    /* 自动模式数据 */
+    float error_x;
+    float error_y;
+    uint8_t auto_updated;   // 收到新的自动数据帧标志
+
+    /* 手动模式数据 */
+    uint8_t zero_force;
+    float yaw_ref;
+    float pitch_ref;
+    uint8_t manual_updated; // 收到新的手动数据帧标志
+
+    /* 命令 */
+    uint8_t cmd;            // 最新命令码
+    uint8_t cmd_pending;    // 有待处理命令标志
+
+    float frequency;        // 接收频率 (Hz)
+} VisionData_t;
+
+extern VisionData_t vision_data;
 
 void Vision_Uart_Init(UART_HandleTypeDef *_handle);
-extern float opencv_Vision_data[12]; // 视觉数据,12个float
-extern uint8_t Vison_revc_flag; // 视觉数据接收标志位
-extern uint8_t vision_used_flag; // 视觉数据使用标志位,用于判断是否需要使用视觉数据
-extern float Vison_Frequency; // 视觉数据频率
 
-
-#endif // !OPENCV_H
+#endif // OPENCV_H