chore: upgrade FreeRTOS to v2 (CMSIS-RTOS_V2), update CubeMX project config

- Remove CMSIS-RTOS v1 (cmsis_os.h/cmsis_os.c), add CMSIS-RTOS v2 (cmsis_os2.c/freertos_os2.h/mpool.h)
- Update FreeRTOS kernel, port, and headers to match v2 integration
- Remove unused heap implementations, keep heap_4
- Update CubeMX project config (.mxproject, .ioc, CMakeLists.txt)
- Update FreeRTOSConfig.h, freertos.c, main.c, stm32h7xx_it.c
- Update application modules (master_machine, dmmotor)
- Add CMSIS-RTOS2 headers, mpu_syscall_numbers.h, newlib/picolibc support

.vscode/launch.json

@@ -2,6 +2,21 @@
     // 启动调试的快捷键是F5
     "version": "0.2.0",
     "configurations": [
+        
+        {
+            "type": "stlinkgdbtarget",
+            "request": "launch",
+            "name": "STM32Cube: Launch ST-Link GDB Server",
+            "origin": "snippet",
+            "cwd": "${workspaceFolder}",
+            "preBuild": "${command:st-stm32-ide-debug-launch.build}",
+            "runEntry": "main",
+            "imagesAndSymbols": [
+                {
+                    "imageFileName": "${command:st-stm32-ide-debug-launch.get-projects-binary-from-context1}"
+                }
+            ]
+        },
         // 使用dap-link(如无线调试器时的参考配置)
         {
             "name": "DAPlink",