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

Core/Src/main.c

@@ -18,6 +18,8 @@
 /* USER CODE END Header */
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
+#include "FreeRTOS.h"
+#include "cmsis_os2.h"
 #include "adc.h"
 #include "dma.h"
 #include "fdcan.h"
@@ -63,6 +65,7 @@ uint8_t  W25Qxx_ReadBuffer[W25Qxx_NumByteToTest];		//	��������
 
 /* Private function prototypes -----------------------------------------------*/
 void SystemClock_Config(void);
+void MX_FREERTOS_Init(void);
 /* USER CODE BEGIN PFP */
 
 /* USER CODE END PFP */
@@ -103,7 +106,6 @@ int main(void)
   MX_GPIO_Init();
   MX_DMA_Init();
   MX_ADC1_Init();
-  MX_USB_DEVICE_Init();
   MX_TIM12_Init();
   MX_SPI1_Init();
   MX_SPI2_Init();
@@ -128,6 +130,15 @@ int main(void)
   LOGINFO("[main] SystemInit() and RobotInit() done");
   /* USER CODE END 2 */
 
+  /* Init scheduler */
+  osKernelInitialize();  /* Call init function for freertos objects (in cmsis_os2.c) */
+  MX_FREERTOS_Init();
+
+  /* Start scheduler */
+  osKernelStart();
+
+  /* We should never get here as control is now taken by the scheduler */
+
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
   while (1)