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

modules/master_machine/master_machine.c

@@ -3,7 +3,7 @@
 VisionData_t vision_data;
 
 static USARTInstance *cv_usart_instance;
-static DaemonInstance *vision_daemon_instance;
+//static DaemonInstance *vision_daemon_instance;
 
 static uint8_t calc_checksum(uint8_t *buf, uint8_t len)
 {
@@ -15,7 +15,7 @@ static uint8_t calc_checksum(uint8_t *buf, uint8_t len)
 
 static void DecodeVision()
 {
-    DaemonReload(vision_daemon_instance);
+    //DaemonReload(vision_daemon_instance);
 
     static uint32_t counter;
     float dt = DWT_GetDeltaT(&counter);
@@ -71,5 +71,5 @@ void Vision_Uart_Init(UART_HandleTypeDef *_handle)
         .owner_id     = NULL,
         .reload_count = 10,
     };
-    vision_daemon_instance = DaemonRegister(&daemon_conf);
+    //vision_daemon_instance = DaemonRegister(&daemon_conf);
 }

modules/motor/DMmotor/dmmotor.c

@@ -111,7 +111,7 @@ static void DMMotorDecode(CANInstance *motor_can)
     DM_Motor_Measure_s *measure = &motor->measure;
     uint16_t tmp;
 
-    DaemonReload(motor->motor_daemon);
+    //DaemonReload(motor->motor_daemon);
 
     measure->id    = rxbuff[0] & 0x0F;
     measure->state = (rxbuff[0] >> 4) & 0x0F;
@@ -175,7 +175,7 @@ DMMotorInstance *DMMotorInit(DM_Motor_Init_Config_s *config)
         .owner_id = motor,
         .reload_count = 10,
     };
-    motor->motor_daemon = DaemonRegister(&conf);
+    //motor->motor_daemon = DaemonRegister(&conf);
 
     /* enable motor */
     DMMotorSetMode(DM_CMD_MOTOR_MODE, motor);