feat: add DEBUG mode with host-side PID tuning, motor enable/disable protection

- Add DEBUG mode (parallel to AUTO/MANUAL) for real-time PID parameter tuning
- New 0xA8 debug frame: 12 floats for vision/motor angle PID tuning params
- DMMotorSetMode: send zero-velocity before disable, clear PID to prevent jumps
- motor_enable topic: pub from robot_cmd, sub in gimbal, controls motor on/off
- motor_pid topic: pub from robot_cmd, sub in gimbal, updates motor angle PID
- Rename DM motor enums (DM_CMD_ENABLE_MODE/DISABLE_MODE, DM_Motor_Ctrl_Mode_e)
- SwitchToAuto/Manual: re-enable motors when switching back from DEBUG mode
- Static-allocate enable_msg/pid_tune in GimbalTask to avoid stack churn
- Add docs/host_comm_guide.md with Python Tkinter tuning GUI example
- Remove ARCHITECTURE.md

modules/master_machine/master_machine.h

@@ -9,7 +9,7 @@
 #include <string.h>
 
 /*
- * 上位机串口协议 — 三种帧类型, 通过帧头区分
+ * 上位机串口协议 — 四种帧类型, 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]
@@ -22,7 +22,14 @@
  *
  * ---- 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
+ *   cmd: 0x01=自动模式, 0x02=手动模式, 0x03=激光开, 0x04=激光关, 0x05=调试模式
+ *
+ * ---- 调试调参帧 0xA8 (50 字节) ----
+ *   [SOF:0xA8][vision_yaw_Kp:4][vision_yaw_Ki:4][vision_yaw_Kd:4]
+ *   [vision_pitch_Kp:4][vision_pitch_Ki:4][vision_pitch_Kd:4]
+ *   [motor_yaw_Kp:4][motor_yaw_Ki:4][motor_yaw_Kd:4]
+ *   [motor_pitch_Kp:4][motor_pitch_Ki:4][motor_pitch_Kd:4][checksum:1]
+ *   全部 float, 依次为视觉环 yaw/pitch 和电机角度环 yaw/pitch 的 PID 参数
  *
  * checksum: 帧头到数据末尾前一字节累加和取低8位
  */
@@ -30,22 +37,26 @@
 #define VISION_SOF_AUTO    0xA5
 #define VISION_SOF_MANUAL  0xA6
 #define VISION_SOF_CMD     0xA7
+#define VISION_SOF_DEBUG   0xA8
 
 #define VISION_AUTO_LEN    10
 #define VISION_MANUAL_LEN  11
 #define VISION_CMD_LEN     3
+#define VISION_DEBUG_LEN   50
 
 /* 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
+#define VISION_CMD_SWITCH_DEBUG   0x05
 
 /* 工作模式 */
 typedef enum
 {
     VISION_MODE_AUTO   = 0,  // 自动/视觉追踪
     VISION_MODE_MANUAL = 1,  // 手动
+    VISION_MODE_DEBUG  = 2,  // 调试
 } Vision_Mode_e;
 
 typedef struct
@@ -61,6 +72,13 @@ typedef struct
     float pitch_ref;
     uint8_t manual_updated; // 收到新的手动数据帧标志
 
+    /* 调试模式数据 */
+    float vision_yaw_Kp, vision_yaw_Ki, vision_yaw_Kd;
+    float vision_pitch_Kp, vision_pitch_Ki, vision_pitch_Kd;
+    float motor_yaw_Kp, motor_yaw_Ki, motor_yaw_Kd;
+    float motor_pitch_Kp, motor_pitch_Ki, motor_pitch_Kd;
+    uint8_t debug_updated;
+
     /* 命令 */
     uint8_t cmd;            // 最新命令码
     uint8_t cmd_pending;    // 有待处理命令标志