fix: migrate CMSIS-RTOS v1 to v2 API, fix stack overflow and float format crash

- Replace osThreadDef/osThreadCreate/osThread with osThreadNew/osThreadAttr_t
- Replace osSignalWait with osThreadFlagsWait
- Change osThreadId to osThreadId_t, osPriority to osPriority_t
- Increase daemon task stack from 128 to 512 to fix stack overflow HardFault
- Cast BMI088.Temperature float to int before %d format to fix va_list misalignment

bsp/bsp_tools.h

@@ -13,5 +13,5 @@
  * @param priority 任务优先级,决定了在中断结束后能否保证立刻执行
  * @return uint32_t 信号量,用于唤醒该任务
  */
-uint32_t CreateCallbackTask(char *name, void *cbk, void *ins, osPriority priority);
+uint32_t CreateCallbackTask(char *name, void *cbk, void *ins, osPriority_t priority);