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

modules/imu/ins_task.c

@@ -176,10 +176,15 @@ void INS_Task(void)
         IMU_Temperature_Ctrl();
     }
 
-    if ((count++ % 1000) == 0)
+    if ((count % 1000) == 0)
     {
         // 1Hz 可以加入monitor函数,检查IMU是否正常运行/离线
+        LOGINFO("[IMU] Temperature: %d C, PWM: %d", (int)(BMI088.Temperature * 100), (int)TempCtrl.Output);
     }
+
+    count++;
+    if (count >= 10000)
+        count = 0;
 }
 
 /**