Replace compile-time orientation enum/macro approach with a general
3x3 rotation matrix IMU2BODY_ROTATION. User fills in the matrix
according to actual IMU mounting orientation. Matrix must be a proper
rotation (det = +1) to preserve right-handed coordinate system.
Support NORMAL, YAW_180, ROLL_180, PITCH_180 presets selected at compile
time by IMU_MOUNT_ORIENTATION macro. Replaces direct BMI088-to-INS
assignment with IMU_Mount_Correct() for sign flip and axis swap.
- DM motor send functions now fill txconf.Identifier from tx_id before CANTransmit
(MIT=tid, PosVel=tid+0x100, Velocity=tid+0x200, SetMode=tid)
- Enable motor task with stack size 1024 1000Hz
- Increase FDCAN1 StdFiltersNbr from 1 to 14
- Comment out INS temperature log, DM error handling and PID for testing
- Remove test_robot_cmd.c
- 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
SkyLiCoder