[feat] UART command interface, per-motor control, filtering modules

- Add callback_task with ISR-based UART command parser (@command\n protocol)
- Add log_printf with mutex protection to prevent printf interleaving
- Add per-motor enable/disable (motor enable yaw|pitch)
- Add PID tuning via UART (pid roll kp 15)
- Add cmd_parser module (registration + tokenize + dispatch)
- Add UART layer architecture (interface → HAL → BSP)
- Add filter modules (lowpass, moving_average, notch, rate_limiter)
- Rewrite I2C bus and UART bus modules
- Rewrite PID controller and MF4010V2 motor driver
- Fix soft I2C driver

Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

interfaces/uart/uart_if.c

@@ -0,0 +1,85 @@
+#include "uart_if.h"
+
+static const uart_ops_t *g_uart_ops = 0;
+
+void uart_register_ops(const uart_ops_t *ops)
+{
+    g_uart_ops = ops;
+}
+
+int uart_if_init(int ch, const uart_config_t *cfg)
+{
+    if (!g_uart_ops || !g_uart_ops->init)
+        return -1;
+    return g_uart_ops->init(ch, cfg);
+}
+
+int uart_if_deinit(int ch)
+{
+    if (!g_uart_ops || !g_uart_ops->deinit)
+        return -1;
+    return g_uart_ops->deinit(ch);
+}
+
+int uart_if_send(int ch, const uint8_t *data, size_t size, uint32_t timeout)
+{
+    if (!g_uart_ops || !g_uart_ops->send)
+        return -1;
+    return g_uart_ops->send(ch, data, size, timeout);
+}
+
+int uart_if_receive(int ch, uint8_t *data, size_t size, uint32_t timeout)
+{
+    if (!g_uart_ops || !g_uart_ops->receive)
+        return -1;
+    return g_uart_ops->receive(ch, data, size, timeout);
+}
+
+int uart_if_send_it(int ch, const uint8_t *data, size_t size)
+{
+    if (!g_uart_ops || !g_uart_ops->send_it)
+        return -1;
+    return g_uart_ops->send_it(ch, data, size);
+}
+
+int uart_if_receive_it(int ch, uint8_t *data, size_t size)
+{
+    if (!g_uart_ops || !g_uart_ops->receive_it)
+        return -1;
+    return g_uart_ops->receive_it(ch, data, size);
+}
+
+int uart_if_send_dma(int ch, const uint8_t *data, size_t size)
+{
+    if (!g_uart_ops || !g_uart_ops->send_dma)
+        return -1;
+    return g_uart_ops->send_dma(ch, data, size);
+}
+
+int uart_if_receive_dma(int ch, uint8_t *data, size_t size)
+{
+    if (!g_uart_ops || !g_uart_ops->receive_dma)
+        return -1;
+    return g_uart_ops->receive_dma(ch, data, size);
+}
+
+int uart_if_abort(int ch)
+{
+    if (!g_uart_ops || !g_uart_ops->abort)
+        return -1;
+    return g_uart_ops->abort(ch);
+}
+
+int uart_if_putc(int ch, uint8_t c)
+{
+    if (!g_uart_ops || !g_uart_ops->putc)
+        return -1;
+    return g_uart_ops->putc(ch, c);
+}
+
+int uart_if_getc(int ch, uint8_t *c)
+{
+    if (!g_uart_ops || !g_uart_ops->getc)
+        return -1;
+    return g_uart_ops->getc(ch, c);
+}

interfaces/uart/uart_if.h

@@ -0,0 +1,46 @@
+#ifndef UART_IF_H
+#define UART_IF_H
+
+#include <stdint.h>
+#include <stddef.h>
+
+/* UART 配置参数 */
+typedef struct {
+    uint32_t baud_rate;
+    uint32_t word_length;    /* UART_WORDLENGTH_8B / UART_WORDLENGTH_9B */
+    uint32_t stop_bits;      /* UART_STOPBITS_1 / UART_STOPBITS_2 */
+    uint32_t parity;         /* UART_PARITY_NONE / UART_PARITY_EVEN / UART_PARITY_ODD */
+} uart_config_t;
+
+/* 默认配置: 115200-8N1 */
+#define UART_CONFIG_DEFAULT { 115200, UART_WORDLENGTH_8B, UART_STOPBITS_1, UART_PARITY_NONE }
+
+typedef struct {
+    int  (*init)(int ch, const uart_config_t *cfg);
+    int  (*deinit)(int ch);
+    int  (*send)(int ch, const uint8_t *data, size_t size, uint32_t timeout);
+    int  (*receive)(int ch, uint8_t *data, size_t size, uint32_t timeout);
+    int  (*send_it)(int ch, const uint8_t *data, size_t size);
+    int  (*receive_it)(int ch, uint8_t *data, size_t size);
+    int  (*send_dma)(int ch, const uint8_t *data, size_t size);
+    int  (*receive_dma)(int ch, uint8_t *data, size_t size);
+    int  (*abort)(int ch);
+    int  (*putc)(int ch, uint8_t c);
+    int  (*getc)(int ch, uint8_t *c);
+} uart_ops_t;
+
+void uart_register_ops(const uart_ops_t *ops);
+
+int uart_if_init(int ch, const uart_config_t *cfg);
+int uart_if_deinit(int ch);
+int uart_if_send(int ch, const uint8_t *data, size_t size, uint32_t timeout);
+int uart_if_receive(int ch, uint8_t *data, size_t size, uint32_t timeout);
+int uart_if_send_it(int ch, const uint8_t *data, size_t size);
+int uart_if_receive_it(int ch, uint8_t *data, size_t size);
+int uart_if_send_dma(int ch, const uint8_t *data, size_t size);
+int uart_if_receive_dma(int ch, uint8_t *data, size_t size);
+int uart_if_abort(int ch);
+int uart_if_putc(int ch, uint8_t c);
+int uart_if_getc(int ch, uint8_t *c);
+
+#endif