[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>

modules/bus/i2c/i2c_bus.c

@@ -0,0 +1,34 @@
+#include "i2c_bus.h"
+#include "i2c_if.h"
+#include <stdbool.h>
+
+
+int i2c_init(i2c_t* obj, int ch) {
+    if (!obj || obj->initialized) {
+        return -1;
+    }
+    obj->ch = ch;
+    obj->initialized = true;
+    i2c_if_init(ch);
+    return 0;
+}
+int i2c_mem_write(i2c_t* obj, uint16_t dev_addr, uint16_t mem_addr, uint16_t mem_add_size, const uint8_t *data, uint16_t size, uint32_t timeout) {
+    if (!obj || obj->initialized == false)
+        return -1;
+    return i2c_if_mem_write(obj->ch, dev_addr, mem_addr, mem_add_size, data, size, timeout);
+}
+int i2c_mem_read(i2c_t* obj, uint16_t dev_addr, uint16_t mem_addr, uint16_t mem_add_size, uint8_t *data, uint16_t size, uint32_t timeout) {
+    if (!obj || obj->initialized == false)
+        return -1;
+    return i2c_if_mem_read(obj->ch, dev_addr, mem_addr, mem_add_size, data, size, timeout);
+}
+int i2c_write(i2c_t* obj, uint16_t dev_addr, const uint8_t *data, uint16_t size, uint32_t timeout) {
+    if (!obj || obj->initialized == false)
+        return -1;
+    return i2c_if_write(obj->ch, dev_addr, data, size, timeout);
+}
+int i2c_read(i2c_t* obj, uint16_t dev_addr, uint8_t *data, uint16_t size, uint32_t timeout) {
+    if (!obj || obj->initialized == false)
+        return -1;
+    return i2c_if_read(obj->ch, dev_addr, data, size, timeout);
+}

modules/bus/i2c/i2c_bus.h

@@ -0,0 +1,17 @@
+#ifndef I2C_BUS_H
+#define I2C_BUS_H
+
+#include <stdint.h>
+#include <stdbool.h>
+
+typedef struct {
+    int ch;
+    bool initialized;
+} i2c_t;
+int i2c_init(i2c_t* obj, int ch);
+int i2c_mem_write(i2c_t* obj, uint16_t dev_addr, uint16_t mem_addr, uint16_t mem_add_size, const uint8_t *data, uint16_t size, uint32_t timeout);
+int i2c_mem_read(i2c_t* obj, uint16_t dev_addr, uint16_t mem_addr, uint16_t mem_add_size, uint8_t *data, uint16_t size, uint32_t timeout);
+int i2c_write(i2c_t* obj, uint16_t dev_addr, const uint8_t *data, uint16_t size, uint32_t timeout);
+int i2c_read(i2c_t* obj, uint16_t dev_addr, uint8_t *data, uint16_t size, uint32_t timeout);
+
+#endif

modules/bus/uart/uart.c

@@ -0,0 +1,76 @@
+#include "uart.h"
+
+int uart_init(uart_t *uart, int ch, const uart_config_t *cfg)
+{
+    if (!uart || !cfg)
+        return -1;
+
+    uart->ch  = ch;
+    uart->config = *cfg;
+
+    int ret = uart_if_init(ch, cfg);
+    if (ret == 0)
+        uart->initialized = 1;
+
+    return ret;
+}
+
+int uart_deinit(uart_t *uart)
+{
+    if (!uart || !uart->initialized)
+        return -1;
+
+    int ret = uart_if_deinit(uart->ch);
+    if (ret == 0)
+        uart->initialized = 0;
+
+    return ret;
+}
+
+int uart_send(uart_t *uart, const uint8_t *data, size_t size, uint32_t timeout)
+{
+    if (!uart || !uart->initialized || !data)
+        return -1;
+
+    return uart_if_send(uart->ch, data, size, timeout);
+}
+
+int uart_receive(uart_t *uart, uint8_t *data, size_t size, uint32_t timeout)
+{
+    if (!uart || !uart->initialized || !data)
+        return -1;
+
+    return uart_if_receive(uart->ch, data, size, timeout);
+}
+
+int uart_send_it(uart_t *uart, const uint8_t *data, size_t size)
+{
+    if (!uart || !uart->initialized || !data)
+        return -1;
+
+    return uart_if_send_it(uart->ch, data, size);
+}
+
+int uart_receive_it(uart_t *uart, uint8_t *data, size_t size)
+{
+    if (!uart || !uart->initialized || !data)
+        return -1;
+
+    return uart_if_receive_it(uart->ch, data, size);
+}
+
+int uart_putc(uart_t *uart, uint8_t c)
+{
+    if (!uart || !uart->initialized)
+        return -1;
+
+    return uart_if_putc(uart->ch, c);
+}
+
+int uart_getc(uart_t *uart, uint8_t *c)
+{
+    if (!uart || !uart->initialized || !c)
+        return -1;
+
+    return uart_if_getc(uart->ch, c);
+}

modules/bus/uart/uart.h

@@ -0,0 +1,23 @@
+#ifndef UART_H
+#define UART_H
+
+#include <stdint.h>
+#include <stddef.h>
+#include "uart_if.h"
+
+typedef struct {
+    int           ch;
+    int           initialized;
+    uart_config_t config;
+} uart_t;
+
+int uart_init(uart_t *uart, int ch, const uart_config_t *cfg);
+int uart_deinit(uart_t *uart);
+int uart_send(uart_t *uart, const uint8_t *data, size_t size, uint32_t timeout);
+int uart_receive(uart_t *uart, uint8_t *data, size_t size, uint32_t timeout);
+int uart_send_it(uart_t *uart, const uint8_t *data, size_t size);
+int uart_receive_it(uart_t *uart, uint8_t *data, size_t size);
+int uart_putc(uart_t *uart, uint8_t c);
+int uart_getc(uart_t *uart, uint8_t *c);
+
+#endif