robinson cf934cf6b7 [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>

2026-05-21 01:38:11 +08:00

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