Initial commit: PY32MD530H28U7TR步进电机控制器项目

完整实现了以下模块：
- 系统数据总线(sys_data_bus)模块间通信
- UART/USART/LPUART驱动 + RS485半双工
- I2C驱动(AS5600角度传感器 + AT24C02 EEPROM)
- Modbus RTU从站协议
- 步进电机微步进控制(正弦/余弦换相+S曲线加减速)
- 到位开关驱动(DI_MIN/DI_MAX)
- PGA+ADC电流检测
- 系统监控任务(内存/串口/传感器/任务状态)
- LED/Key外设驱动
- 基于CMake + arm-none-eabi-gcc构建系统

drv/uart/uart_driver.h

@@ -0,0 +1,38 @@
+#ifndef UART_DRIVER_H__
+#define UART_DRIVER_H__
+
+#include "common_types.h"
+#include <stdint.h>
+
+typedef enum {
+    UART_ID_USART1 = 0,
+    UART_ID_UART1,
+    UART_ID_LPUART1,
+    UART_ID_COUNT,
+} uart_id_t;
+
+typedef struct {
+    uint32_t tx_bytes;
+    uint32_t rx_bytes;
+    uint32_t overflow_errors;
+} uart_stats_t;
+
+typedef struct {
+    uint32_t baudrate;
+    uint8_t  data_bits;
+    uint8_t  stop_bits;
+    uint8_t  parity;
+} uart_config_t;
+
+ret_code_t uart_init(uart_id_t id, const uart_config_t *config);
+ret_code_t uart_deinit(uart_id_t id);
+ret_code_t uart_send(uart_id_t id, const uint8_t *data, uint32_t len);
+ret_code_t uart_receive(uart_id_t id, uint8_t *data, uint32_t len, uint32_t timeout);
+ret_code_t uart_send_dma(uart_id_t id, const uint8_t *data, uint32_t len);
+ret_code_t uart_receive_dma(uart_id_t id, uint8_t *data, uint32_t len);
+uint32_t uart_available(uart_id_t id);
+ret_code_t uart_set_rs485_dir(uart_id_t id, uint8_t tx_mode);
+const uart_stats_t* uart_get_stats(uart_id_t id);
+void uart_reset_stats(uart_id_t id);
+
+#endif