feat(build): 优化构建配置并引入日志分级系统

- 将优化级别从balanced调整为size，减少Flash占用
- 添加hardfault.cpp文件以增强故障诊断能力
- 关闭RTTI和异常处理以移除libcppabi运行时（节省约2.5KB Flash）
- 添加链接器参数输出未引用段与总量报告用于Flash尺寸分析

refactor(logging): 统一日志输出并实现编译时日志分级

- 将printf调用替换为模块化的日志宏（ECAT_LOGI、CAN_LOGI等）
- 实现CONFIG_*_LOG_ENABLE编译开关控制各模块INFO级日志
- 错误和关键事件使用LOG_ERR恒定保留，其他日志可编译时裁剪
- 保持原有日志内容不变，但支持链接器自动回收未使用的格式字符串

GD32E508_DCU_APP/comm/esc_exmc_bus.cpp

@@ -25,7 +25,7 @@ bool EscExmcBus::init()
 {
     s_ok = false;
 
-    printf("[ECAT][EXMC] init: enable RCU clocks\r\n");
+    ECAT_LOGI("[ECAT][EXMC] init: enable RCU clocks\r\n");
     rcu_periph_clock_enable(RCU_GPIOD);
     rcu_periph_clock_enable(RCU_GPIOE);
     rcu_periph_clock_enable(RCU_AF);
@@ -56,7 +56,7 @@ bool EscExmcBus::init()
     gpio_init(CONFIG_EXMC_NOE_PORT, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, CONFIG_EXMC_NOE_PIN);
     gpio_init(CONFIG_EXMC_NWE_PORT, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, CONFIG_EXMC_NWE_PIN);
     gpio_init(CONFIG_EXMC_NE1_PORT, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, CONFIG_EXMC_NE1_PIN);
-    printf("[ECAT][EXMC] init: GPIO configured (D0-D15/A16/A17/NOE/NWE/NE1)\r\n");
+    ECAT_LOGI("[ECAT][EXMC] init: GPIO configured (D0-D15/A16/A17/NOE/NWE/NE1)\r\n");
 
     /*
      * EXMC NOR/SRAM Region1：16-bit、非复用、异步写。
@@ -97,7 +97,7 @@ bool EscExmcBus::init()
 
     wr_timing = rw_timing;
 
-    printf("[ECAT][EXMC] init: applying NOR/SRAM Region1 params (16b, async, t_data=%u HCLK)\r\n",
+    ECAT_LOGI("[ECAT][EXMC] init: applying NOR/SRAM Region1 params (16b, async, t_data=%u HCLK)\r\n",
            (unsigned)rw_timing.asyn_data_setuptime);
 
     exmc_norsram_init(&norsram_init);
@@ -109,21 +109,21 @@ bool EscExmcBus::init()
     const uint16_t probe_low = read16((uint32_t)0x0000U << 1U);
     const uint16_t probe_high = read16((uint32_t)0x0002U << 1U);
     const uint32_t probe_id = ((uint32_t)probe_high << 16) | probe_low;
-    printf("[ECAT][EXMC] init: Region1 enabled, probe id_lo=0x%04X id_hi=0x%04X (id=0x%08lX)\r\n",
+    ECAT_LOGI("[ECAT][EXMC] init: Region1 enabled, probe id_lo=0x%04X id_hi=0x%04X (id=0x%08lX)\r\n",
            (unsigned)probe_low, (unsigned)probe_high, (unsigned long)probe_id);
 
     /* 总线挂死(全 0/全 1)视为 EXMC 未就绪;chip ID 完整校验在 EscLan9252::init()。 */
     if (probe_low == 0x0000U && probe_high == 0x0000U) {
-        printf("[ECAT][EXMC] init: FAIL, bus reads all-zero (check wiring/NE1/A16/timing)\r\n");
+        LOG_ERR("[ECAT][EXMC] init: FAIL, bus reads all-zero (check wiring/NE1/A16/timing)\r\n");
         return false;
     }
     if (probe_low == 0xFFFFU && probe_high == 0xFFFFU) {
-        printf("[ECAT][EXMC] init: FAIL, bus reads all-ones (check ESC power/NOE/NWE)\r\n");
+        LOG_ERR("[ECAT][EXMC] init: FAIL, bus reads all-ones (check ESC power/NOE/NWE)\r\n");
         return false;
     }
 
     s_ok = true;
-    printf("[ECAT][EXMC] init: OK, bus visible\r\n");
+    ECAT_LOGI("[ECAT][EXMC] init: OK, bus visible\r\n");
     return true;
 }
 

GD32E508_DCU_APP/comm/ethercat_slave.cpp

@@ -32,14 +32,14 @@ uint8_t EthercatSlave::s_alState = 0U;
 
 void EthercatSlave::init()
 {
-    printf("[ECAT][SLAVE] init: begin\r\n");
+    ECAT_LOGI("[ECAT][SLAVE] init: begin\r\n");
 
     if (!EscLan9252::init()) {
         /* EXMC 总线未就绪:无法继续读芯片 ID 与 AL 状态,统一上报 FAIL。 */
         s_chipId   = 0U;
         s_alState  = 0U;
         s_escReady = false;
-        printf("[ECAT][SLAVE] init: FAIL, ESC bus not ready\r\n");
+        LOG_ERR("[ECAT][SLAVE] init: FAIL, ESC bus not ready\r\n");
         s_inputWriteIdx = 0U;
         s_outputReadIdx = 0U;
         s_periodicSeq   = 0U;
@@ -50,7 +50,7 @@ void EthercatSlave::init()
     /* 第 1 层调试可观测性:读取芯片 ID 并打印 selfTest 结果 */
     s_chipId = EscLan9252::readChipId();
     const bool chipIdOk = (s_chipId == 0x87654321U);
-    printf("[ECAT][SLAVE] chip id=0x%08lX expected=0x%08lX selfTest=%s\r\n",
+    ECAT_LOGI("[ECAT][SLAVE] chip id=0x%08lX expected=0x%08lX selfTest=%s\r\n",
            (unsigned long)s_chipId, (unsigned long)0x87654321UL,
            chipIdOk ? "PASS" : "FAIL");
 
@@ -83,13 +83,13 @@ void EthercatSlave::init()
      * (如 SM Watchdog=0x1B、FMMU 配置错、邮箱协议错),需主站介入。 */
 
     if (!chipIdOk) {
-        printf("[ECAT][SLAVE] ESC NOT ready, sync ISR disabled (check EXMC wiring/timing)\r\n");
+        LOG_ERR("[ECAT][SLAVE] ESC NOT ready, sync ISR disabled (check EXMC wiring/timing)\r\n");
     } else if (s_alState < AL_STATE_SAFEOP) {
-        printf("[ECAT][SLAVE] chip id PASS, but AL state=0x%02X(%s) < SAFEOP(0x%02X), code=0x%02X\r\n",
+        LOG_ERR("[ECAT][SLAVE] chip id PASS, but AL state=0x%02X(%s) < SAFEOP(0x%02X), code=0x%02X\r\n",
                (unsigned)s_alState, alStateName, (unsigned)AL_STATE_SAFEOP, (unsigned)alCode);
-        printf("[ECAT][SLAVE] SYNC0 will not fire, full ESC config requires SSC integration\r\n");
+        LOG_ERR("[ECAT][SLAVE] SYNC0 will not fire, full ESC config requires SSC integration\r\n");
     } else {
-        printf("[ECAT][SLAVE] ESC ready, chip id=0x%08lX, AL state=0x%02X(%s), code=0x%02X\r\n",
+        ECAT_LOGI("[ECAT][SLAVE] ESC ready, chip id=0x%08lX, AL state=0x%02X(%s), code=0x%02X\r\n",
                (unsigned long)s_chipId, (unsigned)s_alState, alStateName, (unsigned)alCode);
     }
 
@@ -97,7 +97,7 @@ void EthercatSlave::init()
     s_outputReadIdx = 0U;
     s_periodicSeq = 0U;
     s_processedSeq = 0U;
-    printf("[ECAT][SLAVE] init: %s\r\n", s_escReady ? "OK" : "FAIL(partial)");
+    LOG_ERR("[ECAT][SLAVE] init: %s\r\n", s_escReady ? "OK" : "FAIL(partial)");
 }
 
 __attribute__((section(".ramfunc"), noinline))