Refactor and clean up codebase

- Removed unused constants and type aliases in app_spi_command_defs.h and temp_sensor.h.
- Simplified ISpiCommandHandler destructor to default.
- Eliminated redundant methods and comments in temp_sensor and usart0 files.
- Consolidated writeU32Le function to app_spi_command_defs.h for reuse.
- Updated comments for clarity and accuracy in task_manager.h and task_runner.cpp.
- Removed hardfault.h as it contained no declarations.
- Cleaned up CANFD and watchdog implementations by removing dead code and unnecessary comments.
- Updated version numbers in config.h to reflect recent changes.
- Enhanced error handling and diagnostics in hardfault handling.

GD32E508_DCU_APP/comm/esc_lan9252.cpp

@@ -28,7 +28,7 @@ void EscLan9252::init()
     EscExmcBus::init();
 
     /* ============================================================
-     * TODO: 完整 ESC 寄存器配置(需 SSC 或等价协议栈代码,本 spec 不实现)
+     * TODO(spec): 完整 ESC 寄存器配置(需 SSC 或等价协议栈代码,本 spec 不实现)
      * ============================================================
      * 当前仅完成 EXMC 总线初始化与芯片 ID 读取。要使 SYNC0 实际触发,还需配置:
      *
@@ -58,11 +58,6 @@ void EscLan9252::init()
      * ============================================================ */
 }
 
-bool EscLan9252::selfTest()
-{
-    return (readChipId() == LAN9252_CHIP_ID_VALUE);
-}
-
 uint32_t EscLan9252::readChipId()
 {
     /* INIT-ONLY:init 阶段中断未使能,但仍走 initOnly 路径保持一致性 */
@@ -77,11 +72,6 @@ uint16_t EscLan9252::readReg(uint16_t addr)
     return EscExmcBus::read16((uint32_t)addr << 1U);
 }
 
-void EscLan9252::writeReg(uint16_t addr, uint16_t val)
-{
-    EscExmcBus::write16((uint32_t)addr << 1U, val);
-}
-
 __attribute__((section(".ramfunc"), noinline))
 void EscLan9252::readPdi(uint16_t offset, uint8_t *buf, size_t len)
 {
@@ -121,24 +111,8 @@ void EscLan9252::writePdi(uint16_t offset, const uint8_t *buf, size_t len)
 }
 
 /* ---- initOnly* 接口:INIT-ONLY,仅允许在 EthercatSync::init() 使能 EXTI NVIC 之前调用 ----
- * 运行期禁止调用;需 ESC 寄存器访问须通过 SYNC0 ISR 代访队列(本 spec 不涵盖)。
- * 注:不再使用 PRIMASK 关中断(违反项目硬约束"Critical sections MUST use BASEPRI")。 */
+ * 运行期禁止调用;需 ESC 寄存器访问须通过 SYNC0 ISR 代访队列(本 spec 不涵盖)。 */
 uint16_t EscLan9252::initOnlyReadReg(uint16_t addr)
 {
     return readReg(addr);
 }
-
-void EscLan9252::initOnlyWriteReg(uint16_t addr, uint16_t val)
-{
-    writeReg(addr, val);
-}
-
-void EscLan9252::initOnlyReadPdi(uint16_t offset, uint8_t *buf, size_t len)
-{
-    readPdi(offset, buf, len);
-}
-
-void EscLan9252::initOnlyWritePdi(uint16_t offset, const uint8_t *buf, size_t len)
-{
-    writePdi(offset, buf, len);
-}