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/ethercat_sync.cpp

@@ -36,20 +36,6 @@ void EthercatSync::init()
     exti_interrupt_enable(CONFIG_ESC_SYNC0_EXTI);
     exti_interrupt_flag_clear(CONFIG_ESC_SYNC0_EXTI);
     nvic_irq_enable(CONFIG_ESC_SYNC0_IRQn, CONFIG_IRQ_PREEMPT_ETHERCAT_SYNC, 0U);
-
-    /* ESC IRQ:PB1 -> EXTI1,下降沿,preempt=1 */
-    gpio_exti_source_select(CONFIG_ESC_IRQ_EXTI_SOURCE_PORT, CONFIG_ESC_IRQ_EXTI_SOURCE_PIN);
-    exti_init(CONFIG_ESC_IRQ_EXTI, EXTI_INTERRUPT, EXTI_TRIG_FALLING);
-    exti_interrupt_enable(CONFIG_ESC_IRQ_EXTI);
-    exti_interrupt_flag_clear(CONFIG_ESC_IRQ_EXTI);
-    nvic_irq_enable(CONFIG_ESC_IRQ_IRQn, CONFIG_IRQ_PREEMPT_ETHERCAT_ESC, 0U);
-
-    /* SYNC1:PB2 -> EXTI2,下降沿,preempt=1(备用) */
-    gpio_exti_source_select(CONFIG_ESC_SYNC1_EXTI_SOURCE_PORT, CONFIG_ESC_SYNC1_EXTI_SOURCE_PIN);
-    exti_init(CONFIG_ESC_SYNC1_EXTI, EXTI_INTERRUPT, EXTI_TRIG_FALLING);
-    exti_interrupt_enable(CONFIG_ESC_SYNC1_EXTI);
-    exti_interrupt_flag_clear(CONFIG_ESC_SYNC1_EXTI);
-    nvic_irq_enable(CONFIG_ESC_SYNC1_IRQn, CONFIG_IRQ_PREEMPT_ETHERCAT_SYNC1, 0U);
 #else
     /* ---- 降级模式:TIMER0 内部定时 ---- */
     rcu_periph_clock_enable(RCU_TIMER0);
@@ -66,21 +52,20 @@ void EthercatSync::init()
     timer_interrupt_enable(TIMER0, TIMER_INT_UP);
     nvic_irq_enable(TIMER0_IRQn, CONFIG_IRQ_PREEMPT_ETHERCAT_SYNC, 0U);
     timer_enable(TIMER0);
+#endif
 
-    /* ESC IRQ:PB1 -> EXTI1,下降沿,preempt=1 */
+    /* 公共:ESC IRQ (PB1->EXTI1) + SYNC1 (PB2->EXTI2) */
     gpio_exti_source_select(CONFIG_ESC_IRQ_EXTI_SOURCE_PORT, CONFIG_ESC_IRQ_EXTI_SOURCE_PIN);
     exti_init(CONFIG_ESC_IRQ_EXTI, EXTI_INTERRUPT, EXTI_TRIG_FALLING);
     exti_interrupt_enable(CONFIG_ESC_IRQ_EXTI);
     exti_interrupt_flag_clear(CONFIG_ESC_IRQ_EXTI);
     nvic_irq_enable(CONFIG_ESC_IRQ_IRQn, CONFIG_IRQ_PREEMPT_ETHERCAT_ESC, 0U);
 
-    /* SYNC1:PB2 -> EXTI2,下降沿,preempt=1(备用) */
     gpio_exti_source_select(CONFIG_ESC_SYNC1_EXTI_SOURCE_PORT, CONFIG_ESC_SYNC1_EXTI_SOURCE_PIN);
     exti_init(CONFIG_ESC_SYNC1_EXTI, EXTI_INTERRUPT, EXTI_TRIG_FALLING);
     exti_interrupt_enable(CONFIG_ESC_SYNC1_EXTI);
     exti_interrupt_flag_clear(CONFIG_ESC_SYNC1_EXTI);
     nvic_irq_enable(CONFIG_ESC_SYNC1_IRQn, CONFIG_IRQ_PREEMPT_ETHERCAT_SYNC1, 0U);
-#endif
 }
 
 __attribute__((section(".ramfunc"), noinline))
@@ -106,7 +91,8 @@ void EthercatSync::onSync1Exti()
 {
     if (exti_interrupt_flag_get(CONFIG_ESC_SYNC1_EXTI) != RESET) {
         exti_interrupt_flag_clear(CONFIG_ESC_SYNC1_EXTI);
-        /* SYNC1 备用,暂不处理 */
+        /* 预留:SYNC1 通道当前未承载业务,仅清 EXTI 标志防止中断挂起;
+         * 启用 SYNC1 业务时在此处添加处理逻辑。 */
     }
 }
 
@@ -117,6 +103,8 @@ void EthercatSync::onTimerIrq()
         timer_interrupt_flag_clear(TIMER0, TIMER_INT_FLAG_UP);
         EthercatSlave::periodicIsr();
     }
+#else
+    /* EXTI 模式下 TIMER0 不使用,本函数为占位;CONFIG_ETHERCAT_SYNC_MODE=1 时激活。 */
 #endif
 }