refactor(FOC): 添加Doxygen文档注释并优化SVPWM算法性能

添加了完整的Doxygen文档注释到FOC算法模块的所有函数、类和变量，提升了代码可读性和维护性。同时优化了SVPWM算法实现，将atan2f替换为符号法扇区判断，显著提升计算效率（约15周期vs atan2f 300周期），并改进了arm_sin_cos_f32替代sqrtf提高性能。

feat(FOC): 统一电气角度计算避免重复运算

重构代码以统一电气角度计算，在各个控制循环中只计算一次电气角度并传递给需要的函数，避免了多次重复的fmodf运算和角度归一化操作，提升了实时控制性能。

refactor(Filter): 改进α-β观测器角度处理精度

修改角度卡尔曼滤波器在归一化角度空间[0,360)内工作，避免大累积角度的浮点精度损失问题，确保静止状态下不会产生虚假速度，同时保持与下游代码的兼容性。

refactor: 为算法模块添加完整文档注释

为所有算法模块(FOC、Filter、pid、thermal)添加了详细的Doxygen文档注释，包括函数说明、参数描述、返回值说明等，便于代码理解和API文档生成。

Robot_V2/RTE/Device/GD32C103CB/system_gd32c10x.c

@@ -42,6 +42,7 @@
 #define __SYS_OSC_CLK     (__IRC8M)                /* main oscillator frequency */
 
 /* Vector Table base offset */
+/** @brief APP_BASE 宏定义 */
 #define APP_BASE            ((uint32_t)0x08012000U)        /*!< main FLASH base address          */
 #define VECT_TAB_OFFSET  (uint32_t)APP_BASE-FLASH_BASE                    /* This value must be a multiple of 0x200. */
 
@@ -62,6 +63,7 @@
 
 /* The following is to prevent Vcore fluctuations caused by frequency switching. 
    It is strongly recommended to include it to avoid issues caused by self-removal. */
+/** @brief RCU_MODIFY_4 宏定义 */
 #define RCU_MODIFY_4(__delay)   do{                                     \
                                     volatile uint32_t i, reg;           \
                                     if(0 != __delay){                   \
@@ -103,49 +105,101 @@
                                     }                                   \
                                 }while(0)
 
+/** @brief SEL_IRC8M 宏定义 */
 #define SEL_IRC8M       0x00U
+/** @brief SEL_HXTAL 宏定义 */
 #define SEL_HXTAL       0x01U
+/** @brief SEL_PLL 宏定义 */
 #define SEL_PLL         0x02U
 
 /* set the system clock frequency and declare the system clock configuration function */
 #ifdef __SYSTEM_CLOCK_IRC8M
 uint32_t SystemCoreClock = __SYSTEM_CLOCK_IRC8M;
+/**
+ * @brief system_clock_8m_irc8m 函数
+ * @return void
+ */
 static void system_clock_8m_irc8m(void);
 #elif defined (__SYSTEM_CLOCK_48M_PLL_IRC8M)
 uint32_t SystemCoreClock = __SYSTEM_CLOCK_48M_PLL_IRC8M;
+/**
+ * @brief system_clock_48m_irc8m 函数
+ * @return void
+ */
 static void system_clock_48m_irc8m(void);
 #elif defined (__SYSTEM_CLOCK_72M_PLL_IRC8M)
 uint32_t SystemCoreClock = __SYSTEM_CLOCK_72M_PLL_IRC8M;
+/**
+ * @brief system_clock_72m_irc8m 函数
+ * @return void
+ */
 static void system_clock_72m_irc8m(void);
 #elif defined (__SYSTEM_CLOCK_108M_PLL_IRC8M)
 uint32_t SystemCoreClock = __SYSTEM_CLOCK_108M_PLL_IRC8M;
+/**
+ * @brief system_clock_108m_irc8m 函数
+ * @return void
+ */
 static void system_clock_108m_irc8m(void);
 #elif defined (__SYSTEM_CLOCK_120M_PLL_IRC8M)
 uint32_t SystemCoreClock = __SYSTEM_CLOCK_120M_PLL_IRC8M;
+/**
+ * @brief system_clock_120m_irc8m 函数
+ * @return void
+ */
 static void system_clock_120m_irc8m(void);
 
 #elif defined (__SYSTEM_CLOCK_HXTAL)
 uint32_t SystemCoreClock = __SYSTEM_CLOCK_HXTAL;
+/**
+ * @brief system_clock_hxtal 函数
+ * @return void
+ */
 static void system_clock_hxtal(void);
 #elif defined (__SYSTEM_CLOCK_48M_PLL_HXTAL)
 uint32_t SystemCoreClock = __SYSTEM_CLOCK_48M_PLL_HXTAL;
+/**
+ * @brief system_clock_48m_hxtal 函数
+ * @return void
+ */
 static void system_clock_48m_hxtal(void);
 #elif defined (__SYSTEM_CLOCK_72M_PLL_HXTAL)
 uint32_t SystemCoreClock = __SYSTEM_CLOCK_72M_PLL_HXTAL;
+/**
+ * @brief system_clock_72m_hxtal 函数
+ * @return void
+ */
 static void system_clock_72m_hxtal(void);
 #elif defined (__SYSTEM_CLOCK_108M_PLL_HXTAL)
 uint32_t SystemCoreClock = __SYSTEM_CLOCK_108M_PLL_HXTAL;
+/**
+ * @brief system_clock_108m_hxtal 函数
+ * @return void
+ */
 static void system_clock_108m_hxtal(void);
 #elif defined (__SYSTEM_CLOCK_120M_PLL_HXTAL)
 uint32_t SystemCoreClock = __SYSTEM_CLOCK_120M_PLL_HXTAL;
+/**
+ * @brief system_clock_120m_hxtal 函数
+ * @return void
+ */
 static void system_clock_120m_hxtal(void);
 #endif /* __SYSTEM_CLOCK_IRC8M */
 
 /* configure the system clock */
+/**
+ * @brief system_clock_config 函数
+ * @return void
+ */
 static void system_clock_config(void);
 
 /* software delay to prevent the impact of Vcore fluctuations.
    It is strongly recommended to include it to avoid issues caused by self-removal. */
+/**
+ * @brief _soft_delay_ 函数
+ * @param[in] time 参数
+ * @return void
+ */
 static void _soft_delay_(uint32_t time)
 {
     __IO uint32_t i;