refactor(timer): 引入任务调度机制替代硬编码定时操作

通过定义 `TaskScheduler` 结构体和相关枚举类型，
将原TIMER2中断中耦合的操作解耦成多个独立任务标志，
便于后续维护和扩展，并提高系统实时响应能力。

feat(FOC): 优化电压安全范围与PID参数配置
将电压计算中的 `voltage_power_supply` 替换为更安全的 `v_safe`，
并引入电压有效性检测逻辑。同时调整PID控制器参数以适配12V供电场景。
此外，统一布尔变量初始化方式，提升代码可读性和安全性。

chore(build): 更新CMSIS工具链版本依赖
更新vcpkg配置文件中CMSIS Toolbox的版本要求，
从2.11.0升级至2.12.0，确保构建环境兼容最新功能及修复。

Robot_V2/Algorithm/DengFOC.cpp

@@ -4,12 +4,9 @@
 #include "Timer.h"
 #include "adc.h"
 #include "ang_sensor.h"
-#include "gd32c10x_dbg.h"
 #include "initial.h"
 #include "pid.h"
-#include "systick.h"
 #include <cmath>
-#include <cstdio>
 #include <gd32c10x.h>
 #include <stdint.h>
 
@@ -76,13 +73,13 @@ inline void FOC_Controlroller::setPhaseVoltage(float Uq, float Ud) {
 	Uc = (-Ualpha - sqrt3 * Ubeta) * 0.5f + v_half;
 
 	// 计算占空比
-	float dc_a = _constrain(Ua / voltage_power_supply, 0.0f, 1.0f);
-	float dc_b = _constrain(Ub / voltage_power_supply, 0.0f, 1.0f);
-	float dc_c = _constrain(Uc / voltage_power_supply, 0.0f, 1.0f);
+	float dc_a = _constrain(Ua / v_safe, 0.0f, 1.0f);
+	float dc_b = _constrain(Ub / v_safe, 0.0f, 1.0f);
+	float dc_c = _constrain(Uc / v_safe, 0.0f, 1.0f);
 	// 设置PWM输出
-	dc_a = dc_a * limit_voltage / voltage_power_supply;
-	dc_b = dc_b * limit_voltage / voltage_power_supply;
-	dc_c = dc_c * limit_voltage / voltage_power_supply;
+	dc_a = dc_a * limit_voltage / v_safe;
+	dc_b = dc_b * limit_voltage / v_safe;
+	dc_c = dc_c * limit_voltage / v_safe;
 	Set_3Pwm(dc_a, dc_b, dc_c);
 	// std::printf("PWM:%f,%f,%f\n", dc_a, dc_b, dc_c);
 }
@@ -101,9 +98,9 @@ void FOC_Controlroller::shut_down() {
  *
  */
 void FOC_Controlroller::resume() {
-	thermal_uncontrol = 0;
-	voltage_error = 0;
-	is_shut_down = 0;
+	thermal_uncontrol = false;
+	voltage_error = false;
+	is_shut_down = false;
 	gpio_bit_set(GPIOB, GPIO_PIN_12);
 }
 /**
@@ -112,7 +109,14 @@ void FOC_Controlroller::resume() {
  */
 void FOC_Controlroller::update_power(void) {
 	voltage_power_supply = sampler.get_vbus_voltage();
-	v_half = voltage_power_supply * 0.5f;
+	if (voltage_power_supply < 36.0f and voltage_power_supply > 8.0f) {
+		voltage_error = false;
+		v_half = voltage_power_supply * 0.5f;
+		v_safe = voltage_power_supply * 0.95f;
+	}
+	else {
+		voltage_error = true;
+	}
 }
 
 /**
@@ -158,7 +162,7 @@ float FOC_Controlroller::velocity_open_loop() {
 float FOC_Controlroller::angle_control(float target_angle) {
 	// PID 控制计算
 	float Uq = angle_loop(target_angle - rt_angle);
-	
+
 	// 获取电机轴角度
 	shaft_angle = KTH7823.getcurrent_sensorangle() * DEG2RAD;
 	// 设置相电压

Robot_V2/Algorithm/DengFOC.h

@@ -14,10 +14,10 @@ class FOC_Controlroller {
 	float target_velocity = 0.0f;
 	float rt_angle = 0.0f;
 	float rt_velocity = 0.0f;
-	bool thermal_uncontrol = 0;
-	bool voltage_error = 0;
-	bool is_shut_down = 0;
-	float voltage_power_supply = 24.0f;			// 电源电压
+	bool thermal_uncontrol = false;
+	bool voltage_error = false;
+	bool is_shut_down = false;
+	float voltage_power_supply = 24.0f; // 电源电压
 
 	float velocity_open_loop();
 	float angle_control(float target_angle);
@@ -36,10 +36,16 @@ class FOC_Controlroller {
 	float Ualpha, Ubeta = 0, Ua = 0, Ub = 0, Uc = 0;
 	float zero_electric_angle = 0;
 	float v_half = voltage_power_supply * 0.5f; // 电源电压的一半
+	float v_safe = voltage_power_supply * 0.95f;
 
-	PIDController vel_loop =PIDController{1.8f, 1.2f, 0.0002f, 1000000, voltage_power_supply};
-	PIDController angle_loop =
-		PIDController{140.0f, 80.0f, 0.005f, 10000000, voltage_power_supply};
+	// PIDController vel_loop =PIDController{1.8f, 1.2f, 0.0002f, 1000000,
+	// voltage_power_supply};//8V
+	// PIDController angle_loop = PIDController{140.0f, 80.0f, 0.005f, 10000000,
+	// 										 voltage_power_supply}; // 8V
+	PIDController vel_loop = PIDController{1.0f, 0.85f, 0.0002f, 1000000,
+										   voltage_power_supply}; // 12V
+	PIDController angle_loop = PIDController{70.0f, 75.0f, 0.0001f, 10000000,
+											 voltage_power_supply}; // 12V
 
 	void setPhaseVoltage(float Uq, float Ud);
 };

Robot_V2/Algorithm/Filter.cpp

@@ -2,6 +2,7 @@
 #include "ang_sensor.h"
 #include <algorithm>
 #include <array>
+#include <cstdio>
 #include <cstring>
 #include <stdint.h>
 

Robot_V2/Algorithm/Filter.h

@@ -1,6 +1,7 @@
 #ifndef _FILTER_H
 #define _FILTER_H
 
+#include <cstdio>
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -95,7 +96,6 @@ template <typename T> class KalmanFilter {
 
 		x += K * (measurement - x); // 更新状态估计
 		P = (1 - K) * P;			// 更新误差协方差
-
 		return x;
 	}
 

Robot_V2/Algorithm/pid.cpp

@@ -1,5 +1,4 @@
 #include "pid.h"
-#include "Timer.h"
 #define _constrain(amt, low, high)                                             \
 	((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
 #include "Can.h"

Robot_V2/Algorithm/thermal.cpp

@@ -2,7 +2,6 @@
 #include "Can.h"
 #include "DengFOC.h"
 #include "adc.h"
-#include <cstdio>
 
 extern sampler sampler;
 extern CAN_transmiter CAN0_transmiter;
@@ -12,7 +11,7 @@ extern FOC_Controlroller FOC;
 	((a) > (b) ? ((a) > (c) ? (a) : (c)) : ((b) > (c) ? (b) : (c)))
 
 constexpr u16 PROTECT_TIME = 6000; // 过热保护时间，单位*10ms
-u16 ThermalController::update() {
+u32 ThermalController::update() {
 	thermal_value = thermal_value * thermalRate;
 	thermal_value +=
 		SQUARE(sampler.get_drv_temp()) + SQUARE(sampler.get_mcu_temp());
@@ -38,5 +37,5 @@ u16 ThermalController::update() {
 		remainingTime10Ms = PROTECT_TIME; // 过热停机10秒
 		return remainingTime10Ms;
 	}
-	return remainingTime10Ms;
+	return thermal_value;
 }

Robot_V2/Algorithm/thermal.h

@@ -17,7 +17,7 @@ class ThermalController {
 	u16 gapTimeMs = 10;		// 单次计算间隔ms
 	u16 remainingTime10Ms = 0; // 过热冷却剩余ms
   public:
-	u16 update();
+	u32 update();
 	void reset() {
 		thermal_value = 0;
 		remainingTime10Ms = 0;