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。

vcpkg-configuration.json

@@ -1,16 +1,16 @@
 {
-	"registries": [
-		{
-			"name": "arm",
-			"kind": "artifact",
-			"location": "https://artifacts.tools.arm.com/vcpkg-registry"
-		}
-	],
-	"requires": {
-		"arm:tools/open-cmsis-pack/cmsis-toolbox": "2.11.0",
-		"arm:tools/kitware/cmake": "3.31.5",
-		"arm:tools/ninja-build/ninja": "1.12.1",
-		"arm:tools/arm/mdk-toolbox": "1.1.0",
-		"arm:compilers/arm/armclang": "6.24.0"
-	}
+ "registries": [
+  {
+   "name": "arm",
+   "kind": "artifact",
+   "location": "https://artifacts.tools.arm.com/vcpkg-registry"
+  }
+ ],
+ "requires": {
+  "arm:tools/open-cmsis-pack/cmsis-toolbox": "2.12.0",
+  "arm:tools/kitware/cmake": "3.31.5",
+  "arm:tools/ninja-build/ninja": "1.12.1",
+  "arm:tools/arm/mdk-toolbox": "1.1.0",
+  "arm:compilers/arm/armclang": "6.24.0"
+ }
 }