fix(CAN): 使用DMA优化CAN通信数据收发

重新配置CAN引脚映射并实现基于DMA的数据收发机制，提升通信效率。增加了DMA通道4和5的中断处理函数，用于接收和发送CAN消息。修改了CAN发送函数以支持DMA传输，并去除了原有的轮询等待机制。

feat(ADC): 重新实现ADC与DMA初始化配置
将ADC和DMA的配置迁移至ADC.cpp文件中，完善了DMA循环采样模式配置及ADC多通道扫描功能。删除了initial.cpp中重复的初始化代码，并修正了相关头文件包含。

chore(headers): 清理冗余头文件引用
多个源文件中删除了不必要的标准库和硬件无关头文件引用，减少编译依赖，提高代码清晰度。

Robot_V2/device/ADC.cpp

@@ -1,10 +1,12 @@
 #include "adc.h"
 #include "Filter.h"
 #include "math.h"
-#include <cstdio>
 #include <cstring>
+#include "gd32c10x_eval.h"
+#include <gd32c10x_dma.h>
 #include <stdint.h>
 
+
 constexpr float ERROR_ADC_VAL = 255.0f;
 constexpr float ADC_SCALE = 3.3f / 4096.0f;
 constexpr float TEMP_FACTOR = 1000.0f / 4.3f;
@@ -21,11 +23,95 @@ constexpr float MAX_VCC = 65.0f;
 constexpr float MIN_VCC = -0.1f;
 
 u16 adc_value[6] = {0}; // 显式初始化数组元素为0
+/*!
+	\brief      configure the DMA peripheral
+	\param[in]  none
+	\param[out] none
+	\retval     none
+*/
+void dma_config(void) {
+	/* enable DMA0 clock */
+	rcu_periph_clock_enable(RCU_DMA0);
+	/* ADC_DMA_channel configuration */
+	dma_parameter_struct dma_data_parameter;
 
+	/* ADC DMA_channel configuration */
+	dma_deinit(DMA0, DMA_CH0);
+
+	/* initialize DMA single data mode */
+	dma_data_parameter.periph_addr = (uint32_t)(&ADC_RDATA(ADC0));
+	dma_data_parameter.periph_inc = DMA_PERIPH_INCREASE_DISABLE;
+	dma_data_parameter.memory_addr = (uint32_t)(adc_value);
+	dma_data_parameter.memory_inc = DMA_MEMORY_INCREASE_ENABLE;
+	dma_data_parameter.periph_width = DMA_PERIPHERAL_WIDTH_16BIT;
+	dma_data_parameter.memory_width = DMA_MEMORY_WIDTH_16BIT;
+	dma_data_parameter.direction = DMA_PERIPHERAL_TO_MEMORY;
+	dma_data_parameter.number = 6;
+	dma_data_parameter.priority = DMA_PRIORITY_HIGH;
+	dma_init(DMA0, DMA_CH0, &dma_data_parameter);
+
+	dma_circulation_enable(DMA0, DMA_CH0);
+
+	/* enable DMA channel */
+	dma_channel_enable(DMA0, DMA_CH0);
+}
+
+/*!
+	\brief      configure the ADC peripheral
+	\param[in]  none
+	\param[out] none
+	\retval     none
+*/
+void adc_config(void) {
+	/* enable ADC clock */
+	rcu_periph_clock_enable(RCU_ADC0);
+	/* config ADC clock */
+	rcu_adc_clock_config(RCU_CKADC_CKAPB2_DIV4);
+
+	/* 复位ADC */
+	adc_deinit(ADC0);
+	/* ADC模式配置 */
+	adc_mode_config(ADC_MODE_FREE);
+	/* 使能ADC连续转换功能 */
+	adc_special_function_config(ADC0, ADC_CONTINUOUS_MODE, ENABLE);
+	/* 使能ADC扫描模式 */
+	adc_special_function_config(ADC0, ADC_SCAN_MODE, ENABLE);
+	/* ADC数据右对齐配置 */
+	adc_data_alignment_config(ADC0, ADC_DATAALIGN_RIGHT);
+	/* 使能ADC温度传感器和内部参考电压 */
+	adc_tempsensor_vrefint_enable();
+
+	/* 配置ADC通道长度 */
+	adc_channel_length_config(ADC0, ADC_REGULAR_CHANNEL, 6);
+	/* 配置ADC规则通道 */
+	adc_regular_channel_config(ADC0, 0, ADC_CHANNEL_16,
+							   ADC_SAMPLETIME_239POINT5);
+	adc_regular_channel_config(ADC0, 1, ADC_CHANNEL_9, ADC_SAMPLETIME_55POINT5);
+	adc_regular_channel_config(ADC0, 2, ADC_CHANNEL_3, ADC_SAMPLETIME_55POINT5);
+	adc_regular_channel_config(ADC0, 3, ADC_CHANNEL_4, ADC_SAMPLETIME_55POINT5);
+	adc_regular_channel_config(ADC0, 4, ADC_CHANNEL_5, ADC_SAMPLETIME_55POINT5);
+	adc_regular_channel_config(ADC0, 5, ADC_CHANNEL_6, ADC_SAMPLETIME_55POINT5);
+
+	/* ADC触发配置 */
+	adc_external_trigger_source_config(ADC0, ADC_REGULAR_CHANNEL,
+									   ADC0_1_EXTTRIG_REGULAR_NONE);
+	adc_external_trigger_config(ADC0, ADC_REGULAR_CHANNEL, ENABLE);
+
+	/* 使能ADC接口 */
+	adc_enable(ADC0);
+	/* ADC校准 */
+	adc_calibration_enable(ADC0);
+	/* 使能ADC DMA功能 */
+	adc_dma_mode_enable(ADC0);
+	/* 使能ADC软件触发 */
+	adc_software_trigger_enable(ADC0, ADC_REGULAR_CHANNEL);
+}
 /**
  * @brief 采样类初始化
  */
 void sampler::init() {
+	dma_config(); // DMA采样ADC初始化
+	adc_config(); // ADC初始化
 	for (int i = 0; i < FILTER_SIZE + 1; i++) {
 		mcu_temp_samples[i] =
 			(1.43f - adc_value[0] * ADC_SCALE) * TEMP_FACTOR + 35.0f;