feat: 更新CMSIS和GD32C10x_DFP包版本并优化代码

- 升级ARM::CMSIS从4.5.0到6.1.0版本
- 添加ARM::CMSIS-DSP@1.16.2依赖包
- 升级GigaDevice::GD32C10x_DFP从1.0.1到1.5.0版本
- 移除FOC.cpp中未使用的systick.h头文件
- 移除pid.cpp中未使用的<algorithm>头文件
- 更新GD32C10x固件库至V1.7.0版本(2026-01-30)
- 修复ADC驱动中的无符号整数运算问题
- 优化BKP、CAN、CTC等外设驱动中的FlagStatus返回逻辑
- 改进CAN驱动的消息发送和传输停止函数实现
- 修复CRC、DMA、FMC等驱动中的数据类型和变量声明问题
- 清理和修正各驱动文件中的文档注释

Robot_V2/RTE/Device/GD32C103CB/gd32c10x_fmc.c

@@ -2,11 +2,11 @@
     \file    gd32c10x_fmc.c
     \brief   FMC driver
 
-    \version 2025-08-07, V1.6.0, firmware for GD32C10x
+    \version 2026-01-30, V1.7.0, firmware for GD32C10x
 */
 
 /*
-    Copyright (c) 2025, GigaDevice Semiconductor Inc.
+    Copyright (c) 2026, GigaDevice Semiconductor Inc.
 
     Redistribution and use in source and binary forms, with or without modification, 
 are permitted provided that the following conditions are met:
@@ -33,7 +33,6 @@ OF SUCH DAMAGE.
 */
 
 #include "gd32c10x_fmc.h"
-#include "stdio.h"
 
 /* FMC mask */
 #define LOW_8BITS_MASK             ((uint32_t)0x000000FFU)
@@ -508,7 +507,7 @@ fmc_state_enum ob_write_protection_enable(uint32_t ob_wp)
 */
 fmc_state_enum ob_security_protection_config(uint8_t ob_spc)
 {
-    uint8_t i;
+    uint32_t i;
     uint32_t op_byte[4];
     fmc_state_enum fmc_state = fmc_ready_wait(FMC_TIMEOUT_COUNT);
     for(i = 0U; i < 4U; i++){
@@ -574,7 +573,7 @@ fmc_state_enum ob_security_protection_config(uint8_t ob_spc)
 */
 fmc_state_enum ob_user_write(uint8_t ob_fwdgt, uint8_t ob_deepsleep, uint8_t ob_stdby)
 {
-    uint8_t i;
+    uint32_t i;
     uint32_t temp;
     uint32_t op_byte[4];
     fmc_state_enum fmc_state = fmc_ready_wait(FMC_TIMEOUT_COUNT);
@@ -582,7 +581,7 @@ fmc_state_enum ob_user_write(uint8_t ob_fwdgt, uint8_t ob_deepsleep, uint8_t ob_
     for(i = 0U; i < 4U; i++){
         op_byte[i] = OP_BYTE(i);
     }
-    temp = ((uint8_t)((uint8_t)((uint8_t)(ob_fwdgt) | ob_deepsleep) | ob_stdby) | (OB_USER_MASK));
+    temp = (uint32_t)(((uint32_t)((uint32_t)(ob_fwdgt) | ob_deepsleep) | ob_stdby) | OB_USER_MASK);
     op_byte[0] = ((uint32_t)(temp) << 16U) | ((op_byte[0] & LOW_16BITS_MASK));
 
     if(FMC_READY == fmc_state){
@@ -632,7 +631,7 @@ fmc_state_enum ob_user_write(uint8_t ob_fwdgt, uint8_t ob_deepsleep, uint8_t ob_
 
 fmc_state_enum ob_data_program(uint16_t ob_data)
 {
-    uint8_t i;
+    uint32_t i;
     uint32_t op_byte[4];
     fmc_state_enum fmc_state = fmc_ready_wait(FMC_TIMEOUT_COUNT);
     for(i = 0U; i < 4U; i++){
@@ -774,17 +773,21 @@ void fmc_ecc_interrupt_disable(uint32_t interrupt)
 FlagStatus fmc_ecc_interrupt_flag_get(uint32_t int_flag)
 {
     uint32_t intenable = 0U, flagstatus = 0U;
+
+    FlagStatus status = RESET;
     /* get the interrupt enable bit status */
     intenable = (FMC_REG_VAL(int_flag) & BIT(FMC_BIT_POS(int_flag)));
     /* get the corresponding flag bit status */
     flagstatus = (FMC_REG_VAL2(int_flag) & BIT(FMC_BIT_POS2(int_flag)));
 
     if(flagstatus && intenable) {
-        return SET;
+        status = SET;
     } else {
-        return RESET;
+        status = RESET;
     }
 
+    /* return the state of corresponding FMC interrupt flag */
+    return status;
 }
 
 /*!
@@ -989,7 +992,7 @@ void fmc_interrupt_flag_clear(uint32_t flag)
 static fmc_state_enum fmc_state_get(void)
 {
     fmc_state_enum fmc_state = FMC_READY;
-	
+  
     if((uint32_t)0x00U != (FMC_STAT & FMC_STAT_BUSY)){
         fmc_state = FMC_BUSY;
     }else{