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_spi.c

@@ -2,11 +2,11 @@
     \file    gd32c10x_spi.c
     \brief   SPI 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:
@@ -564,11 +564,14 @@ void spi_crc_next(uint32_t spi_periph)
 */
 uint16_t spi_crc_get(uint32_t spi_periph,uint8_t crc)
 {
+    uint16_t crc_value;
     if(SPI_CRC_TX == crc){
-        return ((uint16_t)(SPI_TCRC(spi_periph)));
+        crc_value = ((uint16_t)(SPI_TCRC(spi_periph)));
     }else{
-        return ((uint16_t)(SPI_RCRC(spi_periph)));
+        crc_value = ((uint16_t)(SPI_RCRC(spi_periph)));
     }
+
+    return crc_value;
 }
 
 /*!
@@ -670,28 +673,6 @@ void spi_quad_read_enable(uint32_t spi_periph)
     SPI_QCTL(spi_periph) |= (uint32_t)SPI_QCTL_QRD;
 }
 
-/*!
-    \brief      enable SPI quad wire mode SPI_IO2 and SPI_IO3 pin output
-    \param[in]  spi_periph: SPIx(only x=0)
-    \param[out] none
-    \retval     none
-*/
-void spi_quad_io23_output_enable(uint32_t spi_periph)
-{
-    SPI_QCTL(spi_periph) |= (uint32_t)SPI_QCTL_IO23_DRV;
-}
-
- /*!
-    \brief      disable SPI quad wire mode SPI_IO2 and SPI_IO3 pin output
-    \param[in]  spi_periph: SPIx(only x=0)
-    \param[out] none
-    \retval     none
-*/
-void spi_quad_io23_output_disable(uint32_t spi_periph)
-{
-    SPI_QCTL(spi_periph) &= (uint32_t)(~SPI_QCTL_IO23_DRV);
-}
-
 /*!
     \brief      enable SPI and I2S interrupt 
     \param[in]  spi_periph: SPIx(x=0,1,2)
@@ -773,6 +754,7 @@ void spi_i2s_interrupt_disable(uint32_t spi_periph, uint8_t interrupt)
 */
 FlagStatus spi_i2s_interrupt_flag_get(uint32_t spi_periph, uint8_t interrupt)
 {
+    FlagStatus status = RESET;
     uint32_t reg1 = SPI_STAT(spi_periph);
     uint32_t reg2 = SPI_CTL1(spi_periph);
 
@@ -817,10 +799,12 @@ FlagStatus spi_i2s_interrupt_flag_get(uint32_t spi_periph, uint8_t interrupt)
     }
     /* get SPI/I2S interrupt flag status */
     if((0U != reg1) && (0U != reg2)){
-        return SET;
+        status = SET;
     }else{
-        return RESET;
+        status = RESET;
     }
+
+    return status;
 }
 
 /*!
@@ -847,9 +831,12 @@ FlagStatus spi_i2s_interrupt_flag_get(uint32_t spi_periph, uint8_t interrupt)
 */
 FlagStatus spi_i2s_flag_get(uint32_t spi_periph, uint32_t flag)
 {
+    FlagStatus status = RESET;
     if(RESET != (SPI_STAT(spi_periph) & flag)){
-        return SET;
+        status = SET;
     }else{
-        return RESET;
+        status = RESET;
     }
+
+    return status;
 }