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_usart.c

@@ -2,11 +2,11 @@
     \file    gd32c10x_usart.c
     \brief   USART 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:
@@ -757,11 +757,14 @@ void usart_hardware_flow_coherence_config(uint32_t usart_periph, uint32_t hcm)
 */
 FlagStatus usart_flag_get(uint32_t usart_periph, usart_flag_enum flag)
 {
+    FlagStatus ret;
+
     if(RESET != (USART_REG_VAL(usart_periph, flag) & BIT(USART_BIT_POS(flag)))) {
-        return SET;
+        ret = SET;
     } else {
-        return RESET;
+        ret = RESET;
     }
+    return ret;
 }
 
 /*!
@@ -858,16 +861,18 @@ void usart_interrupt_disable(uint32_t usart_periph, usart_interrupt_enum interru
 FlagStatus usart_interrupt_flag_get(uint32_t usart_periph, usart_interrupt_flag_enum int_flag)
 {
     uint32_t intenable = 0U, flagstatus = 0U;
+    FlagStatus ret;
     /* get the interrupt enable bit status */
     intenable = (USART_REG_VAL(usart_periph, int_flag) & BIT(USART_BIT_POS(int_flag)));
     /* get the corresponding flag bit status */
     flagstatus = (USART_REG_VAL2(usart_periph, int_flag) & BIT(USART_BIT_POS2(int_flag)));
 
     if((0U != flagstatus) && (0U != intenable)) {
-        return SET;
+        ret = SET;
     } else {
-        return RESET;
+        ret = RESET;
     }
+    return ret;
 }
 
 /*!