更新OTA功能，config独立成文件统一定义

refactor(build): 更新项目配置和链接器设置
- 修改GD32C103CB的ROM基地址和大小配置
- 更新系统时钟向量表偏移量设置
- 在cproject.yml中添加BIN输出格式支持
- 增加-O3优化级别和代码移除选项
- 更新csolution版本依赖

feat(device): 优化ADC采样和配置管理
- 将DengFOC依赖替换为FOC模块
- 从config.h引入配置常量
- 重命名FILTER_SIZE为ADC_FILTER_SIZE以提高清晰度
- 优化温度和电流采样滤波实现

refactor(algorithm): 简化FOC控制函数接口
- 为angle_control、velocity_control等函数移除不必要的参数
- 统一函数指针类型定义
- 优化电流计算函数的代码格式
- 调整PID控制器初始化参数

Robot_V2/RTE/Device/GD32C103CB/ac6_linker_script.sct.src

@@ -32,7 +32,8 @@
 LR_ROM0 __ROM0_BASE __ROM0_SIZE  {
 
   ER_ROM0 __ROM0_BASE __ROM0_SIZE {
-    *.o (RESET, +First)
+    *.o (RESET, +First)           /* 向量表和复位处理程序 */
+    *(.text.init)                 /* 确保系统初始化代码在最前面 */
     *(InRoot$$Sections)
     *(+RO +XO)
   }

Robot_V2/RTE/Device/GD32C103CB/regions_GD32C103CB.h

@@ -14,10 +14,10 @@
 //   <o> Base address <0x0-0xFFFFFFFF:8>
 //   <i> Defines base address of memory region. Default: 0x08000000
 //   <i> Contains Startup and Vector Table
-#define __ROM0_BASE 0x08000000
+#define __ROM0_BASE 0x08011000
 //   <o> Region size [bytes] <0x0-0xFFFFFFFF:8>
 //   <i> Defines size of memory region. Default: 0x00020000
-#define __ROM0_SIZE 0x00020000
+#define __ROM0_SIZE 0x0000C000
 // </h>
 
 // <h> __ROM1 (unused)

Robot_V2/RTE/Device/GD32C103CB/system_gd32c10x.c

@@ -42,7 +42,8 @@
 #define __SYS_OSC_CLK     (__IRC8M)                /* main oscillator frequency */
 
 /* Vector Table base offset */
-#define VECT_TAB_OFFSET  0x00                      /* This value must be a multiple of 0x200. */
+#define APP_BASE            ((uint32_t)0x08011000U)        /*!< main FLASH base address          */
+#define VECT_TAB_OFFSET  (uint32_t)APP_BASE-FLASH_BASE                    /* This value must be a multiple of 0x200. */
 
 /* select a system clock by uncommenting the following line */
 /* use IRC8M */

Robot_V2/RTE/_Debug_GD32C103CB/RTE_Components.h

@@ -1,6 +1,6 @@
 /*
  * CSOLUTION generated file: DO NOT EDIT!
- * Generated by: csolution version 2.11.0
+ * Generated by: csolution version 2.12.0+p41-gfeadfc5e
  *
  * Project: 'Robot_V2.Debug+GD32C103CB' 
  * Target:  'Debug+GD32C103CB' 
@@ -17,8 +17,12 @@
 
 /* GigaDevice::Device:GD32C10x_StdPeripherals:ADC@1.0.0 */
 #define RTE_DEVICE_STDPERIPHERALS_ADC
+/* GigaDevice::Device:GD32C10x_StdPeripherals:BKP@1.0.0 */
+#define RTE_DEVICE_STDPERIPHERALS_BKP
 /* GigaDevice::Device:GD32C10x_StdPeripherals:CAN@1.0.0 */
 #define RTE_DEVICE_STDPERIPHERALS_CAN
+/* GigaDevice::Device:GD32C10x_StdPeripherals:CRC@1.0.0 */
+#define RTE_DEVICE_STDPERIPHERALS_CRC
 /* GigaDevice::Device:GD32C10x_StdPeripherals:DBG@1.0.0 */
 #define RTE_DEVICE_STDPERIPHERALS_DBG
 /* GigaDevice::Device:GD32C10x_StdPeripherals:DMA@1.0.0 */
@@ -37,6 +41,8 @@
 #define RTE_DEVICE_STDPERIPHERALS_PMU
 /* GigaDevice::Device:GD32C10x_StdPeripherals:RCU@1.0.0 */
 #define RTE_DEVICE_STDPERIPHERALS_RCU
+/* GigaDevice::Device:GD32C10x_StdPeripherals:RTC@1.0.0 */
+#define RTE_DEVICE_STDPERIPHERALS_RTC
 /* GigaDevice::Device:GD32C10x_StdPeripherals:SPI_I2S@1.0.0 */
 #define RTE_DEVICE_STDPERIPHERALS_SPI
 /* GigaDevice::Device:GD32C10x_StdPeripherals:TIMER@1.0.0 */

Robot_V2/RTE/_Release_GD32C103CB/RTE_Components.h

@@ -1,6 +1,6 @@
 /*
  * CSOLUTION generated file: DO NOT EDIT!
- * Generated by: csolution version 2.12.0
+ * Generated by: csolution version 2.12.0+p41-gfeadfc5e
  *
  * Project: 'Robot_V2.Release+GD32C103CB' 
  * Target:  'Release+GD32C103CB'