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/Robot_V2.cproject.yml

@@ -14,6 +14,7 @@ project:
         - file: sys/health.cpp
         - file: sys/flash.h
         - file: sys/flash.cpp
+        - file: sys/config.h
     - group: device
       files:
         - file: device/Can.cpp
@@ -31,18 +32,20 @@ project:
       files:
         - file: Algorithm/Filter.cpp
         - file: Algorithm/Filter.h
-        - file: Algorithm/DengFOC.cpp
-        - file: Algorithm/DengFOC.h
+        - file: Algorithm/FOC.cpp
+        - file: Algorithm/FOC.h
         - file: Algorithm/pid.cpp
         - file: Algorithm/pid.h
   components:
     - component: ARM::CMSIS:CORE
     - component: Device:Startup
+    - component: Device:EVAL:GD32C10x
+    - component: Device:GD32C10x_libopt
+    - component: Device:GD32C10x_StdPeripherals:FMC
     - component: Device:GD32C10x_StdPeripherals:ADC
     - component: Device:GD32C10x_StdPeripherals:CAN
     - component: Device:GD32C10x_StdPeripherals:DMA
     - component: Device:GD32C10x_StdPeripherals:EXTI
-    - component: Device:GD32C10x_StdPeripherals:FMC
     - component: Device:GD32C10x_StdPeripherals:GPIO
     - component: Device:GD32C10x_StdPeripherals:MISC
     - component: Device:GD32C10x_StdPeripherals:PMU
@@ -50,9 +53,7 @@ project:
     - component: Device:GD32C10x_StdPeripherals:SPI_I2S
     - component: Device:GD32C10x_StdPeripherals:TIMER
     - component: Device:GD32C10x_StdPeripherals:USART
-    - component: Device:GD32C10x_libopt
     - component: Device:GD32C10x_StdPeripherals:DBG
-    - component: Device:EVAL:GD32C10x
     - component: Device:GD32C10x_StdPeripherals:FWDGT
     - component: Device:GD32C10x_StdPeripherals:WWDGT
     - component: Device:GD32C10x_StdPeripherals:BKP
@@ -62,6 +63,7 @@ project:
     type:
       - elf
       - hex
+      - bin
       - map
   packs:
     - pack: ARM::CMSIS
@@ -73,11 +75,14 @@ project:
         - -fshort-wchar
         - -D__MICROLIB
         - -Wno-register
+        - -O3 # 添加优化级别
       C:
-        - -D__packed=packed
+        - -D__packed=__attribute__((packed))
       ASM:
-        - -D__packed=packed
+        - -D__packed=__attribute__((packed))
         - -D__MICROLIB
       Link:
         - --library_type=microlib
         - --entry=Reset_Handler
+        - --remove # 移除未使用的代码段
+        - --diag_suppress=L6207,L6210,L6218,L6220,L6222,L6224,L6226,L6228,L6230,L6232,L6234,L6236,L6238,L6240,L6242,L6244,L6246,L6248,L6308,L6329,L6310,L6312,L6314,L6316,L6318,L6320,L6322,L6324,L6326,L6328,L6330,L6332,L6334,L6336,L6338,L6340,L6342,L6344,L6346,L6348,L6350,L6352,L6354,L6311,L6313,L6315,L6317,L6319,L6321,L6323,L6325,L6327,L6329,L6331,L6333,L6335,L6337,L6339,L6341,L6343,L6345,L6347,L6349,L6351,L6353