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/device/ADC.cpp

@@ -1,29 +1,22 @@
 #include "adc.h"
 #include "Can.h"
-#include "DengFOC.h"
+#include "FOC.h"
 #include "Filter.h"
+#include "config.h"
 #include "math.h"
+#include "systick.h"
 #include <cstring>
 #include <gd32c10x_dma.h>
 #include <stdint.h>
-#include "systick.h"
 
-constexpr float ERROR_ADC_VAL = 255.0f;
 constexpr float ADC_SCALE = 3.3f / 4096.0f;
 constexpr float TEMP_FACTOR = 1000.0f / 4.3f;
 constexpr float VCC_FACTOR = 11.0f;
-constexpr float CURRENT_OFFSET = -1.60f;
 constexpr float CURRENT_FACTOR =
 	1.0f / 50.0f * 100.0f; // 50倍放大，100倍电流采样电阻, 单位mA
-constexpr float MAX_TEMP = 150.0f;
-constexpr float MIN_TEMP = -40.0f;
-constexpr float MAX_CURRENT = 40.0f;
-constexpr float MIN_CURRENT = -40.0f;
-constexpr float MAX_VCC = 65.0f;
-constexpr float MIN_VCC = -0.1f;
 extern CAN_transmiter CAN0_transmiter;
 extern FOC_Controlroller FOC;
-sampler sampler; // 采样器初始化
+sampler sampler;		// 采样器初始化
 u16 adc_value[6] = {0}; // 显式初始化数组元素为0
 /*!
 	\brief      configure the DMA peripheral
@@ -116,7 +109,7 @@ u8 sampler::init() {
 	adc_config(); // ADC初始化
 	delay_1ms(1);
 	// 初始采样
-	for (int i = 0; i < FILTER_SIZE + 1; i++) {
+	for (int i = 0; i < ADC_FILTER_SIZE + 1; i++) {
 		mcu_temp_samples[i] =
 			(1.43f - adc_value[0] * ADC_SCALE) * TEMP_FACTOR + 35.0f;
 
@@ -142,7 +135,7 @@ u8 sampler::init() {
  * 温度值，单位为摄氏度，范围应在-40到145之间，如果读取失败则返回0.0f
  */
 float sampler::get_mcu_temp() {
-	tempora_sample = medium_filter(mcu_temp_samples, FILTER_SIZE + 1);
+	tempora_sample = medium_filter(mcu_temp_samples, ADC_FILTER_SIZE + 1);
 	// 检查温度读数是否在有效范围内
 	if (tempora_sample < MIN_TEMP or tempora_sample > MAX_TEMP) {
 		return ERROR_ADC_VAL;
@@ -158,7 +151,7 @@ float sampler::get_mcu_temp() {
  * 如果计算结果超出有效范围(-40到255摄氏度)，则重新采样计算。
  */
 float sampler::get_drv_temp() {
-	tempora_sample = medium_filter(drv_temp_samples, FILTER_SIZE + 1);
+	tempora_sample = medium_filter(drv_temp_samples, ADC_FILTER_SIZE + 1);
 	// 检查温度读数是否在有效范围内
 	if (tempora_sample < MIN_TEMP || tempora_sample > MAX_TEMP) {
 		return ERROR_ADC_VAL;
@@ -177,17 +170,17 @@ float sampler::get_current(char type) {
 	switch (type) {
 	case 'U': {
 		// return currU_samples[current_sample_index];
-		tempora_sample = medium_filter(currU_samples, FILTER_SIZE + 1);
+		tempora_sample = medium_filter(currU_samples, ADC_FILTER_SIZE + 1);
 		break;
 	}
 	case 'V': {
 		// return currV_samples[current_sample_index];
-		tempora_sample = medium_filter(currV_samples, FILTER_SIZE + 1);
+		tempora_sample = medium_filter(currV_samples, ADC_FILTER_SIZE + 1);
 		break;
 	}
 	case 'W': {
 		// return currW_samples[current_sample_index];
-		tempora_sample = medium_filter(currW_samples, FILTER_SIZE + 1);
+		tempora_sample = medium_filter(currW_samples, ADC_FILTER_SIZE + 1);
 		break;
 	}
 	default: {
@@ -209,10 +202,10 @@ float sampler::get_current(char type) {
  * 如果计算结果超出有效范围(-40到255伏特)，则重新采样计算。
  */
 float sampler::get_vbus_voltage() {
-	tempora_sample = medium_filter(vbus_samples, FILTER_SIZE + 1);
+	tempora_sample = medium_filter(vbus_samples, ADC_FILTER_SIZE + 1);
 	// 检查电压读数是否在有效范围内
-	if (vbus_samples[FILTER_SIZE / 2] > MAX_VCC or
-		vbus_samples[FILTER_SIZE / 2] < MIN_VCC) {
+	if (vbus_samples[ADC_FILTER_SIZE / 2] > MAX_VCC or
+		vbus_samples[ADC_FILTER_SIZE / 2] < MIN_VCC) {
 		return ERROR_ADC_VAL;
 	}
 	return tempora_sample;
@@ -226,8 +219,8 @@ float sampler::get_vbus_voltage() {
  */
 void sampler::update_mcu_temp() {
 	memmove(mcu_temp_samples, mcu_temp_samples + 1,
-			FILTER_SIZE * sizeof(float));
-	mcu_temp_samples[FILTER_SIZE] =
+			ADC_FILTER_SIZE * sizeof(float));
+	mcu_temp_samples[ADC_FILTER_SIZE] =
 		(1.43f - adc_value[0] * ADC_SCALE) * TEMP_FACTOR + 35.0f;
 }
 
@@ -236,9 +229,9 @@ void sampler::update_mcu_temp() {
  */
 void sampler::update_drv_temp() {
 	memmove(drv_temp_samples, drv_temp_samples + 1,
-			FILTER_SIZE * sizeof(float));
+			ADC_FILTER_SIZE * sizeof(float));
 	float R_now = (float)adc_value[1] / (4096 - (float)adc_value[1]) * 4700;
-	drv_temp_samples[FILTER_SIZE] =
+	drv_temp_samples[ADC_FILTER_SIZE] =
 		1.0f / (0.00335f + 0.00025f * log(R_now / 10000.0f)) - 273.15f;
 }
 
@@ -258,7 +251,7 @@ void sampler::update_current() {
 
 	// 更新索引
 	current_sample_index++;
-	if (current_sample_index >= FILTER_SIZE - 1) {
+	if (current_sample_index >= ADC_FILTER_SIZE - 1) {
 		current_sample_index = 0;
 	}
 	// 卡尔曼滤波更新
@@ -269,6 +262,6 @@ void sampler::update_current() {
  * @brief 更新供电电压
  */
 void sampler::update_vbus_voltage() {
-	memmove(vbus_samples, vbus_samples + 1, FILTER_SIZE * sizeof(float));
-	vbus_samples[FILTER_SIZE] = adc_value[5] * ADC_SCALE * VCC_FACTOR;
+	memmove(vbus_samples, vbus_samples + 1, ADC_FILTER_SIZE * sizeof(float));
+	vbus_samples[ADC_FILTER_SIZE] = adc_value[5] * ADC_SCALE * VCC_FACTOR;
 }