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/sys/config.h

@@ -0,0 +1,88 @@
+#ifndef __CONFIG_H
+#define __CONFIG_H
+#include <stdint.h>
+
+// 如果使用CMSIS DSP库，需要定义ARM_MATH_CM4
+// #define ARM_MATH_CM4
+
+#define EEP_DEBUG 1
+// BOOT 相关
+constexpr u32 BOOTLOADER_START_ADDR = 0x08000000; // BOOT起始地址
+constexpr u32 OTA_CONFIG_NUM = 6;
+constexpr u32 n_APP_LATEST_AVAL_ADDR = 0x0801D000;
+constexpr u32 n_APP_BACKUP_AVAL_ADDR = 0x0801D004;
+constexpr u32 n_APP_LATEST_EN_ADDR = 0x0801D008;
+constexpr u32 n_APP_BACKUP_EN_ADDR = 0x0801D00C;
+constexpr u32 n_APP_LATEST_CHECK_ADDR = 0x0801D010;
+constexpr u32 n_APP_BACKUP_CHECK_ADDR = 0x0801D014;
+constexpr u32 OTA_NOT_AVAL = 0xFFFFFFFF;
+constexpr u32 OTA_AVAL = 0x00000000; // 全零表示可用
+
+// 参数配置
+constexpr u8 PP = 11;
+constexpr float DIR = 1.0;
+constexpr u16 REDUCTION_RATIO = 25;
+constexpr float CURRENT_OFFSET = -1.615f; // 当前电流传感器的零点偏移
+constexpr float HOLD_PWM_DUTY = 0.95f;
+
+constexpr u32 CANFD_BOOT_ID = 0x00000000;
+constexpr u32 CANFD_STATUS_ID = 0x00010100;
+constexpr u32 CANFD_CONFIG_ID = 0x00010101;
+constexpr u32 CANFD_CMD_ID = 0x00010200;
+constexpr u32 CANFD_RESET_ID = 0x00010301;
+
+// 常量定义
+constexpr u8 SIZE_FLOAT = sizeof(float);
+constexpr u8 SIZE_U32 = sizeof(uint32_t);
+constexpr float ADC_MAX = 65536.0f;
+constexpr float PI = 3.14159265358979323846f;
+constexpr float ANGLE_FACTOR = 25.0f / 360.0f * 2.0f * PI;
+constexpr float DEG2RAD = 1.0f / 360.0f * 2 * PI;
+constexpr float RAD2DEG = 360.0f / 2 * PI;
+constexpr float _1_SQRT3 = 0.57735026919f; // 1/sqrt(3)
+constexpr float sqrt3dv2 = 0.86602540378f; // sqrt(3)/2的预计算值
+constexpr u8 DEFAULT_VALUE = 0;
+constexpr u8 CONFIG_SAVED_NUM = 6;
+
+// 三角函数快速计算LUT
+constexpr u16 LUT_SIZE = 1024;
+constexpr u16 LUT_MASK = (LUT_SIZE - 1);
+constexpr u16 LUT_SCALE = (LUT_SIZE / (2.0f * PI));
+
+// CAN相关
+constexpr u16 DEV_CAN0_ID = 0x0000;
+constexpr u16 DEV_CAN0_MASK = 0x0000;
+constexpr u16 DEV_CAN_LOOPBACK_ID = 0x0000;
+
+// ADC
+constexpr u8 ADC_FILTER_SIZE = 6;
+constexpr u8 BLOCK_SIZE = ADC_FILTER_SIZE * SIZE_FLOAT;
+constexpr float ERROR_ADC_VAL = 255.0f;
+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;
+
+// ang_sensor
+constexpr u16 VEL_FILTER_SIZE = 4;
+constexpr u16 DEFAULT_COMMAND = 0x0000;
+constexpr u16 FAULT_RECEIVE = 0xFFFF;
+constexpr float ANGLE_WRAP_THRESHOLD = 300.0f;
+constexpr float ANGLE_WRAP_VALUE = 360.0f;
+constexpr float RAD_FACTOR = 1.0f / ADC_MAX * 2.0f * PI;
+constexpr float ANGLESENS_FACTOR = 1.0f / ADC_MAX * 360.0f;
+
+// TIMER2-任务调度
+constexpr int TIMER2_PRESCALER = 119; // 120MHz / 120 = 1MHz
+constexpr int TIMER2_PERIOD = 99;	  // 1MHz / 100 = 100us
+
+// TIMER1-PWM
+constexpr int TIMER1_PRESCALER = 0; // 不分频，计数器时钟为120MHz
+constexpr int TIMER1_PERIOD = 5999; // 120MHz / (0+1) / (5999+1) = 20kHz
+constexpr int TIMER1_DEFAULT_PULSE = 0;
+constexpr int TIMER1_CH3_COMPARE_VALUE =
+	(TIMER1_PERIOD + 1) * 0.5 - 1; // PWM周期50%位置触发中断
+
+#endif