refactor(vd960Loop): 算法回退到 DLD154V4B，四通道适配

- 用 DLD154V4B vd1_task/per_channel 替换 vds_task 复杂算法
- 移除 FUNCTION_B/二次判断/快速变化/多重确认等增强特性
- 保留平坦性离开算法 (CN200910309382)，每通道独立状态
- 灵敏度表改为 DLD154V4B 4级: {216,108,36,10} / {108,72,18,9}
- 清理废弃类型: FltHistoryManager, Loop_ACS_Info, StageRangeConfig 等
- 首次添加 vd960DBN 完整源码

vd960Loop/utilities/at32f421_freertos_demo/inc/flash.h

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+/**
+  **************************************************************************
+  * @file     flash.h
+  * @brief    flash header file
+  **************************************************************************
+  *                       Copyright notice & Disclaimer
+  *
+  * The software Board Support Package (BSP) that is made available to
+  * download from Artery official website is the copyrighted work of Artery.
+  * Artery authorizes customers to use, copy, and distribute the BSP
+  * software and its related documentation for the purpose of design and
+  * development in conjunction with Artery microcontrollers. Use of the
+  * software is governed by this copyright notice and the following disclaimer.
+  *
+  * THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
+  * GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
+  * TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
+  * STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
+  * INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
+  * FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
+  *
+  **************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __FLASH_H__
+#define __FLASH_H__
+
+#include "at32f421_board.h"
+
+/** @addtogroup AT32F421_periph_examples
+  * @{
+  */
+#define DLD_BUFEER_SIZE                 100                         // byte number, sector
+#define DLD_FLASH_ADDRESS_START         (0x08000000 + 1024 * 63 + 512)    // The last sector
+#define DLD_FLASH_MAX_SIZE              (0x08000000 + 1024 * 64)
+
+#define MAX_Store_Size                  DLD_BUFEER_SIZE
+
+/** @addtogroup 421_FLASH_write_read
+  * @{
+  */
+
+
+/** @defgroup FLASH_write_read_functions
+  * @{
+  */
+
+void flash_read(uint32_t read_addr, uint16_t *p_buffer, uint16_t num_read);
+error_status flash_write_nocheck(uint32_t write_addr, uint16_t *p_buffer, uint16_t num_write);
+error_status flash_write(uint32_t write_addr,uint16_t *p_Buffer, uint16_t num_write);
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+
+#endif
+
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