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/iap.h

@@ -0,0 +1,70 @@
+/**
+  **************************************************************************
+  * @file     iap.h
+  * @brief    iap 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.
+  *
+  **************************************************************************
+  */
+
+#ifndef __IAP_H__
+#define __IAP_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "at32f421_board.h"
+
+/** @addtogroup UTILITIES_examples
+  * @{
+  */
+
+/** @addtogroup USART_iap_bootloader
+  * @{
+  */
+
+/** @defgroup bootloader_definition
+  * @{
+  */
+
+/* app starting address */
+#define APP_START_ADDR          0x08003400      
+
+/* the previous sector of app starting address is iap upgrade flag */
+#define IAP_UPGRADE_FLAG_ADDR    (APP_START_ADDR - 0x800)
+
+#define UPGRADE_DAT_START_ADDR   APP_START_ADDR //0x0800A000  //  0x0804B000   //  0x08080000
+
+
+/* when app received cmd 0x5aa5 from pc-tool, will set up the flag,
+indicates that an app upgrade will follow, see iap application note for more details */
+#define IAP_UPGRADE_FLAG         0x41544B38
+#define IAP_UPGRADE_FLAG_9F      0x444C4439     //0x41544B39     //use 9F Protocol
+
+#define  IAP_UPGRADE_TYPE_DEFAULT       0
+#define  IAP_UPGRADE_TYPE_9F            1
+
+#define     IAP_CMD_READY                         0xA5
+#define     IAP_CMD_ADDR_START                    0xA6
+#define     IAP_CMD_TRAN_PKG_WITH_BACK            0xA7
+#define     IAP_CMD_TRAN_PKG_WITHOUT_OKBACK       0xA8
+
+
+#endif
+