ci: upgrade github deprecated image and action

Signed-off-by: Huaqi Fang <578567190@qq.com>

Author: fanghuaqi

.github/workflows/doc.yaml

@@ -20,13 +20,13 @@ jobs:
   # This workflow contains a single job called "build"
   build:
     name: build documentation
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
 
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
       # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
       - name: Checkout Source Code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           submodules: recursive
 
@@ -50,7 +50,7 @@ jobs:
 
       # Update generated doc attachments
       - name: Upload generated document
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: nmsis-doc-${{ github.sha }}
           path: |