feat(ethercat): LAN9252 bring-up完成，EEPROM烧录改主站侧并增强DC/AL可观测性

- 新增ESC硬件复位序列(1.5.25)：PB10驱动LAN9252 RST#，拉低30ms+释放后300ms轮询HBI就绪，
  满足tpurstd/trstia时序；此前RST#仅靠R44上拉自然释放
- 修正EXMC 16-bit地址左移(1.5.27)：HBI DATA偏移0x20000/0x30000→0x40000/0x60000；
  ADDSET 2→4 HCLK；片选更名NE1→NE0(LQFP100仅Region0)
- 按LAN9252手册/AN1907修正EEPROM镜像(1.5.28)：word1高字节0x00→0xCC(SYNC0/1 Map+Output，
  否则SYNC0留LATCH态DC过程数据死)、word2=5000(脉宽50µs)、尾部补真实0xFF；
  gen_eeprom.py按ETG.1000.6重写；DCU_ESI.xml PDI 0x05→0x8D、RxPdo/TxPdo互换改4×64bit对齐
- 删除GD32侧EEPROM烧录路径(1.5.29)：移除EscEeprom/esc_eeprom、eeprom_image.h及主循环
  烧录块，ESI镜像改由主站ecat_flash_eeprom.py经ESC 0x0500刷写(162字全校验通过)；
  HBI互斥补屏蔽EXTI2(SYNC1)，防Sync1_Isr两步事务打断主循环HBI访问致错址
- DC SYNC0通路可观测(1.5.30/31)：EthercatSync新增sync0/sync1/escirq三个volatile计数器，
  task_runner 5s按增量打印速率；SSC OD新增只读0x2000 SYNC Diag，主站SDO轮询网页显示
- AL通路诊断(1.5.32)：ECAT_Main/SetALStatus打印主站AL请求与写回状态+错误码，
  task_runner新增5s [ECAT][HB]心跳(仅同步ISR激活时)；dc_app.c导出EcatDbg_ReadAlDiag
- 删除死代码EthercatSlave::periodicIsr三缓冲PDO桥，PDO交换由SSC完成(4×64bit=32B)；
  EthercatSlave::init()恢复调用并以isBusReady()(BYTE_TEST)门控
- CANFD修复同通道突发只发3帧：transmitFrame新增allow_abort区分突发/软件队列路径，
  邮箱满落入软件TX队列(深度13)由TX完成中断drainTxQueueIsr回灌；BRS重新启用(0→1)
- motor_state新增CONFIG帧缓存(0x00000101, DLC 24)记录目标值回报，条目44B→76B、每页5→3
- SPI 0xA2诊断扩展action 20~24(ECAT_NRST拉低/拉高/浮空/回读)；新增ESP32 EN自检打印
- 版本号更新至1.5.32

GD32E508_DCU_APP/device/motor_state.cpp

@@ -34,32 +34,54 @@ void onCanFrame(uint8_t channel, uint32_t id, const uint8_t *data, uint8_t len)
         return;
     }
 
-    /* 掩码匹配 STATUS ID: 0x000N0100 */
-    if ((id & kMotorStatusIdMask) != kMotorStatusIdMatch) {
+    const uint32_t masked = id & kMotorStatusIdMask;
+
+    /* STATUS 帧 0x000N0100 (DLC 32, 实时值) */
+    if (masked == kMotorStatusIdMatch) {
+        const uint8_t node = static_cast<uint8_t>((id >> 16) & 0x0FU);
+        if (node < 1U || node > kMotorMaxNodes || channel >= kMotorChannels) {
+            return;
+        }
+
+        MotorSlot &slot = s_motorTable.slots[(node - 1U) * kMotorChannels + channel];
+
+        slot.node_id      = node;
+        slot.channel      = channel;
+        slot.online       = 1U;
+        slot.dlc          = (len <= kMotorStatusDlc) ? len : kMotorStatusDlc;
+        slot.rx_count++;
+        slot.last_rx_sec  = g_app_uptime_sec;
+        slot.seq          = ++s_motorTable.global_seq;
+
+        std::memcpy(slot.data, data, slot.dlc);
+        if (slot.dlc < kMotorStatusDlc) {
+            std::memset(&slot.data[slot.dlc], 0, kMotorStatusDlc - slot.dlc);
+        }
         return;
     }
 
-    const uint8_t node = static_cast<uint8_t>((id >> 16) & 0x0FU);
-    if (node < 1U || node > kMotorMaxNodes || channel >= kMotorChannels) {
+    /* CONFIG 帧 0x000N0101 (DLC 24, 目标值回报) */
+    if (masked == kMotorConfigIdMatch) {
+        const uint8_t node = static_cast<uint8_t>((id >> 16) & 0x0FU);
+        if (node < 1U || node > kMotorMaxNodes || channel >= kMotorChannels) {
+            return;
+        }
+
+        MotorSlot &slot = s_motorTable.slots[(node - 1U) * kMotorChannels + channel];
+
+        /* CONFIG 帧不更新 online 状态（仅 STATUS 帧维护在线检测） */
+        slot.node_id         = node;    /* 确保槽位不空 */
+        slot.channel         = channel;
+        slot.config_rx_count++;
+        slot.config_seq      = ++s_motorTable.global_seq;
+
+        const uint8_t copyLen = (len <= kMotorConfigDlc) ? len : kMotorConfigDlc;
+        std::memcpy(slot.config_data, data, copyLen);
+        if (copyLen < kMotorConfigDlc) {
+            std::memset(&slot.config_data[copyLen], 0, kMotorConfigDlc - copyLen);
+        }
         return;
     }
-
-    /* node×channel 双键槽位：同节点号在不同通道各自独立缓存，互不覆盖 */
-    MotorSlot &slot = s_motorTable.slots[(node - 1U) * kMotorChannels + channel];
-
-    slot.node_id      = node;
-    slot.channel      = channel;
-    slot.online       = 1U;
-    slot.dlc          = (len <= kMotorStatusDlc) ? len : kMotorStatusDlc;
-    slot.rx_count++;
-    slot.last_rx_sec  = g_app_uptime_sec;
-    slot.seq          = ++s_motorTable.global_seq;
-
-    /* 拷贝原始 payload */
-    std::memcpy(slot.data, data, slot.dlc);
-    if (slot.dlc < kMotorStatusDlc) {
-        std::memset(&slot.data[slot.dlc], 0, kMotorStatusDlc - slot.dlc);
-    }
 }
 
 void checkOffline()
@@ -137,6 +159,9 @@ uint16_t buildPayload(uint8_t page, uint8_t *buf, uint16_t maxLen)
         writeU32Le(&buf[offset + 4U], slot.rx_count);
         writeU32Le(&buf[offset + 8U], slot.seq);
         std::memcpy(&buf[offset + 12U], slot.data, kMotorStatusDlc);
+        writeU32Le(&buf[offset + 44U], slot.config_rx_count);
+        writeU32Le(&buf[offset + 48U], slot.config_seq);
+        std::memcpy(&buf[offset + 52U], slot.config_data, kMotorConfigDlc);
 
         offset += kMotorEntrySize;
         count++;