feat(motor_state): 支持多通道电机状态管理并添加推送周期动态调节功能

- 实现 node×channel 双键槽位管理，支持同一节点号在不同CAN通道独立缓存
- 扩展电机状态表容量从9个槽位到27个槽位(9节点×3通道)
- 添加SPI命令子命令0xFE用于动态设置0xC5推送周期(50-5000ms)
- 增加运行时可调推送周期功能，默认250ms，支持50ms-5s范围调节
- 更新CAN通道配置，启用CH1和CH2通道支持
- 版本号更新至1.5.4

GD32E508_DCU_APP/device/motor_state.cpp

@@ -40,11 +40,12 @@ void onCanFrame(uint8_t channel, uint32_t id, const uint8_t *data, uint8_t len)
     }
 
     const uint8_t node = static_cast<uint8_t>((id >> 16) & 0x0FU);
-    if (node < 1U || node > kMotorMaxNodes) {
+    if (node < 1U || node > kMotorMaxNodes || channel >= kMotorChannels) {
         return;
     }
 
-    MotorSlot &slot = s_motorTable.slots[node - 1U];
+    /* 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;
@@ -66,7 +67,7 @@ void checkOffline()
     const uint32_t now = g_app_uptime_sec;
     uint8_t active = 0U;
 
-    for (uint8_t i = 0U; i < kMotorMaxNodes; ++i) {
+    for (uint8_t i = 0U; i < kMotorSlotCount; ++i) {
         MotorSlot &slot = s_motorTable.slots[i];
         if (slot.node_id == 0U) {
             continue; /* 空槽 */
@@ -115,7 +116,7 @@ uint16_t buildPayload(uint8_t page, uint8_t *buf, uint16_t maxLen)
 
     for (uint8_t i = 0U; i < kMotorEntriesPerPage; ++i) {
         const uint8_t slotIdx = static_cast<uint8_t>(startIdx + i);
-        if (slotIdx >= kMotorMaxNodes) {
+        if (slotIdx >= kMotorSlotCount) {
             break;
         }
 
@@ -145,4 +146,14 @@ uint16_t buildPayload(uint8_t page, uint8_t *buf, uint16_t maxLen)
     return offset;
 }
 
+uint16_t setPushPeriodMs(uint16_t ms)
+{
+    if (ms < kMotorPeriodMinMs) { ms = kMotorPeriodMinMs; }
+    if (ms > kMotorPeriodMaxMs) { ms = kMotorPeriodMaxMs; }
+    /* ms→tick：100us/tick，每 ms 10 tick。写 volatile uint16_t 在 Cortex-M 上为原子，
+     * tick100us(ISR) 读该值无擕裂风险。 */
+    g_scheduler.motor_state_period_ticks = static_cast<uint16_t>(ms * kMotorTicksPerMs);
+    return ms;
+}
+
 } // namespace MotorState