feat(comm): 添加EtherCAT CAN桥接和PDO功能模块

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添加了ethercat_can_bridge.h/cpp和ethercat_pdo.h/cpp四个文件，
扩展通信模块功能，支持CAN桥接和PDO相关操作。

fix(comm): 修复LAN9252 EXMC总线时序配置问题

将BUSLAT从1调整为4，确保满足数据手册要求的最小13ns间隔，
解决因时序余量不足导致的温漂偶发读错问题。

feat(comm): 配置ESC过程数据看门狗时间为1秒

修改ESC_REG_WD_TIME_PD寄存器值从默认100ms到1s，
防止主站调试周期触发SM2看门狗导致状态被拖回SAFEOP。

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cbb

2026-09-05 16:54:38 +08:00

parent 44d407390b

commit f9ef1b8da2

16 changed files with 2218 additions and 86 deletions

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GD32E508_DCU_APP/sys/config.h

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