feat(esp32): 添加多电机OTA中继功能并优化调试日志系统

- 新增多电机状态、版本和OTA中继监控模块（monitor/motor_state.cpp,
  monitor/motor_version.cpp, monitor/motor_ota_relay.cpp）
- 在CAN反馈任务中添加0xC5/0xC6/0xD2类型消息处理，支持多电机状态推送
- 重构调试日志系统，将一次性JSON分配改为512B栈缓冲流式发送，降低内存峰值
- 调试UART波特率从115200提升至30000
- 修改版本管理方式，从自动生version.h改为手动维护
- 更新VSCode设置以支持ESP-IDF开发环境配置
- 在OTA协调器中添加电机OTA互斥机制，防止并发冲突
- 完善中继状态机异常处理，添加远程取消通知机制

main/monitor/motor_state.cpp

@@ -0,0 +1,137 @@
+/*
+ * motor_state.cpp - GD32 多电机状态推送解析与缓存 (SPI TYPE 0xC5)
+ */
+#include "monitor/motor_state.h"
+#include "esp_timer.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/semphr.h"
+
+#include <string.h>
+
+namespace {
+
+static SemaphoreHandle_t s_mux = nullptr;
+static motor_state_table_t s_table = {};
+
+static uint32_t rdU32Le(const uint8_t *p)
+{
+    return static_cast<uint32_t>(p[0])
+         | (static_cast<uint32_t>(p[1]) << 8)
+         | (static_cast<uint32_t>(p[2]) << 16)
+         | (static_cast<uint32_t>(p[3]) << 24);
+}
+
+static void ensureMux()
+{
+    if (s_mux == nullptr) {
+        s_mux = xSemaphoreCreateMutex();
+    }
+}
+
+} // namespace
+
+bool onMotorStateEvent(const uint8_t *payload, size_t len)
+{
+    if (payload == nullptr || len < MOTOR_PAGE_HEADER) {
+        return false;
+    }
+
+    const uint8_t page        = payload[0];
+    const uint8_t total_pages = payload[1];
+    const uint8_t entry_count = payload[2];
+    const uint8_t active_cnt  = payload[3];
+
+    if (page >= MOTOR_TOTAL_PAGES || total_pages == 0 || total_pages > MOTOR_TOTAL_PAGES) {
+        return false;
+    }
+
+    /* 验证长度足够容纳声明的 entry 数 */
+    const size_t expected = MOTOR_PAGE_HEADER + static_cast<size_t>(entry_count) * MOTOR_ENTRY_SIZE;
+    if (len < expected) {
+        return false;
+    }
+
+    ensureMux();
+    if (s_mux == nullptr) return false;
+    if (xSemaphoreTake(s_mux, pdMS_TO_TICKS(20)) != pdTRUE) return false;
+
+    /* page 0 时刷新全局字段。
+     * active 字节 bit7 = boot_active（总线上有电机在 BOOT，0x103 心跳），
+     * 低 7 位才是真实在线电机数。 */
+    if (page == 0) {
+        s_table.active_count = static_cast<uint8_t>(active_cnt & 0x7FU);
+        s_table.boot_active  = (active_cnt & 0x80U) ? 1U : 0U;
+    }
+
+    /* 逐条解析 entry */
+    size_t offset = MOTOR_PAGE_HEADER;
+    for (uint8_t i = 0; i < entry_count; ++i) {
+        const uint8_t *e = &payload[offset];
+        const uint8_t node = e[0];
+        if (node < 1 || node > MOTOR_MAX_NODES) {
+            offset += MOTOR_ENTRY_SIZE;
+            continue;
+        }
+
+        motor_slot_t &slot = s_table.slots[node - 1];
+        slot.node_id  = node;
+        slot.channel  = e[1];
+        slot.online   = e[2];
+        slot.dlc      = e[3];
+        slot.rx_count = rdU32Le(&e[4]);
+        slot.seq      = rdU32Le(&e[8]);
+        memcpy(slot.data, &e[12], MOTOR_STATUS_DLC);
+
+        offset += MOTOR_ENTRY_SIZE;
+    }
+
+    /* 统计有效槽位 */
+    uint8_t valid = 0;
+    for (uint8_t i = 0; i < MOTOR_MAX_NODES; ++i) {
+        if (s_table.slots[i].node_id != 0) valid++;
+    }
+    s_table.valid_slots = valid;
+    s_table.recv_ms = esp_timer_get_time() / 1000;
+    s_table.have_data = true;
+
+    xSemaphoreGive(s_mux);
+    return true;
+}
+
+bool getLatestMotorState(motor_state_table_t *out)
+{
+    if (out == nullptr) return false;
+    ensureMux();
+    if (s_mux == nullptr) return false;
+
+    bool ok = false;
+    if (xSemaphoreTake(s_mux, pdMS_TO_TICKS(20)) == pdTRUE) {
+        if (s_table.have_data) {
+            *out = s_table;
+            ok = true;
+        }
+        xSemaphoreGive(s_mux);
+    }
+    return ok;
+}
+
+uint32_t motorStateAgeMs(void)
+{
+    ensureMux();
+    if (s_mux == nullptr) return UINT32_MAX;
+
+    int64_t recv = 0;
+    bool have = false;
+    if (xSemaphoreTake(s_mux, pdMS_TO_TICKS(20)) == pdTRUE) {
+        have = s_table.have_data;
+        recv = s_table.recv_ms;
+        xSemaphoreGive(s_mux);
+    }
+    if (!have || recv <= 0) return UINT32_MAX;
+
+    const int64_t now = esp_timer_get_time() / 1000;
+    if (now < recv) return 0U;
+    const int64_t age = now - recv;
+    return (age > static_cast<int64_t>(UINT32_MAX)) ? UINT32_MAX
+                                                     : static_cast<uint32_t>(age);
+}