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feat(can): 添加CAN总线错误计数器和总线状态监控

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添加了硬件发送错误计数器(tec)、接收错误计数器(rec)和总线状态位图(bus_state)字段，
用于更全面的CAN总线状态监控。同时新增CAN_RX_MODE_BRIDGE_0_TO_12模式，支持CAN0到
CAN1和CAN2的桥接功能。

BREAKING CHANGE: CAN反馈协议格式扩展，增加了3个字节的状态信息。
This commit is contained in:
小龙虾
2026-07-02 02:02:27 +08:00
parent 6335d05198
commit 2fe5393769
13 changed files with 1054 additions and 244 deletions
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main/monitor/can_feedback_task.cpp
+1 -13
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@@ -57,19 +57,7 @@ static void taskLoop(void *)
if (rc == 0) {
publish(ch, fb);
const bool prevOk = s_prev_poll_ok[ch];
const bool changed = (!s_prev_valid[ch]) ||
(fb.stats.rx_count != s_prev_stats[ch].rx_count) ||
(fb.stats.tx_count != s_prev_stats[ch].tx_count) ||
(fb.stats.rx_drop_count != s_prev_stats[ch].rx_drop_count) ||
(fb.stats.error_count != s_prev_stats[ch].error_count) ||
(fb.stats.mode != s_prev_stats[ch].mode) ||
(fb.stats.snapshot_seq != s_prev_stats[ch].snapshot_seq);
const bool abnormal = (fb.stats.rx_drop_count != 0U) ||
(fb.stats.error_count != 0U) ||
(fb.stats.mode != 0U);
if (!prevOk || changed || abnormal) {
if (fb.stats.error_count != 0U) {
DEBUG_INFO(kTag,
"CH%u seq=%lu mode=%u rx=%lu tx=%lu drop=%lu err=%lu ids=%u",
static_cast<unsigned>(ch),