feat(can): 添加跨通道CAN突发发送功能支持多电机同步驱动
- 新增 /can/send_burst HTTP接口，支持一次SPI事务批量发送多帧CAN消息 - 实现canFdSendBurst函数，通过0xC7 SPI类型实现背靠背装载各通道邮箱 - 添加canBurstCapacity函数计算单次突发最大帧数限制 - 突发发送期间暂停can_feedback_task避免SPI抢占冲突 refactor(can_feedback_task): 改造为周期查询+事件消费模式 - 0xC4/0xC5从GD32主动推送改为ESP32周期查询（250ms/1s） - 0xC6/0xD2仍保留事件驱动推送模式，由任务消费处理 - 消除OTA期间GD32悬空按铃导致的超时刷屏问题 - 电机OTA期间也暂停任务避免与0xD1抢夺SPI资源 perf(ota_relay): 增加重发次数上限提升传输可靠性 - 将kMaxDataSends从3次增加到5次，提高数据包传输成功率 chore(version): 更新固件版本号至0.3.78 - 版本查询checkVersionWait移到tickInFlight释放后异步触发 - 避免/motor/version请求拖长tick导致tickStuck误报通道闪黄
This commit is contained in:
小龙虾
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@@ -14,7 +14,7 @@
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<link rel="icon" href="data:,">
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<link rel="stylesheet" href="css/base.css?v=857f83a5">
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<link rel="stylesheet" href="css/layout.css?v=acd17001">
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<link rel="stylesheet" href="css/components.css?v=7bc7d5db">
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<link rel="stylesheet" href="css/components.css?v=a2c3d4e5">
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<link rel="stylesheet" href="css/can.css?v=c06f5688">
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<link rel="stylesheet" href="css/responsive.css?v=46449483">
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</head>
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@@ -57,12 +57,7 @@
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<!-- 1. Connection -->
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<div class="card card--ble">
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<div class="card-head"><span class="ico">🔗</span> 设备连接
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<span id="bleHeadActions" style="display:none;margin-left:auto;">
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<button id="connectBtn" class="btn btn-sm btn-primary">连接设备</button>
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<button id="disconnectBtn" class="btn btn-sm btn-outline" disabled>断开连接</button>
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</span>
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</div>
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<div class="card-head"><span class="ico">🔗</span> 设备连接</div>
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<div class="card-body">
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<div style="display:flex;gap:6px;margin-bottom:14px;">
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<button id="modeWifiBtn" class="btn btn-primary" style="flex:1;font-size:12px;padding:7px 10px;" data-action="set-console-mode" data-arg="wifi">WiFi OTA</button>
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@@ -77,6 +72,69 @@
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</div>
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</div>
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</div>
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<!-- BLE 模式：launch 风格连接按钮（checkbox 驱动：勾选=已连接） -->
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<div id="bleModeCards" style="display:none;">
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<div class="ble-launch-wrap">
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<label class="ble-launch-btn" for="bleConnectToggle" data-ble-state="idle">
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<input id="bleConnectToggle" type="checkbox">
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<div class="back">
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<div class="spot-shadow"></div>
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<div class="mid">
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<div class="spot-main"></div>
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<div class="ble-dial">
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<div class="spot-light"></div>
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<div class="center">
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<div class="icon">
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<svg viewBox="0 0 24 24" fill="none" xmlns="http://www.w3.org/2000/svg">
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<g filter="url(#bleIconGlow)">
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<path d="M7 7 L17 17 L12 22 V2 L17 7 L7 17"
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stroke="#BBE7E9" stroke-width="3"
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stroke-linecap="round" stroke-linejoin="round" fill="none"
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shape-rendering="geometricPrecision"/>
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</g>
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<defs>
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<filter id="bleIconGlow" x="-50%" y="-50%" width="200%" height="200%"
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filterUnits="userSpaceOnUse" color-interpolation-filters="sRGB">
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<feFlood flood-opacity="0" result="bg"/>
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<feColorMatrix in="SourceAlpha" type="matrix"
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values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 127 0" result="a"/>
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<feOffset/>
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<feGaussianBlur stdDeviation="2"/>
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<feComposite in2="a" operator="out"/>
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<feColorMatrix type="matrix"
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values="0 0 0 0 0.37 0 0 0 0 0.66 0 0 0 0 1 0 0 0 0.88 0"/>
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<feBlend mode="normal" in2="bg" result="g"/>
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<feBlend mode="normal" in="SourceGraphic" in2="g" result="shape"/>
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</filter>
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</defs>
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</svg>
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</div>
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<div class="launch">
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<div style="--i:1">蓝</div>
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<div style="--i:2">牙</div>
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<div style="--i:3">连</div>
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<div style="--i:4">接</div>
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</div>
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<div class="start">
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<div class="text1">等待连接</div>
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<div class="text2">
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<span style="--n:0">已</span>
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<span style="--n:1">连</span>
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<span style="--n:2">接</span>
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<span style="--n:3">.</span>
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<span style="--n:4">.</span>
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<span style="--n:5">.</span>
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</div>
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<div class="text3">连接中...</div>
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</div>
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</div>
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</div>
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</div>
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</div>
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</label>
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<div class="ble-launch-hint">点击按钮连接 / 断开蓝牙设备</div>
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</div>
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</div>
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<!-- 连接文案只在顶栏 #pillConnTxt 显示，此处不再重复 -->
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</div>
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</div>
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@@ -335,13 +393,8 @@
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<div class="can-launch-actions">
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<a class="btn btn-primary can-launch-primary" href="can.html">进入 CAN 页面</a>
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<button class="btn btn-outline can-launch-secondary" type="button" onclick="window.open('can.html','_blank','noopener')">新窗口打开</button>
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<a class="btn btn-outline can-launch-secondary" href="can.html" title="发送页右侧抽屉内嵌监控">CAN 发送 + 监控</a>
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<a class="btn btn-outline can-launch-secondary" href="can_monitor.html">监控全屏</a>
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</div>
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<div class="can-launch-foot">
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<span class="can-launch-foot-label">说明</span>
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<span>手工 CAN 表单已迁到独立页面，避免和 OTA 控制流混在一起。</span>
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</div>
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</div>
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</div>
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</div>
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@@ -370,7 +423,6 @@
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</div>
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</div>
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<div class="can-launch-actions">
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<a class="btn btn-primary can-launch-primary motor-launch-primary" href="motor.html">进入电机控制</a>
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<button class="btn btn-outline can-launch-secondary" type="button" onclick="window.open('motor.html','_blank','noopener')">新窗口打开</button>
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</div>
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<div class="can-launch-foot">
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@@ -381,6 +433,69 @@
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</div>
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</div>
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<!-- 硬件诊断:LAN9252 通断测试 + SPI 测速 -->
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<div class="card collapsed">
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<div class="card-head" onclick="toggleCollapse(this)">
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<span class="ico">🧰</span> 硬件诊断
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<span class="collapse-arrow">▼</span>
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</div>
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<div class="card-body">
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<div style="display:grid;gap:14px;">
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<!-- LAN9252 continuity test -->
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<div class="can-launch-card">
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<div class="can-launch-copy">
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<div class="can-launch-top">
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<div>
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<div class="can-launch-kicker">Hardware Diag</div>
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<h3>LAN9252 HBI 硬件通断测试</h3>
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</div>
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<span class="can-launch-badge">DIAG</span>
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</div>
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<p class="can-launch-desc">GD32 驱动 EXMC 数据线/控制线输出已知电平,用万用表测 LAN9252 端引脚电压,定位断线/虚焊。通过 SPI 0xA2 命令触发,不点按钮时引脚高阻安全。与主页共用设备 IP（<code>dcu_esp_ip</code>）。</p>
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<div class="can-launch-points">
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<span class="can-launch-point">16 根数据线 pattern</span>
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<span class="can-launch-point">5 根控制线逐个测</span>
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<span class="can-launch-point">共用主页连接</span>
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</div>
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</div>
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<div class="can-launch-actions">
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<button class="btn btn-outline can-launch-secondary" type="button" onclick="window.open('continuity_test.html','_blank','noopener')">新窗口打开</button>
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</div>
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<div class="can-launch-foot">
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<span class="can-launch-foot-label">说明</span>
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<span>请先在上方「设备连接」配置并测试 ESP32 IP；通断测试页只消费同一连接,不单独建连。</span>
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</div>
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</div>
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<!-- SPI speed test -->
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<div class="can-launch-card">
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<div class="can-launch-copy">
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<div class="can-launch-top">
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<div>
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<div class="can-launch-kicker">SPI Link Probe</div>
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<h3>SPI 链路测速</h3>
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</div>
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<span class="can-launch-badge">SPI</span>
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</div>
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<p class="can-launch-desc">0xA1 探针压测 ESP32↔GD32 SPI 链路真实 RTT 与等效吞吐,定位速度瓶颈与调度抖动。可调帧数/载荷,支持空载 RTT 与 2000 帧满载压力测试。</p>
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<div class="can-launch-points">
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<span class="can-launch-point">RTT 平均/最快/最慢</span>
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<span class="can-launch-point">单帧 5 段剖析</span>
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<span class="can-launch-point">等效吞吐 KB/s</span>
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</div>
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</div>
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<div class="can-launch-actions">
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<a class="btn btn-outline can-launch-secondary" href="spi_test.html">打开测速页</a>
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</div>
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<div class="can-launch-foot">
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<span class="can-launch-foot-label">说明</span>
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<span>临时诊断工具 SPI-SPEEDTEST；满帧 236B = 等效电机 OTA 0xD1 数据节奏,载荷 0 = 纯握手往返。</span>
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</div>
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</div>
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</div>
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</div>
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</div>
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<!-- Log panel -->
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<div class="card card--mem log-panel">
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<div class="card-head" style="justify-content:space-between;">
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@@ -513,7 +628,22 @@
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</div>
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<script type="module" src="js/app.js?v=20260727a"></script>
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<script type="module" src="js/ota/console-mode.js?v=06b7189e"></script>
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<script type="module" src="js/ble_ota.js?v=01d3cb4e"></script>
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<script type="module" src="js/ota/console-mode.js?v=06b7189f"></script>
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<script type="module" src="js/ble_ota.js?v=eb2f1a"></script>
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<!-- 内联兜底：同步 BLE 按钮 data-ble-state 与 checkbox.checked
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不依赖 ES 模块（子模块可能被浏览器缓存为旧版，不含 data-ble-state 逻辑）。
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connecting 态由 session.js click handler 设置，此处跳过不覆盖。 -->
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<script type="module">
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setInterval(function() {
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var btn = document.querySelector('.ble-launch-btn');
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if (!btn || !btn.offsetParent) return;
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var st = btn.getAttribute('data-ble-state');
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if (st === 'connecting') return;
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var toggle = document.getElementById('bleConnectToggle');
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if (!toggle) return;
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var expected = toggle.checked ? 'connected' : 'idle';
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if (st !== expected) btn.setAttribute('data-ble-state', expected);
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}, 500);
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</script>
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</body>
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</html>
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