修复BOOT丢帧问题，优化标志位的存储

Robot_V2/device/Can.cpp

@@ -6,8 +6,6 @@
 #include "gd32c10x_dma.h"
 #include "gd32c10x_gpio.h"
 #include "main.h"
-#include <cstdlib>
-#include <cstring>
 #include <stdint.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -176,6 +174,10 @@ u8 CAN_transmiter::init() {
 	/* initialize receive message */
 	can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &receive_message);
 
+	// 初始化计数器和标志位
+	can0_receive_count = 0;
+	can0_send_flag = RESET;
+
 	// 初始化DMA缓冲区
 	memset(can_rx_buffer, 0, sizeof(can_rx_buffer));
 	memset(can_tx_buffer, 0, sizeof(can_tx_buffer));
@@ -184,28 +186,20 @@ u8 CAN_transmiter::init() {
 
 /**
  * @brief  CAN通信检查函数
- * @retval 0: 无新消息
- *         1: 有新消息
+ * @retval 无
  */
 void CAN_transmiter::communication_check() {
 	// CAN0 发送数据标志
 	if (SET == can0_send_flag) {
 		can0_send_flag = RESET;
 	}
-
-	// CAN0 接收数据标志
-	if (SET == can0_receive_flag) {
-		if (receive_message.rx_efid == CANFD_OTA_DATA_ID or
-			receive_message.rx_efid == CANFD_OTA_REQ_ID) {
-			ota.handleOTAMessage(receive_message.rx_efid,
-								 receive_message.rx_data,
-								 receive_message.rx_dlen);
-		} else {
-#if CAN_DEBUG
-			printf("Unknown CAN ID: %X\n", receive_message.rx_efid);
-#endif
-		}
-		can0_receive_flag = RESET;
+	// CAN0 接收数据计数器
+	if (can0_receive_count > 0) {
+		can0_receive_count--;
+		// 处理OTA消息（中断处理程序已确保只接收OTA相关ID）
+		ota.handleOTAMessage(receive_message.rx_efid,
+							 receive_message.rx_data,
+							 receive_message.rx_dlen);
 	}
 }
 
@@ -225,7 +219,6 @@ u8 CAN_transmiter::sendBackup() { // 握手的时候
 	return CANFD_AsyncSend(CANFD_OTA_ACK_ID, 0, transmit_data);
 }
 
-
 u8 CAN_transmiter::sendDATA_ACK(u32 packet_num,
 								bool if_success) { // 发送数据的时候
 	memset(transmit_data, 0, 4);
@@ -255,10 +248,26 @@ void CAN0_RX0_IRQHandler(void) {
 		dma_channel_enable(DMA0, DMA_CH4);
 
 		// 读取接收到的数据
-		can_message_receive(CAN0, CAN_FIFO0, &CAN0_transmiter.receive_message);
+		can_receive_message_struct temp_message;
+		can_message_receive(CAN0, CAN_FIFO0, &temp_message);
 
-		// 接收标志位置1
-		CAN0_transmiter.can0_receive_flag = SET;
+		// 只处理指定的OTA相关ID（硬件过滤器已经确保只接收这些ID）
+		if (temp_message.rx_efid == CANFD_OTA_DATA_ID ||
+			temp_message.rx_efid == CANFD_OTA_REQ_ID ||
+			temp_message.rx_efid == CANFD_OTA_ACK_ID ||
+			temp_message.rx_efid == CANFD_OTA_WAIT_ID ||
+			temp_message.rx_efid == CANFD_OTA_CANCEL_ID) {
+			// 将消息复制到接收缓冲区
+			CAN0_transmiter.receive_message = temp_message;
+			// 增加待处理消息计数器
+			if (CAN0_transmiter.can0_receive_count < 255) {
+				CAN0_transmiter.can0_receive_count++;
+			}
+		} else {
+#if CAN_DEBUG
+			printf("Unknown CAN ID: %X\n", temp_message.rx_efid);
+#endif
+		}
 	}
 
 	// 检查其他可能的中断源

Robot_V2/device/Can.h

@@ -1,13 +1,12 @@
 #ifndef _CAN_H
 #define _CAN_H
 
-#include <stdint.h>
+#include "cstdint"
 #ifdef __cplusplus
 extern "C" {
 #endif
 
 #include "gd32c10x_can.h"
-#include "stdint.h"
 #include <stdio.h>
 
 u8 can_gpio_init(void);				 // CAN引脚初始化
@@ -32,7 +31,7 @@ class CAN_transmiter {
 	u8 init(void);
 
 	can_receive_message_struct receive_message; // 接收消息结构体
-	FlagStatus can0_receive_flag;				// CAN0接收标志
+	u8 can0_receive_count;						// CAN0待处理消息计数器
 	FlagStatus can0_send_flag;					// CAN0发送标志
 
 	void communication_check();						 // 通信检查