feat(can): 增加CAN睡眠与唤醒功能并优化通信检查逻辑

- 在CAN通信类中添加了CAN_Sleep()和CAN_Wakeup()方法，支持设备进入低功耗模式
- 优化CAN通信检查逻辑，通过解析接收数据的首字节和末字节实现多种控制命令
- 支持远程复位电机、保存角度、清零角度、进入睡眠等操作
- 解决CAN发送邮箱满时可能导致的通信阻塞问题，增加重初始化机制
- 调整mailbox不可用计数逻辑，防止持续打印错误信息

refactor(flash): 移除软件CRC计算模块，改用硬件CRC外设
- 删除自定义CRC.cpp和CRC.h文件及其相关类实现
- 使用GD32硬件CRC模块替代软件算法，提高效率和可靠性
- 更新FlashEEPROM类中的CRC校验方式，调用crc_block_data_calculate进行计算
- 修正Flash地址遍历范围以适配新CRC逻辑及页面管理策略
- 修改save_angle接口签名，不再手动传入角度值，改为内部读取FOC实时角度

feat(timer): 新增RTC闹钟中断处理函数声明

- 在Timer.h中声明rtc_set_wakeup_interval和RTC_ALARM_IRQHandler
- 为后续实现基于RTC的定时唤醒功能做准备

chore(config): 同步csolution工具版本更新并调整组件配置

- 更新RTE_Components.h生成工具版本至2.12.0
- 启用BKP、CRC、RTC等标准外设组件宏定义
- 从项目配置文件中移除旧CRC源文件引用
- 添加SystemCoreClockUpdate调用确保系统时钟同步

refactor(main): 主循环任务调度重构并增强初始化流程

- 将主循环中的任务处理提取为独立do_task函数，提升代码可读性
- 提前执行电机初始化，并根据看门狗复位标志决定是否立即进入深度睡眠
- 调整EEPROM初始化顺序，保证依赖关系正确
- 添加sys/initial.h头文件包含以支持新增系统初始化逻辑

Robot_V2/sys/flash.cpp

@@ -1,11 +1,11 @@
 #include "flash.h"
 #include "DengFOC.h"
 #include "ang_sensor.h"
-#include "core_cmFunc.h"
+#include "gd32c10x_crc.h"
 #include "gd32c10x_fmc.h"
 #include "math.h"
-#include <CRC.h>
 #include <Can.h>
+#include <Filter.h>
 #include <cstdio>
 #include <cstdlib>
 #include <cstring>
@@ -15,7 +15,6 @@ FlashEEPROM flashEEP = FlashEEPROM();
 extern angle_sensor KTH7823;
 extern CAN_transmiter CAN0_transmiter;
 extern FOC_Controlroller FOC; // FOC控制
-extern CRC_Calculator CRC_Calculator;
 constexpr u8 SIZE_U32 = sizeof(uint32_t);
 constexpr u8 DEFAULT_VALUE = 0;
 constexpr u8 NUM_SAVED = 5;
@@ -31,12 +30,15 @@ FlashEEPROM::FlashEEPROM() {
  * @retval None
  */
 u8 FlashEEPROM::init() {
+	rcu_periph_clock_enable(RCU_CRC);
+	// 使用硬件CRC计算校验值
+	crc_deinit(); // 初始化CRC模块
+
 	// 读取保存的参数
 	u32 CRC_NUM = 0x0000;
-	FlashEepromStatus status_read[NUM_SAVED + 1] = {FLASH_EEPROM_OK};
+	FlashEepromStatus status_read[NUM_SAVED] = {FLASH_EEPROM_OK};
 	float angle = 0.0f;
-	float data[NUM_SAVED] = {FOC.target_angle, FOC.target_velocity,
-							 FOC.limit_voltage, (float)FOC.control_mode};
+	float data[NUM_SAVED - 1] = {0.0f, 0.0f, 0.0f, 0.0f};
 	FlashEepromStatus status = FLASH_EEPROM_OK;
 	if (readFloat(ADDR_ANGLE, &angle) != FLASH_EEPROM_OK) {
 		angle = DEFAULT_VALUE; // 默认值
@@ -49,7 +51,7 @@ u8 FlashEEPROM::init() {
 	status_read[4] = readFloat(ADDR_CONTROL_MODE, &data[3]);
 
 	// 读取失败则使用默认值
-	for (u8 i = 1; i < NUM_SAVED + 1; i++) {
+	for (u8 i = 1; i < NUM_SAVED; i++) {
 		if (status_read[i] ==
 			FLASH_EEPROM_DATA_NOT_FOUND) { // 首次读取，不保存报错
 			data[i - 1] = DEFAULT_VALUE;
@@ -62,8 +64,8 @@ u8 FlashEEPROM::init() {
 	if (status_read[0] == FLASH_EEPROM_OK) {
 		u32 next_address = EEPROM_END_ADDRESS;
 		// 遍历Flash页面寻找下一个可写入位置
-		for (u32 address = EEPROM_END_ADDRESS - SIZE_U32;
-			 address > EEPROM_START_ADDRESS; address -= SIZE_U32) {
+		for (u32 address = EEPROM_START_ADDRESS - SIZE_U32;
+			 address > FLASH_START_ADDRESS; address -= SIZE_U32) {
 
 			// 安全读取Flash数据
 			volatile u32 *flash_ptr = (volatile u32 *)address;
@@ -76,8 +78,13 @@ u8 FlashEEPROM::init() {
 			// 更新下一个可能的写入位置（如果需要格式化）
 			next_address = address - SIZE_U32;
 		}
-		CRC_NUM = CRC_Calculator::calculate(data, NUM_SAVED);
 
+		crc_data_register_reset(); // 确保CRC计算从初始状态开始
+		CRC_NUM = crc_block_data_calculate((uint32_t *)data, NUM_SAVED);
+		// for (float &p : data) {
+		// 	printf("%f\r\n", p);
+		// }
+		// printf("CRC cmp1,0x%X_0x%x \r\n", CRC_NUM, *((u32 *)next_address));
 		if (CRC_NUM != *((u32 *)next_address)) { // CRC错误
 			for (u8 i = 0; i < NUM_SAVED; i++) {
 				data[i] = DEFAULT_VALUE;
@@ -91,7 +98,7 @@ u8 FlashEEPROM::init() {
 		EEPROMStatus = status_read[0];
 	}
 
-	KTH7823.angle_set(angle);
+	KTH7823.angle_set(angle - KTH7823.update());
 	FOC.target_angle = data[0];
 	FOC.target_velocity = data[1];
 	FOC.limit_voltage = data[2];
@@ -149,10 +156,12 @@ FlashEepromStatus FlashEEPROM::readFloat(u8 virtualAddr, float *data) const {
 			u8 addr = (u8)(data_word & 0xFF);
 			// 找到匹配的虚拟地址
 			if (addr == virtualAddr) {
+				u32 data_word_c = *((u32 *)address);
 				// 清除最低的8位地址信息，保留高24位数据
 				u32 float_data = data_word & 0xFFFFFF00;
 				// 使用内存拷贝将处理后的数据解释为float
 				memcpy(data, &float_data, sizeof(float));
+				// printf("check:0x%x=%f\r\n", address, *data);
 				return FLASH_EEPROM_OK;
 			}
 		}
@@ -255,8 +264,6 @@ FlashEepromStatus FlashEEPROM::writeFloat(u8 virtualAddr, float data) {
 
 	// 如果有足够空间，直接写入
 	if (next_address < EEPROM_END_ADDRESS) {
-		u32 float_bits;
-
 		u32 data_word;
 		// 将完整的float数据复制到32位变量中
 		memcpy(&data_word, &data, sizeof(float));
@@ -271,6 +278,11 @@ FlashEepromStatus FlashEEPROM::writeFloat(u8 virtualAddr, float data) {
 		fmc_state_enum fmc_status = fmc_word_program(next_address, data_word);
 
 		fmc_lock();
+
+		// u32 data_word_c = *((u32 *)next_address);
+		// float float_data = *((float *)&data_word_c);
+		// printf("check:0x%x=%f\r\n", next_address, float_data);
+
 		if (fmc_status != FMC_READY) {
 			return FLASH_EEPROM_WRITE_ERROR;
 		}
@@ -283,8 +295,6 @@ FlashEepromStatus FlashEEPROM::writeFloat(u8 virtualAddr, float data) {
 		}
 
 		// 格式化后在页面开头写入数据
-		u32 float_bits;
-
 		u32 data_word;
 		// 将完整的float数据复制到32位变量中
 		memcpy(&data_word, &data, sizeof(float));
@@ -345,13 +355,12 @@ FlashEepromStatus FlashEEPROM::format() {
 			}
 		}
 	}
-
+	fmc_unlock();
 	// 擦除整个页面
 	fmc_status = fmc_page_erase(EEPROM_START_ADDRESS);
 	if (fmc_status != FMC_READY) {
 		return FLASH_EEPROM_ERASE_ERROR;
 	}
-	fmc_unlock();
 	// 重新写入有效的数据项
 	for (u16 i = 0; i < valid_count; i++) {
 		fmc_status = fmc_word_program(EEPROM_START_ADDRESS + i * SIZE_U32,
@@ -371,10 +380,10 @@ FlashEepromStatus FlashEEPROM::format() {
  */
 FlashEepromStatus FlashEEPROM::save_system_config(bool saved) {
 	u32 CRC_NUM = 0x0000;
-	u32 next_address;
-	FlashEepromStatus status_save[NUM_SAVED] = {FLASH_EEPROM_OK};
-	float data[NUM_SAVED] = {FOC.target_angle, FOC.target_velocity,
-							 FOC.limit_voltage, (float)FOC.control_mode};
+	static u32 next_address;
+	FlashEepromStatus status_save[NUM_SAVED - 1] = {FLASH_EEPROM_OK};
+	float data[NUM_SAVED - 1] = {FOC.target_angle, FOC.target_velocity,
+								 FOC.limit_voltage, (float)FOC.control_mode};
 
 	// 读取保存的参数
 	if (!system_config_saved) {
@@ -390,11 +399,12 @@ FlashEepromStatus FlashEEPROM::save_system_config(bool saved) {
 			}
 		}
 
-		CRC_NUM = CRC_Calculator.calculate(data, NUM_SAVED);
-		// 遍历Flash页面寻找下一个可写入位置
-		for (u32 address = EEPROM_END_ADDRESS - SIZE_U32;
-			 address > EEPROM_START_ADDRESS; address -= SIZE_U32) {
+		crc_data_register_reset(); // 确保CRC计算从初始状态开始
+		CRC_NUM = crc_block_data_calculate((uint32_t *)data, NUM_SAVED);
 
+		// 遍历Flash页面寻找下一个可写入位置
+		for (u32 address = EEPROM_START_ADDRESS - SIZE_U32;
+			 address > FLASH_START_ADDRESS; address -= SIZE_U32) {
 			// 安全读取Flash数据
 			volatile u32 *flash_ptr = (volatile u32 *)address;
 			u32 data_word = *flash_ptr;
@@ -407,16 +417,20 @@ FlashEepromStatus FlashEEPROM::save_system_config(bool saved) {
 			next_address = address - SIZE_U32;
 		}
 		// 如果有足够空间，直接写入
-		if (next_address > EEPROM_START_ADDRESS) {
+		if (next_address > FLASH_START_ADDRESS) {
 			fmc_unlock();
 			fmc_flag_clear(FMC_FLAG_PGERR | FMC_FLAG_PGAERR | FMC_FLAG_WPERR);
 			fmc_state_enum fmc_status = fmc_word_program(next_address, CRC_NUM);
 			// printf("write address:0x%X,status:0x%x \r\n", next_address,
 			// 	   fmc_status);
+			fmc_lock();
+			// for (float &p : data) {
+			// 	printf("%f\r\n", p);
+			// }
 			// printf("CRC cmp1,0x%X_0x%x \r\n", CRC_NUM, *((u32
 			// *)next_address));
-			fmc_lock();
 		} else {
+			printf("no enough space\r\n");
 			// 空间不足，需要格式化页面
 			FlashEepromStatus status = format();
 			if (status != FLASH_EEPROM_OK) {
@@ -452,8 +466,9 @@ FlashEepromStatus FlashEEPROM::save_system_config(bool saved) {
  * @param angle 角度数据
  * @return FlashEepromStatus: 操作状态
  */
-FlashEepromStatus FlashEEPROM::save_angle(float angle, bool saved) {
+FlashEepromStatus FlashEEPROM::save_angle(bool saved) {
 	float angle_read = DEFAULT_VALUE;
+	float angle = FOC.rt_angle;
 	FlashEepromStatus status = FLASH_EEPROM_OK;
 
 	// 读取保存的参数

Robot_V2/sys/flash.h

@@ -1,8 +1,6 @@
 #ifndef __FLASH_H
 #define __FLASH_H
 
-#include "gd32c10x.h"
-#include <cstdint>
 #include <stdint.h>
 // 修改后 - 强制4字节对齐
 #define ALIGN_4BYTE(addr) ((addr) & 0xFFFFFFFC) // 4字节对齐
@@ -24,9 +22,10 @@ class FlashEEPROM {
   public:
 	// EEPROM emulation constants
 	static constexpr u32 EEPROM_START_ADDRESS =
-		0x0801F800;										  // Flash最后一页(2KB)
-	static constexpr u32 EEPROM_END_ADDRESS = 0x08020000; // Flash结束地址
-	static constexpr u32 EEPROM_MAX_SIZE = 0x800; // EEPROM最大容量
+		0x0801F800;										   // Flash最后一页(2KB)
+	static constexpr u32 EEPROM_END_ADDRESS = 0x08020000;  // Flash结束地址
+	static constexpr u32 EEPROM_MAX_SIZE = 0x800;		   // EEPROM最大容量
+	static constexpr u32 FLASH_START_ADDRESS = 0x08010000; // Flash起始地址
 
 	// 定义用户自定义的虚拟地址
 	static constexpr u8 ADDR_CONTROL_MODE = 0x0;  // 控制模式
@@ -56,7 +55,7 @@ class FlashEEPROM {
 	// 格式化Flash EEPROM页面
 	FlashEepromStatus format();
 
-	FlashEepromStatus save_angle(float angle, bool saved);
+	FlashEepromStatus save_angle(bool saved);
 	FlashEepromStatus save_system_config(bool saved);
 	float read_angle();
 

Robot_V2/sys/health.cpp

@@ -96,7 +96,7 @@ void power_manage(void) {
 	float vbus = sampler.get_vbus_voltage();
 	if ((vbus < 22.0f) and (last_vbus > vbus) and vbus > 8.0f) {
 		FOC.shut_down();
-		flashEEP.save_angle(FOC.rt_angle, true);
+		flashEEP.save_angle(true);
 		flashEEP.save_system_config(true);
 	} else {
 		FOC.resume();

Robot_V2/sys/initial.cpp

@@ -1,9 +1,10 @@
 #include "initial.h"
+#include "gd32c10x.h"
 #include "gd32c10x_gpio.h"
 #include "gd32c10x_rcu.h"
+#include <cstdio>
 #include <stdint.h>
-
-
+#include <stdio.h>
 
 /* retarget the C library printf function to the USART */
 u8 USART0_init() {
@@ -34,15 +35,59 @@ int fputc(int ch, FILE *f) throw() {
 	return ch;
 }
 
-
-void unused_pin_init() { 
+void unused_pin_init() {
 	rcu_periph_clock_enable(RCU_GPIOA); // 使能GPIOA时钟
 	rcu_periph_clock_enable(RCU_GPIOB); // 使能GPIOB时钟
 	rcu_periph_clock_enable(RCU_GPIOC); // 使能GPIOC时钟
-	gpio_init(GPIOA, GPIO_MODE_IPU, GPIO_OSPEED_2MHZ, GPIO_PIN_8|GPIO_PIN_11|GPIO_PIN_12);
-	gpio_init(GPIOB, GPIO_MODE_IPU, GPIO_OSPEED_2MHZ, GPIO_PIN_6|GPIO_PIN_7|GPIO_PIN_15);
-	gpio_init(GPIOC, GPIO_MODE_IPU, GPIO_OSPEED_2MHZ, GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15);
-	gpio_bit_reset(GPIOA, GPIO_PIN_8|GPIO_PIN_11|GPIO_PIN_12);
-	gpio_bit_reset(GPIOB, GPIO_PIN_6|GPIO_PIN_7|GPIO_PIN_15);
-	gpio_bit_reset(GPIOC, GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15);
-}
+	gpio_init(GPIOA, GPIO_MODE_IPU, GPIO_OSPEED_2MHZ,
+			  GPIO_PIN_8 | GPIO_PIN_11 | GPIO_PIN_12);
+	gpio_init(GPIOB, GPIO_MODE_IPU, GPIO_OSPEED_2MHZ,
+			  GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_15);
+	gpio_init(GPIOC, GPIO_MODE_IPU, GPIO_OSPEED_2MHZ,
+			  GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15);
+	gpio_bit_reset(GPIOA, GPIO_PIN_8 | GPIO_PIN_11 | GPIO_PIN_12);
+	gpio_bit_reset(GPIOB, GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_15);
+	gpio_bit_reset(GPIOC, GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15);
+}
+
+/*!
+	\brief      检测并打印复位源信息
+	\param[in]  none
+	\param[out] none
+	\retval     none
+*/
+u16 get_reset_cause(void) {
+	u16 cause = 0;
+	if (RESET != rcu_flag_get(RCU_FLAG_FWDGTRST)) {
+		// printf("Free Watchdog Timer Reset\r\n");
+		cause = RCU_FLAG_FWDGTRST;
+	}
+	if (RESET != rcu_flag_get(RCU_FLAG_EPRST)) {
+		// printf("External Pin Reset\r\n");
+		cause = RCU_FLAG_EPRST;
+	}
+
+	if (RESET != rcu_flag_get(RCU_FLAG_PORRST)) {
+		// printf("Power Reset\r\n");
+		cause = RCU_FLAG_PORRST;
+	}
+
+	if (RESET != rcu_flag_get(RCU_FLAG_WWDGTRST)) {
+		// printf("Window Watchdog Timer Reset\r\n");
+		cause = RCU_FLAG_WWDGTRST;
+	}
+
+	if (RESET != rcu_flag_get(RCU_FLAG_LPRST)) {
+		// printf("Low Power Reset\r\n");
+		cause = RCU_FLAG_LPRST;
+	}
+
+	if (RESET != rcu_flag_get(RCU_FLAG_SWRST)) {
+		// printf("Software Reset\r\n");
+		cause = RCU_FLAG_SWRST;
+	}
+	// 清除所有复位标志
+	rcu_all_reset_flag_clear();
+	// printf("cause:%d\r\n", cause);
+	return cause;
+}

Robot_V2/sys/initial.h

@@ -4,6 +4,7 @@
 #ifdef __cplusplus
 extern "C" {
 #endif
+
 #include "gd32c10x_eval.h"
 #include "stdint.h"
 #include <stdio.h>
@@ -19,6 +20,7 @@ int fputc(int ch, FILE *f);						// 声明fputc函数以重载标准库实现
 
 u8 USART0_init(void);
 u8 watchdog_init(u32 time);
+u16 get_reset_cause(void);
 void unused_pin_init();
 // 任务标志定义
 typedef enum {

Robot_V2/sys/systick.cpp

@@ -33,11 +33,16 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
 #include "systick.h"
+#include "Can.h"
+#include "flash.h"
 #include "gd32c10x.h"
 #include "gd32c10x_exti.h"
-#include "gd32c10x_gpio.h"
+#include "motor.h"
+#include <cstdio>
 
 volatile static uint32_t delay;
+extern CAN_transmiter CAN0_transmiter;
+extern FlashEEPROM flashEEP;
 
 /*!
 	\brief      configure systick
@@ -113,27 +118,64 @@ void system_soft_reset(void) {
 	}
 }
 
-// 1. 进入深度睡眠前的准备
-void prepare_deep_sleep(void) {
+/*!
+	\brief      prepare system to enter deep sleep mode
+	\param[in]  none
+	\param[out] none
+	\retval     none
+*/
+void prepare_deep_sleep(bool save_data) {
+	if (save_data) {
+		flashEEP.save_angle(true);
+		flashEEP.save_system_config(true);
+	}
 	// 将SIT1044设置为低功耗待机模式
-	gpio_bit_set(GPIOB, GPIO_PIN_8); // STB = 高电平
+	// CAN0_transmiter.CAN_Sleep();
+	motor_sleep();
 
-	// 配置EXTI中断（连接到SIT1044的RXD引脚）
-	exti_init(EXTI_1, EXTI_INTERRUPT, EXTI_TRIG_FALLING); // 下降沿触发
+	// 关闭不必要的外设时钟
+	rcu_periph_clock_disable(RCU_TIMER0); // 关闭定时器时钟
+	rcu_periph_clock_disable(RCU_TIMER1);
+	rcu_periph_clock_disable(RCU_SPI0); // 关闭SPI时钟
+	rcu_periph_clock_disable(RCU_I2C0); // 关闭I2C时钟
+	rcu_periph_clock_disable(RCU_ADC0); // 关闭ADC时钟
+	// 注意不要关闭GPIOB和AF的时钟，因为需要它们来处理唤醒中断
+
+	// 设置深睡眠模式下的电压以进一步降低功耗
+	rcu_deepsleep_voltage_set(RCU_DEEPSLEEP_V_0_8); // 设置最低电压
+
+	// 配置PB8为输入模式，用于外部中断
+	rcu_periph_clock_enable(RCU_GPIOB);
+	rcu_periph_clock_enable(RCU_AF);
+	gpio_init(GPIOB, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ, GPIO_PIN_8);
+
+	// 配置EXTI中断（连接到PB8引脚）
+	gpio_exti_source_select(GPIO_PORT_SOURCE_GPIOB,
+							GPIO_PIN_SOURCE_8); // 配置GPIOB的PIN8作为EXTI8的源
+	exti_init(EXTI_8, EXTI_INTERRUPT, EXTI_TRIG_RISING); // 边沿触发
+	exti_interrupt_enable(EXTI_8);
+	nvic_irq_enable(EXTI5_9_IRQn, 0, 0); //
+
+	// 确保中断标志已被清除
+	exti_interrupt_flag_clear(EXTI_8);
 
 	// 进入深度睡眠
 	pmu_to_deepsleepmode(PMU_LDO_LOWPOWER, WFI_CMD);
 }
 
-// 2. 唤醒中断处理
-void EXTI1_IRQHandler(void) {
-	if (exti_interrupt_flag_get(EXTI_1) != RESET) {
+/**
+ * @brief  EXTI5_9中断处理函数
+ * @param  无
+ * @retval 无
+ */
+void EXTI5_9_IRQHandler(void) {
+	if (exti_interrupt_flag_get(EXTI_8) != RESET) {
 		// 清除中断标志
-		exti_interrupt_flag_clear(EXTI_1);
-		// 禁用EXTI线1的中断
-		exti_interrupt_disable(EXTI_1);
+		exti_interrupt_flag_clear(EXTI_8);
+		// 禁用EXTI线8的中断，防止重复触发
+		exti_interrupt_disable(EXTI_8);
 
-		// 唤醒SIT1044到正常模式
-		gpio_bit_reset(GPIOB, GPIO_PIN_8); // STB = 低电平
+		printf("MCU wake up\r\n");
+		system_soft_reset();
 	}
 }

Robot_V2/sys/systick.h

@@ -55,9 +55,9 @@ uint8_t get_cpu_usage(void);
 /* 系统软复位 */
 void system_soft_reset(void);
 /* 准备进入低功耗模式 */
-void prepare_deep_sleep(void);
+void prepare_deep_sleep(bool save_data);
 /* 中断唤醒 */
-void EXTI1_IRQHandler(void);
+void EXTI5_9_IRQHandler(void);
 
 #ifdef __cplusplus
 }