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