feat(can): 增加EEPROM状态码和系统配置保存功能

- 在CAN通信中增加EEPROM状态码字段，并通过CAN FD发送
- 实现Flash EEPROM对系统配置参数的CRC校验与保存
- 改进目标角度、速度等关键参数的读写逻辑，支持掉电保存
- 调整EEPROM地址映射，优化错误处理和状态反馈机制
- 修复CRC计算相关问题，增强数据可靠性

Robot_V2/device/Can.cpp

@@ -437,16 +437,17 @@ u8 CAN_transmiter::init() {
 	\brief CAN 数据更新
 */
 void CAN_transmiter::update(void) {
+	target_angle_union.f = FOC.target_angle;
+	target_velocity_union.f = FOC.target_velocity;
 	limit_velocity_union.f = FOC.limit_velocity;
 	limit_voltage = FOC.limit_voltage * 1000;
 	mcu_temp = sampler.get_mcu_temp() * 100;
 	motor_temp = sampler.get_drv_temp() * 100;
 	Power_Voltage = sampler.get_vbus_voltage() * 1000;
 	rt_angle_union.f = FOC.rt_angle;
-	// rt_velocity_union.f = KTH7823.getVelocity();
 	rt_velocity_union.f = FOC.rt_velocity;
 	MotorStatus = gpio_input_bit_get(GPIOB, GPIO_PIN_2) == RESET;
-
+	EEPROMStatus = flashEEP.EEPROMStatus;
 	Target_Control_Mode = FOC.control_mode;
 	controller_Mode = FOC.control_mode;
 
@@ -634,8 +635,7 @@ u8 CAN_transmiter::CANFD_all_Send() {
 	transmit_data[10] =
 		(transmit_data[10] & ~0x07) |
 		((MotorStatus & 0x01) | ((MagStatus & 0x01) << 1) |
-		 ((ThermalStatus & 0x01) << 2) | ((EEPROMStatus & 0x01) << 3));
-
+		 ((ThermalStatus & 0x01) << 2) | ((EEPROMStatus & 0x07) << 3));
 	pack_u16_to_bytes(transmit_data, 11, Power_Voltage);
 	pack_float_to_bytes(transmit_data, 13, rt_angle_union);
 	pack_float_to_bytes(transmit_data, 17, rt_velocity_union);
@@ -697,6 +697,8 @@ void CAN_transmiter::communication_check() {
 		} else if (receive_message.rx_efid == 0x00010301) {
 			motor_reset();
 			flashEEP.save_angle(FOC.rt_angle, false);
+			flashEEP.save_system_config(false);
+			
 		} else {
 			printf("Unknown CAN ID: %X\n", receive_message.rx_efid);
 		}

Robot_V2/device/Can.h

@@ -82,6 +82,7 @@ class CAN_transmiter {
 	bool MotorStatus = 0;						   	// 电机状态码
 	float_union_t target_angle_union = {0};	    // 目标角度
 	u8 Target_Control_Mode = 0;				   		// 目标控制模式
+	u8 EEPROMStatus = 0;							// EEPROM状态码
 	float_union_t target_velocity_union = {0}; 	// 目标速度
 	float_union_t u_current_union = {0};	   		// U相电流
 	float_union_t w_current_union = {0};	   		// W相电流
@@ -110,7 +111,6 @@ class CAN_transmiter {
 
 	bool MagStatus = 0;						   		// 磁状态码
 	bool ThermalStatus = 0;						   	// 热能状态码
-	bool EEPROMStatus = 0;							// EEPROM状态码
 	void communication_check();						// 通信检查
 };