feat(FOC): 添加电源电压更新功能

在 FOC 控制器中新增 `update_power` 方法，用于实时获取母线电压，
提升控制系统对电源状态的感知能力。

feat(CAN): 优化 CAN 配置与通信处理
将 CAN 相关宏定义改为 constexpr 常量，并引入角度转换因子。
修正接收数据解析方式，增强通信稳定性与精度。

feat(angle_sensor): 实现角度累积与绕回处理
重写角度传感器驱动，支持角度连续测量与自动绕回处理。
新增 `update`、`getAngle` 和 `reset` 接口，提高角度读取准确性。

feat(main): 增加角度传感器磁感应强度测试
在主函数初始化阶段调用磁感应强度检测函数，辅助判断传感器工作状态。

Robot_V2/device/ang_sensor.cpp

@@ -10,56 +10,12 @@
 constexpr float ANGLE_FACTOR = 1.0f / 65536.0f * 360.0f;
 constexpr u16 DEFAULT_COMMAND = 0x0000;
 constexpr u16 FAULT_RECEIVE = 0xFFFF;
+constexpr u16 REDDUCTION_RATIO = 25;
 
 // DMA传输完成标志
 volatile bool spi_dma_tx_complete = false;
 volatile bool spi_dma_rx_complete = false;
 
-/**
- * @brief Send or read half word through SPI using polling method
- *
- * @param[in] spi_periph SPI peripheral
- * @param[in] i_HalfWord data
- */
-u16 spi_rw_half_word(u32 spi_periph, const u16 i_HalfWord) {
-	u32 timeout;
-	u16 received_data = FAULT_RECEIVE;
-
-	/* Wait until transmit buffer is empty */
-	timeout = 200;
-	while ((RESET == spi_i2s_flag_get(spi_periph, SPI_FLAG_TBE)) && --timeout)
-		;
-	if (timeout == 0)
-		return FAULT_RECEIVE;
-
-	/* Clear RX buffer if not empty */
-	if (SET == spi_i2s_flag_get(spi_periph, SPI_FLAG_RBNE)) {
-		(void)spi_i2s_data_receive(spi_periph);
-	}
-
-	/* Send data */
-	spi_i2s_data_transmit(spi_periph, i_HalfWord);
-
-	/* Wait for response */
-	timeout = 200;
-	while ((RESET == spi_i2s_flag_get(spi_periph, SPI_FLAG_RBNE)) && --timeout)
-		;
-	if (timeout == 0)
-		return FAULT_RECEIVE;
-
-	/* Read received data */
-	received_data = spi_i2s_data_receive(spi_periph);
-
-	/* Wait until SPI is not busy */
-	timeout = 200;
-	while ((SET == spi_i2s_flag_get(spi_periph, SPI_FLAG_TRANS)) && --timeout)
-		;
-	if (timeout == 0)
-		return FAULT_RECEIVE;
-
-	return received_data;
-}
-
 /**
  * @brief SPI DMA initialization
  */
@@ -102,8 +58,8 @@ void spi_dma_init(void) {
 	spi_dma_enable(SPI0, SPI_DMA_RECEIVE);
 
 	// 配置DMA中断
-	nvic_irq_enable(DMA0_Channel2_IRQn, 1, 1);
-	nvic_irq_enable(DMA0_Channel1_IRQn, 1, 1);
+	nvic_irq_enable(DMA0_Channel2_IRQn, 0, 1);
+	nvic_irq_enable(DMA0_Channel1_IRQn, 0, 1);
 
 	// 使能DMA传输完成中断
 	dma_interrupt_enable(DMA0, DMA_CH2, DMA_INT_FTF);
@@ -239,7 +195,7 @@ angle_sensor::angle_sensor(void) { KTH7823_init(); }
  * @brief 读取传感器数据
  * @return 传感器数据
  */
-float angle_sensor::readAngle(void) {
+float angle_sensor::read_sensorAngle(void) {
 	u16 u16data = FAULT_RECEIVE;
 
 	SPI_CS_ENABLE();
@@ -250,7 +206,42 @@ float angle_sensor::readAngle(void) {
 	} else {
 		SPI_CS_DISABLE();
 		// 处理读取错误
-		printf("Error reading angle from sensor.\n");
+		// printf("Error reading angle from sensor.\n");
 		return FAULT_RECEIVE; // 错误返回
 	}
+}
+
+float angle_sensor::update(void) {
+	float currentAngle = read_sensorAngle();
+
+	if (m_firstUpdate) {
+		m_lastAngle = currentAngle;
+		m_firstUpdate = false;
+		return m_cumulativeAngle;
+	}
+
+	// 计算角度变化
+	float delta = currentAngle - m_lastAngle;
+
+	// 处理角度绕回情况（0度和360度之间的跳变）
+	// 如果变化超过180度，说明发生了绕回
+	if (delta > 180.0f) {
+		// 从接近360度绕回到接近0度
+		delta -= 360.0f;
+	} else if (delta < -180.0f) {
+		// 从接近0度绕到接近360度
+		delta += 360.0f;
+	}
+
+	m_cumulativeAngle += delta / REDDUCTION_RATIO;
+	m_lastAngle = currentAngle;
+
+	return m_cumulativeAngle;
+}
+
+float angle_sensor::getAngle(void) const { return m_cumulativeAngle; }
+
+void angle_sensor::reset(void) {
+	m_cumulativeAngle = 0.0f;
+	m_firstUpdate = true;
 }