feat(CAN): 实现多节点CAN总线通信与节点ID管理功能

- 添加CAN调试宏定义，支持条件编译调试信息输出
- 实现节点ID相关功能，包括构建CAN ID、消息过滤、获取/设置节点ID
- 支持Flash存储节点ID，提供加载和保存功能
- 实现节点ID设置和查询命令处理
- 更新CANFD发送函数使用节点ID构建发送ID
- 添加消息过滤逻辑，只处理目标节点的消息
- 重构DMA中断服务程序，优化数据传输处理
- 替换printf为调试宏，便于生产环境控制调试输出

Robot_V2/device/test.cpp

@@ -1,25 +1,33 @@
 #include "adc.h"
+#include "config.h"
 #include <cstdio>
 
+// TEST 调试宏定义
+#if TEST_DEBUG
+#define TEST_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)
+#else
+#define TEST_DEBUG_PRINT(fmt, ...) ((void)0)
+#endif
+
 constexpr int status_print = 0;
 extern sampler sampler;
 void test_1111() {
-	// 初始化CAN回环测试
+	// 初始化 CAN 回环测试
 	// can_loopback_init();
 	// can_config();
 	if (status_print) {
 		/* value print */
-		printf(" the temperature data is %2.2f degrees Celsius\r\n",
+		TEST_DEBUG_PRINT(" the temperature data is %2.2f degrees Celsius\r\n",
 			   sampler.get_mcu_temp());
-		printf(" the drv_temperature data is %2.2f degrees Celsius\r\n",
+		TEST_DEBUG_PRINT(" the drv_temperature data is %2.2f degrees Celsius\r\n",
 			   sampler.get_drv_temp());
-		printf(" the U current data is %2.2f mA\r\n", sampler.get_current('U'));
-		printf(" the V current data is %2.2f mA\r\n", sampler.get_current('V'));
-		printf(" the W current data is %2.2f mA\r\n", sampler.get_current('W'));
-		printf(" the VBUS is %2.2f V\r\n", sampler.get_vbus_voltage());
-		// printf(" the angle is %2.2f\r\n", tle5012b_read());
+		TEST_DEBUG_PRINT(" the U current data is %2.2f mA\r\n", sampler.get_current('U'));
+		TEST_DEBUG_PRINT(" the V current data is %2.2f mA\r\n", sampler.get_current('V'));
+		TEST_DEBUG_PRINT(" the W current data is %2.2f mA\r\n", sampler.get_current('W'));
+		TEST_DEBUG_PRINT(" the VBUS is %2.2f V\r\n", sampler.get_vbus_voltage());
+		// TEST_DEBUG_PRINT(" the angle is %2.2f\r\n", tle5012b_read());
 
-		printf("\n----------------------------------------------------\n");
+		TEST_DEBUG_PRINT("\n----------------------------------------------------\n");
 	}
 	// can_loopback_test();
 }