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/sys/systick.cpp

@@ -44,6 +44,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "motor.h"
 #include <cstdio>
 
+// SLEEP 调试宏定义
+#if SLEEP_DEBUG
+#define SLEEP_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)
+#else
+#define SLEEP_DEBUG_PRINT(fmt, ...) ((void)0)
+#endif
+
 volatile static uint32_t delay;
 extern CAN_transmiter CAN0_transmiter;
 extern FlashEEPROM flashEEP;
@@ -131,7 +138,7 @@ void app_prepare_deep_sleep(bool save_data) {
 	if (save_data) {
 		flashEEP.save_system_config(true);
 	}
-	// 将SIT1044设置为低功耗待机模式
+	// 将 SIT1044 设置为低功耗待机模式
 	// CAN0_transmiter.CAN_Sleep();
 	motor_sleep();
 	// 在睡眠前调整看门狗超时时间为最大值，使其在唤醒前不会触发
@@ -140,7 +147,7 @@ void app_prepare_deep_sleep(bool save_data) {
 	fwdgt_write_disable();
 
 	__disable_irq();
-	// 遍历最后一个数字，后一个地址写+1
+	// 遍历最后一个数字，后一个地址写 +1
 	for (u32 address = SLEEP_CONFIG_END - SIZE_U32;
 		 address >= SLEEP_CONFIG_START; address -= SIZE_U32) { // 遍历睡眠存储区
 		volatile u32 *flash_ptr = (volatile u32 *)address;
@@ -149,9 +156,7 @@ void app_prepare_deep_sleep(bool save_data) {
 			address > SLEEP_CONFIG_START) { // 空数据且未到头跳过
 			continue;
 		} else { // 有数据的话读取
-#if SLEEP_DEBUG
-			printf("app sleep found %08x at %08x\r\n", sleep_enable, address);
-#endif
+			SLEEP_DEBUG_PRINT("app sleep found %08x at %08x\r\n", sleep_enable, address);
 			if (address == SLEEP_CONFIG_END - SIZE_U32) {
 				fmc_unlock();
 				fmc_state_enum fmc_status =
@@ -164,27 +169,23 @@ void app_prepare_deep_sleep(bool save_data) {
 				address = SLEEP_CONFIG_START - SIZE_U32; // 重新开始写入
 			}
 			address += SIZE_U32;
-#if SLEEP_DEBUG
-			printf("app sleep prepare write %08x at %08x\r\n", SLEEP_ENABLE,
+			SLEEP_DEBUG_PRINT("app sleep prepare write %08x at %08x\r\n", SLEEP_ENABLE,
 				   address);
-#endif
 			fmc_state_enum fmc_status =
 				write_ADDRESS(address, SLEEP_ENABLE); // 写入数据
 #if SLEEP_DEBUG
 			volatile u32 *flash_ptr = (volatile u32 *)address;
 			u32 sleep_check = *flash_ptr;
-			printf("app sleep wrote %08x at %08x\r\n", sleep_check, address);
+			SLEEP_DEBUG_PRINT("app sleep wrote %08x at %08x\r\n", sleep_check, address);
 #endif
 			if (fmc_status != FMC_READY) { // 写入失败报错
 				flashEEP.EEPROMStatus = FLASH_EEPROM_WRITE_ERROR;
-#if SLEEP_DEBUG
-				printf("app wrote %08x at %08x ERROR\r\n", SLEEP_ENABLE,
+				SLEEP_DEBUG_PRINT("app wrote %08x at %08x ERROR\r\n", SLEEP_ENABLE,
 					   address);
-#endif
 				return;
 			}
 			break;
 		}
 	}
-	jumpToBOOT(); // 跳转到bootloader正式休眠，进入低功耗待机模式
-}
+	jumpToBOOT(); // 跳转到 bootloader 正式休眠，进入低功耗待机模式
+}