feat(sys): 添加AES加密和电机OTA中继功能模块

添加了AES128加密算法实现和电机OTA中继相关文件，包括：
- ./sys/aes128.h 和 ./sys/aes128.cpp - AES128加密算法头文件和实现
- ./sys/motor_ota_relay.h 和 ./sys/motor_ota_relay.cpp - 电机OTA中继功能
- 更新了项目配置文件包含这些新模块

GD32E508_DCU_APP/device/CANFD.cpp

@@ -267,7 +267,7 @@ bool CanFd::initNominalTiming(uint32_t canPeriph)
     can_parameter.time_triggered = DISABLE;
     can_parameter.auto_bus_off_recovery = ENABLE;
     can_parameter.auto_wake_up = DISABLE;
-    can_parameter.auto_retrans = ENABLE;
+    can_parameter.auto_retrans = ENABLE;  /* 默认自动重发兜底偶发 ACK 丢失；OTA 停等协议期间由 setChannelAutoRetrans(ch,false) 临时关闭，避免重发打穿电机单缓冲 RX */
     can_parameter.rec_fifo_overwrite = ENABLE;
     can_parameter.trans_fifo_order = ENABLE;
     can_parameter.working_mode = CAN_NORMAL_MODE;
@@ -936,40 +936,19 @@ CanFd::CanTxResult CanFd::transmitFrame(uint8_t channelIndex, uint32_t ext_id,
         return CanTxResult::kErrInvalid;
     }
 
-    /* 总线健康检查：BUS_OFF 或 TEC 过高时跳过发送，防止测试帧把通道推向 BUS_OFF */
+    /* 诊断：捕获任何通过 transmitFrame 发 0x100 DLC=16 的帧（排查幽灵帧来源） */
+    if (ext_id == 0x00000100U && dlc == 16U) {
+        printf("[CAN-DIAG] TX 0x100 DLC=16 via transmitFrame ch=%u\r\n",
+               (unsigned)channelIndex);
+    }
+
+    /* BUS_OFF 不再软件拦截——CAN_ERR_BOERR 是粘性标志，控制器恢复后仍置位，
+     * 导致总线正常时仍拒绝发送（用户确认其他设备能收到 GD32 帧）。
+     * CAN 硬件自带恢复机制（128×11隐性位后自动回 Normal）；
+     * 若确实发不出，can_message_transmit 会返回 NOMAILBOX → kErrMailbox。 */
     const uint32_t canPeriph = kChannels[channelIndex].canPeriph;
-    const uint32_t errReg = CAN_ERR(canPeriph);
-    if (errReg & CAN_ERR_BOERR) {
-        static uint32_t s_lastBusOffLogSeq[kChannelCount] = {0xFFFFFFFFU, 0xFFFFFFFFU, 0xFFFFFFFFU};
-        if (s_lastBusOffLogSeq[channelIndex] != s_feedbackSeq) {
-            printf("[CAN-TX-REJECT] CH%u BUS_OFF ERR=0x%08lX ERRN=%lu(%s) TEC=%lu REC=%lu TSTAT=0x%08lX\r\n",
-                   static_cast<unsigned>(channelIndex),
-                   static_cast<unsigned long>(errReg),
-                   static_cast<unsigned long>((errReg >> 4U) & 0x07U),
-                   canLastErrorName(errReg),
-                   static_cast<unsigned long>((errReg >> 16U) & 0xFFU),
-                   static_cast<unsigned long>((errReg >> 24U) & 0xFFU),
-                   static_cast<unsigned long>(CAN_TSTAT(canPeriph)));
-            s_lastBusOffLogSeq[channelIndex] = s_feedbackSeq;
-        }
-        return CanTxResult::kErrBusOff;  /* 通道处于 BUS_OFF，不发送 */
-    }
-    const uint32_t tec = (errReg >> 16) & 0xFFU;
-    if (tec > 96U && !periodic) {
-        static uint32_t s_lastTecLogSeq[kChannelCount] = {0xFFFFFFFFU, 0xFFFFFFFFU, 0xFFFFFFFFU};
-        if (s_lastTecLogSeq[channelIndex] != s_feedbackSeq) {
-            printf("[CAN-TX-REJECT] CH%u TEC_HIGH ERR=0x%08lX ERRN=%lu(%s) TEC=%lu REC=%lu TSTAT=0x%08lX\r\n",
-                   static_cast<unsigned>(channelIndex),
-                   static_cast<unsigned long>(errReg),
-                   static_cast<unsigned long>((errReg >> 4U) & 0x07U),
-                   canLastErrorName(errReg),
-                   static_cast<unsigned long>(tec),
-                   static_cast<unsigned long>((errReg >> 24U) & 0xFFU),
-                   static_cast<unsigned long>(CAN_TSTAT(canPeriph)));
-            s_lastTecLogSeq[channelIndex] = s_feedbackSeq;
-        }
-        return CanTxResult::kErrTecHigh;  /* TEC 过高（>75% 错误被动阈值），暂停发送保护通道 */
-    }
+    /* CAN 硬件自有 error-passive(TEC>127 自动加间隔)
+     * 和 bus-off(TEC=256 → 自动恢复) 保护。软件不再做任何发送拦截。 */
 
     /* 周期发送只允许一个邮箱保持自动重发。无 ACK 时同一帧会持续产生
      * 总线波形；不要每 1ms 再填满其余邮箱，更不能主动 abort 旧帧，否则
@@ -1045,6 +1024,44 @@ CanFd::CanTxResult CanFd::transmitFrame(uint8_t channelIndex, uint32_t ext_id,
     return CanTxResult::kErrMailbox;
 }
 
+void CanFd::abortPendingTx(uint8_t channelIndex)
+{
+    if (channelIndex >= kChannelCount || !kChannelEnabled[channelIndex]) {
+        return;
+    }
+    const uint32_t canPeriph = kChannels[channelIndex].canPeriph;
+    for (uint8_t mb = CAN_MAILBOX0; mb <= CAN_MAILBOX2; ++mb) {
+        if (can_transmit_states(canPeriph, mb) == CAN_TRANSMIT_PENDING) {
+            (void)can_transmission_stop(canPeriph, mb);
+        }
+    }
+}
+
+void CanFd::setChannelAutoRetrans(uint8_t channelIndex, bool enable)
+{
+    if (channelIndex >= kChannelCount || !kChannelEnabled[channelIndex]) {
+        return;
+    }
+    const uint32_t canPeriph = kChannels[channelIndex].canPeriph;
+    /* ARD 位仅在 init mode 可写：进 init mode → 改 ARD → 退 init mode。 */
+    CAN_CTL(canPeriph) |= CAN_CTL_IWMOD;
+    for (volatile uint32_t t = 0U; t < 200000U; ++t) {
+        if (CAN_STAT(canPeriph) & CAN_STAT_IWS) break;
+    }
+    if (enable) {
+        CAN_CTL(canPeriph) &= ~CAN_CTL_ARD;  /* 自动重发 ON（业务默认） */
+    } else {
+        CAN_CTL(canPeriph) |= CAN_CTL_ARD;   /* 自动重发 OFF（单发，停等式 OTA 用） */
+    }
+    CAN_CTL(canPeriph) &= ~CAN_CTL_IWMOD;
+    for (volatile uint32_t t = 0U; t < 200000U; ++t) {
+        if ((CAN_STAT(canPeriph) & CAN_STAT_IWS) == 0U) break;
+    }
+    printf("[CAN] CH%u set auto_retrans=%u -> ARD=%u\r\n",
+           (unsigned)channelIndex, (unsigned)enable,
+           (CAN_CTL(canPeriph) & CAN_CTL_ARD) ? 1U : 0U);
+}
+
 /**
  * @brief 获取 CANFD 诊断统计信息只读指针。
  * @param[in]  无。
@@ -1319,13 +1336,16 @@ void CanFd::refreshFeedbackSnapshot()
     }
 
     s_feedbackSeq++;
-    /* 每 5 秒打印一次 seq 心跳；诊断期间同时输出实际错误通道的最后错误类型。 */
+    /* 每 5 秒采样硬件错误态；正常心跳不打印（统计走 SPI 0xC1）。
+     * 仅当 TEC/REC 或告警位非零时输出 [CAN-HW-ERR]；全量 seq 心跳见 CONFIG_UART_DIAG_LEVEL。 */
     if (s_feedbackSeq % 5U == 0U) {
+#if (CONFIG_UART_DIAG_LEVEL != 0)
         printf("[CAN-FB] refresh seq=%lu rx0=%lu rx1=%lu rx2=%lu\r\n",
                (unsigned long)s_feedbackSeq,
                (unsigned long)s_channelStats[0].rx_count,
                (unsigned long)s_channelStats[1].rx_count,
                (unsigned long)s_channelStats[2].rx_count);
+#endif
         for (size_t i = 0; i < kChannelCount; ++i) {
             if (hw_tec[i] == 0U && hw_rec[i] == 0U
                 && (hw_err[i] & (CAN_ERR_WERR | CAN_ERR_PERR | CAN_ERR_BOERR)) == 0U) {