feat(wifi_ota): 添加CAN帧转发功能

添加了HTTP接口用于转发CAN帧，包括/can/send POST接口用于发送CAN帧，
以及/can/status GET接口用于查询CAN通道状态。同时集成了SPI master驱动
以支持与GD32之间的CANFD通信，并定义了完整的CAN帧格式和通道管理机制。

BREAKING CHANGE: 移除了OTA上位机工具脚本

tools/ota_host_tool.py

@@ -1,660 +0,0 @@
-"""
-ESP32-C3 OTA 上位机工具
-通过 WiFi 连接 ESP32，发送 .hex 固件文件并触发 OTA
-
-依赖: Python 3.8+, tkinter (标准库), requests
-
-用法:
-    python ota_host_tool.py
-"""
-import os
-import sys
-import socket
-import threading
-import traceback
-import struct
-from datetime import datetime
-from typing import Optional, List, Tuple
-
-# 尝试导入 tkinter，失败时给出提示
-try:
-    import tkinter as tk
-    from tkinter import filedialog, messagebox, ttk
-except ImportError:
-    print("错误: 缺少 tkinter 模块")
-    print("Linux/Mac 请安装: pip install tkinter")
-    print("Windows 通常自带 tkinter")
-    sys.exit(1)
-
-try:
-    import requests
-except ImportError:
-    print("错误: 缺少 requests 模块")
-    print("请安装: pip install requests")
-    sys.exit(1)
-
-
-# ===================== 配置 =====================
-ESP32_IP = "192.168.4.1"       # ESP32 在 AP 模式下的 IP
-ESP32_PORT = 80               # HTTP 端口
-DEBUG_LOG_IP = "0.0.0.0"       # 监听所有接口
-DEBUG_LOG_PORT = 6666          # UDP 日志监听端口
-TARGET_CHIP = "GD32E508"       # 目标芯片（用于显示）
-CHUNK_SIZE = 4096              # 每包大小（字节）
-# =============================================
-
-
-class LogHandler:
-    """UDP 日志接收器"""
-
-    def __init__(self, text_widget: 'tk.Text', port: int = DEBUG_LOG_PORT):
-        self.text_widget = text_widget
-        self.port = port
-        self.running = False
-        self.sock: Optional[socket.socket] = None
-        self.thread: Optional[threading.Thread] = None
-
-        # 颜色标签
-        self.tag_configs = {
-            '[E]': {'foreground': '#FF4444', 'background': '#FFE4E4'},
-            '[W]': {'foreground': '#FF8800', 'background': '#FFF4E4'},
-            '[I]': {'foreground': '#0088FF', 'background': '#E4F0FF'},
-            '[D]': {'foreground': '#888888', 'background': '#F0F0F0'},
-            '[C]': {'foreground': '#00CC66', 'background': '#E4FFE4'},
-        }
-
-    def start(self):
-        """启动日志接收线程"""
-        self.running = True
-        self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
-        self.sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
-        self.sock.bind((DEBUG_LOG_IP, self.port))
-        self.sock.settimeout(0.5)
-
-        self.thread = threading.Thread(target=self._receive_loop, daemon=True)
-        self.thread.start()
-
-    def stop(self):
-        """停止日志接收"""
-        self.running = False
-        if self.sock:
-            self.sock.close()
-        if self.thread:
-            self.thread.join(timeout=1)
-
-    def _receive_loop(self):
-        """日志接收循环"""
-        while self.running:
-            try:
-                data, addr = self.sock.recvfrom(1024)
-                msg = data.decode('utf-8', errors='replace').strip()
-                if msg:
-                    self._append_log(msg)
-            except socket.timeout:
-                continue
-            except Exception:
-                pass
-
-    def _append_log(self, msg: str):
-        """在 Text 组件中追加日志"""
-        # 根据日志级别应用颜色
-        applied = False
-        for prefix, config in self.tag_configs.items():
-            if f'{prefix}' in msg or prefix in msg:
-                self.text_widget.insert('end', msg + '\n', prefix)
-                applied = True
-                break
-
-        if not applied:
-            self.text_widget.insert('end', msg + '\n')
-
-        # 自动滚动到底部
-        self.text_widget.see('end')
-
-
-class IntelHexParser:
-    """Intel HEX 文件解析器
-
-    支持标准 Intel HEX 格式（:BB AAAA TT DD... CC）
-    """
-
-    def __init__(self, filepath: str):
-        self.filepath = filepath
-        self.data: List[Optional[bytes]] = []  # 按地址索引的字节数据
-        self.max_addr = 0
-        self.min_addr = 0xFFFFFFFF
-
-    def parse(self) -> Tuple[bool, str]:
-        """解析 HEX 文件，返回 (成功标志, 消息)"""
-        try:
-            with open(self.filepath, 'r', encoding='utf-8') as f:
-                for line_no, line in enumerate(f, 1):
-                    line = line.strip()
-                    if not line:
-                        continue
-
-                    ok, msg = self._parse_line(line, line_no)
-                    if not ok:
-                        return False, msg
-
-            # 计算实际数据范围
-            if self.min_addr == 0xFFFFFFFF:
-                return False, "HEX 文件为空或不包含数据"
-
-            return True, f"解析成功，地址范围: 0x{self.min_addr:06X} - 0x{self.max_addr:06X}，共 {self.max_addr - self.min_addr + 1} 字节"
-
-        except FileNotFoundError:
-            return False, f"文件不存在: {self.filepath}"
-        except Exception as e:
-            return False, f"解析失败: {e}"
-
-    def _parse_line(self, line: str, line_no: int) -> Tuple[bool, str]:
-        """解析单行 HEX"""
-        if not line.startswith(':'):
-            return False, f"第 {line_no} 行格式错误，缺少 ':' 前缀"
-
-        if len(line) < 11:
-            return False, f"第 {line_no} 行长度不足"
-
-        try:
-            # 解析头部
-            byte_count = int(line[1:3], 16)
-            address = int(line[3:7], 16)
-            record_type = int(line[7:9], 16)
-
-            # 验证数据长度
-            expected_len = 9 + byte_count * 2 + 2
-            if len(line) != expected_len:
-                return False, f"第 {line_no} 行长度不匹配，期望 {expected_len} 实际 {len(line)}"
-
-            # 解析数据
-            data_bytes = bytes.fromhex(line[9:9 + byte_count * 2])
-
-            # 验证 CRC
-            checksum = int(line[-2:], 16)
-            calc_checksum = self._calc_checksum(line[1:-2])
-            if calc_checksum != checksum:
-                return False, f"第 {line_no} 行 CRC 校验失败"
-
-        except ValueError as e:
-            return False, f"第 {line_no} 行数据解析错误: {e}"
-
-        # 处理不同类型的记录
-        if record_type == 0x00:
-            # 数据记录
-            abs_addr = address
-            if self.min_addr == 0xFFFFFFFF or abs_addr < self.min_addr:
-                self.min_addr = abs_addr
-            if abs_addr + byte_count - 1 > self.max_addr:
-                self.max_addr = abs_addr + byte_count - 1
-
-            # 存储数据（简化处理：直接存储）
-            if len(self.data) < abs_addr + byte_count:
-                self.data.extend([None] * (abs_addr + byte_count - len(self.data)))
-            for i, b in enumerate(data_bytes):
-                self.data[abs_addr + i] = b
-
-        elif record_type == 0x01:
-            # 文件结束记录
-            pass
-
-        elif record_type == 0x02:
-            # 扩展段地址
-            pass
-
-        elif record_type == 0x04:
-            # 扩展线性地址
-            pass
-
-        return True, ""
-
-    def _calc_checksum(self, hex_str: str) -> int:
-        """计算校验和"""
-        return sum(int(hex_str[i:i+2], 16) for i in range(0, len(hex_str), 2)) & 0xFF
-
-    def get_data_segment(self, start: int, length: int) -> bytes:
-        """获取指定范围的数据，不足部分填充 0xFF"""
-        result = bytearray()
-        for i in range(length):
-            addr = start + i
-            if addr < len(self.data) and self.data[addr] is not None:
-                result.append(self.data[addr])
-            else:
-                result.append(0xFF)
-        return bytes(result)
-
-    def get_total_size(self) -> int:
-        """获取总数据大小"""
-        if self.min_addr == 0xFFFFFFFF:
-            return 0
-        return self.max_addr - self.min_addr + 1
-
-
-class OTAClient:
-    """OTA 客户端，与 ESP32 通信"""
-
-    def __init__(self, esp_ip: str = ESP32_IP, esp_port: int = ESP32_PORT):
-        self.esp_ip = esp_ip
-        self.esp_port = esp_port
-        self.base_url = f"http://{esp_ip}:{esp_port}"
-
-    def upload_firmware(self, filepath: str,
-                        progress_callback=None,
-                        chunk_size: int = CHUNK_SIZE) -> Tuple[bool, str]:
-        """上传固件到 ESP32
-
-        Args:
-            filepath: HEX 文件路径
-            progress_callback: 进度回调函数，参数为 (当前字节, 总字节)
-
-        Returns:
-            (成功标志, 消息)
-        """
-        # 解析 HEX 文件
-        parser = IntelHexParser(filepath)
-        ok, msg = parser.parse()
-        if not ok:
-            return False, msg
-
-        total_size = parser.get_total_size()
-        print(f"[OTA] 固件大小: {total_size} 字节")
-
-        # 分块发送
-        addr = parser.min_addr
-        sent_bytes = 0
-        seq = 0
-
-        while addr <= parser.max_addr:
-            # 计算本块大小
-            remaining = parser.max_addr - addr + 1
-            chunk = min(chunk_size, remaining)
-
-            # 读取数据
-            data = parser.get_data_segment(addr, chunk)
-
-            # 构造数据包: SEQ(2B) + SIZE(4B) + DATA
-            packet = struct.pack('<H', seq) + struct.pack('<I', total_size) + data
-
-            # 发送
-            try:
-                response = requests.post(
-                    f"{self.base_url}/ota/upload",
-                    data=packet,
-                    timeout=10,
-                    headers={'Content-Type': 'application/octet-stream'}
-                )
-
-                if response.status_code != 200:
-                    return False, f"上传失败，HTTP {response.status_code}: {response.text}"
-
-            except requests.exceptions.RequestException as e:
-                return False, f"网络错误: {e}"
-
-            sent_bytes += chunk
-            addr += chunk
-            seq += 1
-
-            if progress_callback:
-                progress_callback(sent_bytes, total_size)
-
-        # 检查存储完成状态
-        status_ok, status_msg = self.check_status()
-        if not status_ok:
-            return False, f"固件已发送但状态检查失败: {status_msg}"
-
-        return True, f"固件上传完成，共 {seq} 包，{sent_bytes} 字节"
-
-    def trigger_relay(self) -> Tuple[bool, str]:
-        """触发 ESP32 开始 OTA 中继"""
-        try:
-            response = requests.post(f"{self.base_url}/ota/relay", timeout=5)
-            if response.status_code == 200:
-                return True, "OTA 中继已触发"
-            return False, f"触发失败: HTTP {response.status_code}"
-        except Exception as e:
-            return False, f"网络错误: {e}"
-
-    def check_status(self) -> Tuple[bool, str]:
-        """查询 OTA 状态"""
-        try:
-            response = requests.get(f"{self.base_url}/ota/status", timeout=5)
-            if response.status_code == 200:
-                return True, response.text
-            return False, f"查询失败: HTTP {response.status_code}"
-        except Exception as e:
-            return False, f"网络错误: {e}"
-
-    def health_check(self) -> Tuple[bool, str]:
-        """查询 ESP32 健康状态"""
-        try:
-            response = requests.get(f"{self.base_url}/health", timeout=5)
-            if response.status_code == 200:
-                return True, response.text
-            return False, f"查询失败: HTTP {response.status_code}"
-        except Exception as e:
-            return False, f"网络错误: {e}"
-
-
-class OTAToolGUI:
-    """OTA 上位机主界面"""
-
-    def __init__(self):
-        self.root = tk.Tk()
-        self.root.title(f"ESP32 OTA 上位机工具 - {TARGET_CHIP}")
-        self.root.geometry("900x700")
-
-        # ESP32 连接配置
-        self.esp_ip = tk.StringVar(value=ESP32_IP)
-
-        # OTA 客户端
-        self.ota_client = OTAClient()
-
-        # 日志接收器
-        self.log_handler: Optional[LogHandler] = None
-
-        # 当前的 HEX 文件
-        self.current_hex_file = None
-
-        self._create_widgets()
-        self._start_log_receiver()
-
-    def _create_widgets(self):
-        """创建界面组件"""
-        # ----- 顶部：连接配置 -----
-        frame_conn = tk.LabelFrame(self.root, text="ESP32 连接配置", padx=10, pady=5)
-        frame_conn.pack(fill='x', padx=10, pady=5)
-
-        tk.Label(frame_conn, text="ESP32 IP:").grid(row=0, column=0, sticky='e')
-        tk.Entry(frame_conn, textvariable=self.esp_ip, width=20).grid(row=0, column=1, padx=5)
-
-        tk.Button(frame_conn, text="连接测试", command=self._test_connection).grid(row=0, column=2, padx=5)
-        tk.Button(frame_conn, text="健康检查", command=self._health_check).grid(row=0, column=3, padx=5)
-
-        # ----- 中部左侧：文件选择 -----
-        frame_file = tk.LabelFrame(self.root, text="固件文件", padx=10, pady=5)
-        frame_file.pack(fill='both', expand=True, side='left', padx=10, pady=5)
-
-        self.file_path_var = tk.StringVar(value="未选择文件")
-        tk.Label(frame_file, textvariable=self.file_path_var, fg='blue', wraplength=300).pack(fill='x')
-
-        tk.Button(frame_file, text="选择 .hex 文件", command=self._select_hex_file).pack(pady=5)
-        tk.Button(frame_file, text="选择 .bin 文件", command=self._select_bin_file).pack(pady=5)
-
-        # 文件信息
-        self.file_info_var = tk.StringVar(value="")
-        tk.Label(frame_file, textvariable=self.file_info_var, fg='gray').pack(fill='x')
-
-        # 上传按钮
-        self.upload_btn = tk.Button(frame_file, text="开始上传固件", bg='green', fg='white',
-                                    font=('Arial', 12, 'bold'), state='disabled',
-                                    command=self._start_upload)
-        self.upload_btn.pack(fill='x', pady=10)
-
-        # 进度条
-        self.progress_var = tk.DoubleVar(value=0)
-        self.progress_bar = ttk.Progressbar(frame_file, variable=self.progress_var, maximum=100)
-        self.progress_bar.pack(fill='x', pady=5)
-
-        self.progress_label = tk.Label(frame_file, text="", fg='gray')
-        self.progress_label.pack()
-
-        # 触发 OTA 中继
-        tk.Button(frame_file, text="触发 ESP32 OTA 中继", bg='orange',
-                  command=self._trigger_relay).pack(fill='x', pady=5)
-
-        # ----- 中部右侧：调试日志 -----
-        frame_log = tk.LabelFrame(self.root, text="调试日志 (UDP:6666)", padx=5, pady=5)
-        frame_log.pack(fill='both', expand=True, side='right', padx=10, pady=5)
-
-        # 日志文本框
-        self.log_text = tk.Text(frame_log, height=25, width=70, font=('Courier New', 9))
-        self.log_text.pack(fill='both', expand=True)
-
-        # 配置日志颜色标签
-        self.log_text.tag_config('[E]', foreground='#FF4444')
-        self.log_text.tag_config('[W]', foreground='#FF8800')
-        self.log_text.tag_config('[I]', foreground='#0088FF')
-        self.log_text.tag_config('[D]', foreground='#888888')
-
-        # 滚动条
-        scrollbar = tk.Scrollbar(self.log_text, command=self.log_text.yview)
-        scrollbar.pack(side='right', fill='y')
-        self.log_text.config(yscrollcommand=scrollbar.set)
-
-        # 清除日志按钮
-        tk.Button(frame_log, text="清除日志", command=lambda: self.log_text.delete('1.0', 'end')).pack()
-
-    def _start_log_receiver(self):
-        """启动 UDP 日志接收"""
-        self.log_handler = LogHandler(self.log_text, DEBUG_LOG_PORT)
-        self.log_handler.start()
-        self._log_info("上位机启动", "UDP 日志接收已启动，监听 0.0.0.0:6666")
-
-    def _test_connection(self):
-        """测试与 ESP32 的连接"""
-        ip = self.esp_ip.get().strip()
-        if not ip:
-            messagebox.showerror("错误", "请输入 ESP32 的 IP 地址")
-            return
-
-        self.ota_client = OTAClient(esp_ip=ip)
-        ok, msg = self.ota_client.health_check()
-        if ok:
-            messagebox.showinfo("连接成功", f"ESP32 连接正常\n{msg}")
-            self._log_info("连接", f"ESP32 ({ip}) 连接成功")
-        else:
-            messagebox.showerror("连接失败", f"无法连接到 ESP32\n{msg}")
-            self._log_error("连接", f"ESP32 ({ip}) 连接失败: {msg}")
-
-    def _health_check(self):
-        """查询 ESP32 健康状态"""
-        ip = self.esp_ip.get().strip()
-        self.ota_client = OTAClient(esp_ip=ip)
-        ok, msg = self.ota_client.health_check()
-        if ok:
-            self._log_info("健康检查", msg)
-            messagebox.showinfo("健康状态", msg)
-        else:
-            self._log_error("健康检查", f"查询失败: {msg}")
-            messagebox.showerror("健康检查", f"查询失败\n{msg}")
-
-    def _select_hex_file(self):
-        """选择 HEX 文件"""
-        filepath = filedialog.askopenfilename(
-            title="选择 HEX 文件",
-            filetypes=[("HEX 文件", "*.hex"), ("所有文件", "*.*")]
-        )
-        if filepath:
-            self.current_hex_file = (filepath, 'hex')
-            self.file_path_var.set(os.path.basename(filepath))
-            self._log_info("文件", f"已选择: {filepath}")
-
-            # 解析文件信息
-            parser = IntelHexParser(filepath)
-            ok, msg = parser.parse()
-            if ok:
-                self.file_info_var.set(msg)
-                self.upload_btn.config(state='normal')
-            else:
-                self.file_info_var.set(f"解析失败: {msg}")
-                self.upload_btn.config(state='disabled')
-
-    def _select_bin_file(self):
-        """选择 BIN 文件（简化支持）"""
-        filepath = filedialog.askopenfilename(
-            title="选择 BIN 文件",
-            filetypes=[("BIN 文件", "*.bin"), ("所有文件", "*.*")]
-        )
-        if filepath:
-            self.current_hex_file = (filepath, 'bin')
-            self.file_path_var.set(os.path.basename(filepath))
-            self._log_info("文件", f"已选择: {filepath}")
-
-            # 获取文件大小
-            size = os.path.getsize(filepath)
-            self.file_info_var.set(f"BIN 文件，大小: {size} 字节 ({size/1024:.1f} KB)")
-            self.upload_btn.config(state='normal')
-
-    def _start_upload(self):
-        """开始上传固件"""
-        if not self.current_hex_file:
-            messagebox.showerror("错误", "请先选择固件文件")
-            return
-
-        filepath, file_type = self.current_hex_file
-
-        self.upload_btn.config(state='disabled', text="上传中...")
-        self.progress_var.set(0)
-        self.progress_label.config(text="正在连接 ESP32...")
-
-        # 在后台线程执行上传
-        threading.Thread(target=self._upload_worker, args=(filepath, file_type), daemon=True).start()
-
-    def _upload_worker(self, filepath: str, file_type: str):
-        """上传工作线程"""
-        try:
-            if file_type == 'hex':
-                ok, msg = self._upload_hex(filepath)
-            else:
-                ok, msg = self._upload_bin(filepath)
-
-            if ok:
-                self.root.after(0, lambda: self.progress_label.config(text="上传完成"))
-                self.root.after(0, lambda: messagebox.showinfo("完成", msg))
-                self._log_info("上传", msg)
-            else:
-                self.root.after(0, lambda: self.progress_label.config(text="上传失败"))
-                self.root.after(0, lambda: messagebox.showerror("上传失败", msg))
-                self._log_error("上传", f"失败: {msg}")
-
-        except Exception as e:
-            self.root.after(0, lambda: self.progress_label.config(text="上传异常"))
-            self.root.after(0, lambda: messagebox.showerror("异常", f"上传异常: {e}\n{traceback.format_exc()}"))
-            self._log_error("上传", f"异常: {e}")
-
-        finally:
-            self.root.after(0, lambda: self.upload_btn.config(state='normal', text="开始上传固件"))
-
-    def _upload_hex(self, filepath: str) -> Tuple[bool, str]:
-        """上传 HEX 文件"""
-        parser = IntelHexParser(filepath)
-        ok, msg = parser.parse()
-        if not ok:
-            return False, msg
-
-        total_size = parser.get_total_size()
-        addr = parser.min_addr
-        seq = 0
-
-        while addr <= parser.max_addr:
-            remaining = parser.max_addr - addr + 1
-            chunk = min(CHUNK_SIZE, remaining)
-            data = parser.get_data_segment(addr, chunk)
-
-            packet = struct.pack('<H', seq) + struct.pack('<I', total_size) + data
-
-            response = requests.post(
-                f"http://{self.esp_ip.get()}:{ESP32_PORT}/ota/upload",
-                data=packet,
-                timeout=10,
-                headers={'Content-Type': 'application/octet-stream'}
-            )
-
-            if response.status_code != 200:
-                return False, f"HTTP {response.status_code}: {response.text}"
-
-            sent = min(addr - parser.min_addr + chunk, total_size)
-            progress = (sent / total_size) * 100
-            self.root.after(0, lambda p=progress, s=sent, t=total_size:
-                          [self.progress_var.set(p),
-                           self.progress_label.config(text=f"上传中: {s}/{t} 字节 ({p:.1f}%)")])
-
-            addr += chunk
-            seq += 1
-
-        return True, f"HEX 文件上传完成，共 {seq} 包"
-
-    def _upload_bin(self, filepath: str) -> Tuple[bool, str]:
-        """上传 BIN 文件（直接二进制）"""
-        file_size = os.path.getsize(filepath)
-
-        with open(filepath, 'rb') as f:
-            seq = 0
-            offset = 0
-            while offset < file_size:
-                chunk = f.read(CHUNK_SIZE)
-                packet = struct.pack('<H', seq) + struct.pack('<I', file_size) + chunk
-
-                response = requests.post(
-                    f"http://{self.esp_ip.get()}:{ESP32_PORT}/ota/upload",
-                    data=packet,
-                    timeout=10,
-                    headers={'Content-Type': 'application/octet-stream'}
-                )
-
-                if response.status_code != 200:
-                    return False, f"HTTP {response.status_code}: {response.text}"
-
-                offset += len(chunk)
-                seq += 1
-
-                progress = (offset / file_size) * 100
-                self.root.after(0, lambda p=progress, s=offset, t=file_size:
-                              [self.progress_var.set(p),
-                               self.progress_label.config(text=f"上传中: {s}/{t} 字节 ({p:.1f}%)")])
-
-        return True, f"BIN 文件上传完成，共 {seq} 包"
-
-    def _trigger_relay(self):
-        """触发 OTA 中继"""
-        ip = self.esp_ip.get().strip()
-        self.ota_client = OTAClient(esp_ip=ip)
-        ok, msg = self.ota_client.trigger_relay()
-        if ok:
-            self._log_info("触发", msg)
-            messagebox.showinfo("成功", msg)
-        else:
-            self._log_error("触发", f"失败: {msg}")
-            messagebox.showerror("失败", msg)
-
-    def _log_info(self, tag: str, msg: str):
-        """记录信息日志"""
-        self._log(tag, msg, '[I]')
-
-    def _log_error(self, tag: str, msg: str):
-        """记录错误日志"""
-        self._log(tag, msg, '[E]')
-
-    def _log(self, tag: str, msg: str, level: str):
-        """追加日志到文本框"""
-        timestamp = datetime.now().strftime("%H:%M:%S")
-        log_line = f"[{timestamp}]{level}[{tag}] {msg}"
-        self.log_handler._append_log(log_line)
-
-    def run(self):
-        """启动界面主循环"""
-        self.root.mainloop()
-
-    def cleanup(self):
-        """清理资源"""
-        if self.log_handler:
-            self.log_handler.stop()
-
-
-def main():
-    """主函数"""
-    print(f"="*50)
-    print(f"ESP32 OTA 上位机工具")
-    print(f"ESP32 IP: {ESP32_IP}:{ESP32_PORT}")
-    print(f"日志监听: {DEBUG_LOG_IP}:{DEBUG_LOG_PORT}")
-    print(f"="*50)
-
-    app = OTAToolGUI()
-    try:
-        app.run()
-    finally:
-        app.cleanup()
-
-
-if __name__ == '__main__':
-    main()

tools/ota_host_web.html

@@ -868,6 +868,46 @@
         </div>
       </div>
 
+      <!-- CAN 帧发送面板 -->
+      <div class="card">
+        <div class="card-header">
+          <div class="card-title">
+            <div class="icon">📨</div>
+            CAN 帧发送
+          </div>
+        </div>
+        <div style="display:grid; grid-template-columns:80px 1fr 80px 1fr; gap:12px; margin-bottom:16px;">
+          <div class="form-group" style="margin:0;">
+            <label style="font-size:11px;color:var(--text-muted);margin-bottom:6px;display:block;">通道</label>
+            <select id="canChannel" style="width:100%;background:var(--bg-secondary);border:1px solid var(--border);border-radius:8px;padding:10px 12px;color:var(--text-primary);font-size:13px;">
+              <option value="0">CH0</option>
+              <option value="1">CH1</option>
+              <option value="2">CH2</option>
+            </select>
+          </div>
+          <div class="form-group" style="margin:0;">
+            <label style="font-size:11px;color:var(--text-muted);margin-bottom:6px;display:block;">扩展帧 ID</label>
+            <input type="text" id="canId" value="0x18DA00F1" placeholder="例如: 0x18DA00F1" style="width:100%;background:var(--bg-secondary);border:1px solid var(--border);border-radius:8px;padding:10px 12px;color:var(--text-primary);font-size:13px;">
+          </div>
+          <div class="form-group" style="margin:0;">
+            <label style="font-size:11px;color:var(--text-muted);margin-bottom:6px;display:block;">DLC</label>
+            <input type="number" id="canDlc" value="8" min="1" max="64" style="width:100%;background:var(--bg-secondary);border:1px solid var(--border);border-radius:8px;padding:10px 12px;color:var(--text-primary);font-size:13px;">
+          </div>
+          <div class="form-group" style="margin:0;">
+            <label style="font-size:11px;color:var(--text-muted);margin-bottom:6px;display:block;">数据 (HEX)</label>
+            <input type="text" id="canData" value="0102030405060708" placeholder="01020304..." style="width:100%;background:var(--bg-secondary);border:1px solid var(--border);border-radius:8px;padding:10px 12px;color:var(--text-primary);font-size:13px;">
+          </div>
+        </div>
+        <div style="display:flex;gap:12px;">
+          <button class="btn btn-primary" style="flex:1;" onclick="sendCanFrame()">📤 发送</button>
+          <button class="btn btn-secondary" onclick="clearCanFields()">清空</button>
+        </div>
+        <div id="canResponse" style="margin-top:16px;background:var(--bg-secondary);border-radius:10px;padding:12px 16px;font-family:monospace;font-size:12px;display:none;">
+          <div style="color:var(--text-muted);margin-bottom:6px;">响应:</div>
+          <div id="canRespContent" style="color:var(--accent);"></div>
+        </div>
+      </div>
+
       <!-- 调试日志 -->
       <div class="card log-panel">
         <div class="card-header">
@@ -1051,6 +1091,79 @@ async function healthCheck() {
   }
 }
 
+// ==================== CAN 帧发送 ====================
+async function sendCanFrame() {
+  const ch = parseInt(document.getElementById('canChannel').value);
+  const idStr = document.getElementById('canId').value.trim();
+  const dlc = parseInt(document.getElementById('canDlc').value) || 8;
+  const dataStr = document.getElementById('canData').value.trim();
+
+  // 解析 ID (支持 0x 前缀)
+  let extId = 0;
+  if (idStr.startsWith('0x') || idStr.startsWith('0X')) {
+    extId = parseInt(idStr, 16);
+  } else {
+    extId = parseInt(idStr, 10);
+    if (isNaN(extId)) extId = parseInt(idStr, 16);
+  }
+
+  if (isNaN(extId)) {
+    showToast('ID 格式错误', 'error');
+    return;
+  }
+
+  // 解析 data (hex 字符串)
+  let dataHex = dataStr.replace(/\s/g, '');
+  if (dataHex.length % 2 !== 0) {
+    showToast('数据长度必须为偶数', 'error');
+    return;
+  }
+
+  addLog('I', 'CAN', `发送 CH${ch} ID=0x${extId.toString(16).toUpperCase()} DLC=${dlc}`);
+
+  try {
+    const response = await fetch(`${getBaseUrl()}/can/send`, {
+      method: 'POST',
+      headers: { 'Content-Type': 'application/json' },
+      body: JSON.stringify({
+        ch: ch,
+        id: extId,
+        dlc: dlc,
+        data: dataHex
+      }),
+      signal: AbortSignal.timeout(5000)
+    });
+
+    const result = await response.json();
+
+    if (result.status === 'ok') {
+      addLog('I', 'CAN', `响应: ${result.recv || '(无数据)'} (${result.recv_len || 0}B)`);
+
+      const respDiv = document.getElementById('canResponse');
+      const respContent = document.getElementById('canRespContent');
+      respDiv.style.display = 'block';
+      respContent.textContent = result.recv
+        ? `0x${result.recv} (${result.recv_len} 字节)`
+        : '无响应数据';
+
+      showToast(`CH${ch} 发送成功`, 'success');
+    } else {
+      addLog('E', 'CAN', `发送失败: code=${result.code}`);
+      showToast(`发送失败: code=${result.code}`, 'error');
+    }
+  } catch (e) {
+    addLog('E', 'CAN', `发送失败: ${e.message}`);
+    showToast('发送失败', 'error');
+  }
+}
+
+function clearCanFields() {
+  document.getElementById('canId').value = '0x18DA00F1';
+  document.getElementById('canDlc').value = '8';
+  document.getElementById('canData').value = '0102030405060708';
+  document.getElementById('canResponse').style.display = 'none';
+}
+
 // ==================== 文件处理 ====================
 function handleFileSelect(event) {
   const file = event.target.files[0];