fix: set txconf.Identifier from tx_id before CANTransmit, enable motor task

- DM motor send functions now fill txconf.Identifier from tx_id before CANTransmit
  (MIT=tid, PosVel=tid+0x100, Velocity=tid+0x200, SetMode=tid)
- Enable motor task with stack size 1024 1000Hz
- Increase FDCAN1 StdFiltersNbr from 1 to 14
- Comment out INS temperature log, DM error handling and PID for testing
- Remove test_robot_cmd.c

modules/imu/ins_task.c

@@ -179,7 +179,8 @@ void INS_Task(void)
     if ((count % 1000) == 0)
     {
         // 1Hz 可以加入monitor函数,检查IMU是否正常运行/离线
-        LOGINFO("[IMU] Temperature: %d C, PWM: %d", (int)(BMI088.Temperature * 100), (int)TempCtrl.Output);
+        //LOGINFO("[IMU] Temperature: %d C, PWM: %d", (int)(BMI088.Temperature * 100), (int)TempCtrl.Output);
+        //LOGINFO("[IMU] Yaw: %d, Pitch: %d, Roll: %d", (int)(INS.Yaw*100), (int)(INS.Pitch*100), (int)(INS.Roll*100));
     }
 
     count++;

modules/motor/DMmotor/dmmotor.c

@@ -46,6 +46,7 @@ void DMMotorSendMIT(CANInstance *can, float pos, float vel, float kp, float kd,
     buf[6] = (uint8_t)(((kd_uint & 0xF) << 4) | (torq_uint >> 8));
     buf[7] = (uint8_t)(torq_uint);
 
+    can->txconf.Identifier = can->tx_id;
     CANTransmit(can, 1);
 }
 
@@ -65,11 +66,8 @@ void DMMotorSendPosVel(CANInstance *can, float pos, float vel)
     buf[6] = vel_bytes[2];
     buf[7] = vel_bytes[3];
 
-    /* Temporarily change tx_id to motor_id + 0x100 for this transmission */
-    uint32_t saved_id = can->tx_id;
-    can->tx_id = saved_id + 0x100;
+    can->txconf.Identifier = can->tx_id + 0x100;
     CANTransmit(can, 1);
-    can->tx_id = saved_id;
 }
 
 /* Velocity mode: CAN ID = motor_id + 0x200 */
@@ -87,10 +85,8 @@ void DMMotorSendVelocity(CANInstance *can, float vel)
     buf[6] = 0;
     buf[7] = 0;
 
-    uint32_t saved_id = can->tx_id;
-    can->tx_id = saved_id + 0x200;
+    can->txconf.Identifier = can->tx_id + 0x200;
     CANTransmit(can, 1);
-    can->tx_id = saved_id;
 }
 
 /* ---- Motor commands (enable/disable/zero/clear error) ---- */
@@ -99,6 +95,7 @@ void DMMotorSetMode(DMMotor_Mode_e cmd, DMMotorInstance *motor)
 {
     memset(motor->motor_can_instance->tx_buff, 0xFF, 7);
     motor->motor_can_instance->tx_buff[7] = (uint8_t)cmd;
+    motor->motor_can_instance->txconf.Identifier = motor->motor_can_instance->tx_id;
     CANTransmit(motor->motor_can_instance, 1);
 }
 
@@ -228,9 +225,10 @@ void DMMotorControl(void)
 
         switch (motor->ctrl_mode)
         {
-        case DM_MODE_VELOCITY:
+        case DM_MODE_VELOCITY:{
             DMMotorSendVelocity(can, vel_cmd);
             break;
+        }
         case DM_MODE_MIT: {
             float pos_cmd = pid_ref * DEGREE_2_RAD;
             LIMIT_MIN_MAX(pos_cmd, DM_P_MIN, DM_P_MAX);