mcu日志：
sunrise@ubuntu:/sys/class/remoteproc/remoteproc_mcu0$ echo "S100_MCU_DEBUG.elf" | sudo tee firmware
S100_MCU_DEBUG.elf
sunrise@ubuntu:/sys/class/remoteproc/remoteproc_mcu0$ sudo sh -c 'echo "start" > state'
sunrise@ubuntu:/sys/class/remoteproc/remoteproc_mcu0$ cat state
running
sunrise@ubuntu:/sys/class/remoteproc/remoteproc_mcu0$ cd /sys/class/remoteproc/remoteproc_mcu0
sunrise@ubuntu:/sys/class/remoteproc/remoteproc_mcu0$ cd /sys/class/remoteproc/remoteproc_mcu1
sunrise@ubuntu:/sys/class/remoteproc/remoteproc_mcu1$ echo "S100_MCU_DEBUG.elf" | sudo tee firmware
S100_MCU_DEBUG.elf
sunrise@ubuntu:/sys/class/remoteproc/remoteproc_mcu1$ sudo sh -c 'echo "start" > state'
sunrise@ubuntu:/sys/class/remoteproc/remoteproc_mcu1$ cat state
running
sunrise@ubuntu:/sys/class/remoteproc/remoteproc_mcu1$ dmesg | grep -i mcu | tail -20
[ 1806.483123] remoteproc remoteproc_mcu0: rproc_elf_get_boot_addr = 0xcab0000
[ 1806.483128] remoteproc remoteproc_mcu0: rproc_handle_devmem flags 0x0 fix_map_mode-0 name-startup devmem: da=0xcab0000 pa=0xcab0000 len=0x800
[ 1806.483140] remoteproc remoteproc_mcu0: rproc_handle_devmem flags 0x0 fix_map_mode-0 name-flash devmem: da=0xcab0800 pa=0xcab0800 len=0x2aac00
[ 1806.483150] remoteproc remoteproc_mcu0: rproc_handle_devmem flags 0x0 fix_map_mode-0 name-freertos_heap devmem: da=0xcccb000 pa=0xcccb000 len=0x80000
[ 1806.483157] remoteproc remoteproc_mcu0: rproc_handle_devmem flags 0x0 fix_map_mode-0 name-log devmem: da=0xcd5b000 pa=0xcd5b000 len=0x2000
[ 1806.483161] remoteproc remoteproc_mcu0: rproc_handle_devmem flags 0x0 fix_map_mode-0 name-scmi devmem: da=0xcd5d000 pa=0xcd5d000 len=0x3000
[ 1806.483165] remoteproc remoteproc_mcu0: rproc_handle_devmem flags 0x0 fix_map_mode-0 name-atcm devmem: da=0xa000000 pa=0xcd4b000 len=0x10000
[ 1806.514053] hobot_mcu_remoteproc: mcu_start_remoteproc success
[ 1806.514058] remoteproc remoteproc_mcu0: remote processor soc:remoteproc_mcu0 is now up
[ 1857.932664] remoteproc remoteproc_mcu1: powering up soc:remoteproc_mcu1
[ 1857.934010] remoteproc remoteproc_mcu1: Booting fw image S100_MCU_DEBUG.elf, size 9932880
[ 1857.934016] remoteproc remoteproc_mcu1: rproc_elf_get_boot_addr = 0xcab0000
[ 1857.934022] remoteproc remoteproc_mcu1: rproc_handle_devmem flags 0x0 fix_map_mode-0 name-startup devmem: da=0xcab0000 pa=0xcab0000 len=0x800
[ 1857.934035] remoteproc remoteproc_mcu1: rproc_handle_devmem flags 0x0 fix_map_mode-0 name-flash devmem: da=0xcab0800 pa=0xcab0800 len=0x2aac00
[ 1857.934041] remoteproc remoteproc_mcu1: rproc_handle_devmem flags 0x0 fix_map_mode-0 name-freertos_heap devmem: da=0xcccb000 pa=0xcccb000 len=0x80000
[ 1857.934047] remoteproc remoteproc_mcu1: rproc_handle_devmem flags 0x0 fix_map_mode-0 name-log devmem: da=0xcd5b000 pa=0xcd5b000 len=0x2000
[ 1857.934052] remoteproc remoteproc_mcu1: rproc_handle_devmem flags 0x0 fix_map_mode-0 name-scmi devmem: da=0xcd5d000 pa=0xcd5d000 len=0x3000
[ 1857.934056] remoteproc remoteproc_mcu1: rproc_handle_devmem flags 0x0 fix_map_mode-0 name-atcm devmem: da=0xa000000 pa=0xcd4b000 len=0x10000
[ 1857.964853] hobot_mcu_remoteproc: mcu_start_remoteproc success
[ 1857.964858] remoteproc remoteproc_mcu1: remote processor soc:remoteproc_mcu1 is now up

send的日志：
sunrise@ubuntu:/app/Can/can_send$ sudo ./canhal_send bypass 8
[CANHAL][INFO][ipcf_dev.cpp:32][2026-7-7 17:37:22.369]:the path of ipcf plugin is /usr/hobot/lib/libhbipcfhal.so.1.
group name is bypass
[CANHAL][INFO][comps_mgr.cpp:158][2026-7-7 17:37:22.370]:channel constructor Register dev: ipcf success.
[CANHAL][INFO][node.cpp:23][2026-7-7 17:37:22.370]:channel id is 0
[INFO][hb_ipcf_hal.cpp:286] [channel] bypass [ins] 4 [id] 2 init success.
[INFO][hb_ipcf_hal.cpp:337] [channel] bypass [ins] 4 [id] 2 config success.
[CANHAL][INFO][node.cpp:45][2026-7-7 17:37:22.370]:io_channel init successful
[CANHAL][INFO][node.cpp:50][2026-7-7 17:37:22.370]:protocol is built_1.0
Send end, send package total: 1 frame total: 1 
[CANHAL][INFO][can_hal_impl.cpp:134][2026-7-7 17:37:22.371]:Deinit node: bypass
[INFO][hb_ipcf_hal.cpp:633] [channel] bypass [ins] 4 [id] 2 deinit success.
[CANHAL][INFO][can_hal_impl.cpp:142][2026-7-7 17:37:22.371]:Deinit node: bypass
[CANHAL][INFO][channel_ctor.cpp:47][2026-7-7 17:37:22.371]:Deinit device: ipcf

get的日志：
sunrise@ubuntu:/app/Can/can_get$ sudo ./canhal_get bypass 
[CANHAL][INFO][ipcf_dev.cpp:32][2026-7-7 17:37:14.812]:the path of ipcf plugin is /usr/hobot/lib/libhbipcfhal.so.1.
group name is bypass
[CANHAL][INFO][comps_mgr.cpp:158][2026-7-7 17:37:14.813]:channel constructor Register dev: ipcf success.
[CANHAL][INFO][node.cpp:23][2026-7-7 17:37:14.813]:channel id is 0
[INFO][hb_ipcf_hal.cpp:286] [channel] bypass [ins] 0 [id] 3 init success.
[INFO][hb_ipcf_hal.cpp:337] [channel] bypass [ins] 0 [id] 3 config success.
[CANHAL][INFO][node.cpp:45][2026-7-7 17:37:14.814]:io_channel init successful
[CANHAL][INFO][node.cpp:50][2026-7-7 17:37:14.814]:protocol is built_1.0
[CANHAL][ERROR][ipcf_dev.cpp:136][2026-7-7 17:37:18.966]:HorizonHal_IPCF_Recv of id:0 failed, ret is -11
*********************************************
[bypass] [pack]length: 0 soc_ts: 0 mcu_ts: 0
[CANHAL][ERROR][ipcf_dev.cpp:136][2026-7-7 17:37:23.62]:HorizonHal_IPCF_Recv of id:0 failed, ret is -11
*********************************************
[bypass] [pack]length: 0 soc_ts: 0 mcu_ts: 0
[CANHAL][ERROR][ipcf_dev.cpp:136][2026-7-7 17:37:27.158]:HorizonHal_IPCF_Recv of id:0 failed, ret is -11
*********************************************
[bypass] [pack]length: 0 soc_ts: 0 mcu_ts: 0
[CANHAL][ERROR][ipcf_dev.cpp:136][2026-7-7 17:37:31.254]:HorizonHal_IPCF_Recv of id:0 failed, ret is -11
*********************************************
[bypass] [pack]length: 0 soc_ts: 0 mcu_ts: 0
[CANHAL][ERROR][ipcf_dev.cpp:136][2026-7-7 17:37:35.350]:HorizonHal_IPCF_Recv of id:0 failed, ret is -11
*********************************************
[bypass] [pack]length: 0 soc_ts: 0 mcu_ts: 0
[CANHAL][ERROR][ipcf_dev.cpp:136][2026-7-7 17:37:39.450]:HorizonHal_IPCF_Recv of id:0 failed, ret is -11
*********************************************
[bypass] [pack]length: 0 soc_ts: 0 mcu_ts: 0
[CANHAL][ERROR][ipcf_dev.cpp:136][2026-7-7 17:37:43.546]:HorizonHal_IPCF_Recv of id:0 failed, ret is -11
*********************************************
[bypass] [pack]length: 0 soc_ts: 0 mcu_ts: 0
[CANHAL][ERROR][ipcf_dev.cpp:136][2026-7-7 17:37:47.638]:HorizonHal_IPCF_Recv of id:0 failed, ret is -11
*********************************************
[bypass] [pack]length: 0 soc_ts: 0 mcu_ts: 0
[CANHAL][ERROR][ipcf_dev.cpp:136][2026-7-7 17:37:51.734]:HorizonHal_IPCF_Recv of id:0 failed, ret is -11
*********************************************
[bypass] [pack]length: 0 soc_ts: 0 mcu_ts: 0
[CANHAL][ERROR][ipcf_dev.cpp:136][2026-7-7 17:37:55.834]:HorizonHal_IPCF_Recv of id:0 failed, ret is -11
*********************************************
[bypass] [pack]length: 0 soc_ts: 0 mcu_ts: 0
[CANHAL][ERROR][ipcf_dev.cpp:136][2026-7-7 17:37:59.930]:HorizonHal_IPCF_Recv of id:0 failed, ret is -11
*********************************************
[bypass] [pack]length: 0 soc_ts: 0 mcu_ts: 0
[CANHAL][ERROR][ipcf_dev.cpp:136][2026-7-7 17:38:4.26]:HorizonHal_IPCF_Recv of id:0 failed, ret is -11
*********************************************
[bypass] [pack]length: 0 soc_ts: 0 mcu_ts: 0
[CANHAL][ERROR][ipcf_dev.cpp:136][2026-7-7 17:38:8.118]:HorizonHal_IPCF_Recv of id:0 failed, ret is -11
*********************************************
[bypass] [pack]length: 0 soc_ts: 0 mcu_ts: 0
[CANHAL][ERROR][ipcf_dev.cpp:136][2026-7-7 17:38:12.214]:HorizonHal_IPCF_Recv of id:0 failed, ret is -11