优化 TerminateHandler 函数，增强异常处理逻辑并确保错误信息通过调试串口输出

Core/App/app.cpp

@@ -1,5 +1,6 @@
 #include "Helper/delay_helper.h"
 #include "stm32h563xx.h"
+#include <string>
 
 #include "Center/common_center.hpp"
 #include "Common/serial_port.hpp"
@@ -8,8 +9,24 @@
 
 
 void TerminateHandler() {
-    auto led = Config::kLed;
+    auto led              = Config::kLed;
+    auto& debugSerialPort = CommonCenter::GetDebugSerialPort();
+    std::string message;
+    std::exception_ptr exceptionPtr = std::current_exception();
+    if (exceptionPtr) {
+        try {
+            std::rethrow_exception(exceptionPtr);
+        } catch (const std::exception& e) {
+            message = e.what();
+        } catch (...) {
+            message = "Unknown exception type";
+        }
+    } else {
+        message = "No active exception, but terminate() was called";
+    }
+
     while (true) {
+        debugSerialPort.WriteLineBlocking("FATAL ERROR: %s", message.c_str());
         led.Toggle();
         DelayS(1);
     }
@@ -31,6 +48,7 @@ void Setup() {
     GpioSetup();
     DelaySetup();
     CommonSetup();
+    std::set_terminate(TerminateHandler);
 }
 
 extern "C" void AppStart() {