v1.2修复了EEPROM的读写以及掉电保持参数的功能，现在丢步的误差会保存在Canopen字典的0x60F4位置，网关那边可以通过SDO读取到

Application/app_motor.c

@@ -31,6 +31,7 @@ typedef struct
     uint16_t prev_raw_cnt;
     uint8_t prev_raw_valid;
     uint8_t motion_active;
+    uint32_t prev_cmd_steps;
 
     /* 停止后延时上报 */
     uint8_t wait_stop_settle;
@@ -44,6 +45,7 @@ typedef struct
 static StepLossMonitor_t s_step_loss = {
     .threshold_mm = STEPLOSS_THRESHOLD_MM_DEFAULT,
     .prev_state = STOP,
+    .prev_cmd_steps = 0U,
 };
 
 static float Normalize_FollowingErrorThreshold(float threshold_mm, float fallback_mm)
@@ -117,6 +119,28 @@ static void Update_PP_FollowingError_StatusBit(float stop_error_mm)
     CO_UNLOCK_OD(CO->CANmodule);
 }
 
+static void Update_FollowingErrorActual_To_OD(float abs_error_mm)
+{
+    OD_entry_t *entry_ferr_actual = OD_find(OD, CIA402_INDEX_FOLLOWING_ERROR_ACTUAL);
+    float32_t ferr_mm = (float32_t)abs_error_mm;
+
+    if (entry_ferr_actual == NULL)
+    {
+        return;
+    }
+
+    if (CO != NULL)
+    {
+        CO_LOCK_OD(CO->CANmodule);
+        (void)OD_set_f32(entry_ferr_actual, 0, ferr_mm, true);
+        CO_UNLOCK_OD(CO->CANmodule);
+    }
+    else
+    {
+        (void)OD_set_f32(entry_ferr_actual, 0, ferr_mm, true);
+    }
+}
+
 /* 核心运动分发：先做安全判断，再按模式进入回零/位置模式处理 */
 static void Process_Motion_Logic(void)
 {
@@ -176,6 +200,7 @@ void App_Motor_Init(void)
 void App_Motor_Process(void)
 {
     Sync_FollowingErrorThreshold_From_OD();
+    Update_FollowingErrorActual_To_OD(s_step_loss.abs_error_mm);
 
     /* 先跑CiA402状态机，再执行业务运动逻辑 */
     Process_StateMachine();
@@ -198,17 +223,19 @@ void App_Motor_StepLossCheck(void)
 {
     /* 周期读取硬件计数与已发步数（TIM12中断调用） */
     uint16_t raw_cnt = (uint16_t)__HAL_TIM_GET_COUNTER(&htim1);
+    uint8_t rebase_now = 0U;
     s_step_loss.cmd_steps = stepper_1.step_count;
 
     /* 新动作开始时重置累计基准，避免跨动作串扰 */
     if (stepper_1.state != STOP)
     {
-        if (!s_step_loss.motion_active)
+        if ((!s_step_loss.motion_active) || (s_step_loss.cmd_steps < s_step_loss.prev_cmd_steps))
         {
             s_step_loss.motion_active = 1U;
             s_step_loss.accum_pulses = 0;
             s_step_loss.prev_raw_cnt = raw_cnt;
             s_step_loss.prev_raw_valid = 1U;
+            rebase_now = 1U;
         }
     }
     else if (s_step_loss.motion_active)
@@ -224,9 +251,18 @@ void App_Motor_StepLossCheck(void)
     }
 
     /* int16差分可自然处理16位计数器回绕（溢出/下溢） */
-    int16_t delta = (int16_t)(raw_cnt - s_step_loss.prev_raw_cnt);
-    s_step_loss.accum_pulses += (int32_t)delta;
-    s_step_loss.prev_raw_cnt = raw_cnt;
+    int16_t delta = 0;
+    if (rebase_now)
+    {
+        /* New move baseline: skip one diff sample to avoid counter-reset jump. */
+    }
+    else
+    {
+        delta = (int16_t)(raw_cnt - s_step_loss.prev_raw_cnt);
+        s_step_loss.accum_pulses += (int32_t)delta;
+        s_step_loss.prev_raw_cnt = raw_cnt;
+    }
+    s_step_loss.prev_cmd_steps = s_step_loss.cmd_steps;
 
     /* 输出扩展后的总脉冲给上层使用 */
     encoder_1.pulses = s_step_loss.accum_pulses;