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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

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编程浩
2026-03-02 17:43:52 +08:00
parent 25d82ccd66
commit 8955887f98
9 changed files with 1710 additions and 1597 deletions
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62
Application/app_param_store.c
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@@ -15,6 +15,7 @@
#define APP_PARAM_VERSION 0x0001u
#define APP_PARAM_EEPROM_ADDR 0x0000u
#define APP_PARAM_AUTOSAVE_DEBOUNCE_MS 500u
#define APP_PARAM_THRESHOLD_DEFAULT_MM 0.1f
/* Log level: 0=off, 1=error, 2=info */
#define APP_PARAM_STORE_LOG_LEVEL 2
@@ -176,9 +177,13 @@ static bool App_ParamStore_ReadCurrentFromOD(App_RunParams_t *params)
OD_entry_t *entry_acc = OD_find(OD, CIA402_INDEX_PROFILE_ACC);
OD_entry_t *entry_dec = OD_find(OD, CIA402_INDEX_PROFILE_DEC);
OD_entry_t *entry_ferr = OD_find(OD, CIA402_INDEX_FOLLOWING_ERROR_WINDOW);
ODR_t odr_acc = ODR_DEV_INCOMPAT;
ODR_t odr_dec = ODR_DEV_INCOMPAT;
ODR_t odr_ferr = ODR_DEV_INCOMPAT;
uint32_t acc_raw = 0u;
uint32_t dec_raw = 0u;
float32_t ferr_raw = 0.0f;
float ferr_mm = APP_PARAM_THRESHOLD_DEFAULT_MM;
if ((params == 0) || (entry_acc == 0) || (entry_dec == 0) || (entry_ferr == 0))
{
@@ -188,30 +193,55 @@ static bool App_ParamStore_ReadCurrentFromOD(App_RunParams_t *params)
if (CO != 0)
{
CO_LOCK_OD(CO->CANmodule);
(void)OD_get_u32(entry_acc, 0, &acc_raw, true);
(void)OD_get_u32(entry_dec, 0, &dec_raw, true);
(void)OD_get_f32(entry_ferr, 0, &ferr_raw, true);
odr_acc = OD_get_u32(entry_acc, 0, &acc_raw, true);
odr_dec = OD_get_u32(entry_dec, 0, &dec_raw, true);
odr_ferr = OD_get_f32(entry_ferr, 0, &ferr_raw, true);
CO_UNLOCK_OD(CO->CANmodule);
}
else
{
(void)OD_get_u32(entry_acc, 0, &acc_raw, true);
(void)OD_get_u32(entry_dec, 0, &dec_raw, true);
(void)OD_get_f32(entry_ferr, 0, &ferr_raw, true);
odr_acc = OD_get_u32(entry_acc, 0, &acc_raw, true);
odr_dec = OD_get_u32(entry_dec, 0, &dec_raw, true);
odr_ferr = OD_get_f32(entry_ferr, 0, &ferr_raw, true);
}
if ((acc_raw == 0u) || (acc_raw > 65535u) || (dec_raw == 0u) || (dec_raw > 65535u))
if ((odr_acc != ODR_OK) || (odr_dec != ODR_OK) || (odr_ferr != ODR_OK))
{
APP_PS_LOGE("[EEPROM] read OD failed, odr_acc=%d odr_dec=%d odr_ferr=%d",
(int)odr_acc, (int)odr_dec, (int)odr_ferr);
return false;
}
if (((float)ferr_raw <= 0.0f) || ((float)ferr_raw > SOFT_LIMIT_MAX_MM))
if (acc_raw == 0u)
{
return false;
acc_raw = 1u;
}
if (dec_raw == 0u)
{
dec_raw = 1u;
}
if (acc_raw > 65535u)
{
acc_raw = 65535u;
}
if (dec_raw > 65535u)
{
dec_raw = 65535u;
}
ferr_mm = (float)ferr_raw;
if (!(ferr_mm == ferr_mm) || (ferr_mm <= 0.0f))
{
ferr_mm = APP_PARAM_THRESHOLD_DEFAULT_MM;
}
if (ferr_mm > SOFT_LIMIT_MAX_MM)
{
ferr_mm = SOFT_LIMIT_MAX_MM;
}
params->acc_mm_s2 = (uint16_t)acc_raw;
params->dec_mm_s2 = (uint16_t)dec_raw;
params->step_loss_threshold_mm = (float)ferr_raw;
params->step_loss_threshold_mm = ferr_mm;
return true;
}
@@ -239,6 +269,8 @@ static uint8_t App_ParamStore_ParamsEqual(const App_RunParams_t *a, const App_Ru
void App_ParamStore_Init(void)
{
App_RunParams_t current;
/* EEPROM驱动初始化：参数由Int_EEPROM24xx内部宏配置。 */
if (Int_EEPROM24xx_Init() != INT_EEPROM_OK)
{
@@ -246,7 +278,15 @@ void App_ParamStore_Init(void)
APP_PS_LOGE("[EEPROM] init failed");
}
g_last_seen_valid = 0u;
if (App_ParamStore_ReadCurrentFromOD(&current))
{
g_last_seen_params = current;
g_last_seen_valid = 1u;
}
else
{
g_last_seen_valid = 0u;
}
g_autosave_dirty = 0u;
g_autosave_due_ms = 0u;
}