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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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100
Middleware/CANopenNode/402/CiA402_defs.h
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@@ -1,66 +1,58 @@
#ifndef __CIA402_DEFS_H__
#define __CIA402_DEFS_H__
//本文件存放CiA402中INDEX，controlword，statusword的宏定义替换
#include "stdint.h"
/* --- CiA 402 对象字典索引 (Object Dictionary Indices) --- */
#define CIA402_INDEX_CONTROLWORD 0x6040 /* 控制字 */
#define CIA402_INDEX_STATUSWORD 0x6041 /* 状态字 */
#define CIA402_INDEX_OP_MODE 0x6060 /* 目标运动模式 (Modes of Operation) */
#define CIA402_INDEX_OP_MODE_DISPLAY 0x6061 /* 模式显示 (Modes of Operation Display) */
#define CIA402_INDEX_POS_ACTUAL 0x6064 /* 当前位置值 */
#define CIA402_INDEX_FOLLOWING_ERROR_WINDOW 0x6065 /* Following error window */
#define CIA402_INDEX_VEL_ACTUAL 0x606C /* 当前速度值 */
#define CIA402_INDEX_TARGET_POS 0x607A /* 目标位置 */
#define CIA402_INDEX_TARGET_VEL 0x60FF /* 目标速度 */
#define CIA402_INDEX_PROFILE_ACC 0x6083 /* 梯形加减速：加速度 */
#define CIA402_INDEX_PROFILE_DEC 0x6084 /* 梯形加减速：减速度 */
/* CiA402 Object Dictionary indices */
#define CIA402_INDEX_CONTROLWORD 0x6040
#define CIA402_INDEX_STATUSWORD 0x6041
#define CIA402_INDEX_OP_MODE 0x6060
#define CIA402_INDEX_OP_MODE_DISPLAY 0x6061
#define CIA402_INDEX_POS_ACTUAL 0x6064
#define CIA402_INDEX_FOLLOWING_ERROR_WINDOW 0x6065
#define CIA402_INDEX_VEL_ACTUAL 0x606C
#define CIA402_INDEX_TARGET_POS 0x607A
#define CIA402_INDEX_PROFILE_ACC 0x6083
#define CIA402_INDEX_PROFILE_DEC 0x6084
#define CIA402_INDEX_FOLLOWING_ERROR_ACTUAL 0x60F4
#define CIA402_INDEX_TARGET_VEL 0x60FF
/* --- 状态字位定义 (Statusword, 0x6041) --- */
#define CIA402_STATUS_READY_TO_SWITCH_ON (1 << 0) /* 准备好切换就绪 */
#define CIA402_STATUS_SWITCHED_ON (1 << 1) /* 已切换开启 */
#define CIA402_STATUS_OPERATION_ENABLED (1 << 2) /* 运行使能 (动力输出中) */
#define CIA402_STATUS_FAULT (1 << 3) /* 故障激活 */
#define CIA402_STATUS_VOLTAGE_ENABLED (1 << 4) /* 电压已使能 (主回路通电) */
#define CIA402_STATUS_QUICK_STOP (1 << 5) /* 快速停止标志 (0:正在执行快停, 1:正常) */
#define CIA402_STATUS_SWITCH_ON_DISABLED (1 << 6) /* 切换开启禁用 */
#define CIA402_STATUS_WARNING (1 << 7) /* 警告标志 */
#define CIA402_STATUS_REMOTE (1 << 9) /* 远程控制 (可通过网络控制) */
#define CIA402_STATUS_TARGET_REACHED (1 << 10) /* 目标位置到达 */
#define CIA402_STATUS_INTERNAL_LIMIT_ACTIVE (1 << 11) /* 内部限位激活 */
#define CIA402_STATUS_OMS_12 (1 << 12) /* 模式特定位 12 (如 PP模式:Ack, 回零模式:Attained) */
#define CIA402_STATUS_OMS_13 (1 << 13) /* 模式特定位 13 (如 PP模式:following error) */
/* Statusword bits (0x6041) */
#define CIA402_STATUS_READY_TO_SWITCH_ON (1 << 0)
#define CIA402_STATUS_SWITCHED_ON (1 << 1)
#define CIA402_STATUS_OPERATION_ENABLED (1 << 2)
#define CIA402_STATUS_FAULT (1 << 3)
#define CIA402_STATUS_VOLTAGE_ENABLED (1 << 4)
#define CIA402_STATUS_QUICK_STOP (1 << 5)
#define CIA402_STATUS_SWITCH_ON_DISABLED (1 << 6)
#define CIA402_STATUS_WARNING (1 << 7)
#define CIA402_STATUS_REMOTE (1 << 9)
#define CIA402_STATUS_TARGET_REACHED (1 << 10)
#define CIA402_STATUS_INTERNAL_LIMIT_ACTIVE (1 << 11)
#define CIA402_STATUS_OMS_12 (1 << 12)
#define CIA402_STATUS_OMS_13 (1 << 13)
/* --- 控制字位定义 (Controlword, 0x6040) --- */
#define CIA402_CONTROL_SWITCH_ON (1 << 0) /* 切换开启 */
#define CIA402_CONTROL_ENABLE_VOLTAGE (1 << 1) /* 使能电压 */
#define CIA402_CONTROL_QUICK_STOP (1 << 2) /* 快速停止 (逻辑 0 触发) */
#define CIA402_CONTROL_ENABLE_OPERATION (1 << 3) /* 使能运行 */
#define CIA402_CONTROL_FAULT_RESET (1 << 7) /* 故障复位 (上升沿触发) */
#define CIA402_CONTROL_HALT (1 << 8) /* 暂停运动 */
/* Controlword bits (0x6040) */
#define CIA402_CONTROL_SWITCH_ON (1 << 0)
#define CIA402_CONTROL_ENABLE_VOLTAGE (1 << 1)
#define CIA402_CONTROL_QUICK_STOP (1 << 2)
#define CIA402_CONTROL_ENABLE_OPERATION (1 << 3)
#define CIA402_CONTROL_FAULT_RESET (1 << 7)
#define CIA402_CONTROL_HALT (1 << 8)
/* --- 运动模式特定控制位 (OMS) --- */
/* PP 模式 (Profile Position Mode, 模式 1) */
#define CIA402_CONTROL_PP_NEW_SET_POINT (1 << 4) /* 新目标点触发 (上升沿触发) */
#define CIA402_CONTROL_PP_CHANGE_IMM (1 << 5) /* 立即改变目标 (1:立即更新, 0:完成当前再更新) */
#define CIA402_CONTROL_PP_ABS_REL (1 << 6) /* 绝对/相对坐标 (0:绝对, 1:相对) */
/* Mode specific control bits */
#define CIA402_CONTROL_PP_NEW_SET_POINT (1 << 4)
#define CIA402_CONTROL_PP_CHANGE_IMM (1 << 5)
#define CIA402_CONTROL_PP_ABS_REL (1 << 6)
#define CIA402_CONTROL_HM_START (1 << 4)
/* 回零模式 (Homing Mode, 模式 6) */
#define CIA402_CONTROL_HM_START (1 << 4) /* 启动回零操作 */
#define CIA402_STATUS_MASK_OP_ENABLE (0x0027)
/* --- 常用逻辑掩码与指令组合 --- */
/* 运行使能掩码：检查是否处于 Ready + SwOn + OpEn + NoQuickStop 状态 */
#define CIA402_STATUS_MASK_OP_ENABLE (0x0027)
/* 常用指令组合包 */
#define CIA402_CMD_SHUTDOWN (CIA402_CONTROL_ENABLE_VOLTAGE | CIA402_CONTROL_QUICK_STOP)
#define CIA402_CMD_SWITCH_ON (CIA402_CONTROL_SWITCH_ON | CIA402_CONTROL_ENABLE_VOLTAGE | CIA402_CONTROL_QUICK_STOP)
#define CIA402_CMD_ENABLE_OP (CIA402_CMD_SWITCH_ON | CIA402_CONTROL_ENABLE_VOLTAGE | \
CIA402_CONTROL_QUICK_STOP | CIA402_CONTROL_ENABLE_OPERATION)
// CiA402 状态机状态 (标准定义)
typedef enum
{
STATE_NOT_READY_TO_SWITCH_ON,
@@ -72,16 +64,12 @@ typedef enum
STATE_QUICK_STOP_ACTIVE
} Motor_State_t;
// 回零专用状态机
typedef enum
{
HOMING_IDLE, // 空闲
HOMING_START, // 准备启动
HOMING_MOVING, // 正在找开关
HOMING_DONE // 完成
HOMING_IDLE,
HOMING_START,
HOMING_MOVING,
HOMING_DONE
} Homing_State_t;
#endif

8
Middleware/CANopenNode/CO_driver_STM32/OD.c
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@@ -212,6 +212,7 @@ OD_ATTR_RAM OD_RAM_t OD_RAM = {
.x607A_targetPosition = 0x00000000,
.x6083_acceleration = 0x00000064,
.x6084_deceleration = 0x00000064,
.x60F4_followingErrorActualValue = 0,
.x60FF_targetVelocity = 0
};
@@ -264,6 +265,7 @@ typedef struct {
OD_obj_var_t o_607A_targetPosition;
OD_obj_var_t o_6083_acceleration;
OD_obj_var_t o_6084_deceleration;
OD_obj_var_t o_60F4_followingErrorActualValue;
OD_obj_var_t o_60FF_targetVelocity;
} ODObjs_t;
@@ -1182,6 +1184,11 @@ static CO_PROGMEM ODObjs_t ODObjs = {
.attribute = ODA_SDO_RW | ODA_MB,
.dataLength = 4
},
.o_60F4_followingErrorActualValue = {
.dataOrig = &OD_RAM.x60F4_followingErrorActualValue,
.attribute = ODA_SDO_RW | ODA_MB,
.dataLength = 4
},
.o_60FF_targetVelocity = {
.dataOrig = &OD_RAM.x60FF_targetVelocity,
.attribute = ODA_SDO_RW | ODA_RPDO | ODA_MB,
@@ -1237,6 +1244,7 @@ static OD_ATTR_OD OD_entry_t ODList[] = {
{0x607A, 0x01, ODT_VAR, &ODObjs.o_607A_targetPosition, NULL},
{0x6083, 0x01, ODT_VAR, &ODObjs.o_6083_acceleration, NULL},
{0x6084, 0x01, ODT_VAR, &ODObjs.o_6084_deceleration, NULL},
{0x60F4, 0x01, ODT_VAR, &ODObjs.o_60F4_followingErrorActualValue, NULL},
{0x60FF, 0x01, ODT_VAR, &ODObjs.o_60FF_targetVelocity, NULL},
{0x0000, 0x00, 0, NULL, NULL}
};

9
Middleware/CANopenNode/CO_driver_STM32/OD.h
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@@ -16,7 +16,7 @@
Created: 2026/1/30 14:35:40
Created By:
Modified: 2026/2/26 17:17:54
Modified: 2026/3/2 16:53:20
Modified By:
Device Info:
@@ -252,6 +252,7 @@ typedef struct {
uint32_t x607A_targetPosition;
uint32_t x6083_acceleration;
uint32_t x6084_deceleration;
float32_t x60F4_followingErrorActualValue;
int32_t x60FF_targetVelocity;
} OD_RAM_t;
@@ -317,7 +318,8 @@ extern OD_ATTR_OD OD_t *OD;
#define OD_ENTRY_H607A &OD->list[40]
#define OD_ENTRY_H6083 &OD->list[41]
#define OD_ENTRY_H6084 &OD->list[42]
#define OD_ENTRY_H60FF &OD->list[43]
#define OD_ENTRY_H60F4 &OD->list[43]
#define OD_ENTRY_H60FF &OD->list[44]
/*******************************************************************************
@@ -366,7 +368,8 @@ extern OD_ATTR_OD OD_t *OD;
#define OD_ENTRY_H607A_targetPosition &OD->list[40]
#define OD_ENTRY_H6083_acceleration &OD->list[41]
#define OD_ENTRY_H6084_deceleration &OD->list[42]
#define OD_ENTRY_H60FF_targetVelocity &OD->list[43]
#define OD_ENTRY_H60F4_followingErrorActualValue &OD->list[43]
#define OD_ENTRY_H60FF_targetVelocity &OD->list[44]
/*******************************************************************************

10
Middleware/CANopenNode/NodeSlave.xdd
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@@ -15,7 +15,7 @@
<ProfileTechnology>CANopen</ProfileTechnology>
</ISO15745Reference>
</ProfileHeader>
<ProfileBody xmlns:q1="http://www.canopen.org/xml/1.1" xsi:type="q1:ProfileBody_Device_CANopen" formatName="CANopen" formatVersion="1.0" fileName="NodeSlave.xdd" fileCreator="" fileCreationDate="2026-01-30" fileCreationTime="14:35:40.0000000+08:00" fileModifiedBy="" fileModificationDate="2026-02-26" fileModificationTime="17:17:54.2103410+08:00" fileVersion="1" supportedLanguages="en" xmlns="">
<ProfileBody xmlns:q1="http://www.canopen.org/xml/1.1" xsi:type="q1:ProfileBody_Device_CANopen" formatName="CANopen" formatVersion="1.0" fileName="NodeSlave.xdd" fileCreator="" fileCreationDate="2026-01-30" fileCreationTime="14:35:40.0000000+08:00" fileModifiedBy="" fileModificationDate="2026-03-02" fileModificationTime="16:53:20.3566767+08:00" fileVersion="1" supportedLanguages="en" xmlns="">
<q1:DeviceIdentity>
<q1:vendorName></q1:vendorName>
<q1:vendorID></q1:vendorID>
@@ -2014,6 +2014,11 @@
<UDINT />
<q1:defaultValue value="100" />
</q1:parameter>
<q1:parameter uniqueID="UID_OBJ_60F4" access="readWrite">
<label lang="en">Following error actual value</label>
<REAL />
<q1:defaultValue value="0" />
</q1:parameter>
<q1:parameter uniqueID="UID_OBJ_60FF" access="readWriteOutput">
<label lang="en">Target velocity</label>
<DINT />
@@ -2036,7 +2041,7 @@
<ProfileTechnology>CANopen</ProfileTechnology>
</ISO15745Reference>
</ProfileHeader>
<ProfileBody xmlns:q2="http://www.canopen.org/xml/1.1" xsi:type="q2:ProfileBody_CommunicationNetwork_CANopen" formatName="CANopen" formatVersion="1.0" fileName="NodeSlave.xdd" fileCreator="" fileCreationDate="2026-01-30" fileCreationTime="14:35:40.0000000+08:00" fileModificationDate="2026-02-26" fileModificationTime="17:17:54.2103410+08:00" fileVersion="1" supportedLanguages="en" xmlns="">
<ProfileBody xmlns:q2="http://www.canopen.org/xml/1.1" xsi:type="q2:ProfileBody_CommunicationNetwork_CANopen" formatName="CANopen" formatVersion="1.0" fileName="NodeSlave.xdd" fileCreator="" fileCreationDate="2026-01-30" fileCreationTime="14:35:40.0000000+08:00" fileModificationDate="2026-03-02" fileModificationTime="16:53:20.3566767+08:00" fileVersion="1" supportedLanguages="en" xmlns="">
<ApplicationLayers>
<q2:CANopenObjectList>
<CANopenObject index="1000" name="Device type" objectType="7" PDOmapping="no" uniqueIDRef="UID_OBJ_1000" />
@@ -2322,6 +2327,7 @@
<CANopenObject index="607A" name="Target position" objectType="7" PDOmapping="RPDO" uniqueIDRef="UID_OBJ_607A" />
<CANopenObject index="6083" name="Acceleration" objectType="7" PDOmapping="no" uniqueIDRef="UID_OBJ_6083" />
<CANopenObject index="6084" name="Deceleration" objectType="7" PDOmapping="no" uniqueIDRef="UID_OBJ_6084" />
<CANopenObject index="60F4" name="Following error actual value" objectType="7" PDOmapping="no" uniqueIDRef="UID_OBJ_60F4" />
<CANopenObject index="60FF" name="Target velocity" objectType="7" PDOmapping="RPDO" uniqueIDRef="UID_OBJ_60FF" />
</q2:CANopenObjectList>
<dummyUsage>