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
@@ -1,66 +1,58 @@
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#ifndef __CIA402_DEFS_H__
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#define __CIA402_DEFS_H__
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//本文件存放CiA402中INDEX，controlword，statusword的宏定义替换
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#include "stdint.h"
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/* --- CiA 402 对象字典索引 (Object Dictionary Indices) --- */
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#define CIA402_INDEX_CONTROLWORD 0x6040 /* 控制字 */
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#define CIA402_INDEX_STATUSWORD 0x6041 /* 状态字 */
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#define CIA402_INDEX_OP_MODE 0x6060 /* 目标运动模式 (Modes of Operation) */
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#define CIA402_INDEX_OP_MODE_DISPLAY 0x6061 /* 模式显示 (Modes of Operation Display) */
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#define CIA402_INDEX_POS_ACTUAL 0x6064 /* 当前位置值 */
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#define CIA402_INDEX_FOLLOWING_ERROR_WINDOW 0x6065 /* Following error window */
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#define CIA402_INDEX_VEL_ACTUAL 0x606C /* 当前速度值 */
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#define CIA402_INDEX_TARGET_POS 0x607A /* 目标位置 */
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#define CIA402_INDEX_TARGET_VEL 0x60FF /* 目标速度 */
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#define CIA402_INDEX_PROFILE_ACC 0x6083 /* 梯形加减速：加速度 */
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#define CIA402_INDEX_PROFILE_DEC 0x6084 /* 梯形加减速：减速度 */
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/* CiA402 Object Dictionary indices */
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#define CIA402_INDEX_CONTROLWORD 0x6040
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#define CIA402_INDEX_STATUSWORD 0x6041
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#define CIA402_INDEX_OP_MODE 0x6060
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#define CIA402_INDEX_OP_MODE_DISPLAY 0x6061
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#define CIA402_INDEX_POS_ACTUAL 0x6064
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#define CIA402_INDEX_FOLLOWING_ERROR_WINDOW 0x6065
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#define CIA402_INDEX_VEL_ACTUAL 0x606C
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#define CIA402_INDEX_TARGET_POS 0x607A
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#define CIA402_INDEX_PROFILE_ACC 0x6083
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#define CIA402_INDEX_PROFILE_DEC 0x6084
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#define CIA402_INDEX_FOLLOWING_ERROR_ACTUAL 0x60F4
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#define CIA402_INDEX_TARGET_VEL 0x60FF
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/* --- 状态字位定义 (Statusword, 0x6041) --- */
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#define CIA402_STATUS_READY_TO_SWITCH_ON (1 << 0) /* 准备好切换就绪 */
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#define CIA402_STATUS_SWITCHED_ON (1 << 1) /* 已切换开启 */
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#define CIA402_STATUS_OPERATION_ENABLED (1 << 2) /* 运行使能 (动力输出中) */
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#define CIA402_STATUS_FAULT (1 << 3) /* 故障激活 */
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#define CIA402_STATUS_VOLTAGE_ENABLED (1 << 4) /* 电压已使能 (主回路通电) */
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#define CIA402_STATUS_QUICK_STOP (1 << 5) /* 快速停止标志 (0:正在执行快停, 1:正常) */
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#define CIA402_STATUS_SWITCH_ON_DISABLED (1 << 6) /* 切换开启禁用 */
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#define CIA402_STATUS_WARNING (1 << 7) /* 警告标志 */
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#define CIA402_STATUS_REMOTE (1 << 9) /* 远程控制 (可通过网络控制) */
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#define CIA402_STATUS_TARGET_REACHED (1 << 10) /* 目标位置到达 */
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#define CIA402_STATUS_INTERNAL_LIMIT_ACTIVE (1 << 11) /* 内部限位激活 */
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#define CIA402_STATUS_OMS_12 (1 << 12) /* 模式特定位 12 (如 PP模式:Ack, 回零模式:Attained) */
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#define CIA402_STATUS_OMS_13 (1 << 13) /* 模式特定位 13 (如 PP模式:following error) */
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/* Statusword bits (0x6041) */
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#define CIA402_STATUS_READY_TO_SWITCH_ON (1 << 0)
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#define CIA402_STATUS_SWITCHED_ON (1 << 1)
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#define CIA402_STATUS_OPERATION_ENABLED (1 << 2)
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#define CIA402_STATUS_FAULT (1 << 3)
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#define CIA402_STATUS_VOLTAGE_ENABLED (1 << 4)
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#define CIA402_STATUS_QUICK_STOP (1 << 5)
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#define CIA402_STATUS_SWITCH_ON_DISABLED (1 << 6)
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#define CIA402_STATUS_WARNING (1 << 7)
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#define CIA402_STATUS_REMOTE (1 << 9)
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#define CIA402_STATUS_TARGET_REACHED (1 << 10)
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#define CIA402_STATUS_INTERNAL_LIMIT_ACTIVE (1 << 11)
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#define CIA402_STATUS_OMS_12 (1 << 12)
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#define CIA402_STATUS_OMS_13 (1 << 13)
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/* --- 控制字位定义 (Controlword, 0x6040) --- */
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#define CIA402_CONTROL_SWITCH_ON (1 << 0) /* 切换开启 */
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#define CIA402_CONTROL_ENABLE_VOLTAGE (1 << 1) /* 使能电压 */
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#define CIA402_CONTROL_QUICK_STOP (1 << 2) /* 快速停止 (逻辑 0 触发) */
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#define CIA402_CONTROL_ENABLE_OPERATION (1 << 3) /* 使能运行 */
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#define CIA402_CONTROL_FAULT_RESET (1 << 7) /* 故障复位 (上升沿触发) */
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#define CIA402_CONTROL_HALT (1 << 8) /* 暂停运动 */
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/* Controlword bits (0x6040) */
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#define CIA402_CONTROL_SWITCH_ON (1 << 0)
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#define CIA402_CONTROL_ENABLE_VOLTAGE (1 << 1)
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#define CIA402_CONTROL_QUICK_STOP (1 << 2)
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#define CIA402_CONTROL_ENABLE_OPERATION (1 << 3)
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#define CIA402_CONTROL_FAULT_RESET (1 << 7)
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#define CIA402_CONTROL_HALT (1 << 8)
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/* --- 运动模式特定控制位 (OMS) --- */
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/* PP 模式 (Profile Position Mode, 模式 1) */
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#define CIA402_CONTROL_PP_NEW_SET_POINT (1 << 4) /* 新目标点触发 (上升沿触发) */
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#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) */
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#define CIA402_CONTROL_PP_ABS_REL (1 << 6) /* 绝对/相对坐标 (0:绝对, 1:相对) */
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/* Mode specific control bits */
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#define CIA402_CONTROL_PP_NEW_SET_POINT (1 << 4)
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#define CIA402_CONTROL_PP_CHANGE_IMM (1 << 5)
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#define CIA402_CONTROL_PP_ABS_REL (1 << 6)
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#define CIA402_CONTROL_HM_START (1 << 4)
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/* 回零模式 (Homing Mode, 模式 6) */
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#define CIA402_CONTROL_HM_START (1 << 4) /* 启动回零操作 */
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#define CIA402_STATUS_MASK_OP_ENABLE (0x0027)
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/* --- 常用逻辑掩码与指令组合 --- */
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/* 运行使能掩码：检查是否处于 Ready + SwOn + OpEn + NoQuickStop 状态 */
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#define CIA402_STATUS_MASK_OP_ENABLE (0x0027)
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/* 常用指令组合包 */
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#define CIA402_CMD_SHUTDOWN (CIA402_CONTROL_ENABLE_VOLTAGE | CIA402_CONTROL_QUICK_STOP)
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#define CIA402_CMD_SWITCH_ON (CIA402_CONTROL_SWITCH_ON | CIA402_CONTROL_ENABLE_VOLTAGE | CIA402_CONTROL_QUICK_STOP)
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#define CIA402_CMD_ENABLE_OP (CIA402_CMD_SWITCH_ON | CIA402_CONTROL_ENABLE_VOLTAGE | \
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CIA402_CONTROL_QUICK_STOP | CIA402_CONTROL_ENABLE_OPERATION)
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// CiA402 状态机状态 (标准定义)
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typedef enum
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{
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STATE_NOT_READY_TO_SWITCH_ON,
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@@ -72,16 +64,12 @@ typedef enum
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STATE_QUICK_STOP_ACTIVE
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} Motor_State_t;
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// 回零专用状态机
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typedef enum
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{
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HOMING_IDLE, // 空闲
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HOMING_START, // 准备启动
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HOMING_MOVING, // 正在找开关
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HOMING_DONE // 完成
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HOMING_IDLE,
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HOMING_START,
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HOMING_MOVING,
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HOMING_DONE
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} Homing_State_t;
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#endif
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@@ -212,6 +212,7 @@ OD_ATTR_RAM OD_RAM_t OD_RAM = {
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.x607A_targetPosition = 0x00000000,
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.x6083_acceleration = 0x00000064,
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.x6084_deceleration = 0x00000064,
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.x60F4_followingErrorActualValue = 0,
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.x60FF_targetVelocity = 0
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};
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@@ -264,6 +265,7 @@ typedef struct {
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OD_obj_var_t o_607A_targetPosition;
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OD_obj_var_t o_6083_acceleration;
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OD_obj_var_t o_6084_deceleration;
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OD_obj_var_t o_60F4_followingErrorActualValue;
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OD_obj_var_t o_60FF_targetVelocity;
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} ODObjs_t;
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@@ -1182,6 +1184,11 @@ static CO_PROGMEM ODObjs_t ODObjs = {
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.attribute = ODA_SDO_RW | ODA_MB,
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.dataLength = 4
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},
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.o_60F4_followingErrorActualValue = {
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.dataOrig = &OD_RAM.x60F4_followingErrorActualValue,
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.attribute = ODA_SDO_RW | ODA_MB,
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.dataLength = 4
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},
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.o_60FF_targetVelocity = {
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.dataOrig = &OD_RAM.x60FF_targetVelocity,
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.attribute = ODA_SDO_RW | ODA_RPDO | ODA_MB,
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@@ -1237,6 +1244,7 @@ static OD_ATTR_OD OD_entry_t ODList[] = {
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{0x607A, 0x01, ODT_VAR, &ODObjs.o_607A_targetPosition, NULL},
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{0x6083, 0x01, ODT_VAR, &ODObjs.o_6083_acceleration, NULL},
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{0x6084, 0x01, ODT_VAR, &ODObjs.o_6084_deceleration, NULL},
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{0x60F4, 0x01, ODT_VAR, &ODObjs.o_60F4_followingErrorActualValue, NULL},
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{0x60FF, 0x01, ODT_VAR, &ODObjs.o_60FF_targetVelocity, NULL},
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{0x0000, 0x00, 0, NULL, NULL}
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};
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@@ -16,7 +16,7 @@
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Created: 2026/1/30 14:35:40
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Created By:
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Modified: 2026/2/26 17:17:54
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Modified: 2026/3/2 16:53:20
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Modified By:
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Device Info:
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@@ -252,6 +252,7 @@ typedef struct {
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uint32_t x607A_targetPosition;
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uint32_t x6083_acceleration;
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uint32_t x6084_deceleration;
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float32_t x60F4_followingErrorActualValue;
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int32_t x60FF_targetVelocity;
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} OD_RAM_t;
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@@ -317,7 +318,8 @@ extern OD_ATTR_OD OD_t *OD;
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#define OD_ENTRY_H607A &OD->list[40]
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#define OD_ENTRY_H6083 &OD->list[41]
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#define OD_ENTRY_H6084 &OD->list[42]
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#define OD_ENTRY_H60FF &OD->list[43]
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#define OD_ENTRY_H60F4 &OD->list[43]
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#define OD_ENTRY_H60FF &OD->list[44]
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/*******************************************************************************
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@@ -366,7 +368,8 @@ extern OD_ATTR_OD OD_t *OD;
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#define OD_ENTRY_H607A_targetPosition &OD->list[40]
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#define OD_ENTRY_H6083_acceleration &OD->list[41]
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#define OD_ENTRY_H6084_deceleration &OD->list[42]
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#define OD_ENTRY_H60FF_targetVelocity &OD->list[43]
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#define OD_ENTRY_H60F4_followingErrorActualValue &OD->list[43]
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#define OD_ENTRY_H60FF_targetVelocity &OD->list[44]
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/*******************************************************************************
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@@ -15,7 +15,7 @@
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<ProfileTechnology>CANopen</ProfileTechnology>
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</ISO15745Reference>
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</ProfileHeader>
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<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="">
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<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="">
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<q1:DeviceIdentity>
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<q1:vendorName></q1:vendorName>
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<q1:vendorID></q1:vendorID>
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@@ -2014,6 +2014,11 @@
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<UDINT />
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<q1:defaultValue value="100" />
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</q1:parameter>
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<q1:parameter uniqueID="UID_OBJ_60F4" access="readWrite">
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<label lang="en">Following error actual value</label>
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<REAL />
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<q1:defaultValue value="0" />
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</q1:parameter>
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<q1:parameter uniqueID="UID_OBJ_60FF" access="readWriteOutput">
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<label lang="en">Target velocity</label>
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<DINT />
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@@ -2036,7 +2041,7 @@
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<ProfileTechnology>CANopen</ProfileTechnology>
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</ISO15745Reference>
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</ProfileHeader>
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<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="">
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<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="">
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<ApplicationLayers>
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<q2:CANopenObjectList>
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<CANopenObject index="1000" name="Device type" objectType="7" PDOmapping="no" uniqueIDRef="UID_OBJ_1000" />
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@@ -2322,6 +2327,7 @@
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<CANopenObject index="607A" name="Target position" objectType="7" PDOmapping="RPDO" uniqueIDRef="UID_OBJ_607A" />
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<CANopenObject index="6083" name="Acceleration" objectType="7" PDOmapping="no" uniqueIDRef="UID_OBJ_6083" />
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<CANopenObject index="6084" name="Deceleration" objectType="7" PDOmapping="no" uniqueIDRef="UID_OBJ_6084" />
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<CANopenObject index="60F4" name="Following error actual value" objectType="7" PDOmapping="no" uniqueIDRef="UID_OBJ_60F4" />
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<CANopenObject index="60FF" name="Target velocity" objectType="7" PDOmapping="RPDO" uniqueIDRef="UID_OBJ_60FF" />
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</q2:CANopenObjectList>
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<dummyUsage>
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