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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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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]
/*******************************************************************************