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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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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>