第一版代码，为了在EEPROM保存参数的时候走STM32的CRC，让Codex修改了一下，现在的效果是无法存储，codex表示原因是CRC方法不同，修改到一半今天的额度使用完了，有待后续解决CRC的bug

2026-02-28 17:36:05 +08:00
commit b2fedd58b2
212 changed files with 208290 additions and 0 deletions
--- a/Application/app_main.c
+++ b/Application/app_main.c
@@ -0,0 +1,89 @@
+#include "main.h"
+#include "tim.h"
+#include "usart.h"
+#include "gpio.h"
+
+#include "app_main.h"
+#include "Com_type.h"
+#include "Com_debug.h"
+#include "Int_Encoder.h"
+#include "Int_TMC2209.h"
+#include "app_key.h"
+#include "app_motor.h"
+#include "app_param_store.h"
+#include "app_test.h"
+#include "CANopen.h"
+#include "CO_app_STM32.h"
+#include "can.h"
+
+Encoder_t encoder_1 = {0};
+
+// 静音最大速度：65mm/s
+// 有效运动最大速度：350mm/s
+// 最远运行距离：230mm
+Stepper_t stepper_1 = {
+    .dir = GPIO_PIN_RESET, // 方向(1为手轮方向，0为电机方向)
+    .distance = 100.0f,    // 距离mm
+    .speed = 50.0f,        // 速度mm/s
+    .acc = 40.0f,          // 加速度 mm/s^2
+    .dec = 40.0f,          // 减速度 mm/s^2
+    .start_speed = 5.0f,   // 启动速度
+};
+
+CANopenNodeSTM32 CANopenNode;
+static void CANopenNode_init(void)
+{
+    /* 初始化CANopen */
+    CANopenNode.CANHandle = &hcan1;            /* 使用CAN接口 */
+    CANopenNode.HWInitFunction = MX_CAN1_Init; /* 初始化CAN */
+    CANopenNode.timerHandle = &htim11;         /* 使用的定时器句柄 */
+    CANopenNode.desiredNodeID = 3;             /* Node-ID */
+    CANopenNode.baudrate = 500;                /* 波特率，单位KHz */
+    canopen_app_init(&CANopenNode);
+}
+
+void app_main(void)
+{
+    debug_printf("hello three-axis steppers");
+    CANopenNode_init();
+    App_Motor_Init();
+    App_ParamStore_Init();
+    (void)App_ParamStore_LoadAndApply();
+    while (1)
+    {
+        App_key_run(&stepper_1);
+        canopen_app_process();
+        App_Motor_Process();
+        App_ParamStore_Process();
+    }
+}
+
+void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
+{
+    switch (GPIO_Pin)
+    {
+        // PE2对应X_ZERO引脚
+    case X_ZERO_Pin:
+        stepper_1.x_zero = 1;
+        break;
+        // PC9对应编码器1的Z引脚
+    case ENCODER1_Z_Pin:
+        encoder_1.z++;
+        break;
+    default:
+        break;
+    }
+}
+
+void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
+{
+    if (htim == CANopenNode.timerHandle)
+    {
+        canopen_app_interrupt();
+    }
+
+    if (htim->Instance == TIM12)
+    {
+        App_Motor_StepLossCheck();
+    }
+}