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

Middleware/CANopenNode/303/CO_LEDs.h

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+/**
+ * CANopen Indicator specification (CiA 303-3 v1.4.0)
+ *
+ * @file        CO_LEDs.h
+ * @ingroup     CO_LEDs
+ * @author      Janez Paternoster
+ * @copyright   2020 Janez Paternoster
+ *
+ * This file is part of <https://github.com/CANopenNode/CANopenNode>, a CANopen Stack.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this
+ * file except in compliance with the License. You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software distributed under the License is
+ * distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and limitations under the License.
+ */
+
+#ifndef CO_LEDS_H
+#define CO_LEDS_H
+
+#include "301/CO_driver.h"
+#include "301/CO_NMT_Heartbeat.h"
+
+/* default configuration, see CO_config.h */
+#ifndef CO_CONFIG_LEDS
+#define CO_CONFIG_LEDS (CO_CONFIG_LEDS_ENABLE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT)
+#endif
+
+#if (((CO_CONFIG_LEDS)&CO_CONFIG_LEDS_ENABLE) != 0) || defined CO_DOXYGEN
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @defgroup CO_LEDs LED indicators
+ * Specified in standard CiA 303-3.
+ *
+ * @ingroup CO_CANopen_303
+ * @{
+ * CIA 303-3 standard specifies indicator LED diodes, which reflects state of the CANopen device. Green and red leds or
+ * bi-color led can be used.
+ *
+ * CANopen green led - run led:
+ * - flickering: LSS configuration state is active
+ * - blinking: device is in NMT pre-operational state
+ * - single flash: device is in NMT stopped state
+ * - triple flash: a software download is running in the device
+ * - on: device is in NMT operational state
+ *
+ * CANopen red led - error led:
+ * - off: no error
+ * - flickering: LSS node id is not configured, CANopen is not initialized
+ * - blinking: invalid configuration, general error
+ * - single flash: CAN warning limit reached
+ * - double flash: heartbeat consumer - error in remote monitored node
+ * - triple flash: sync message reception timeout
+ * - quadruple flash: PDO has not been received before the event timer elapsed
+ * - on: CAN bus off
+ *
+ * To apply on/off state to the led diode, use #CO_LED_RED or #CO_LED_GREEN macros with one of the @ref CO_LED_bitmasks.
+ * For CANopen leds use #CO_LED_CANopen bitmask.
+ */
+
+/**
+ * @defgroup CO_LED_bitmasks CO_LED bitmasks
+ * @{
+ * Bitmasks for the LED indicators
+ */
+#define CO_LED_flicker               0x01U /**< LED flickering 10Hz */
+#define CO_LED_blink                 0x02U /**< LED blinking 2,5Hz */
+#define CO_LED_flash_1               0x04U /**< LED single flash */
+#define CO_LED_flash_2               0x08U /**< LED double flash */
+#define CO_LED_flash_3               0x10U /**< LED triple flash */
+#define CO_LED_flash_4               0x20U /**< LED quadruple flash */
+#define CO_LED_CANopen               0x80U /**< LED CANopen according to CiA 303-3 */
+/** @} */
+
+/** Get on/off state for red led for one of the @ref CO_LED_bitmasks */
+#define CO_LED_RED(LEDs, BITMASK)   ((((LEDs)->LEDred & BITMASK) != 0U) ? 1U : 0U)
+/** Get on/off state for green led for one of the @ref CO_LED_bitmasks */
+#define CO_LED_GREEN(LEDs, BITMASK) ((((LEDs)->LEDgreen & BITMASK) != 0U) ? 1U : 0U)
+
+/**
+ * LEDs object, initialized by CO_LEDs_init()
+ */
+typedef struct {
+    uint32_t LEDtmr50ms;   /**< 50ms led timer */
+    uint8_t LEDtmr200ms;   /**< 200ms led timer */
+    uint8_t LEDtmrflash_1; /**< single flash led timer */
+    uint8_t LEDtmrflash_2; /**< double flash led timer */
+    uint8_t LEDtmrflash_3; /**< triple flash led timer */
+    uint8_t LEDtmrflash_4; /**< quadruple flash led timer */
+    uint8_t LEDred;        /**< red led bitfield, to be combined with @ref CO_LED_bitmasks */
+    uint8_t LEDgreen;      /**< green led bitfield, to be combined with @ref CO_LED_bitmasks */
+} CO_LEDs_t;
+
+/**
+ * Initialize LEDs object.
+ *
+ * Function must be called in the communication reset section.
+ *
+ * @param LEDs This object will be initialized.
+ *
+ * @return #CO_ReturnError_t CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.
+ */
+CO_ReturnError_t CO_LEDs_init(CO_LEDs_t* LEDs);
+
+/**
+ * Process indicator states
+ *
+ * Function must be called cyclically.
+ *
+ * @param LEDs This object.
+ * @param timeDifference_us Time difference from previous function call in [microseconds].
+ * @param NMTstate NMT operating state.
+ * @param LSSconfig Node is in LSS configuration state indication.
+ * @param ErrCANbusOff CAN bus off indication (highest priority).
+ * @param ErrCANbusWarn CAN error warning limit reached indication.
+ * @param ErrRpdo RPDO event timer timeout indication.
+ * @param ErrSync Sync receive timeout indication.
+ * @param ErrHbCons Heartbeat consumer error (remote node) indication.
+ * @param ErrOther Other error indication (lowest priority).
+ * @param firmwareDownload Firmware download is in progress indication.
+ * @param [out] timerNext_us info to OS - see CO_process().
+ */
+void CO_LEDs_process(CO_LEDs_t* LEDs, uint32_t timeDifference_us, CO_NMT_internalState_t NMTstate, bool_t LSSconfig,
+                     bool_t ErrCANbusOff, bool_t ErrCANbusWarn, bool_t ErrRpdo, bool_t ErrSync, bool_t ErrHbCons,
+                     bool_t ErrOther, bool_t firmwareDownload, uint32_t* timerNext_us);
+
+/** @} */ /* CO_LEDs */
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#endif /* (CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE */
+
+#endif /* CO_LEDS_H */