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/Middleware/CANopenNode/304/CO_GFC.h
+++ b/Middleware/CANopenNode/304/CO_GFC.h
@@ -0,0 +1,122 @@
+/**
+ * CANopen Global fail-safe command protocol.
+ *
+ * @file        CO_GFC.h
+ * @ingroup     CO_GFC
+ * @author      Robert Grüning
+ * @copyright   2020 Robert Grüning
+ * @copyright   2024 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_GFC_H
+#define CO_GFC_H
+
+#include "301/CO_driver.h"
+#include "301/CO_ODinterface.h"
+
+/* default configuration, see CO_config.h */
+#ifndef CO_CONFIG_GFC
+#define CO_CONFIG_GFC (0)
+#endif
+
+#if (((CO_CONFIG_GFC)&CO_CONFIG_GFC_ENABLE) != 0) || defined CO_DOXYGEN
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @defgroup CO_GFC GFC
+ * Global fail-safe command protocol.
+ *
+ * @ingroup CO_CANopen_304
+ * @{
+ * Very simple consumer/producer protocol. A net can have multiple GFC producer and multiple GFC consumer. On a
+ * safety-relevant the producer can send a GFC message (ID 1, DLC 0). The consumer can use this message to start the
+ * transition to a safe state. The GFC is optional for the security protocol and is not monitored (timed).
+ */
+
+/**
+ * GFC object.
+ */
+typedef struct {
+    bool_t valid;                   /**< From OD parameter 1300 */
+    OD_extension_t OD_gfcParam_ext; /**< Extension for OD object */
+#if (((CO_CONFIG_GFC)&CO_CONFIG_GFC_PRODUCER) != 0) || defined CO_DOXYGEN
+    CO_CANmodule_t* CANdevTx; /**< From CO_GFC_init() */
+    CO_CANtx_t* CANtxBuff;    /**< CAN transmit buffer inside CANdevTx */
+#endif
+#if (((CO_CONFIG_GFC)&CO_CONFIG_GFC_CONSUMER) != 0) || defined CO_DOXYGEN
+    void (*pFunctSignalSafe)(void* object); /**< From CO_GFC_initCallbackEnterSafeState() or NULL */
+    void* functSignalObjectSafe;            /**< From CO_GFC_initCallbackEnterSafeState() or NULL */
+#endif
+} CO_GFC_t;
+
+/**
+ * Initialize GFC object.
+ *
+ * Function must be called in the communication reset section.
+ *
+ * @param GFC This object will be initialized.
+ * @param OD_1300_gfcParameter Pointer to _Global fail-safe command parameter_ variable from Object dictionary (index
+ * 0x1300).
+ * @param GFC_CANdevRx  CAN device used for SRDO reception.
+ * @param GFC_rxIdx Index of receive buffer in the above CAN device.
+ * @param CANidRxGFC GFC CAN ID for reception
+ * @param GFC_CANdevTx AN device used for SRDO transmission.
+ * @param GFC_txIdx Index of transmit buffer in the above CAN device.
+ * @param CANidTxGFC GFC CAN ID for transmission
+ *
+ * @return #CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.
+ */
+CO_ReturnError_t CO_GFC_init(CO_GFC_t* GFC, OD_entry_t* OD_1300_gfcParameter, CO_CANmodule_t* GFC_CANdevRx,
+                             uint16_t GFC_rxIdx, uint16_t CANidRxGFC, CO_CANmodule_t* GFC_CANdevTx, uint16_t GFC_txIdx,
+                             uint16_t CANidTxGFC);
+
+#if (((CO_CONFIG_GFC)&CO_CONFIG_GFC_CONSUMER) != 0) || defined CO_DOXYGEN
+/**
+ * Initialize GFC callback function.
+ *
+ * Function initializes optional callback function, that is called when GFC is received. Callback is called from receive
+ * function (interrupt).
+ *
+ * @param GFC This object.
+ * @param object Pointer to object, which will be passed to pFunctSignalSafe(). Can be NULL
+ * @param pFunctSignalSafe Pointer to the callback function. Not called if NULL.
+ */
+void CO_GFC_initCallbackEnterSafeState(CO_GFC_t* GFC, void* object, void (*pFunctSignalSafe)(void* object));
+#endif
+
+#if (((CO_CONFIG_GFC)&CO_CONFIG_GFC_PRODUCER) != 0) || defined CO_DOXYGEN
+/**
+ * Send GFC message.
+ *
+ * It should be called by application, for example after a safety-relevant change.
+ *
+ * @param GFC GFC object.
+ *
+ * @return Same as CO_CANsend().
+ */
+CO_ReturnError_t CO_GFCsend(CO_GFC_t* GFC);
+#endif
+
+/** @} */ /* CO_GFC */
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#endif /* (CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE */
+
+#endif /* CO_GFC_H */