CANopen NMT C代码

以下是一个简单的CANopen NMT C代码示例：

#include <stdio.h>
#include <stdlib.h>
#include <string.h>

// 定义CANopen NMT命令
#define NMT_CMD_START_REMOTE_NODE 0x01
#define NMT_CMD_STOP_REMOTE_NODE 0x02
#define NMT_CMD_ENTER_PRE_OPERATIONAL 0x80
#define NMT_CMD_RESET_NODE 0x81
#define NMT_CMD_RESET_COMMUNICATION 0x82

// 定义CANopen节点ID
#define NODE_ID 0x01

// 定义CAN消息结构体
typedef struct {
    unsigned int id;
    unsigned char length;
    unsigned char data[8];
} can_message;

// 发送CAN消息函数
void send_can_message(can_message msg) {
    // TODO: 实现CAN消息发送
}

int main() {
    // 启动远程节点
    can_message start_msg;
    start_msg.id = 0x00;
    start_msg.length = 2;
    start_msg.data[0] = NMT_CMD_START_REMOTE_NODE;
    start_msg.data[1] = NODE_ID;
    send_can_message(start_msg);

    // 停止远程节点
    can_message stop_msg;
    stop_msg.id = 0x00;
    stop_msg.length = 2;
    stop_msg.data[0] = NMT_CMD_STOP_REMOTE_NODE;
    stop_msg.data[1] = NODE_ID;
    send_can_message(stop_msg);

    // 进入预操作状态
    can_message preop_msg;
    preop_msg.id = 0x00;
    preop_msg.length = 1;
    preop_msg.data[0] = NMT_CMD_ENTER_PRE_OPERATIONAL;
    send_can_message(preop_msg);

    // 重置节点
    can_message reset_msg;
    reset_msg.id = 0x00;
    reset_msg.length = 2;
    reset_msg.data[0] = NMT_CMD_RESET_NODE;
    reset_msg.data[1] = NODE_ID;
    send_can_message(reset_msg);

    // 重置通信
    can_message comm_reset_msg;
    comm_reset_msg.id = 0x00;
    comm_reset_msg.length = 1;
    comm_reset_msg.data[0] = NMT_CMD_RESET_COMMUNICATION;
    send_can_message(comm_reset_msg);

    return 0;
}

这是一个简单的示例，可以根据您的具体需求进行修改和扩展。