qt下的CANopennode使用CAN接口进行数据传输的代码

下面是使用CAN接口进行数据传输的示例代码：

#include "CANopen.h"
#include <QCanBus>
#include <QCanBusDevice>

// CANopenNode的CO_CANrxMsg_t结构体与Qt的QCanBusFrame结构体的转换
void CO_CANrxMsgToQCanBusFrame(CO_CANrxMsg_t *rxMsg, QCanBusFrame &frame)
{
    frame.setFrameId(rxMsg->ident);
    frame.setExtendedFrameFormat(rxMsg->ident & CO_CAN_ID_FLAG_EXTENDED);
    frame.setPayload(QByteArray::fromRawData((const char *)rxMsg->data, rxMsg->DLC));
}

void QCanBusFrameToCO_CANtxMsg(QCanBusFrame &frame, CO_CANtxMsg_t &txMsg)
{
    txMsg.ident = frame.frameId();
    txMsg.DLC = frame.payload().size();
    qCopy(frame.payload().begin(), frame.payload().end(), txMsg.data);
    txMsg.rtr = 0;
}

// CAN接口发送函数
void CO_CANsend(CO_CANmodule_t *CANmodule, CO_CANtxMsg_t *buffer, uint32_t count)
{
    QCanBusFrame frame;
    for (uint32_t i = 0; i < count; i++) {
        QCanBusFrameToCO_CANtxMsg(frame, buffer[i]);
        CANmodule->CANtxCount++;
        CANmodule->driverTx(CANmodule->CANbaseAddress, &frame);
    }
}

// CAN接口接收函数
void CO_CANrxPolling(CO_CANmodule_t *CANmodule)
{
    QCanBusFrame frame;
    while (CANmodule->driverRx(CANmodule->CANbaseAddress, &frame)) {
        if (CANmodule->CANrxCount < CANmodule->CANrxSize) {
            CO_CANrxMsg_t *rxMsg = &CANmodule->rxArray[CANmodule->CANrxCount];
            CO_CANrxMsgToQCanBusFrame(rxMsg, frame);
            CO_CANrxMsg_t *msg = CO_CANrxBufferGet(CANmodule);
            if (msg != NULL) {
                *msg = *rxMsg;
                CANmodule->CANrxCount++;
            }
        } else {
            CANmodule->CANrxOverflow = true;
        }
    }
}

// CANopenNode初始化函数
void initCO(void)
{
    // 创建CANopenNode的CO_CANmodule_t对象
    CO_CANbitRateData_t canBitRate = {500000, 7, 2, 1, 0};
    CO_CANmodule_t *canModule = CO_CANmodule_create(1);
    CO_CANinit(canModule, &canBitRate);
    CO_CANmodule_setInterface(canModule, (void *)canBusDevice, CO_CANsend, CO_CANrxPolling);

    // 初始化CANopenNode
    CO_Init(&CO, NULL, 0, NULL);
    CO_CANmodule_enable(canModule);
}

// CAN接口初始化函数
void initCAN(void)
{
    // 创建Qt的QCanBusDevice对象
    QCanBusDevice *canBusDevice = QCanBus::instance()->createDevice("socketcan", "can0");
    canBusDevice->connectDevice();
    if (canBusDevice->state() != QCanBusDevice::ConnectedState) {
        qDebug() << "Error: CAN bus connection failed!";
        return;
    }

    // 将QCanBusDevice对象的readFrame()函数作为CANopenNode的CO_driver_rx函数
    CO_CANrxCallback_t rxCallback = [](void *object, CO_CANrxMsg_t *msg) -> void {
        QCanBusDevice *canBusDevice = (QCanBusDevice *)object;
        QCanBusFrame frame;
        CO_CANrxMsgToQCanBusFrame(msg, frame);
        canBusDevice->writeFrame(frame);
    };
    CO_CANrxCallbackObject_t rxCallbackObj = {canBusDevice, rxCallback};
    CO_driver_t driver = {canBusDevice, CO_CANdriverRxBufferInit, CO_CANdriverRxBuffersEnable, rxCallbackObj, CO_CANdriverTx};
    CO_CANmodule_setInterface(canModule, (void *)&driver, CO_CANsend, CO_CANrxPolling);
}

// CAN接口发送函数
void CO_CANdriverTx(void *object, CO_CANtxMsg_t *buffer, uint32_t count)
{
    QCanBusDevice *canBusDevice = (QCanBusDevice *)object;
    for (uint32_t i = 0; i < count; i++) {
        QCanBusFrame frame;
        CO_CANtxMsgToQCanBusFrame(frame, buffer[i]);
        canBusDevice->writeFrame(frame);
    }
}

// CAN接口接收函数
bool CO_CANdriverRxBufferInit(void *object, CO_CANrxMsg_t *buffer, uint16_t size)
{
    return true;
}

void CO_CANdriverRxBuffersEnable(void *object, bool enable)
{
}

bool CO_CANdriverRx(void *object, CO_CANrxMsg_t *msg)
{
    QCanBusDevice *canBusDevice = (QCanBusDevice *)object;
    if (!canBusDevice->framesAvailable())
        return false;

    QCanBusFrame frame = canBusDevice->readFrame();
    QCanBusFrameToCO_CANrxMsg(frame, msg);
    return true;
}

以上代码是使用Qt的CAN接口进行CANopen数据传输的示例。需要注意的是，CAN接口的发送和接收函数需要与CANopenNode的CO_CANsend和CO_CANrxPolling函数配合使用。在CAN接口中，需要将Qt的QCanBusDevice对象的readFrame和writeFrame函数转换为CANopenNode的CO_driver_rx和CO_driver_tx函数，以实现CAN数据的传输。