写一个stm32通过canopen用rpdo同步的双驱动电机前进后退的控制代码

下面是一份基于STM32通过CANopen使用RPDO同步的双驱动电机前进后退的控制代码，供参考：

#include "stm32f4xx.h"
#include "stm32f4xx_can.h"
#include "stm32f4xx_rcc.h"
#include "stm32f4xx_gpio.h"

#define CANx                       CAN1
#define CAN_CLK                    RCC_APB1Periph_CAN1
#define CAN_RX_PIN                 GPIO_Pin_11
#define CAN_TX_PIN                 GPIO_Pin_12
#define CAN_GPIO_PORT              GPIOA
#define CAN_GPIO_CLK               RCC_AHB1Periph_GPIOA
#define CAN_AF_PORT                GPIO_AF_CAN1
#define CAN_RX_SOURCE              GPIO_PinSource11
#define CAN_TX_SOURCE              GPIO_PinSource12
#define CAN_FILTER_FIFO0           0
#define CAN_FILTER_FIFO1           1
#define CAN_FILTER_FIFO_NUM        2

#define NODE_ID                    0x01
#define CAN_MSG_ID_BASE            0x200
#define CAN_MSG_ID_RPDO1_BASE      0x140
#define CAN_MSG_ID_TPDO1_BASE      0x180
#define CAN_MSG_ID_RPDO1           (CAN_MSG_ID_RPDO1_BASE + NODE_ID)
#define CAN_MSG_ID_TPDO1           (CAN_MSG_ID_TPDO1_BASE + NODE_ID)

#define MOTOR1_FORWARD             GPIO_Pin_0
#define MOTOR1_BACKWARD            GPIO_Pin_1
#define MOTOR2_FORWARD             GPIO_Pin_2
#define MOTOR2_BACKWARD            GPIO_Pin_3

#define MOTOR1_RPM_MAX             1500
#define MOTOR2_RPM_MAX             1500

uint8_t can_rx_flag = 0;
CAN_InitTypeDef        CAN_InitStructure;
CAN_FilterInitTypeDef  CAN_FilterInitStructure;
CanTxMsg TxMessage;
CanRxMsg RxMessage;

void GPIO_Configuration(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;

    RCC_AHB1PeriphClockCmd(CAN_GPIO_CLK, ENABLE);
    GPIO_InitStructure.GPIO_Pin = CAN_RX_PIN | CAN_TX_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_UP ;
    GPIO_Init(CAN_GPIO_PORT, &GPIO_InitStructure);
    GPIO_PinAFConfig(CAN_GPIO_PORT, CAN_RX_SOURCE, CAN_AF_PORT);
    GPIO_PinAFConfig(CAN_GPIO_PORT, CAN_TX_SOURCE, CAN_AF_PORT);

    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
    GPIO_InitStructure.GPIO_Pin = MOTOR1_FORWARD | MOTOR1_BACKWARD | MOTOR2_FORWARD | MOTOR2_BACKWARD;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
    GPIO_Init(GPIOD, &GPIO_InitStructure);
}

void CAN_Configuration(void)
{
    NVIC_InitTypeDef  NVIC_InitStructure;

    RCC_APB1PeriphClockCmd(CAN_CLK, ENABLE);

    CAN_DeInit(CANx);

    CAN_InitStructure.CAN_TTCM = DISABLE;
    CAN_InitStructure.CAN_ABOM = DISABLE;
    CAN_InitStructure.CAN_AWUM = DISABLE;
    CAN_InitStructure.CAN_NART = DISABLE;
    CAN_InitStructure.CAN_RFLM = DISABLE;
    CAN_InitStructure.CAN_TXFP = DISABLE;
    CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
    CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
    CAN_InitStructure.CAN_BS1 = CAN_BS1_12tq;
    CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq;
    CAN_InitStructure.CAN_Prescaler = 4;
    CAN_Init(CANx, &CAN_InitStructure);

    CAN_FilterInitStructure.CAN_FilterNumber = 0;
    CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
    CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
    CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;
    CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
    CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_FILTER_FIFO0;
    CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
    CAN_FilterInit(&CAN_FilterInitStructure);

    CAN_ITConfig(CANx, CAN_IT_FMP0, ENABLE);

    NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
    NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
}

void CAN_SendData(uint8_t *data, uint8_t len)
{
    TxMessage.StdId = CAN_MSG_ID_TPDO1;
    TxMessage.ExtId = 0x01;
    TxMessage.RTR = CAN_RTR_DATA;
    TxMessage.IDE = CAN_ID_STD;
    TxMessage.DLC = len;
    for (uint8_t i = 0; i < len; i++)
    {
        TxMessage.Data[i] = data[i];
    }
    CAN_Transmit(CANx, &TxMessage);
}

void CAN_RxDataProcess(CanRxMsg *rx_msg)
{
    if (rx_msg->StdId == CAN_MSG_ID_RPDO1)
    {
        // RPDO1 message received, extract motor speed and direction
        uint16_t motor1_rpm = ((uint16_t)rx_msg->Data[0] << 8) | rx_msg->Data[1];
        uint16_t motor2_rpm = ((uint16_t)rx_msg->Data[2] << 8) | rx_msg->Data[3];
        uint8_t motor1_dir = rx_msg->Data[4];
        uint8_t motor2_dir = rx_msg->Data[5];

        if (motor1_rpm > MOTOR1_RPM_MAX)
        {
            motor1_rpm = MOTOR1_RPM_MAX;
        }

        if (motor2_rpm > MOTOR2_RPM_MAX)
        {
            motor2_rpm = MOTOR2_RPM_MAX;
        }

        if (motor1_dir == 0x01)
        {
            GPIO_SetBits(GPIOD, MOTOR1_FORWARD);
            GPIO_ResetBits(GPIOD, MOTOR1_BACKWARD);
        }
        else if (motor1_dir == 0x02)
        {
            GPIO_ResetBits(GPIOD, MOTOR1_FORWARD);
            GPIO_SetBits(GPIOD, MOTOR1_BACKWARD);
        }
        else
        {
            GPIO_ResetBits(GPIOD, MOTOR1_FORWARD);
            GPIO_ResetBits(GPIOD, MOTOR1_BACKWARD);
        }

        if (motor2_dir == 0x01)
        {
            GPIO_SetBits(GPIOD, MOTOR2_FORWARD);
            GPIO_ResetBits(GPIOD, MOTOR2_BACKWARD);
        }
        else if (motor2_dir == 0x02)
        {
            GPIO_ResetBits(GPIOD, MOTOR2_FORWARD);
            GPIO_SetBits(GPIOD, MOTOR2_BACKWARD);
        }
        else
        {
            GPIO_ResetBits(GPIOD, MOTOR2_FORWARD);
            GPIO_ResetBits(GPIOD, MOTOR2_BACKWARD);
        }
    }
}

void CAN1_RX0_IRQHandler(void)
{
    if (CAN_GetITStatus(CANx, CAN_IT_FMP0) != RESET)
    {
        CAN_Receive(CANx, CAN_FIFO0, &RxMessage);
        can_rx_flag = 1;
        CAN_RxDataProcess(&RxMessage);
        CAN_ClearITPendingBit(CANx, CAN_IT_FMP0);
    }
}

int main(void)
{
    uint8_t data[8] = {0};

    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
    GPIO_Configuration();
    CAN_Configuration();

    while (1)
    {
        if (can_rx_flag == 1)
        {
            can_rx_flag = 0;
            continue;
        }

        data[0] = 0x00;
        data[1] = 0x00;
        data[2] = 0x00;
        data[3] = 0x00;
        data[4] = 0x00;
        data[5] = 0x00;
        CAN_SendData(data, 6);

        // delay for a period of time to control motor speed
        // ...
    }
}

需要注意的是，这份代码只是一个简单的示例，实际情况中需要根据具体的硬件和软件环境进行适当的修改和优化。同时，在使用CANopen协议时，还需要了解其相关规范和标准，以确保系统的正确运行和稳定性。