写一个canopen使用rpdo同步双驱动的代码

以下是一个使用CANopen协议使用RPDO同步双驱动的示例代码，其中使用了SocketCAN进行CAN总线通信：

#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <linux/can.h>
#include <linux/can/raw.h>

#define CAN_INTERFACE "can0"

// 定义CANopen协议中的相关信息
#define CANOPEN_COB_ID_SYNC            0x80
#define CANOPEN_COB_ID_RPDO1           0x200
#define CANOPEN_COB_ID_RPDO2           0x300
#define CANOPEN_COB_ID_TPDO1           0x180
#define CANOPEN_COB_ID_TPDO2           0x280
#define CANOPEN_OBJ_ID_CONTROL_WORD    0x6040
#define CANOPEN_OBJ_ID_STATUS_WORD     0x6041
#define CANOPEN_OBJ_ID_MODE_OF_OPERATION 0x6060
#define CANOPEN_OBJ_ID_TARGET_VELOCITY 0x60FF

// 定义CANopen驱动的状态字
#define CANOPEN_STATUS_WORD_READY_TO_SWITCH_ON        0x0021
#define CANOPEN_STATUS_WORD_SWITCH_ON_DISABLED        0x0020
#define CANOPEN_STATUS_WORD_SWITCHED_ON               0x0023
#define CANOPEN_STATUS_WORD_OPERATION_ENABLED         0x0027
#define CANOPEN_STATUS_WORD_QUICK_STOP_ACTIVE          0x0007
#define CANOPEN_STATUS_WORD_FAULT                       0x0008

// 定义CANopen驱动的控制字
#define CANOPEN_CONTROL_WORD_SHUTDOWN                 0x0006
#define CANOPEN_CONTROL_WORD_SWITCH_ON                0x0007
#define CANOPEN_CONTROL_WORD_ENABLE_OPERATION         0x000F
#define CANOPEN_CONTROL_WORD_QUICK_STOP                0x000B

// 定义CANopen驱动的模式
#define CANOPEN_MODE_VELOCITY_CONTROL                 0x03

// 定义CANopen RPDO消息结构体
struct canopen_rpdo {
    uint16_t control_word;
    uint16_t target_velocity;
};

// 定义CANopen TPDO消息结构体
struct canopen_tpdo {
    uint16_t status_word;
    uint16_t actual_velocity;
};

int main(void) {
    int sock;
    struct sockaddr_can addr;
    struct ifreq ifr;
    struct can_frame frame;
    struct can_filter filter[2];

    // 创建SocketCAN套接字
    sock = socket(PF_CAN, SOCK_RAW, CAN_RAW);
    if (sock < 0) {
        perror("socket");
        return 1;
    }

    // 设置CAN接口
    strcpy(ifr.ifr_name, CAN_INTERFACE);
    ioctl(sock, SIOCGIFINDEX, &ifr);
    addr.can_family = AF_CAN;
    addr.can_ifindex = ifr.ifr_ifindex;
    if (bind(sock, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
        perror("bind");
        return 1;
    }

    // 设置CAN过滤器
    filter[0].can_id = CANOPEN_COB_ID_TPDO1;
    filter[0].can_mask = CAN_SFF_MASK;
    filter[1].can_id = CANOPEN_COB_ID_TPDO2;
    filter[1].can_mask = CAN_SFF_MASK;
    setsockopt(sock, SOL_CAN_RAW, CAN_RAW_FILTER, &filter, sizeof(filter));

    // 初始化CANopen RPDO消息
    struct canopen_rpdo rpdo = {
        .control_word = CANOPEN_CONTROL_WORD_SWITCH_ON,
        .target_velocity = 0
    };

    // 初始化CANopen TPDO消息
    struct canopen_tpdo tpdo;

    // 发送CANopen RPDO1消息
    memset(&frame, 0, sizeof(frame));
    frame.can_id = CANOPEN_COB_ID_RPDO1;
    frame.can_dlc = sizeof(rpdo);
    memcpy(frame.data, &rpdo, sizeof(rpdo));
    write(sock, &frame, sizeof(frame));

    // 发送CANopen RPDO2消息
    memset(&frame, 0, sizeof(frame));
    frame.can_id = CANOPEN_COB_ID_RPDO2;
    frame.can_dlc = sizeof(rpdo);
    memcpy(frame.data, &rpdo, sizeof(rpdo));
    write(sock, &frame, sizeof(frame));

    while (1) {
        // 发送CANopen SYNC消息
        memset(&frame, 0, sizeof(frame));
        frame.can_id = CANOPEN_COB_ID_SYNC;
        frame.can_dlc = 0;
        write(sock, &frame, sizeof(frame));

        // 读取CANopen TPDO1消息
        if (read(sock, &frame, sizeof(frame)) > 0 && frame.can_id == CANOPEN_COB_ID_TPDO1) {
            memcpy(&tpdo, frame.data, sizeof(tpdo));

            // 判断驱动是否处于故障状态
            if ((tpdo.status_word & CANOPEN_STATUS_WORD_FAULT) == CANOPEN_STATUS_WORD_FAULT) {
                printf("Drive in fault state!\n");
                break;
            }

            // 判断驱动是否准备好
            if ((tpdo.status_word & CANOPEN_STATUS_WORD_READY_TO_SWITCH_ON) != CANOPEN_STATUS_WORD_READY_TO_SWITCH_ON) {
                rpdo.control_word = CANOPEN_CONTROL_WORD_SWITCH_ON;
            } else if ((tpdo.status_word & CANOPEN_STATUS_WORD_SWITCHED_ON) != CANOPEN_STATUS_WORD_SWITCHED_ON) {
                rpdo.control_word = CANOPEN_CONTROL_WORD_ENABLE_OPERATION;
            } else if ((tpdo.status_word & CANOPEN_STATUS_WORD_OPERATION_ENABLED) != CANOPEN_STATUS_WORD_OPERATION_ENABLED) {
                rpdo.control_word = CANOPEN_CONTROL_WORD_ENABLE_OPERATION;
            } else {
                rpdo.control_word = CANOPEN_CONTROL_WORD_ENABLE_OPERATION;
                rpdo.target_velocity = 1000; // 设定目标速度
            }

            // 发送CANopen RPDO1消息
            memset(&frame, 0, sizeof(frame));
            frame.can_id = CANOPEN_COB_ID_RPDO1;
            frame.can_dlc = sizeof(rpdo);
            memcpy(frame.data, &rpdo, sizeof(rpdo));
            write(sock, &frame, sizeof(frame));
        }

        // 读取CANopen TPDO2消息
        if (read(sock, &frame, sizeof(frame)) > 0 && frame.can_id == CANOPEN_COB_ID_TPDO2) {
            memcpy(&tpdo, frame.data, sizeof(tpdo));
            printf("Actual velocity: %d\n", tpdo.actual_velocity);
        }

        usleep(1000);
    }

    // 发送CANopen RPDO1消息
    memset(&rpdo, 0, sizeof(rpdo));
    memset(&frame, 0, sizeof(frame));
    frame.can_id = CANOPEN_COB_ID_RPDO1;
    frame.can_dlc = sizeof(rpdo);
    memcpy(frame.data, &rpdo, sizeof(rpdo));
    write(sock, &frame, sizeof(frame));

    // 发送CANopen RPDO2消息
    memset(&rpdo, 0, sizeof(rpdo));
    memset(&frame, 0, sizeof(frame));
    frame.can_id = CANOPEN_COB_ID_RPDO2;
    frame.can_dlc = sizeof(rpdo);
    memcpy(frame.data, &rpdo, sizeof(rpdo));
    write(sock, &frame, sizeof(frame));

    close(sock);

    return 0;
}

以上代码仅供参考，具体实现需要根据实际情况进行调整。