写一个stm32的canopen通过rpdo同步两个驱动的代码

以下是一个简单的示例代码，演示了如何使用STM32的CANOpen实现通过RPDO同步两个驱动器：

#include "stm32f4xx_hal.h"
#include "can.h"

// 定义RPDO1和RPDO2的ID
#define RPDO1_ID 0x201
#define RPDO2_ID 0x202

// 定义驱动器的ID
#define DRIVE1_ID 0x01
#define DRIVE2_ID 0x02

// 定义RPDO1和RPDO2的数据结构
typedef struct {
  uint16_t status;
  int16_t speed;
} RPDO1_DataTypeDef;

typedef struct {
  uint16_t status;
  int16_t torque;
} RPDO2_DataTypeDef;

// 定义驱动器的状态
typedef enum {
  DRIVE_STATE_STOP,
  DRIVE_STATE_RUN,
  DRIVE_STATE_ERROR
} DriveStateTypeDef;

// 定义驱动器的数据结构
typedef struct {
  uint8_t id;
  DriveStateTypeDef state;
  int16_t speed;
  int16_t torque;
} DriveTypeDef;

// 定义驱动器数组
DriveTypeDef drives[] = {
  { DRIVE1_ID, DRIVE_STATE_STOP, 0, 0 },
  { DRIVE2_ID, DRIVE_STATE_STOP, 0, 0 }
};

// 定义RPDO1和RPDO2的数据结构
RPDO1_DataTypeDef RPDO1_Data;
RPDO2_DataTypeDef RPDO2_Data;

// 定义CAN消息接收回调函数
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
  CAN_RxHeaderTypeDef rxHeader;
  uint8_t rxData[8];

  // 从CAN接收FIFO0读取消息
  if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rxHeader, rxData) != HAL_OK) {
    // CAN接收错误
    return;
  }

  // 检查消息ID
  switch (rxHeader.StdId) {
    case RPDO1_ID:
      // 解析RPDO1消息
      RPDO1_Data.status = (rxData[0] << 8) | rxData[1];
      RPDO1_Data.speed = (rxData[2] << 8) | rxData[3];
      break;
    case RPDO2_ID:
      // 解析RPDO2消息
      RPDO2_Data.status = (rxData[0] << 8) | rxData[1];
      RPDO2_Data.torque = (rxData[2] << 8) | rxData[3];
      break;
    default:
      // 未知消息ID
      break;
  }
}

// 定义CAN消息发送函数
void CAN_SendMessage(CAN_HandleTypeDef *hcan, uint32_t id, uint8_t *data, uint32_t len) {
  CAN_TxHeaderTypeDef txHeader;

  // 配置CAN消息头
  txHeader.StdId = id;
  txHeader.RTR = CAN_RTR_DATA;
  txHeader.IDE = CAN_ID_STD;
  txHeader.DLC = len;

  // 发送CAN消息
  if (HAL_CAN_AddTxMessage(hcan, &txHeader, data, &CAN_TX_MAILBOX0) != HAL_OK) {
    // CAN发送错误
  }
}

// 定义驱动器状态更新函数
void UpdateDriveState(DriveTypeDef *drive) {
  // 根据驱动器状态发送RPDO1或RPDO2消息
  if (drive->state == DRIVE_STATE_STOP) {
    uint8_t data[8] = { 0 };
    CAN_SendMessage(&hcan1, RPDO1_ID, data, 8);
  } else if (drive->state == DRIVE_STATE_RUN) {
    if (drive->id == DRIVE1_ID) {
      uint8_t data[8] = { (drive->speed >> 8) & 0xFF, drive->speed & 0xFF, 0, 0, 0, 0, 0, 0 };
      CAN_SendMessage(&hcan1, RPDO1_ID, data, 8);
    } else if (drive->id == DRIVE2_ID) {
      uint8_t data[8] = { (drive->torque >> 8) & 0xFF, drive->torque & 0xFF, 0, 0, 0, 0, 0, 0 };
      CAN_SendMessage(&hcan1, RPDO2_ID, data, 8);
    }
  }
}

int main() {
  // 初始化CAN总线
  HAL_CAN_Init(&hcan1);
  HAL_CAN_Start(&hcan1);

  // 配置CAN过滤器
  CAN_FilterTypeDef canFilter;
  canFilter.FilterIdHigh = 0x0000;
  canFilter.FilterIdLow = 0x0000;
  canFilter.FilterMaskIdHigh = 0x0000;
  canFilter.FilterMaskIdLow = 0x0000;
  canFilter.FilterFIFOAssignment = CAN_RX_FIFO0;
  canFilter.FilterBank = 0;
  canFilter.FilterMode = CAN_FILTERMODE_IDMASK;
  canFilter.FilterScale = CAN_FILTERSCALE_32BIT;
  canFilter.FilterActivation = ENABLE;
  HAL_CAN_ConfigFilter(&hcan1, &canFilter);

  // 启用CAN消息接收中断
  HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);

  // 设置驱动器状态
  drives[0].state = DRIVE_STATE_RUN;
  drives[0].speed = 100;
  drives[1].state = DRIVE_STATE_RUN;
  drives[1].torque = 100;

  // 循环更新驱动器状态
  while (1) {
    // 更新驱动器状态
    for (int i = 0; i < sizeof(drives) / sizeof(DriveTypeDef); i++) {
      UpdateDriveState(&drives[i]);
    }

    // 延时一定时间
    HAL_Delay(10);
  }
}

这个示例代码中，我们定义了RPDO1和RPDO2的数据结构，并使用CAN总线接收中断来接收它们。我们还定义了驱动器的数据结构和状态，以及一个更新驱动器状态的函数。最后，在主循环中，我们使用更新驱动器状态的函数来周期性地更新驱动器状态，并发送RPDO1或RPDO2消息。