我目前正在研究一个与使用 CANOpenNode 标准和 STM32 微控制器的 CAN 通信相关的项目。我查阅了各种 GitHub 存储库并观看了视频，但我无法成功传输任何 TPDO 数据包，即使是最简单的数据包。您能检查我的代码并帮助识别任何潜在的错误吗？非常感谢。
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "CO_app_STM32.h"
#include "OD.h"
#include "CANopen.h"
#include "../CANopenNode/301/CO_SDOclient.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
/* USER CODE BEGIN Callback 0 */
/* USER CODE END Callback 0 */
if (htim->Instance == TIM1)
{
HAL_IncTick();
}
/* USER CODE BEGIN Callback 1 */
// Handle CANOpen app interrupts
if (htim == canopenNodeSTM32->timerHandle) {
canopen_app_interrupt();
}
/* USER CODE END Callback 1 */
}
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
CAN_HandleTypeDef hcan;
TIM_HandleTypeDef htim1;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_TIM1_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_CAN_Init();
MX_USART1_UART_Init();
MX_TIM1_Init();
/* USER CODE BEGIN 2 */
CANopenNodeSTM32 canOpenNodeSTM32;
canOpenNodeSTM32.CANHandle = &hcan;
canOpenNodeSTM32.HWInitFunction = MX_CAN_Init;
canOpenNodeSTM32.baudrate = 125;
canOpenNodeSTM32.desiredNodeID = 32;
canOpenNodeSTM32.timerHandle = &htim1;
canopen_app_init(&canOpenNodeSTM32);
OD_PERSIST_COMM.x6000_current_data=0xAB;
OD_PERSIST_COMM.x6001_voltage_data=0xAB;
OD_PERSIST_COMM.x6002_charger_mode=0xAB;
OD_PERSIST_COMM.x6003_timereq_data=0xAB;
CO_TPDOsendRequest(&canOpenNodeSTM32.canOpenStack->TPDO[0]);// this is the TPDO sending funciotn, am i right ?
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
HAL_Delay(100);
uint8_t receive_data[4];
receive_data[0]=OD_PERSIST_COMM.x6000_current_data;
receive_data[1]=OD_PERSIST_COMM.x6001_voltage_data;
receive_data[2]=OD_PERSIST_COMM.x6002_charger_mode;
receive_data[3]=OD_PERSIST_COMM.x6003_timereq_data;
HAL_UART_Transmit(&huart1, receive_data, 4, 100); // transmit data receive from CAN to UART
canopen_app_process();
}
/* USER CODE END 3 */
}