stm32 pdo 发送和接收，实现同步接收，主机实现节点是否在线功能

T2418 000:079.714 SEGGER J-Link V7.82 Log File T2418 000:080.039 DLL Compiled: Oct 13 2022 13:32:51 T2418 000:080.047 Logging started @ 2023-12-04 09:24 T2418 000:080.053 - 80.057ms T2418 000:080.065 JLINK_SetWarnOutHandler(...) T2418 000:080.073 - 0.011ms T2418 000:080.081 JLINK_OpenEx(...) T2418 000:082.042 Firmware: J-Link ARM-OB STM32 compiled Aug 22 2012 19:52:04 T2418 000:082.611 Firmware: J-Link ARM-OB STM32 compiled Aug 22 2012 19:52:04 T2418 000:085.617 Hardware: V7.00 T2418 000:085.637 S/N: 20090929 T2418 000:085.646 OEM: SEGGER T2418 000:085.655 Feature(s): RDI,FlashDL,FlashBP,JFlash,GDBFull T2418 000:087.276 TELNET listener socket opened on port 19021 T2418 000:087.368 WEBSRV WEBSRV_Init(): Starting webserver thread(s) T2418 000:087.551 WEBSRV Webserver running on local port 19080 T2418 000:116.288 - 36.220ms returns "O.K." T2418 000:116.322 JLINK_GetEmuCaps() T2418 000:116.330 - 0.010ms returns 0x88EA5833 T2418 000:116.341 JLINK_TIF_GetAvailable(...) T2418 000:116.803 - 0.471ms T2418 000:116.822 JLINK_SetErrorOutHandler(...) T2418 000:116.829 - 0.010ms T2418 000:116.850 JLINK_ExecCommand("ProjectFile = "C:\Users\RJ-YR\Desktop\D6-CANOPEN-MASTER-PDO\Project\JLinkSettings.ini"", ...). T2418 000:128.584 Ref file found at: D:\KEIL 51\ARM\Segger\JLinkDevices.ref T2418 000:128.681 REF file references invalid XML file: C:\Program Files\SEGGER\JLink\JLinkDevices.xml T2418 000:132.683 Device "STM32L476RC" selected. T2418 000:134.083 - 17.242ms returns 0x00 T2418 000:137.889 JLINK_ExecCommand("Device = STM32L476RCTx", ...). T2418 000:141.641 Device "STM32L476RC" selected. T2418 000:142.858 - 4.957ms returns 0x00 T2418 000:142.874 JLINK_ExecCommand("DisableConnectionTimeout", ...). T2418 000:142.885 - 0.004ms returns 0x01 T2418 000:142.894 JLINK_GetHardwareVersion() T2418 000:142.901 - 0.009ms returns 70000 T2418 000:142.914 JLINK_GetDLLVersion() T2418 000:142.921 - 0.009ms returns 78200 T2418 000:142.929 JLINK_GetOEMString(...) T2418 000:142.937 JLINK_GetFirmwareString(...) T2418 000:142.944 - 0.009ms T2418 000:153.497 JLINK_GetDLLVersion() T2418 000:153.515 - 0.021ms returns 78200 T2418 000:153.524 JLINK_GetCompileDateTime() T2418 000:153.531 - 0.009ms T2418 000:156.387 JLINK_GetFirmwareString(...) T2418 000:156.400 - 0.017ms T2418 000:159.058 JLINK_GetHardwareVersion() T2418 000:159.071 - 0.016ms returns 70000 T2418 000:161.881 JLINK_GetSN() T2418 000:161.896 - 0.017ms returns 20090929 T2418 000:164.365 JLINK_GetOEMString(...) T2418 000:173.016 JLINK_TIF_Select(JLINKARM_TIF_SWD) T2418 000:175.017 - 2.019ms returns 0x00 T2418 000:175.045 JLINK_HasError() T2418 000:175.063 JLINK_SetSpeed(5000) T2418 000:175.395 - 0.344ms T2418 000:175.417 JLINK_GetId() T2418 000:180.022 Found SW-DP with ID 0x2BA01477 T2418 000:230.226 Found SW-DP with ID 0x2BA01477 T2418 000:237.044 Old FW that does not support reading DPIDR via DAP jobs T2418 000:248.299 DPv0 detected T2418 000:250.815 CoreSight SoC-400 or earlier T2418 000:253.349 Scanning AP map to find all available APs T2418 000:262.539 AP[1]: Stopped AP scan as end of AP map has been reached T2418 000:266.627 AP[0]: AHB-AP (IDR: 0x24770011) T2418 000:269.423 Iterating through AP map to find AHB-AP to use T2418 000:281.772 AP[0]: Core found T2418 000:284.322 AP[0]: AHB-AP ROM base: 0xE00FF000 T2418 000:294.941 CPUID register: 0x410FC241. Implementer code: 0x41 (ARM) T2418 000:297.578 Found Cortex-M4 r0p1, Little endian. T2418 000:298.569 -- Max. mem block: 0x00002C18 T2418 000:298.887 CPU_ReadMem(4 bytes @ 0xE000EDF0) T2418 000:299.703 CPU_ReadMem(4 bytes @ 0xE0002000) T2418 000:305.689 FPUnit: 6 code (BP) slots and 2 literal slots T2418 000:305.712 CPU_ReadMem(4 bytes @ 0xE000EDFC) T2418 000:306.378 CPU_WriteMem(4 bytes @ 0xE000EDFC) T2418 000:307.193 CPU_ReadMem(4 bytes @ 0xE0001000) T2418 000:307.891 CPU_WriteMem(4 bytes @ 0xE0001000) T2418 000:308.701 CPU_ReadMem(4 bytes @ 0xE000ED88) T2418 000:309.350 CPU_WriteMem(4 bytes @ 0xE000ED88) T2418 000:310.182 CPU_ReadMem(4 bytes @ 0xE000ED88) T2418 000:310.841 CPU_WriteMem(4 bytes @ 0xE000ED88) T2418 000:314.702 CoreSight components: T2418 000:317.272 ROMTbl[0] @ E00FF000 T2418 000:317.295 CPU_ReadMem(64 bytes @ 0xE00FF000) T2418 000:319.096 CPU_ReadMem(32 bytes @ 0xE000EFE0) T2418 000:323.903 [0][0]: E000E000 CID B105E00D PID 000BB00C SCS-M7 T2418 000:323.933 CPU_ReadMem(32 bytes @ 0xE0001FE0) T2418 000:328.726 [0][1]: E0001000 CID B105E00D PID 003BB002 DWT T2418 000:328.750 CPU_ReadMem(32 bytes @ 0xE0002FE0) T2418 000:332.377 [0][2]: E0002000 CID B105E00D PID 002BB003 FPB T2418 000:332.396 CPU_ReadMem(32 bytes @ 0xE0000FE0) T2418 000:336.032 [0][3]: E0000000 CID B105E00D PID 003BB001 ITM T2418 000:336.055 CPU_ReadMem(32 bytes @ 0xE0040FE0) T2418 000:341.474 [0][4]: E0040000 CID B105900D PID 000BB9A1 TPIU T2418 000:341.503 CPU_ReadMem(32 bytes @ 0xE0041FE0) T2418 000:345.111 [0][5]: E0041000 CID B105900D PID 000BB925 ETM T2418 000:346.217 - 170.808ms returns 0x2BA01477 T2418 000:346.237 JLINK_GetDLLVersion() T2418 000:346.244 - 0.010ms returns 78200 T2418 000:346.253 JLINK_CORE_GetFound() T2418 000:346.260 - 0.009ms returns 0xE0000FF T2418 000:346.334 JLINK_GetDebugInfo(0x100 = JLINKARM_ROM_TABLE_ADDR_INDEX) T2418 000:346.351 Value=0xE00FF000 T2418 000:346.361 - 0.030ms returns 0 T2418 000:348.951 JLINK_GetDebugInfo(0x100 = JLINKARM_ROM_TABLE_ADDR_INDEX) T2418 000:348.964 Value=0xE00FF000 T2418 000:348.974 - 0.025ms returns 0 T2418 000:348.982 JLINK_GetDebugInfo(0x101 = JLINKARM_DEBUG_INFO_ETM_ADDR_INDEX) T2418 000:348.989 Value=0xE0041000 T2418 000:348.998 - 0.019ms returns 0 T2418 000:349.011 JLINK_ReadMemEx(0xE0041FD0, 0x20 Bytes, Flags = 0x02000004) T2418 000:349.031 CPU_ReadMem(32 bytes @ 0xE0041FD0) T2418 000:350.101 Data: 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ... T2418 000:350.127 - 1.119ms returns 32 (0x20) T2418 000:350.140 JLINK_GetDebugInfo(0x102 = JLINKARM_DEBUG_INFO_MTB_ADDR_INDEX) T2418 000:350.148 Value=0x00000000 T2418 000:350.158 - 0.020ms returns 0 T2418 000:350.166 JLINK_GetDebugInfo(0x103 = JLINKARM_DEBUG_INFO_TPIU_ADDR_INDEX) T2418 000:350.173 Value=0xE0040000 T2418 000:350.182 - 0.019ms returns 0 T2418 000:350.190 JLINK_GetDebugInfo(0x104 = JLINKARM_DEBUG_INFO_ITM_ADDR_INDEX) T2418 000:350.197 Value=0xE0000000 T2418 000:350.206 - 0.019ms returns 0 T2418 000:350.214 JLINK_GetDebugInfo(0x105 = JLINKARM_DEBUG_INFO_DWT_ADDR_INDEX) T2418 000:350.221 Value=0xE0001000 T2418 000:350.230 - 0.019ms returns 0 T2418 000:350.238 JLINK_GetDebugInfo(0x106 = JLINKARM_DEBUG_INFO_FPB_ADDR_INDEX) T2418 000:350.245 Value=0xE0002000 T2418 000:350.255 - 0.020ms returns 0 T2418 000:350.263 JLINK_GetDebugInfo(0x107 = JLINKARM_DEBUG_INFO_NVIC_ADDR_INDEX) T2418 000:350.269 Value=0xE000E000 T2418 000:350.278 - 0.019ms returns 0 T2418 000:350.287 JLINK_GetDebugInfo(0x10C = JLINKARM_DEBUG_INFO_DBG_ADDR_INDEX) T2418 000:350.294 Value=0xE000EDF0 T2418 000:350.304 - 0.020ms returns 0 T2418 000:350.312 JLINK_GetDebugInfo(0x01 = Unknown) T2418 000:350.322 Value=0x00000001 T2418 000:350.331 - 0.021ms returns 0 T2418 000:350.339 JLINK_ReadMemU32(0xE000ED00, 0x1 Items) T2418 000:350.353 CPU_ReadMem(4 bytes @ 0xE000ED00) T2418 000:351.126 Data: 41 C2 0F 41 T2418 000:351.141 Debug reg: CPUID T2418 000:351.150 - 0.815ms returns 1 (0x1) T2418 000:351.161 JLINK_GetDebugInfo(0x10F = JLINKARM_DEBUG_INFO_HAS_CORTEX_M_SECURITY_EXT_INDEX) T2418 000:351.168 Value=0x00000000 T2418 000:351.178 - 0.019ms returns 0 T2418 000:351.186 JLINK_HasError() T2418 000:351.195 JLINK_SetResetType(JLINKARM_CM3_RESET_TYPE_NORMAL) T2418 000:351.202 - 0.010ms returns JLINKARM_CM3_RESET_TYPE_NORMAL T2418 000:351.210 JLINK_Reset() T2418 000:351.227 CPU is running T2418 000:351.238 CPU_WriteMem(4 byt