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();

/* Configure the system clock */
SystemClock_Config();

/* Initialize all configured peripherals */
MX_GPIO_Init();

/* USER CODE BEGIN my */
//кан на 500 kbit/s
canInit(500);
initTimer();
thisDict=&OD_Prod_Data;
//установка номера узла
setNodeId(thisDict,0x12);
//инициализация CANopen
setState(thisDict,Initialisation);
//ждем сотояния готовности
while(getState(thisDict)!=Pre_operational);
setState(thisDict,Operational);
LED_RED_ON();

/* USER CODE END my */

/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */

/* USER CODE BEGIN 3 */
masterSendNMTstateChange(thisDict,0x17,NMT_Reset_Node);
masterSendNMTstateChange(thisDict,0x17,NMT_Start_Node);
HAL_Delay(1000);
sendPDOrequest(thisDict,0x1400);
masterSendNMTstateChange(thisDict,0x17,NMT_Stop_Node);
HAL_Delay(5000);
}
/* USER CODE END 3 */

}

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();

/* Configure the system clock */
SystemClock_Config();

/* Initialize all configured peripherals */
MX_GPIO_Init();
//кан на 500 kbit/s
canInit(500);
initTimer();
thisDict=&OD_Prod_Data;
//номер узла
setNodeId(thisDict,0x17);
//инит узла
setState(thisDict,Stopped);
//MX_TIM1_Init();
//MX_TIM3_Init();

/* USER CODE BEGIN 2 */
/* USER CODE END 2 */

/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */

/* USER CODE BEGIN 3 */

}
/* USER CODE END 3 */

}

sendPDOrequest (CO_Data * d, UNS16 RPDOIndex)
{
  UNS16 *pwCobId;
  UNS16 offset = d->firstIndex->PDO_RCV;
  UNS16 lastIndex = d->lastIndex->PDO_RCV;

  if (!d->CurrentCommunicationState.csPDO)
    {
      return 0;
    }

  /* Sending the request only if the cobid have been found on the PDO
     receive */
  /* part dictionary */

  MSG_WAR (0x3930, "sendPDOrequest RPDO Index : ", RPDOIndex);

  if (offset && RPDOIndex >= 0x1400)
    {
      offset += RPDOIndex - 0x1400;
      if (offset <= lastIndex)
        {
          /* get the CobId */
          pwCobId = d->objdict[offset].pSubindex[1].pObject;

          MSG_WAR (0x3930, "sendPDOrequest cobId is : ", *pwCobId);
          {
            Message pdo;
            pdo.cob_id = UNS16_LE(*pwCobId);
            pdo.rtr = REQUEST;
            pdo.len = 0;
            return canSend (d->canHandle, &pdo);
          }
        }
    }
  MSG_ERR (0x1931, "sendPDOrequest : RPDO Index not found : ", RPDOIndex);
  return 0xFF;
}