CAN通信-程序编译成功但仍无法正常发送指令

#include <Arduino_CAN.h>    
#include <CanUtil.h>  
#include <R7FA4M1_CAN.h> 
#include <R7FA6M5_CAN.h>        
#include <SyncCanMsgRingbuffer.h>   

static uint32_t const CAN_ID = 0x601;

void setup() {
 
 Serial.begin(115200);
 
 while (!Serial) {}

  CAN.begin(CanBitRate::BR_125k);

  if (CAN.begin(CanBitRate::BR_125k)) {
    Serial.println("CAN.begin(...) Complished.");
    delay(100);
    Serial.println("CAN_BR is 125k.");
  }
 
 if (!CAN.begin(CanBitRate::BR_250k)) {
    Serial.println("CAN.begin(...) failed.");
  }
}

static uint32_t msg0_cnt = 0;
static uint32_t msg1_cnt = 0;
static uint32_t msg2_cnt = 0;

void loop(){
  uint8_t const msg0_data[] = { 0xCA, 0xFE, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06 };
  memcpy((void *)(msg0_data + 4), &msg0_cnt, sizeof(msg0_cnt));
  CanMsg const msg0(CanStandardId(CAN_ID), sizeof(msg0_data), msg0_data);
  CAN.write(msg0);
  if (int const rc = CAN.write(msg0); rc < 0) {
    Serial.print("CAN.write(...) failed with error code ");
    Serial.println(rc);
  }
  msg0_cnt++;
  delay(1000);
}
复制代码

[size=15.008px]需要用Arduino Uno R4（板载CAN总线）跟伺服驱动器通信。
[size=15.008px]程序编译成功，但串行端口监视器始终显示传输失败的消息。[size=15.008px]

[size=15.008px]我觉得可能是发送命令的函数没用对，希望有大佬能给指点一下！！！！

接线拍照