写一段can收发测试的代码

以下是一段基于Python的CAN收发测试代码，使用了pycan库：

import can

# 初始化CAN总线
bus = can.interface.Bus(bustype='socketcan', channel='can0', bitrate=500000)

# 发送CAN消息
msg = can.Message(arbitration_id=0x123, data=[0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88], extended_id=False)
bus.send(msg)

# 接收CAN消息
while True:
    msg = bus.recv()
    if msg is not None:
        print(msg)

代码中首先初始化了一个CAN总线，使用socketcan作为bustype，指定channel为can0，并设置比特率为500000。然后发送了一条CAN消息，使用了标准帧格式，ID为0x123，数据为0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88。最后进入一个循环，一直接收CAN消息并打印出来。

相关问题

写一段小熊派串口收发代码

好的，以下是一段基于Arduino的小熊派串口收发代码：

#include <SoftwareSerial.h>

SoftwareSerial mySerial(2, 3); // RX, TX

void setup() {
  Serial.begin(9600);
  while (!Serial) {
    ; // wait for serial port to connect. Needed for native USB port only
  }

  Serial.println("Serial communication initialized.");

  mySerial.begin(9600);
  Serial.println("SoftwareSerial communication initialized.");
}

void loop() {
  if (mySerial.available()) {
    Serial.write(mySerial.read());
  }

  if (Serial.available()) {
    mySerial.write(Serial.read());
  }
}

这段代码使用了SoftwareSerial库，将小熊派的RX和TX引脚分别连接到Arduino的2和3引脚。在setup函数中，初始化了串口通信，并在loop函数中实现了数据的收发。如果小熊派向Arduino发送了数据，Arduino会将数据通过Serial.write函数发送到电脑上的串口监视器中；如果电脑上的串口监视器向Arduino发送了数据，Arduino会将数据通过mySerial.write函数发送到小熊派上。

帮我写一段stm32F072的 can收发代码

根据您的要求，下面是 STM32F072 CAN 收发代码的示例： // 定义CAN消息结构体
typedef struct {
uint32_t StdId;
uint32_t ExtId;
uint8_t IDE;
uint8_t RTR;
uint8_t DLC;
uint8_t Data[8];
} CanTxMsg;// CAN 初始化
void CAN_Init(void) {
CAN_InitTypeDef CAN_InitStruct;
CAN_FilterInitTypeDef CAN_FilterInitStruct;
GPIO_InitTypeDef GPIO_InitStruct;

// 初始化 CAN 接口的 GPIO
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_11 | GPIO_Pin_12;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource11, GPIO_AF_4);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource12, GPIO_AF_4);

// 初始化 CAN 接口
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStruct);
CAN_InitStruct.CAN_TTCM = DISABLE;
CAN_InitStruct.CAN_ABOM = DISABLE;
CAN_InitStruct.CAN_AWUM = DISABLE;
CAN_InitStruct.CAN_NART = DISABLE;
CAN_InitStruct.CAN_RFLM = DISABLE;
CAN_InitStruct.CAN_TXFP = DISABLE;
CAN_InitStruct.CAN_Mode = CAN_Mode_Normal;
CAN_InitStruct.CAN_SJW = CAN_SJW_1tq;
CAN_InitStruct.CAN_BS1 = CAN_BS1_3tq;
CAN_InitStruct.CAN_BS2 = CAN_BS2_5tq;
CAN_InitStruct.CAN_Prescaler = 4;
CAN_Init(CAN1, &CAN_InitStruct);

// 初始化 CAN 滤波器
CAN_FilterInitStruct.CAN_FilterNumber = 0;
CAN_FilterInitStruct.CAN_FilterMode = CAN_FilterMode_IdMask;
CAN_FilterInitStruct.CAN_FilterScale = CAN_FilterScale_32bit;
CAN_FilterInitStruct.CAN_FilterIdHigh = 0x0000;
CAN_FilterInitStruct.CAN_FilterIdLow = 0x0000;
CAN_FilterInitStruct.CAN_FilterMaskIdHigh = 0x0000;
CAN_FilterInitStruct.CAN_FilterMaskIdLow = 0x0000;
CAN_FilterInitStruct.CAN_FilterFIFOAssignment = 0;
CAN_FilterInitStruct.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitStruct);
}// 向 CAN 发送数据
void CAN_SendData(CanTxMsg *TxMessage) {
CanTxMsg TxMsg;
uint8_t TransmitMailbox = 0;

TxMsg.StdId = TxMessage->StdId;
TxMsg.ExtId = TxMessage->ExtId;
TxMsg.IDE = TxMessage->IDE;
TxMsg.RTR = TxMessage->RTR;
TxMsg.DLC = TxMessage->DLC;
for (uint8_t i=0;i<8;i++) {
TxMsg.Data[i] = TxMessage->Data[i];
}

TransmitMailbox = CAN_Transmit(CAN1, &TxMsg);
while ((CAN_TransmitStatus(CAN1, TransmitMailbox) != CANTXOK) && (CAN_TransmitStatus(CAN1, TransmitMailbox) != CAN_TxStatus_NoMailBox));
} // 接收 CAN 数据
uint8_t CAN_ReceiveData(CanRxMsg *RxMessage) {
CanRxMsg RxMsg;
uint8_t ReceiveMailbox = 0;

ReceiveMailbox = CAN_MessagePending(CAN1);
if (ReceiveMailbox != 0) {
CAN_Receive(CAN1, ReceiveMailbox, &RxMsg);
RxMessage->StdId = RxMsg.StdId;
RxMessage->ExtId = RxMsg.ExtId;
RxMessage->IDE = RxMsg.IDE;
RxMessage->DLC = RxMsg.DLC;
RxMessage->FMI = RxMsg.FMI;
for (uint8_t i=0;i<8;i++) {
RxMessage->Data[i] = RxMsg.Data[i];
}
CAN_FIFORelease(CAN1, ReceiveMailbox);
return 1;
}
else {
return 0;
}
}