HAL库实现CAN接收

首先，需要在CubeMX中配置CAN时钟和引脚，然后在代码中初始化CAN。以下是一个简单的CAN接收代码示例：

#include "stm32f1xx_hal.h"

CAN_HandleTypeDef hcan;

void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef *hcan)
{
    uint8_t data[8];
    uint32_t id;

    HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rxHeader, data);

    // 处理接收到的数据
}

void CAN_Init(void)
{
    // 初始化CAN
    hcan.Instance = CAN1;
    hcan.Init.Mode = CAN_MODE_NORMAL;
    hcan.Init.AutoBusOff = ENABLE;
    hcan.Init.AutoWakeUp = ENABLE;
    hcan.Init.AutoRetransmission = ENABLE;
    hcan.Init.ReceiveFifoLocked = DISABLE;
    hcan.Init.TransmitFifoPriority = DISABLE;
    hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
    hcan.Init.TimeSeg1 = CAN_BS1_13TQ;
    hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
    hcan.Init.Prescaler = 4;

    if (HAL_CAN_Init(&hcan) != HAL_OK)
    {
        Error_Handler();
    }

    // 配置接收过滤器
    CAN_FilterTypeDef filter;
    filter.FilterActivation = ENABLE;
    filter.FilterBank = 0;
    filter.FilterFIFOAssignment = CAN_RX_FIFO0;
    filter.FilterIdHigh = 0x0000;
    filter.FilterIdLow = 0x0000;
    filter.FilterMaskIdHigh = 0x0000;
    filter.FilterMaskIdLow = 0x0000;
    filter.FilterMode = CAN_FILTERMODE_IDMASK;
    filter.FilterScale = CAN_FILTERSCALE_32BIT;

    if (HAL_CAN_ConfigFilter(&hcan, &filter) != HAL_OK)
    {
        Error_Handler();
    }

    // 启动CAN接收中断
    HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
}

int main(void)
{
    // 启动CAN接收
    if (HAL_CAN_Start(&hcan) != HAL_OK)
    {
        Error_Handler();
    }

    while (1)
    {
        // 主循环
    }
}

在以上代码中，我们初始化了CAN，并配置了一个接收过滤器。然后启动了CAN接收，并开启了CAN接收中断。当接收到CAN数据时，将调用`HAL_CAN_RxCpltCallback`函数，在该函数中处理接收到的数据即可。