GD32F103VET6实现CAN总线收发函数

以下是基于GD32F103VET6芯片的CAN总线收发函数的样例代码：

首先需要在代码中包含头文件`gd32f10x_can.h`和`gd32f10x.h`：

#include "gd32f10x_can.h"
#include "gd32f10x.h"

然后需要进行CAN总线的初始化，可以参考如下代码：

/* CAN1 GPIOs configuration **************************************************/
/* enable CAN1 GPIO clocks */
rcu_periph_clock_enable(RCU_GPIOA);

/* configure CAN1 GPIOs */
gpio_init(GPIOA, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_11);
gpio_init(GPIOA, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_12);

/* CAN1 Periph clock enable */
rcu_periph_clock_enable(RCU_CAN1);

/* CAN1 register init */
can_deinit(CAN1);

/* CAN1 cell init */
can_struct_para_init(&can_parameter);

can_parameter.can_mode = CAN_MODE_NORMAL;
can_parameter.can_sjw = CAN_SJW_1TQ;
can_parameter.can_bs1 = CAN_BS1_9TQ;
can_parameter.can_bs2 = CAN_BS2_8TQ;
can_parameter.can_prescaler = 3;
can_parameter.can_ttc = DISABLE;
can_parameter.can_abom = ENABLE;
can_parameter.can_awu = DISABLE;
can_parameter.can_ard = DISABLE;
can_parameter.can_rflm = DISABLE;
can_parameter.can_nart = ENABLE;
can_parameter.can_txfp = DISABLE;
can_init(CAN1, &can_parameter);

接下来是CAN总线的发送函数，可以参考如下代码：

/* CAN1 send data */
uint8_t can1_send_data(uint32_t id, uint8_t* data, uint8_t len)
{
    can_trasnmit_message_struct transmit_message;
    uint8_t mbox;

    transmit_message.tx_sfid = id;
    transmit_message.tx_efid = 0x00;
    transmit_message.tx_ft = CAN_FT_DATA;
    transmit_message.tx_ff = CAN_FF_STANDARD;
    transmit_message.tx_dlen = len;
    memcpy(transmit_message.tx_data, data, len);

    mbox = can_message_transmit(CAN1, &transmit_message);

    while((can_transmit_status(CAN1, mbox) == CAN_TX_STATUS_PENDING));

    if(can_transmit_status(CAN1, mbox) == CAN_TX_STATUS_SUCCESS)
    {
        return 0;
    }
    else
    {
        return 1;
    }
}

最后是CAN总线的接收函数，可以参考如下代码：

/* CAN1 receive data */
uint8_t can1_receive_data(uint32_t* id, uint8_t* data, uint8_t* len)
{
    can_receive_message_struct receive_message;

    if(can_message_receive(CAN1, CAN_FIFO0, &receive_message) == SUCCESS)
    {
        *id = receive_message.rx_sfid;
        *len = receive_message.rx_dlen;
        memcpy(data, receive_message.rx_data, *len);
        return 0;
    }
    else
    {
        return 1;
    }
}

需要注意的是，以上代码仅供参考，具体实现过程中需要根据实际情况进行调整。同时，在使用CAN总线时需要注意相关的硬件连接、波特率设置等。