基于两块stm32f103c8t6中can通讯的接收端的代码

以下是基于两块STM32F103C8T6中CAN通信的接收端的示例代码：

#include "stm32f10x.h"
#include "stm32f10x_can.h"
#include "stm32f10x_gpio.h"
#include "stm32f10x_rcc.h"

#define CAN1_RX_PIN GPIO_Pin_11
#define CAN1_TX_PIN GPIO_Pin_12
#define CAN1_GPIO GPIOA
#define CAN1_RCC RCC_APB2Periph_GPIOA

#define CAN2_RX_PIN GPIO_Pin_5
#define CAN2_TX_PIN GPIO_Pin_6
#define CAN2_GPIO GPIOB
#define CAN2_RCC RCC_APB2Periph_GPIOB

#define CAN1_RX_IRQ USB_LP_CAN1_RX0_IRQn
#define CAN2_RX_IRQ USB_LP_CAN1_RX1_IRQn

void CAN1_Config(void);
void CAN2_Config(void);
void GPIO_Config(void);
void NVIC_Config(void);

int main(void)
{
    GPIO_Config();
    NVIC_Config();
    CAN1_Config();
    CAN2_Config();

    while(1)
    {

    }
}

void GPIO_Config(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;

    RCC_APB2PeriphClockCmd(CAN1_RCC | CAN2_RCC, ENABLE);

    // Configure CAN1 pins
    GPIO_InitStructure.GPIO_Pin = CAN1_RX_PIN | CAN1_TX_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(CAN1_GPIO, &GPIO_InitStructure);

    // Configure CAN2 pins
    GPIO_InitStructure.GPIO_Pin = CAN2_RX_PIN | CAN2_TX_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(CAN2_GPIO, &GPIO_InitStructure);
}

void NVIC_Config(void)
{
    NVIC_InitTypeDef NVIC_InitStructure;

    NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);

    // Configure CAN1 interrupts
    NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX_IRQ;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);

    // Configure CAN2 interrupts
    NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX_IRQ;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
}

void CAN1_Config(void)
{
    CAN_InitTypeDef CAN_InitStructure;
    CAN_FilterInitTypeDef CAN_FilterInitStructure;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

    CAN_StructInit(&CAN_InitStructure);

    CAN_InitStructure.CAN_TTCM = DISABLE;
    CAN_InitStructure.CAN_ABOM = DISABLE;
    CAN_InitStructure.CAN_AWUM = DISABLE;
    CAN_InitStructure.CAN_NART = DISABLE;
    CAN_InitStructure.CAN_RFLM = DISABLE;
    CAN_InitStructure.CAN_TXFP = DISABLE;
    CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
    CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
    CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq;
    CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;
    CAN_InitStructure.CAN_Prescaler = 4;

    CAN_Init(CAN1, &CAN_InitStructure);

    CAN_FilterInitStructure.CAN_FilterNumber = 0;
    CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
    CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
    CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;
    CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
    CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;
    CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;

    CAN_FilterInit(&CAN_FilterInitStructure);

    CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
}

void CAN2_Config(void)
{
    CAN_InitTypeDef CAN_InitStructure;
    CAN_FilterInitTypeDef CAN_FilterInitStructure;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE);

    CAN_StructInit(&CAN_InitStructure);

    CAN_InitStructure.CAN_TTCM = DISABLE;
    CAN_InitStructure.CAN_ABOM = DISABLE;
    CAN_InitStructure.CAN_AWUM = DISABLE;
    CAN_InitStructure.CAN_NART = DISABLE;
    CAN_InitStructure.CAN_RFLM = DISABLE;
    CAN_InitStructure.CAN_TXFP = DISABLE;
    CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
    CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
    CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq;
    CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;
    CAN_InitStructure.CAN_Prescaler = 4;

    CAN_Init(CAN2, &CAN_InitStructure);

    CAN_FilterInitStructure.CAN_FilterNumber = 0;
    CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
    CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
    CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;
    CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
    CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;
    CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;

    CAN_FilterInit(&CAN_FilterInitStructure);

    CAN_ITConfig(CAN2, CAN_IT_FMP1, ENABLE);
}

void USB_LP_CAN1_RX0_IRQHandler(void)
{
    CanRxMsg RxMessage;

    CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);

    // Process received message here
}

void USB_LP_CAN1_RX1_IRQHandler(void)
{
    CanRxMsg RxMessage;

    CAN_Receive(CAN2, CAN_FIFO1, &RxMessage);

    // Process received message here
}

需要注意的是，CAN1和CAN2的引脚配置是不同的，需要在GPIO_Config函数中分别配置。另外，CAN1和CAN2的中断向量也是不同的，需要在NVIC_Config函数中分别配置。在CAN1_Config和CAN2_Config函数中，需要配置CAN的参数和过滤器。在USB_LP_CAN1_RX0_IRQHandler和USB_LP_CAN1_RX1_IRQHandler中，需要获取接收到的CAN消息并进行处理。