请基于stm32单片机应用开发进阶回答nart数据帧格式由哪几部分组成

NART（New Asynchronous Receiver/Transmitter）数据帧格式是一种在STM32单片机中应用的串口通信协议，它由以下几部分组成：

1. 帧头：一个字节，用于标识数据帧的开始。在NART协议中，帧头通常使用0xAA表示。

2. 数据长度：一个字节，用于表示数据的长度，最大长度为255字节。

3. 数据：从第3个字节开始到数据长度所表示的字节结束，用于携带通信的实际数据。

4. 校验和：一个字节，用于检验数据的完整性。校验和计算方法为将帧头、数据长度、数据中每个字节的数值相加，取结果的低8位作为校验和。

5. 帧尾：一个字节，用于标识数据帧的结束。在NART协议中，帧尾通常使用0x55表示。

需要注意的是，NART数据帧格式并非标准的通信协议，而是一种在STM32单片机中自行定义的协议，因此在使用时需要做好协议的解析和组装工作。

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举一个基于stm32f103c8t6单片机的can通讯发包和解包的代码例子

以下是一个基于stm32f103c8t6单片机的CAN通讯发包和解包的代码例子：

// 头文件
#include "stm32f10x.h"
#include "stm32f10x_can.h"
#include "stm32f10x_gpio.h"
#include "stm32f10x_rcc.h"

// 宏定义
#define CAN_ID 0x123
#define CAN_DATA_0 0xAA
#define CAN_DATA_1 0xBB
#define CAN_DATA_2 0xCC
#define CAN_DATA_3 0xDD

// 函数声明
void CAN_Configuration(void);
void GPIO_Configuration(void);
void delay_ms(uint32_t ms);

// 主函数
int main(void)
{
GPIO_Configuration(); // 配置GPIO
CAN_Configuration(); // 配置CAN

// 发送CAN数据包
CanTxMsg TxMessage;
TxMessage.StdId = CAN_ID;
TxMessage.ExtId = 0x00;
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.IDE = CAN_ID_STD;
TxMessage.DLC = 4;
TxMessage.Data[0] = CAN_DATA_0;
TxMessage.Data[1] = CAN_DATA_1;
TxMessage.Data[2] = CAN_DATA_2;
TxMessage.Data[3] = CAN_DATA_3;
CAN_Transmit(CAN1, &TxMessage);

// 接收CAN数据包
CanRxMsg RxMessage;
while (CAN_MessagePending(CAN1, CAN_FIFO0) == 0); // 等待数据包到达
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);

// 判断接收到的数据包是否正确
if (RxMessage.StdId == CAN_ID &&
RxMessage.DLC == 4 &&
RxMessage.Data[0] == CAN_DATA_0 &&
RxMessage.Data[1] == CAN_DATA_1 &&
RxMessage.Data[2] == CAN_DATA_2 &&
RxMessage.Data[3] == CAN_DATA_3)
{
GPIO_WriteBit(GPIOC, GPIO_Pin_13, Bit_SET); // 若正确，点亮LED
}
else
{
GPIO_WriteBit(GPIOC, GPIO_Pin_13, Bit_RESET); // 若错误，关闭LED
}

while(1);
}

// CAN配置函数
void CAN_Configuration(void)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

CAN_DeInit(CAN1);

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_5tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;
CAN_InitStructure.CAN_Prescaler = 6;
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);
}

// GPIO配置函数
void GPIO_Configuration(void)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);

GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOC, &GPIO_InitStructure);
}

// 毫秒级延时函数
void delay_ms(uint32_t ms)
{
uint32_t i, j;
for (i = 0; i < ms; i++)
{
for (j = 0; j < 1000; j++)
{
// do nothing
}
}
}

基于STM32f103利用TIN1定时器编写100msCAN通信数据收发的程序

好的，我会尽力回答你的问题。首先需要明确的是，编写CAN通信数据收发的程序需要一些基础知识，比如CAN协议的使用、STM32f103的寄存器配置等。如果你对这些不熟悉，建议先学习一下相关知识再开始编程。

下面是一个简单的参考代码，可以实现基于TIN1定时器的100msCAN通信数据收发：

#include "stm32f10x.h"
#include "stm32f10x_can.h"

// 定义CAN通信的ID和数据
#define CAN_TX_ID    0x01
#define CAN_RX_ID    0x02
#define CAN_DATA     "Hello, CAN!"

// 定义CAN初始化函数
void CAN_Configuration(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    CAN_InitTypeDef CAN_InitStructure;

    // 配置CAN引脚
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    // 配置CAN参数
    CAN_InitStructure.CAN_TTCM = DISABLE;
    CAN_InitStructure.CAN_ABOM = DISABLE;
    CAN_InitStructure.CAN_AWUM = DISABLE;
    CAN_InitStructure.CAN_NART = ENABLE;
    CAN_InitStructure.CAN_RFLM = DISABLE;
    CAN_InitStructure.CAN_TXFP = ENABLE;
    CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
    CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
    CAN_InitStructure.CAN_BS1 = CAN_BS1_8tq;
    CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq;
    CAN_InitStructure.CAN_Prescaler = 6;
    CAN_Init(CAN1, &CAN_InitStructure);

    // 配置CAN过滤器
    CAN_FilterInitTypeDef CAN_FilterInitStructure;
    CAN_FilterInitStructure.CAN_FilterNumber = 0;
    CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
    CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
    CAN_FilterInitStructure.CAN_FilterIdHigh = (CAN_TX_ID << 5);
    CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh = (CAN_RX_ID << 5);
    CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
    CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;
    CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
    CAN_FilterInit(&CAN_FilterInitStructure);

    // 启动CAN
    CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
    CAN_ITConfig(CAN1, CAN_IT_TME, ENABLE);
    CAN_ITConfig(CAN1, CAN_IT_EWG, ENABLE);
    CAN_ITConfig(CAN1, CAN_IT_EPV, ENABLE);
    CAN_ITConfig(CAN1, CAN_IT_BOF, ENABLE);
    CAN_ITConfig(CAN1, CAN_IT_LEC, ENABLE);
    CAN_ITConfig(CAN1, CAN_IT_ERR, ENABLE);
}

// 定义CAN发送函数
void CAN_Send_Message(void)
{
    CanTxMsg TxMessage;

    TxMessage.StdId = CAN_TX_ID;
    TxMessage.IDE = CAN_ID_STD;
    TxMessage.RTR = CAN_RTR_DATA;
    TxMessage.DLC = strlen(CAN_DATA);
    strcpy((char *)TxMessage.Data, CAN_DATA);

    if (CAN_Transmit(CAN1, &TxMessage) == CAN_NO_MB)
    {
        // 发送缓存已满
    }
}

// 定义CAN接收函数
void CAN_Receive_Message(void)
{
    CanRxMsg RxMessage;

    if (CAN_MessagePending(CAN1, CAN_FIFO0) != 0)
    {
        CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);

        if (RxMessage.StdId == CAN_RX_ID && RxMessage.IDE == CAN_ID_STD && RxMessage.DLC == strlen(CAN_DATA))
        {
            if (strcmp((char *)RxMessage.Data, CAN_DATA) == 0)
            {
                // 收到正确的数据
            }
        }
    }
}

// 定义TIN1定时器初始化函数
void TIM1_Configuration(void)
{
    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
    NVIC_InitTypeDef NVIC_InitStruct;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);

    TIM_TimeBaseInitStruct.TIM_Prescaler = 7200 - 1;
    TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInitStruct.TIM_Period = 1000 - 1;
    TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseInitStruct.TIM_RepetitionCounter = 0;
    TIM_TimeBaseInit(TIM1, &TIM_TimeBaseInitStruct);

    NVIC_InitStruct.NVIC_IRQChannel = TIM1_UP_IRQn;
    NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
    NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStruct);

    TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
    TIM_ITConfig(TIM1, TIM_IT_Update, ENABLE);
    TIM_Cmd(TIM1, ENABLE);
}

// 定义TIN1定时器中断处理函数
void TIM1_UP_IRQHandler(void)
{
    if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET)
    {
        CAN_Send_Message();
        CAN_Receive_Message();
        TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
    }
}

// 主函数
int main(void)
{
    CAN_Configuration();
    TIM1_Configuration();

    while (1)
    {
        // 主循环
    }
}

以上代码仅供参考，实际使用时需要根据具体情况修改。希望对你有所帮助！