stm32can双机通讯

STM32的CAN总线通信是一种非常常见的双机通讯方式，可以实现高速、可靠的数据传输。下面是一个简单的双机通讯的步骤：

1. 配置CAN通信参数：包括波特率、数据位、校验位等。

2. 初始化CAN模块：使能CAN模块、配置CAN接收中断等。

3. 发送数据：将待发送的数据填入CAN发送FIFO缓冲区中，并触发发送请求。

4. 接收数据：在CAN接收中断中，读取接收到的数据，根据数据标识符判断数据类型。

5. 处理数据：根据接收到的数据类型进行相应的处理，如更新状态、执行控制操作等。

下面是一个简单的CAN通信程序示例：

#include "stm32f10x.h"

CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
CanTxMsg TxMessage;
CanRxMsg RxMessage;

void CAN_Config(void)
{
  /* Enable CAN clock */
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

  /* CAN GPIOs configuration **************************************************/

  /* GPIO clock enable */
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA, ENABLE);

  /* Configure CAN RX and TX pins */
  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);

  /* CAN configuration ********************************************************/
  /* CAN register init */
  CAN_DeInit(CAN1);

  /* CAN cell init */
  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 = ENABLE;
  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 filter init */
  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);

  /* Enable FIFO 0 message pending Interrupt */
  CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
}

void CAN_SendMessage(void)
{
  /* Transmit Structure preparation */
  TxMessage.StdId = 0x321;
  TxMessage.ExtId = 0x01;
  TxMessage.RTR = CAN_RTR_DATA;
  TxMessage.IDE = CAN_ID_STD;
  TxMessage.DLC = 1;
  TxMessage.Data[0] = 0xAA;

  /* Transmit the message */
  CAN_Transmit(CAN1, &TxMessage);
}

void CAN_ReceiveMessage(void)
{
  /* Get the received message */
  CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);

  /* Process received message */
  if (RxMessage.StdId == 0x321)
  {
    // Do something with received data
  }
}

int main(void)
{
  /* CAN configuration */
  CAN_Config();

  while (1)
  {
    /* Send message */
    CAN_SendMessage();

    /* Wait for message to be received */
    while(!CAN_GetFlagStatus(CAN1, CAN_FLAG_FMP0));

    /* Process received message */
    CAN_ReceiveMessage();
  }
}

这是一个基本的CAN双机通讯的示例，你可以根据自己的需要进行修改。需要注意的是，CAN通讯需要硬件支持，因此需要在硬件电路设计中预留好CAN总线接口。