stm32f103c8t6 can例程

以下是一个基于STM32F103C8T6的CAN通信例程，你可以参考：

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

#define CANx                       CAN1
#define CAN_CLK                    RCC_APB1Periph_CAN1
#define CAN_RX_PIN                 GPIO_Pin_11
#define CAN_TX_PIN                 GPIO_Pin_12
#define CAN_GPIO_PORT              GPIOA
#define CAN_GPIO_CLK               RCC_APB2Periph_GPIOA
#define CAN_AF_PORT                GPIO_AF_CAN1
#define CAN_RX_SOURCE              GPIO_PinSource11
#define CAN_TX_SOURCE              GPIO_PinSource12

CanTxMsg TxMessage;
CanRxMsg RxMessage;
uint8_t flag = 0;   

void CAN1_Config(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    CAN_InitTypeDef CAN_InitStructure;

    RCC_APB2PeriphClockCmd(CAN_GPIO_CLK, ENABLE);
    RCC_APB1PeriphClockCmd(CAN_CLK, ENABLE);

    GPIO_InitStructure.GPIO_Pin = CAN_TX_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(CAN_GPIO_PORT, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin = CAN_RX_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_Init(CAN_GPIO_PORT, &GPIO_InitStructure);

    GPIO_PinRemapConfig(GPIO_Remap_CAN, ENABLE);

    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 = 6;
    CAN_Init(CANx, &CAN_InitStructure);

    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 = 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);
}

int main(void)
{
    uint8_t i = 0;

    CAN1_Config();

    TxMessage.StdId = 0x12;
    TxMessage.ExtId = 0x12;
    TxMessage.RTR = CAN_RTR_DATA;
    TxMessage.IDE = CAN_ID_STD;
    TxMessage.DLC = 2;
    TxMessage.Data[0] = 'A';
    TxMessage.Data[1] = 'B';

    while (1)
    {
        CAN_Transmit(CANx, &TxMessage);
        delay_ms(1000);
        if(flag == 1)
        {
            flag = 0;
            printf("Receive Data:");
            for(i = 0; i < RxMessage.DLC; i++)
            {
                printf("%c", RxMessage.Data[i]);
            }
            printf("\r\n");
        }
    }
}

void USB_LP_CAN1_RX0_IRQHandler(void)
{
    if(CAN_GetITStatus(CANx, CAN_IT_FMP0) != RESET)
    {
        CAN_Receive(CANx, CAN_FIFO0, &RxMessage);    
        CAN_ClearITPendingBit(CANx, CAN_IT_FMP0);
        flag = 1;
    }
}

这个例程演示了如何通过CAN1接口发送和接收数据。在这个例程中，我们使用CAN1接口和PA11（CAN_RX）和PA12（CAN_TX）引脚。

在主函数中，我们首先配置CAN1接口，并设置发送消息。然后，我们不断地发送消息，并等待接收消息。如果接收到消息，则打印接收到的数据。

在中断处理程序中，我们检查是否收到了一个新的消息。如果是，则接收消息并设置一个标志以指示主函数中有新数据可用。

请注意，这个例程还需要一个延迟函数，你需要自己实现。你可以使用定时器或其他方法来实现延迟函数。