stm32f103c8t6can通信代码

以下是基于HAL库的STM32F103C8T6 CAN通信代码，包括初始化和发送、接收函数：

#include "stm32f1xx_hal.h"

CAN_HandleTypeDef hcan;

void MX_CAN_Init(void)
{
  hcan.Instance = CAN1;
  hcan.Init.Prescaler = 6;
  hcan.Init.Mode = CAN_MODE_NORMAL;
  hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan.Init.TimeSeg1 = CAN_BS1_13TQ;
  hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
  hcan.Init.TimeTriggeredMode = DISABLE;
  hcan.Init.AutoBusOff = ENABLE;
  hcan.Init.AutoWakeUp = DISABLE;
  hcan.Init.AutoRetransmission = ENABLE;
  hcan.Init.ReceiveFifoLocked = DISABLE;
  hcan.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan) != HAL_OK)
  {
    Error_Handler();
  }
}

CAN_TxHeaderTypeDef TxHeader;
uint32_t TxMailbox;
uint8_t TxData[8];

void CAN_Send(uint8_t *data, uint32_t id)
{
  TxHeader.StdId = id;
  TxHeader.RTR = CAN_RTR_DATA;
  TxHeader.IDE = CAN_ID_STD;
  TxHeader.DLC = 8;

  for (int i = 0; i < 8; i++)
  {
    TxData[i] = data[i];
  }

  if (HAL_CAN_AddTxMessage(&hcan, &TxHeader, TxData, &TxMailbox) != HAL_OK)
  {
    Error_Handler();
  }
}

CAN_RxHeaderTypeDef RxHeader;
uint8_t RxData[8];

void CAN_Receive(void)
{
  if (HAL_CAN_GetRxMessage(&hcan, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
  {
    Error_Handler();
  }

  // 处理接收到的数据
  // ...
}

int main(void)
{
  HAL_Init();
  MX_CAN_Init();

  while (1)
  {
    // 发送CAN数据
    uint8_t data[8] = {1, 2, 3, 4, 5, 6, 7, 8};
    CAN_Send(data, 0x123);

    // 接收CAN数据
    CAN_Receive();
  }
}

以上代码实现了CAN的初始化、发送和接收功能，需要根据具体的应用场景进行修改。