stm32F103 can通讯

STM32F103可以通过多种通讯方式进行通讯，其中包括CAN通讯。要使用CAN通讯，需要使用CAN控制器和CAN总线收发器。以下是一些基本步骤：

1. 初始化CAN控制器和CAN总线收发器。
2. 设置CAN通讯的参数，例如波特率、过滤器等。
3. 发送CAN帧。
4. 接收CAN帧。

以下是一个简单的示例代码，可以帮助你了解如何在STM32F103上实现CAN通讯：

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

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

void CAN_Configuration(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;
  NVIC_InitTypeDef NVIC_InitStructure;

  RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, 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);

  NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_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_4tq;
  CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq;
  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 = CAN_Filter_FIFO0;
  CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
  CAN_FilterInit(&CAN_FilterInitStructure);

  CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
}

void USB_LP_CAN1_RX0_IRQHandler(void)
{
  if (CAN_GetITStatus(CAN1, CAN_IT_FMP0) != RESET)
  {
    CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
    CAN_ClearITPendingBit(CAN1, CAN_IT_FMP0);
  }
}

int main(void)
{
  CAN_Configuration();

  TxMessage.StdId = 0x11;
  TxMessage.ExtId = 0x01;
  TxMessage.RTR = CAN_RTR_DATA;
  TxMessage.IDE = CAN_ID_STD;
  TxMessage.DLC = 2;
  TxMessage.Data[0] = 0xCA;
  TxMessage.Data[1] = 0xFE;

  while (1)
  {
    CAN_Transmit(CAN1, &TxMessage);
    delay(500);
  }
}

这是一个简单的例子，可以帮助你开始使用STM32F103进行CAN通讯。你可以根据自己的需求进行修改和扩展。