stm32f103cb基于HAL库的CAN代码，接收为中断接收

STM32F103CB基于HAL库的CAN驱动程序通常会采用中断方式来实现接收。以下是基本的步骤和示例代码：

1. **初始化CAN模块**:

void CAN_Init(void) {
    GPIO_InitTypeDef GPIO_InitStructure;
    
    // CAN RX/TX pins configuration
    GPIO_InitStructure.Pin = GPIO_PIN_9 | GPIO_PIN_10;
    GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStructure.Pull = GPIO_NOPULL;
    GPIO_InitStructure.Alternate = GPIO_AF11_CAN1;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStructure);
    
    // Initialize the CAN peripheral
    hcan.Instance = CAN1;
    hcan.Init.Prescaler = 1; // 分频系数
    hcan.Init.Mode = CAN_MODE_NORMAL;
    hcan.Init.SJW = CAN_SJW_1TQ;
    hcan.Init.Timing.BaseJitter = 0;
    hcan.Init.Timing.BS1Jitter = 0;
    hcan.Init.Timing.BS2Jitter = 0;
    hcan.Init.Timing.TransmitFilter = CAN_FILTER_NONE;
    hcan.Init.ReceptionFifoMode = CAN_RFIFO_MODE_NORMAL;
    HAL_CAN_Init(&hcan);
}

2. **设置中断处理**:

void CAN_Configuration(void) {
    CAN_ITConfigTypeDef itConfig;

    itConfig.RxEventCallback = CAN Rx Interrupt Handler; // 定义中断回调函数
    itConfig.ExtendedIDFilter = ENABLE;
    itConfig.InterruptMode = ENABLE; // 接收中断
    HAL_CAN_MasterConfigIT(&hcan, &itConfig);
}

3. **启用中断并注册中断服务函数**:

void EnableCanInterrupts(void) {
    HAL_NVIC_SetPriority(CAN1_IRQn, 4, 1); // 高优先级
    HAL_NVIC_EnableIRQ(CAN1_IRQn);
}

void CAN_IRQHandler(void) {
    HAL_CAN_IRQHandler(&hcan); // 处理中断

    if (HAL_CAN_GetRxBufferFlag(&hcan, CAN_FLAG_RXNE)) { // 判断是否有新的接收数据
        uint8_t RxBuffer[8]; // 数据缓冲区
        HAL_CAN_Receive(&hcan, RxBuffer, sizeof(RxBuffer)); // 读取接收缓冲区
        // 处理接收到的数据...
        HAL_CAN_ClearRxBufferFlag(&hcan, CAN_FLAG_RXNE); // 清除接收标志
    }
}