GD32F103VET6的CAN通讯代码

以下是GD32F103VET6的CAN通讯代码示例，包括CAN初始化、CAN发送和接收数据：

#include "gd32f10x.h"

/* CAN初始化函数 */
void CAN_Config(void)
{
    /* 使能CAN时钟 */
    rcu_periph_clock_enable(RCU_CAN0);

    /* 配置CAN GPIO */
    gpio_init(GPIOB, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_8);
    gpio_init(GPIOB, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_9);

    /* CAN单元初始化 */
    can_deinit(CAN0);
    can_struct_init(&can_initpara);
    can_initpara.time_triggered_mode = DISABLE;
    can_initpara.auto_bus_off_recovery = ENABLE;
    can_initpara.auto_wake_up = DISABLE;
    can_initpara.auto_retrans = ENABLE;
    can_init(CAN0, &can_initpara);

    /* 配置CAN过滤器 */
    can_filter_initpara.filter_number = 0;
    can_filter_initpara.filter_mode = CAN_FILTERMODE_MASK;
    can_filter_initpara.filter_scale = CAN_FILTERSCALE_32BIT;
    can_filter_initpara.filter_mask_id_high = 0x0000;
    can_filter_initpara.filter_mask_id_low = 0x0000;
    can_filter_initpara.filter_id_high = 0x0000;
    can_filter_initpara.filter_id_low = 0x0000;
    can_filter_initpara.filter_fifo_number = CAN_FIFO0;
    can_filter_initpara.filter_enable = ENABLE;
    can_filter_init(&can_filter_initpara);

    /* 使能CAN中断 */
    nvic_irq_enable(CAN0_RX0_IRQn, 0, 0);
    can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0);
}

/* CAN发送数据函数 */
void CAN_SendData(uint8_t* data, uint8_t len)
{
    /* 等待发送缓冲区为空 */
    while(CAN0->TSR & CAN_TSR_TME0);

    /* 设置发送数据长度 */
    can_message_struct.length = len;

    /* 填充发送数据 */
    for(uint8_t i = 0; i < len; i++)
    {
        can_message_struct.data[i] = data[i];
    }

    /* 设置发送数据ID */
    can_message_struct.format_type = CAN_STDID;
    can_message_struct.id = 0x123;

    /* 发送数据 */
    can_message_transmit(CAN0, &can_message_struct);

    /* 等待发送完成 */
    while(!(CAN0->TSR & CAN_TSR_TME0));
}

/* CAN接收数据函数 */
void CAN_ReceiveData(uint8_t* data, uint8_t* len)
{
    if(CAN0->RFIF & CAN_RFIF_FMP0)
    {
        /* 获取接收数据长度 */
        *len = (uint8_t)(CAN0->sFIFOMailBox[0].RDTR & CAN_RDT0R_DLC);

        /* 获取接收数据 */
        for(uint8_t i = 0; i < *len; i++)
        {
            data[i] = (uint8_t)(CAN0->sFIFOMailBox[0].RDLR >> (i * 8));
        }

        /* 清除接收数据标志 */
        CAN0->RFIF &= ~(CAN_RFIF_FMP0);
    }
}

/* CAN接收中断服务函数 */
void CAN0_RX0_IRQHandler(void)
{
    CAN_ReceiveData(recv_data, &recv_len);
}

以上代码仅供参考，具体实现需要根据实际情况进行修改。