使用STM32F103标准库配置CAN通信

以下是基于STM32F103标准库实现CAN通信的步骤：

1. 配置GPIO引脚

首先需要配置CAN通信所使用的GPIO引脚，包括CAN_RX和CAN_TX。在STM32F103中，CAN_RX引脚使用PB8，CAN_TX引脚使用PB9。可以使用以下代码进行引脚配置：

GPIO_InitTypeDef GPIO_InitStructure;

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);

2. 配置CAN控制器

接下来需要配置CAN控制器，包括波特率、工作模式、过滤器等。以下是一个简单的配置示例：

CAN_InitTypeDef CAN_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_6tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;
CAN_InitStructure.CAN_Prescaler = 4;
CAN_Init(CAN1, &CAN_InitStructure);

3. 配置CAN过滤器

如果需要过滤CAN消息，可以使用CAN过滤器进行配置。以下是一个简单的过滤器配置示例：

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 = CAN_FIFO0;
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);

4. 发送CAN消息

要发送CAN消息，可以使用以下代码：

CanTxMsg txMsg;

txMsg.StdId = 0x123;
txMsg.ExtId = 0x00;
txMsg.RTR = CAN_RTR_DATA;
txMsg.IDE = CAN_ID_STD;
txMsg.DLC = 8;
txMsg.Data[0] = 0x01;
txMsg.Data[1] = 0x02;
txMsg.Data[2] = 0x03;
txMsg.Data[3] = 0x04;
txMsg.Data[4] = 0x05;
txMsg.Data[5] = 0x06;
txMsg.Data[6] = 0x07;
txMsg.Data[7] = 0x08;

CAN_Transmit(CAN1, &txMsg);

5. 接收CAN消息

要接收CAN消息，可以使用以下代码：

CanRxMsg rxMsg;

if (CAN_MessagePending(CAN1, CAN_FIFO0) > 0) {
    CAN_Receive(CAN1, CAN_FIFO0, &rxMsg);

    // 处理接收到的消息
}

以上是基于STM32F103标准库实现CAN通信的简单示例。需要注意的是，配置CAN通信需要根据具体的硬件和应用场景进行调整。