stm32f103rct6如何实现CAN通信

要实现 STM32F103 上的 CAN 通信，您需要以下步骤：

1. 配置 GPIO 引脚用于 CAN 通信。

2. 配置 CAN 控制器，包括波特率、模式和过滤器等参数。

3. 启用 CAN 控制器并发送和接收 CAN 消息。

以下是一个简单的示例代码，演示如何配置并使用 CAN 控制器：

#include "stm32f10x.h"

void CAN_Configuration(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    CAN_InitTypeDef CAN_InitStructure;
    CAN_FilterInitTypeDef CAN_FilterInitStructure;

    // 使能GPIO和CAN时钟
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

    // 配置CAN引脚
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11 | GPIO_Pin_12;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    // CAN初始化
    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);

    // 配置过滤器
    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 = 0;
    CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
    CAN_FilterInit(&CAN_FilterInitStructure);

    // 启用CAN控制器
    CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
    CAN_Cmd(CAN1, ENABLE);
}

void CAN_Send(uint32_t id, uint8_t *data, uint8_t len)
{
    uint8_t mailbox;
    CAN_TxHeaderTypeDef TxMessage;

    TxMessage.StdId = id;
    TxMessage.IDE = CAN_ID_STD;
    TxMessage.RTR = CAN_RTR_DATA;
    TxMessage.DLC = len;

    CAN_Transmit(CAN1, &TxMessage, data);
}

void CAN_Receive(CanRxMsg *RxMessage)
{
    if (CAN_MessagePending(CAN1, CAN_FIFO0) > 0)
    {
        CAN_Receive(CAN1, CAN_FIFO0, RxMessage);
    }
}

int main(void)
{
    CanRxMsg RxMessage;
    uint8_t data[] = {0x01, 0x02, 0x03};

    CAN_Configuration();

    while (1)
    {
        CAN_Send(0x123, data, 3);
        CAN_Receive(&RxMessage);
    }
}

这只是一个简单的示例代码，您需要根据您的具体应用场景进行相应的修改。