以两个stm32f103c8t6用标准库写一个can通讯交互代码

以下是两个STM32F103C8T6使用标准库进行CAN通讯的代码示例：

首先，需要在CubeMX中配置CAN模块，设置CAN的时钟频率和波特率等参数。

对于第一个STM32F103C8T6，作为CAN发送方，我们可以使用以下代码：

#include "stm32f10x.h"
#include "stm32f10x_can.h"

#define CAN_ID_STD 0           // 标准帧ID
#define CAN_DATA_BYTES 8       // 数据字节数
#define CAN_TX_MAILBOX_NUM 0   // 发送邮箱号
#define CAN_TX_TIMEOUT 1000    // 发送超时时间

// CAN发送函数
void can_send(CanTxMsg *tx_msg) {
  uint32_t can_status;
  uint32_t timeout = CAN_TX_TIMEOUT;
  
  // 等待发送邮箱就绪
  do {
    can_status = CAN_TransmitStatus(CAN1, CAN_TX_MAILBOX_NUM);
    timeout--;
  } while (((can_status & CAN_TSR_TME) == 0) && (timeout > 0));
  
  // 发送数据
  if (timeout > 0) {
    CAN_Transmit(CAN1, tx_msg);
  }
}

int main(void) {
  CanTxMsg tx_msg;
  
  // 初始化CAN
  CAN_InitTypeDef can_init;
  can_init.CAN_TTCM = DISABLE;
  can_init.CAN_ABOM = DISABLE;
  can_init.CAN_AWUM = DISABLE;
  can_init.CAN_NART = DISABLE;
  can_init.CAN_RFLM = DISABLE;
  can_init.CAN_TXFP = ENABLE;
  can_init.CAN_Mode = CAN_Mode_Normal;
  can_init.CAN_SJW = CAN_SJW_1tq;
  can_init.CAN_BS1 = CAN_BS1_5tq;
  can_init.CAN_BS2 = CAN_BS2_2tq;
  can_init.CAN_Prescaler = 4;
  CAN_Init(CAN1, &can_init);
  
  // 配置发送消息
  tx_msg.StdId = 0x101;
  tx_msg.RTR = CAN_RTR_DATA;
  tx_msg.IDE = CAN_ID_STD;
  tx_msg.DLC = CAN_DATA_BYTES;
  tx_msg.Data[0] = 0x01;
  tx_msg.Data[1] = 0x02;
  tx_msg.Data[2] = 0x03;
  tx_msg.Data[3] = 0x04;
  tx_msg.Data[4] = 0x05;
  tx_msg.Data[5] = 0x06;
  tx_msg.Data[6] = 0x07;
  tx_msg.Data[7] = 0x08;
  
  // 循环发送
  while (1) {
    can_send(&tx_msg);
    delay(1000); // 延时1秒
  }
}

对于第二个STM32F103C8T6，作为CAN接收方，我们可以使用以下代码：

#include "stm32f10x.h"
#include "stm32f10x_can.h"

#define CAN_ID_STD 0           // 标准帧ID
#define CAN_DATA_BYTES 8       // 数据字节数

// CAN接收回调函数
void can_receive(CanRxMsg *rx_msg) {
  // 处理接收到的数据
  if ((rx_msg->StdId == 0x101) && (rx_msg->IDE == CAN_ID_STD) && (rx_msg->DLC == CAN_DATA_BYTES)) {
    // 处理数据
    uint8_t data[CAN_DATA_BYTES];
    memcpy(data, rx_msg->Data, CAN_DATA_BYTES);
    // ...
  }
}

int main(void) {
  // 初始化CAN
  CAN_InitTypeDef can_init;
  can_init.CAN_TTCM = DISABLE;
  can_init.CAN_ABOM = DISABLE;
  can_init.CAN_AWUM = DISABLE;
  can_init.CAN_NART = DISABLE;
  can_init.CAN_RFLM = DISABLE;
  can_init.CAN_TXFP = ENABLE;
  can_init.CAN_Mode = CAN_Mode_Normal;
  can_init.CAN_SJW = CAN_SJW_1tq;
  can_init.CAN_BS1 = CAN_BS1_5tq;
  can_init.CAN_BS2 = CAN_BS2_2tq;
  can_init.CAN_Prescaler = 4;
  CAN_Init(CAN1, &can_init);
  
  // 配置CAN接收中断
  NVIC_InitTypeDef nvic_init;
  nvic_init.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
  nvic_init.NVIC_IRQChannelPreemptionPriority = 0;
  nvic_init.NVIC_IRQChannelSubPriority = 0;
  nvic_init.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&nvic_init);
  
  // 配置CAN接收过滤器
  CAN_FilterInitTypeDef can_filter;
  can_filter.CAN_FilterNumber = 0;
  can_filter.CAN_FilterMode = CAN_FilterMode_IdMask;
  can_filter.CAN_FilterScale = CAN_FilterScale_32bit;
  can_filter.CAN_FilterIdHigh = 0x0000;
  can_filter.CAN_FilterIdLow = 0x0000;
  can_filter.CAN_FilterMaskIdHigh = 0x0000;
  can_filter.CAN_FilterMaskIdLow = 0x0000;
  can_filter.CAN_FilterFIFOAssignment = CAN_FIFO0;
  can_filter.CAN_FilterActivation = ENABLE;
  CAN_FilterInit(&can_filter);
  
  // 启用CAN接收中断
  CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
  
  // 循环等待接收数据
  while (1);
}

// CAN接收中断处理函数
void USB_LP_CAN1_RX0_IRQHandler(void) {
  CanRxMsg rx_msg;
  
  // 读取接收数据
  CAN_Receive(CAN1, CAN_FIFO0, &rx_msg);
  
  // 处理接收数据
  can_receive(&rx_msg);
}