stm32 库函数can软件驱动

以下是一个基于STM32库函数的CAN软件驱动例程，可以帮助你了解如何使用STM32库函数进行CAN驱动的发送和接收操作：

#include "stm32f10x.h"
#include <stdio.h>

#define CAN_ID 0x123
#define CAN_DATA_SIZE 8

uint8_t can_tx_data[CAN_DATA_SIZE] = {0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF};
uint8_t can_rx_data[CAN_DATA_SIZE] = {0};

void CAN_Config(void)
{
    // CAN初始化代码
    // ...

    NVIC_InitTypeDef NVIC_InitStructure;
    NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
}

void CAN_SendData(void)
{
    CanTxMsg TxMessage;
    TxMessage.StdId = CAN_ID;
    TxMessage.ExtId = 0x00;
    TxMessage.RTR = CAN_RTR_DATA;
    TxMessage.IDE = CAN_ID_STD;
    TxMessage.DLC = CAN_DATA_SIZE;
    for (int i = 0; i < CAN_DATA_SIZE; i++)
    {
        TxMessage.Data[i] = can_tx_data[i];
    }
    CAN_Transmit(CAN1, &TxMessage);
}

void CAN_ReceiveData(void)
{
    CanRxMsg RxMessage;
    if (CAN_MessagePending(CAN1, CAN_FIFO0) > 0)
    {
        CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
        if (RxMessage.StdId == CAN_ID)
        {
            for (int i = 0; i < CAN_DATA_SIZE; i++)
            {
                can_rx_data[i] = RxMessage.Data[i];
            }
            printf("Received CAN data: ");
            for (int i = 0; i < CAN_DATA_SIZE; i++)
            {
                printf("%02X ", can_rx_data[i]);
            }
            printf("\r\n");
        }
    }
}

int main(void)
{
    // 系统初始化代码
    // ...

    CAN_Config();

    while (1)
    {
        CAN_SendData();
        Delay(1000);
        CAN_ReceiveData();
    }
}

void USB_LP_CAN1_RX0_IRQHandler(void)
{
    CAN_ReceiveData();
    CAN_ClearITPendingBit(CAN1, CAN_IT_FMP0);
}

以上代码实现了CAN数据的发送和接收操作。`CAN_SendData()`函数将CAN数据发送到CAN总线上，`CAN_ReceiveData()`函数从CAN总线上接收数据，并将接收到的数据存储到`can_rx_data`数组中。在主函数中，循环发送CAN数据并接收数据。此外，当接收到CAN数据时，将触发中断函数`USB_LP_CAN1_RX0_IRQHandler()`，从而执行数据接收操作。