stm32f103 canbus Bootloader 升级程序代码 采用hal库

以下是一个基于STM32F103的CAN Bootloader升级程序代码，采用HAL库实现，仅供参考：

#include "main.h"
#include "stm32f1xx_hal.h"

#define CAN_CMD_BOOTLOADER_START 0x01
#define CAN_CMD_BOOTLOADER_DATA 0x02
#define CAN_CMD_BOOTLOADER_END 0x03

#define CAN_BOOTLOADER_STATE_IDLE 0
#define CAN_BOOTLOADER_STATE_READY 1
#define CAN_BOOTLOADER_STATE_TRANSFER 2
#define CAN_BOOTLOADER_STATE_COMPLETE 3

#define CAN_BOOTLOADER_DATA_SIZE 8

typedef struct {
    uint8_t cmd;
    uint32_t address;
    uint32_t length;
    uint8_t data[CAN_BOOTLOADER_DATA_SIZE];
} can_bootloader_packet_t;

volatile uint8_t can_bootloader_state = CAN_BOOTLOADER_STATE_IDLE;
volatile can_bootloader_packet_t can_bootloader_packet;

CAN_HandleTypeDef hcan;

void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN_Init(void);

void can_bootloader_handle_command(uint8_t cmd, uint32_t address, uint32_t length) {
    switch(cmd) {
        case CAN_CMD_BOOTLOADER_START:
            can_bootloader_state = CAN_BOOTLOADER_STATE_READY;
            can_bootloader_packet.address = address;
            can_bootloader_packet.length = length;
            break;
        case CAN_CMD_BOOTLOADER_DATA:
            if(can_bootloader_state == CAN_BOOTLOADER_STATE_TRANSFER) {
                uint8_t* address_ptr = (uint8_t*) address;
                for(int i = 0; i < CAN_BOOTLOADER_DATA_SIZE && length > 0; i++, address_ptr++, length--) {
                    *address_ptr = can_bootloader_packet.data[i];
                }
                if(length == 0) {
                    can_bootloader_state = CAN_BOOTLOADER_STATE_COMPLETE;
                }
            }
            break;
        case CAN_CMD_BOOTLOADER_END:
            can_bootloader_state = CAN_BOOTLOADER_STATE_IDLE;
            memset(&can_bootloader_packet, 0, sizeof(can_bootloader_packet_t));
            break;
        default:
            break;
    }
}

void can_bootloader_handle_data(uint8_t* data, uint8_t length) {
    if(can_bootloader_state == CAN_BOOTLOADER_STATE_READY) {
        memcpy(can_bootloader_packet.data, data, length);
        can_bootloader_state = CAN_BOOTLOADER_STATE_TRANSFER;
    } else if(can_bootloader_state == CAN_BOOTLOADER_STATE_TRANSFER) {
        if(length <= CAN_BOOTLOADER_DATA_SIZE) {
            memcpy(can_bootloader_packet.data, data, length);
        }
    }
}

void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan) {
    if(hcan->Instance == CAN1) {
        can_bootloader_handle_data(hcan->pRxMsg->Data, hcan->pRxMsg->DLC);
        HAL_CAN_Receive_IT(&hcan1, CAN_FIFO0);
    }
}

void can_send_message(uint32_t id, uint8_t* data, uint8_t length) {
    CanTxMsgTypeDef tx_msg;
    tx_msg.IDE = CAN_ID_STD;
    tx_msg.RTR = CAN_RTR_DATA;
    tx_msg.StdId = id;
    tx_msg.DLC = length;
    memcpy(tx_msg.Data, data, length);
    HAL_CAN_Transmit(&hcan, 1000);
}

int main(void) {
    HAL_Init();
    SystemClock_Config();
    MX_GPIO_Init();
    MX_CAN_Init();

    while (1) {
        switch(can_bootloader_state) {
            case CAN_BOOTLOADER_STATE_IDLE:
                // 空闲状态
                break;
            case CAN_BOOTLOADER_STATE_READY:
                // 准备接收数据
                break;
            case CAN_BOOTLOADER_STATE_TRANSFER:
                // 正在传输数据
                break;
            case CAN_BOOTLOADER_STATE_COMPLETE:
                // 数据传输完成，执行升级操作
                break;
            default:
                break;
        }
    }
}

void SystemClock_Config(void) {
    RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

    /** Initializes the RCC Oscillators according to the specified parameters
    * in the RCC_OscInitTypeDef structure.
    */
    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    RCC_OscInitStruct.HSEState = RCC_HSE_ON;
    RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
    RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
    RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
        Error_Handler();
    }

    /** Initializes the CPU, AHB and APB buses clocks
    */
    RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
    RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
    RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
    RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) {
        Error_Handler();
    }
}

static void MX_CAN_Init(void) {
    hcan.Instance = CAN1;
    hcan.Init.Prescaler = 6;
    hcan.Init.Mode = CAN_MODE_NORMAL;
    hcan.Init.SJW = CAN_SJW_1TQ;
    hcan.Init.BS1 = CAN_BS1_6TQ;
    hcan.Init.BS2 = CAN_BS2_8TQ;
    hcan.Init.TTCM = DISABLE;
    hcan.Init.ABOM = DISABLE;
    hcan.Init.AWUM = DISABLE;
    hcan.Init.NART = DISABLE;
    hcan.Init.RFLM = DISABLE;
    hcan.Init.TXFP = DISABLE;

    if (HAL_CAN_Init(&hcan) != HAL_OK) {
        Error_Handler();
    }

    CAN_FilterTypeDef can_filter;
    can_filter.FilterIdHigh = 0x0000;
    can_filter.FilterIdLow = 0x0000;
    can_filter.FilterMaskIdHigh = 0x0000;
    can_filter.FilterMaskIdLow = 0x0000;
    can_filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
    can_filter.FilterBank = 0;
    can_filter.FilterMode = CAN_FILTERMODE_IDMASK;
    can_filter.FilterScale = CAN_FILTERSCALE_32BIT;
    can_filter.FilterActivation = ENABLE;
    HAL_CAN_ConfigFilter(&hcan, &can_filter);
    HAL_CAN_Receive_IT(&hcan, CAN_FIFO0);
}

static void MX_GPIO_Init(void) {
    __HAL_RCC_GPIOC_CLK_ENABLE();

    GPIO_InitTypeDef GPIO_InitStruct = {0};
    GPIO_InitStruct.Pin = GPIO_PIN_13;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
}

void Error_Handler(void) {
    while(1) {}
}

需要注意的是，HAL库实现的CAN协议栈不支持CAN Bootloader协议，因此需要手动解析CAN消息并进行处理。在这里，`can_bootloader_handle_command()`函数和`can_bootloader_handle_data()`函数用于处理CAN Bootloader命令和数据，`HAL_CAN_RxCpltCallback()`函数用于接收CAN消息，并调用`can_bootloader_handle_data()`函数进行处理。

此外，需要根据具体的硬件和软件环境，调整CAN的波特率、过滤器设置等参数，确保CAN Bootloader升级功能正常运行。