用STM32F103C8T6写个CAN发送程序，帧率ID为1F1，波特率500K，数据为02 00 00 00 00 00 00 00

好的，以下是一个简单的用STM32F103C8T6发送CAN信息的程序：

#include "stm32f10x.h"

void CAN1_Config(void);
void delay_ms(uint32_t ms);

int main(void)
{
    CAN_InitTypeDef        CAN_InitStructure;
    CAN_FilterInitTypeDef  CAN_FilterInitStructure;
    CanTxMsg               TxMessage;

    CAN1_Config(); // 配置CAN1

    CAN_StructInit(&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_5tq;
    CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq;
    CAN_InitStructure.CAN_Prescaler = 4; // 波特率 = 36M/(1+5+3)/4 = 500K
    CAN_Init(CAN1, &CAN_InitStructure);

    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);

    TxMessage.StdId = 0x1F1;
    TxMessage.ExtId = 0x00;
    TxMessage.RTR = CAN_RTR_DATA;
    TxMessage.IDE = CAN_ID_STD;
    TxMessage.DLC = 8;
    TxMessage.Data[0] = 0x02;
    TxMessage.Data[1] = 0x00;
    TxMessage.Data[2] = 0x00;
    TxMessage.Data[3] = 0x00;
    TxMessage.Data[4] = 0x00;
    TxMessage.Data[5] = 0x00;
    TxMessage.Data[6] = 0x00;
    TxMessage.Data[7] = 0x00;

    while(1)
    {
        if (CAN_Transmit(CAN1, &TxMessage) == CAN_TxStatus_Ok)
        {
            // 发送成功
        }
        else
        {
            // 发送失败
        }

        delay_ms(1000); // 1秒发送一次
    }
}

void CAN1_Config(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    GPIO_PinRemapConfig(GPIO_Remap1_CAN1, ENABLE); // 重映射CAN1

    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 delay_ms(uint32_t ms)
{
    volatile uint32_t nCount;
    RCC_ClocksTypeDef RCC_Clocks;
  
    RCC_GetClocksFreq(&RCC_Clocks);

    nCount = (RCC_Clocks.HCLK_Frequency / 10000) * ms;
    for (; nCount != 0; nCount--);
}

这个程序中，我们使用了STM32F103C8T6的CAN1模块，配置了波特率为500K，帧过滤器为0，发送的帧ID为1F1，数据为02 00 00 00 00 00 00 00。在主循环中，我们使用CAN_Transmit函数发送该帧，每隔1秒发送一次。需要注意的是，我们还需要配置GPIO PA11和PA12为CAN1的输入输出引脚，并且需要开启CAN1的中断。