基于STM32f103利用TIN1定时器编写100msCAN通信数据收发的程序

好的，我会尽力回答你的问题。首先需要明确的是，编写CAN通信数据收发的程序需要一些基础知识，比如CAN协议的使用、STM32f103的寄存器配置等。如果你对这些不熟悉，建议先学习一下相关知识再开始编程。

下面是一个简单的参考代码，可以实现基于TIN1定时器的100msCAN通信数据收发：

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

// 定义CAN通信的ID和数据
#define CAN_TX_ID    0x01
#define CAN_RX_ID    0x02
#define CAN_DATA     "Hello, CAN!"

// 定义CAN初始化函数
void CAN_Configuration(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    CAN_InitTypeDef CAN_InitStructure;

    // 配置CAN引脚
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
    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_12;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    // 配置CAN参数
    CAN_InitStructure.CAN_TTCM = DISABLE;
    CAN_InitStructure.CAN_ABOM = DISABLE;
    CAN_InitStructure.CAN_AWUM = DISABLE;
    CAN_InitStructure.CAN_NART = ENABLE;
    CAN_InitStructure.CAN_RFLM = DISABLE;
    CAN_InitStructure.CAN_TXFP = ENABLE;
    CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
    CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
    CAN_InitStructure.CAN_BS1 = CAN_BS1_8tq;
    CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq;
    CAN_InitStructure.CAN_Prescaler = 6;
    CAN_Init(CAN1, &CAN_InitStructure);

    // 配置CAN过滤器
    CAN_FilterInitTypeDef CAN_FilterInitStructure;
    CAN_FilterInitStructure.CAN_FilterNumber = 0;
    CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
    CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
    CAN_FilterInitStructure.CAN_FilterIdHigh = (CAN_TX_ID << 5);
    CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh = (CAN_RX_ID << 5);
    CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
    CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;
    CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
    CAN_FilterInit(&CAN_FilterInitStructure);

    // 启动CAN
    CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
    CAN_ITConfig(CAN1, CAN_IT_TME, ENABLE);
    CAN_ITConfig(CAN1, CAN_IT_EWG, ENABLE);
    CAN_ITConfig(CAN1, CAN_IT_EPV, ENABLE);
    CAN_ITConfig(CAN1, CAN_IT_BOF, ENABLE);
    CAN_ITConfig(CAN1, CAN_IT_LEC, ENABLE);
    CAN_ITConfig(CAN1, CAN_IT_ERR, ENABLE);
}

// 定义CAN发送函数
void CAN_Send_Message(void)
{
    CanTxMsg TxMessage;

    TxMessage.StdId = CAN_TX_ID;
    TxMessage.IDE = CAN_ID_STD;
    TxMessage.RTR = CAN_RTR_DATA;
    TxMessage.DLC = strlen(CAN_DATA);
    strcpy((char *)TxMessage.Data, CAN_DATA);

    if (CAN_Transmit(CAN1, &TxMessage) == CAN_NO_MB)
    {
        // 发送缓存已满
    }
}

// 定义CAN接收函数
void CAN_Receive_Message(void)
{
    CanRxMsg RxMessage;

    if (CAN_MessagePending(CAN1, CAN_FIFO0) != 0)
    {
        CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);

        if (RxMessage.StdId == CAN_RX_ID && RxMessage.IDE == CAN_ID_STD && RxMessage.DLC == strlen(CAN_DATA))
        {
            if (strcmp((char *)RxMessage.Data, CAN_DATA) == 0)
            {
                // 收到正确的数据
            }
        }
    }
}

// 定义TIN1定时器初始化函数
void TIM1_Configuration(void)
{
    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
    NVIC_InitTypeDef NVIC_InitStruct;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);

    TIM_TimeBaseInitStruct.TIM_Prescaler = 7200 - 1;
    TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInitStruct.TIM_Period = 1000 - 1;
    TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseInitStruct.TIM_RepetitionCounter = 0;
    TIM_TimeBaseInit(TIM1, &TIM_TimeBaseInitStruct);

    NVIC_InitStruct.NVIC_IRQChannel = TIM1_UP_IRQn;
    NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
    NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStruct);

    TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
    TIM_ITConfig(TIM1, TIM_IT_Update, ENABLE);
    TIM_Cmd(TIM1, ENABLE);
}

// 定义TIN1定时器中断处理函数
void TIM1_UP_IRQHandler(void)
{
    if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET)
    {
        CAN_Send_Message();
        CAN_Receive_Message();
        TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
    }
}

// 主函数
int main(void)
{
    CAN_Configuration();
    TIM1_Configuration();

    while (1)
    {
        // 主循环
    }
}

以上代码仅供参考，实际使用时需要根据具体情况修改。希望对你有所帮助！