stm32f103c8t6双版CAN通讯

双板CAN通讯需要至少两个CAN控制器，每个控制器都需要一个CAN总线收发器。对于STM32F103C8T6，它只有一个CAN控制器，因此需要外接CAN总线收发器来实现双板CAN通讯。

下面是一个简单的示例代码，可以让STM32F103C8T6通过CAN总线与另一块板子进行双板通讯：

#include "stm32f10x.h"
#include "stm32f10x_can.h"
#include "stm32f10x_gpio.h"

void CAN_Configuration(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    CAN_InitTypeDef CAN_InitStructure;

    // 使能GPIO和CAN时钟
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

    // 配置CAN1 RX引脚为复用功能推挽输出
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    // 配置CAN1 TX引脚为复用功能推挽输出
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    // CAN总线配置
    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_4tq;
    CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq;
    CAN_InitStructure.CAN_Prescaler = 6;
    CAN_Init(CAN1, &CAN_InitStructure);

    // CAN总线过滤器配置
    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 = 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);
}

void CAN_SendData(void)
{
    CanTxMsg TxMessage;
    TxMessage.StdId = 0x321;
    TxMessage.IDE = CAN_Id_Standard;
    TxMessage.RTR = CAN_RTR_Data;
    TxMessage.DLC = 2;
    TxMessage.Data[0] = 0x55;
    TxMessage.Data[1] = 0xAA;
    CAN_Transmit(CAN1, &TxMessage);
}

void CAN_ReceiveData(void)
{
    CanRxMsg RxMessage;
    if (CAN_MessagePending(CAN1, CAN_FIFO0) != 0)
    {
        CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
        // 处理接收到的数据
    }
}

int main(void)
{
    CAN_Configuration();
    while (1)
    {
        CAN_SendData();
        CAN_ReceiveData();
    }
}

在这个例子中，我们将CAN1的RX和TX引脚分别连接到另一块板子的CAN总线收发器的RX和TX引脚上。然后，我们通过CAN_SendData函数发送一条长度为2的数据包，数据包的ID为0x321，数据内容为0x55和0xAA。在主循环中，我们不断地发送数据并接收数据。当接收到数据时，我们可以在CAN_ReceiveData函数中对接收到的数据进行处理。