STM32G0系列单片机的远程升级bootloader的CAN升级数据接收代码

以下是STM32G0系列单片机远程升级bootloader的CAN升级数据接收代码的示例：

#include "stm32g0xx_hal.h"
#include "stm32g0xx_hal_can.h"
#include "bootloader.h"

CAN_HandleTypeDef hcan;

void CAN_Config(void)
{
    CAN_FilterTypeDef can_filter;

    hcan.Instance = CAN;
    hcan.Init.Prescaler = 8;
    hcan.Init.Mode = CAN_MODE_NORMAL;
    hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
    hcan.Init.TimeSeg1 = CAN_BS1_13TQ;
    hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
    hcan.Init.TimeTriggeredMode = DISABLE;
    hcan.Init.AutoBusOff = ENABLE;
    hcan.Init.AutoWakeUp = DISABLE;
    hcan.Init.AutoRetransmission = ENABLE;
    hcan.Init.ReceiveFifoLocked = DISABLE;
    hcan.Init.TransmitFifoPriority = DISABLE;

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

    can_filter.FilterBank = 0;
    can_filter.FilterMode = CAN_FILTERMODE_IDMASK;
    can_filter.FilterScale = CAN_FILTERSCALE_32BIT;
    can_filter.FilterIdHigh = 0x0000;
    can_filter.FilterIdLow = 0x0000;
    can_filter.FilterMaskIdHigh = 0x0000;
    can_filter.FilterMaskIdLow = 0x0000;
    can_filter.FilterFIFOAssignment = 0;
    can_filter.FilterActivation = ENABLE;

    if (HAL_CAN_ConfigFilter(&hcan, &can_filter) != HAL_OK)
    {
        Error_Handler();
    }

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

    if (HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
    {
        Error_Handler();
    }
}

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
    CAN_RxHeaderTypeDef can_rx_header;
    uint8_t can_rx_data[8];

    if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &can_rx_header, can_rx_data) == HAL_OK)
    {
        if (can_rx_header.StdId == CAN_UPGRADE_MSG_ID)
        {
            bootloader_process_can_upgrade_data(can_rx_data, can_rx_header.DLC);
        }
    }
}

该示例代码中，CAN_Config()用于配置CAN硬件，并将CAN接收滤波器设置为接收CAN_UPGRADE_MSG_ID标准帧。HAL_CAN_RxFifo0MsgPendingCallback()是CAN接收中断回调函数，用于接收CAN数据并处理远程升级bootloader的CAN升级数据。在示例代码中，假设远程升级bootloader的CAN升级数据使用CAN_UPGRADE_MSG_ID标准帧发送。可以根据实际需求修改CAN接收滤波器和CAN接收中断回调函数。