GD32F103VET6CAN总线实现收发数据

GD32F103VET6是一款基于ARM Cortex-M3内核的微控制器，支持CAN总线协议。以下是GD32F103VET6的CAN总线收发数据实现方法：

1. CAN总线初始化

在使用CAN总线之前，需要先进行CAN总线的初始化。初始化过程中需要设置CAN总线的波特率、工作模式、过滤器等参数。

以下是CAN总线初始化的示例代码：

#include "gd32f10x_can.h"

/* CAN总线初始化 */
void can_init(void)
{
    /* 使能CAN时钟 */
    rcu_periph_clock_enable(RCU_CAN);
    
    /* CAN参数配置 */
    can_parameter_struct can_init_parameter;
    can_struct_para_init(&can_init_parameter);
    
    /* 波特率设置 */
    can_init_parameter.can_bit_time.brp = 2;
    can_init_parameter.can_bit_time.sjw = CAN_SJW_1TQ;
    can_init_parameter.can_bit_time.bs1 = CAN_BS1_9TQ;
    can_init_parameter.can_bit_time.bs2 = CAN_BS2_8TQ;
    
    /* 工作模式设置 */
    can_init_parameter.can_working_mode = CAN_NORMAL_MODE;
    
    /* 过滤器设置 */
    can_filter_parameter_struct can_filter_parameter;
    can_filter_struct_para_init(&can_filter_parameter);
    
    /* 使能过滤器 */
    can_filter_parameter.filter_enable = ENABLE;
    
    /* 过滤器编号 */
    can_filter_parameter.filter_number = 0;
    
    /* 过滤器模式 */
    can_filter_parameter.filter_mode = CAN_FILTERMODE_IDMASK;
    
    /* 过滤器标识符 */
    can_filter_parameter.filter_mask_id_high = 0x0000;
    can_filter_parameter.filter_mask_id_low = 0x0000;
    can_filter_parameter.filter_id_high = 0x0000;
    can_filter_parameter.filter_id_low = 0x0000;
    
    /* 过滤器配置 */
    can_filter_init(&can_filter_parameter);
    
    /* CAN初始化 */
    can_init(CAN0, &can_init_parameter);
}

2. CAN总线发送数据

以下是CAN总线发送数据的示例代码：

#include "gd32f10x_can.h"

/* CAN总线发送数据 */
void can_send_data(uint32_t id, uint8_t *data, uint8_t len)
{
    can_trasnmit_message_struct can_message;
    can_message.can_tx_sfid = id;
    can_message.can_tx_efid = 0x00;
    can_message.can_tx_dlen = len;
    can_message.can_tx_ft = CAN_FT_DATA;
    memcpy(can_message.can_tx_data, data, len);
    can_message.can_tx_time = CAN_TX_RETRY_TIMES;
    can_message.can_tx_att = CAN_TX_WAITTING;
    can_message.can_tx_rtr = CAN_RTR_DATA;
    can_message.can_tx_hf = CAN_HF_ENABLE;
    can_message.can_tx_ef = CAN_EF_DISABLE;
    can_message.can_tx_cf = CAN_CF_DISABLE;
    can_message.can_tx_sff = CAN_SFF_ENABLE;
    can_message.can_tx_ff = CAN_FF_DISABLE;
    can_message.can_tx_fi = CAN_FILTER_FIFO0;
    can_message.can_tx_fir = 0;
    can_message.can_tx_ftc = 0;
    can_message.can_tx_fs = CAN_FS_TTCM;
    can_message.can_tx_fi = CAN_FILTER_FIFO0;
    
    /* CAN数据发送 */
    can_message_transmit(CAN0, &can_message);
}

3. CAN总线接收数据

以下是CAN总线接收数据的示例代码：

#include "gd32f10x_can.h"

/* CAN总线接收数据 */
void can_receive_data(void)
{
    can_receive_message_struct can_message;
    can_message_struct_para_init(&can_message);
    
    /* 检查是否有CAN数据接收 */
    if (can_message_receive(CAN0, CAN_FIFO0, &can_message) == SUCCESS)
    {
        uint8_t data[8];
        memcpy(data, can_message.can_rx_data, can_message.can_rx_dlen);
        
        /* 处理CAN数据 */
        // ...
    }
}

以上是GD32F103VET6的CAN总线收发数据的实现方法，开发者可以根据自己的需要进行修改和优化。