举一个基于stm32f103c8t6单片机的can通讯发包和解包的代码例子

以下是一个基于stm32f103c8t6单片机的CAN通讯发包和解包的代码例子：

// 头文件
#include "stm32f10x.h"
#include "stm32f10x_can.h"
#include "stm32f10x_gpio.h"
#include "stm32f10x_rcc.h"

// 宏定义
#define CAN_ID 0x123
#define CAN_DATA_0 0xAA
#define CAN_DATA_1 0xBB
#define CAN_DATA_2 0xCC
#define CAN_DATA_3 0xDD

// 函数声明
void CAN_Configuration(void);
void GPIO_Configuration(void);
void delay_ms(uint32_t ms);

// 主函数
int main(void)
{
GPIO_Configuration(); // 配置GPIO
CAN_Configuration(); // 配置CAN

// 发送CAN数据包
CanTxMsg TxMessage;
TxMessage.StdId = CAN_ID;
TxMessage.ExtId = 0x00;
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.IDE = CAN_ID_STD;
TxMessage.DLC = 4;
TxMessage.Data[0] = CAN_DATA_0;
TxMessage.Data[1] = CAN_DATA_1;
TxMessage.Data[2] = CAN_DATA_2;
TxMessage.Data[3] = CAN_DATA_3;
CAN_Transmit(CAN1, &TxMessage);

// 接收CAN数据包
CanRxMsg RxMessage;
while (CAN_MessagePending(CAN1, CAN_FIFO0) == 0); // 等待数据包到达
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);

// 判断接收到的数据包是否正确
if (RxMessage.StdId == CAN_ID &&
RxMessage.DLC == 4 &&
RxMessage.Data[0] == CAN_DATA_0 &&
RxMessage.Data[1] == CAN_DATA_1 &&
RxMessage.Data[2] == CAN_DATA_2 &&
RxMessage.Data[3] == CAN_DATA_3)
{
GPIO_WriteBit(GPIOC, GPIO_Pin_13, Bit_SET); // 若正确，点亮LED
}
else
{
GPIO_WriteBit(GPIOC, GPIO_Pin_13, Bit_RESET); // 若错误，关闭LED
}

while(1);
}

// CAN配置函数
void CAN_Configuration(void)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

CAN_DeInit(CAN1);

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_2tq;
CAN_InitStructure.CAN_Prescaler = 6;
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);
}

// GPIO配置函数
void GPIO_Configuration(void)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);

GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOC, &GPIO_InitStructure);
}

// 毫秒级延时函数
void delay_ms(uint32_t ms)
{
uint32_t i, j;
for (i = 0; i < ms; i++)
{
for (j = 0; j < 1000; j++)
{
// do nothing
}
}
}