我需要一份适用于STM32F103C8T6的can通讯源码

以下是一个基于STM32F103C8T6的CAN通信示例代码：

#include "stm32f10x.h"
#include "stm32f10x_can.h"
#include "stm32f10x_gpio.h"
#include "stm32f10x_rcc.h"

void CAN_Config(void)
{
    //使能CAN时钟
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
    
    //GPIO端口设置
    GPIO_InitTypeDef GPIO_InitStructure;
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA, 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);
    
    //CAN参数初始化
    CAN_InitTypeDef CAN_InitStructure;
    CAN_StructInit(&CAN_InitStructure);
    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 = DISABLE;
    CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
    CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
    CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq;
    CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;
    CAN_InitStructure.CAN_Prescaler = 12;
    CAN_Init(CAN1, &CAN_InitStructure);
    
    //CAN过滤器初始化
    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)
{
    //CAN消息发送
    CAN_TxMsgTypeDef TxMessage;
    TxMessage.StdId = 0x321;
    TxMessage.ExtId = 0x01;
    TxMessage.RTR = CAN_RTR_DATA;
    TxMessage.IDE = CAN_ID_STD;
    TxMessage.DLC = 8;
    TxMessage.Data[0] = 0x00;
    TxMessage.Data[1] = 0x01;
    TxMessage.Data[2] = 0x02;
    TxMessage.Data[3] = 0x03;
    TxMessage.Data[4] = 0x04;
    TxMessage.Data[5] = 0x05;
    TxMessage.Data[6] = 0x06;
    TxMessage.Data[7] = 0x07;
    CAN_Transmit(CAN1, &TxMessage);
}

void CAN_ReceiveData(void)
{
    //CAN消息接收
    CAN_RxMsgTypeDef RxMessage;
    while (CAN_MessagePending(CAN1, CAN_FIFO0) == 0);
    CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
    if (RxMessage.IDE == CAN_ID_STD)
    {
        printf("Received CAN message with ID %d and data = %x %x %x %x %x %x %x %x", RxMessage.StdId,
            RxMessage.Data[0], RxMessage.Data[1], RxMessage.Data[2], RxMessage.Data[3], RxMessage.Data[4],
            RxMessage.Data[5], RxMessage.Data[6], RxMessage.Data[7]);
    }
}

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

这段代码包括了CAN的初始化、数据发送和接收。需要注意的是，该代码只是一个示例，实际使用时需要根据具体的应用场景进行修改。