STM32F105 CAN通信代码

STM32F105是一款基于ARM Cortex-M3内核的微控制器，支持CAN (Controller Area Network) 通信。下面是一个简单的CAN通信代码示例：

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

void CAN_Config(void)
{
  CAN_InitTypeDef        CAN_InitStructure;
  CAN_FilterInitTypeDef  CAN_FilterInitStructure;

  /* CAN register init */
  CAN_DeInit(CAN1);
  CAN_StructInit(&CAN_InitStructure);

  /* CAN cell init */
  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 Baudrate = 1 MBps (CAN clocked at 36 MHz) */
  CAN_InitStructure.CAN_BS1=CAN_BS1_9tq;
  CAN_InitStructure.CAN_BS2=CAN_BS2_8tq;
  CAN_InitStructure.CAN_Prescaler=18;
  CAN_Init(CAN1, &CAN_InitStructure);

  /* CAN filter init */
  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_Transmit(uint8_t *TxMessage)
{
  CanTxMsg TxMessageCan;

  TxMessageCan.StdId=0x321;
  TxMessageCan.ExtId=0x01;
  TxMessageCan.RTR=CAN_RTR_DATA;
  TxMessageCan.IDE=CAN_ID_STD;
  TxMessageCan.DLC=8;
  
  for(uint8_t i=0;i<8;i++)
  {
    TxMessageCan