stm32F103 can总线使用HAL库例程

以下是一个基于STM32F103芯片的CAN总线例程示例，仅供参考：

首先需要在MCU上配置CAN硬件和时钟，可以使用STM32CubeMX工具自动生成代码。

接下来是CAN总线初始化和发送CAN消息的程序

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

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

  RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

  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 = ENABLE;
  CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;

  // CAN bus speed is set to 500 kbps in this example
  CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
  CAN_InitStructure.CAN_BS1 = CAN_BS1_12tq;
  CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq;
  CAN_InitStructure.CAN_Prescaler = 4;     // APB1 clock divided by 4 (36 MHz / 4 = 9 MHz)

  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);
}

int main(void)
{
  uint8_t   message[8] = {0, 1, 2, 3, 4, 5, 6, 7};
  uint32_t  TxMailbox;

  CAN_Configuration();

  while (1) {
    CAN_Transmit(CAN1, &message, 0x123, CAN_RTR_Data, CAN_ID_STD, &TxMailbox);
    delay_ms(1000); // Wait for 1 second
  }
}

解释：

1. 在CAN_Configuration()函数中，设置了CAN的初始化参数，包括波特率、过滤器等。
2. 在main()函数中，定义了要发送的CAN消息，即一个包含8个字节数据的消息。
3. 调用CAN_Transmit()函数来发送CAN消息。该函数使用了CAN1总线，并指定了消息ID为0x123、数据长度为8个字节，且不是远程帧。函数返回值TxMailbox表示在哪个邮箱发送了消息（可以用于检查是否发送成功）。
4. 使用delay_ms()函数等待一秒钟后再发送下一个CAN消息。

需要注意的是，在实际应用中，还需要添加CAN总线中断处理函数和接收CAN消息的程序。