STM32f103 —— can通信

#include "stm32f10x_can.h"CanRxMsg   CanPeliRxMsgStructure;CanTxMsg   CanPeliTxMsgStructure;static void can_nvic_config(void){  NVIC_InitTypeDef NVIC_InitStructure;  NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);  NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;  NVIC_Init(&NVIC_InitStructure);}static void can_gpio_config(void){  GPIO_InitTypeDef GPIO_InitStructure;  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);  RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);  GPIO_PinRemapConfig(GPIO_Remap1_CAN1, ENABLE);  GPIO_InitStructure.GPIO_Pin  = GPIO_Pin_8;      //can rx  pb8  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;  GPIO_Init(GPIOB, &GPIO_InitStructure);  GPIO_InitStructure.GPIO_Pin  = GPIO_Pin_9;      //can tx  pb9  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  GPIO_Init(GPIOB, &GPIO_InitStructure);}void CANConfig(void){  CAN_InitTypeDef          CAN_InitStructure;  CAN_FilterInitTypeDef    CAN_FilterInitStructure;  can_nvic_config();  can_gpio_config();  CAN_DeInit(CAN1);  CAN_StructInit(&CAN_InitStructure);  // 波特率 = Fpclk1/((tbs1+1+tbs2+1+1)*brp);  // 125K = 36000K / 16 * (8 + 9 + 1);  CAN_InitStructure.CAN_TTCM = DISABLE; // 非时间触发  CAN_InitStructure.CAN_ABOM = DISABLE; // 软件自动离线管理  CAN_InitStructure.CAN_AWUM = DISABLE; // 睡眠模式通过软件唤醒(清楚CAN->MCR的sleep位)  CAN_InitStructure.CAN_NART = DISABLE; // 禁止报文自动传送  CAN_InitStructure.CAN_RFLM = DISABLE; // 报文不锁定，新的覆盖旧的  CAN_InitStructure.CAN_TXFP = DISABLE; // 优先级由报文标识符决定  CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; // 模式设置 0:普通模式, 1:换回模式  CAN_InitStructure.CAN_SJW = CAN_SJW_1tq; // 重新同步跳跃宽度  CAN_InitStructure.CAN_BS1 = CAN_BS1_9tq; // 时间段1的时间单元  CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq; // 时间段2的时间单元  CAN_InitStructure.CAN_Prescaler = 16; // 分频系数  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 = CAN_Filter_FIFO0;  CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;  CAN_FilterInit(&CAN_FilterInitStructure);  CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);}void CANRecvMsg(void){  CAN_Receive(CAN1, CAN_FIFO0, &CanPeliRxMsgStructure);}void CANSendMsg(can_msg_t *buffer){  CAN_Transmit(CAN1, &CanPeliTxMsgStructure);  for (i = 0; i < 7000; i++);}void USB_LP_CAN1_RX0_IRQHandler(void){// CAN_ClearITPendingBit(CAN1, CAN_IT_FMP0); // 清除中断  CANRecvMsg();}