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_InitStructu