stm32的can总线的配置如下：
CAN_InitStructure.CAN_TTCM=DISABLE;//禁止时间触发通信模式
CAN_InitStructure.CAN_ABOM=DISABLE;
CAN_InitStructure.CAN_AWUM=DISABLE;
CAN_InitStructure.CAN_NART=DISABLE;//CAN报文只被发送1次，不管发送的结果如何（成功、出错或仲裁丢失）
CAN_InitStructure.CAN_RFLM=DISABLE;
CAN_InitStructure.CAN_TXFP=DISABLE;
CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;
//CAN_Mode_LoopBack
//CAN_Mode_Normal
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1=CAN_BS1_5tq;//1--16
CAN_InitStructure.CAN_BS2=CAN_BS2_2tq;//1--8
CAN_InitStructure.CAN_Prescaler=2;
CAN_Init(&CAN_InitStructure);
/* CAN filter init */
CAN_FilterInitStructure.CAN_FilterNumber=0;//选择过滤器0
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;//指定过滤器被设置为标识符屏蔽模式
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;//给出过滤器位宽为32位下面根据设置的参数不同来决定can总线can总线的配置情况：
1、对扩展数据帧进行过滤:(只接收扩展数据帧)
CAN_FilterInitStructure.CAN_FilterIdHigh = (((u32)slave_id<<3)&0xFFFF0000)>>16;
CAN_FilterInitStructure.CAN_FilterIdLow = (((u32)slave_id<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFF;
(注：标准帧数据帧、标准远程帧和扩展远程帧均被过滤)
2、对扩展远程帧过滤:(只接收扩展远程帧)
CAN_FilterInitStructure.CAN_FilterIdHigh = (((u32)slave_id<<3)&0xFFFF0000)>>16;
CAN_FilterInitStructure.CAN_FilterIdLow = (((u32)slave_id<<3)|CAN_ID_EXT|CAN_RTR_REMOTE)&0xFFFF;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFF;
3、对标准远程帧过滤:(只接收标准远程帧)
CAN_FilterInitStructure.CAN_FilterIdHigh = (((u32)slave_id<<21)&0xffff0000)>>16;
CAN_FilterInitStructure.CAN_FilterIdLow = (((u32)slave_id<<21)|CAN_ID_STD|CAN_RTR_REMOTE)&0xffff;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFF;
4、对标准数据帧过滤:(只接收标准数据帧)
CAN_FilterInitStructure.CAN_FilterIdHigh = (((u32)slave_id<<21)&0xffff0000)>>16;
CAN_FilterInitStructure.CAN_FilterIdLow = (((u32)slave_id<<21)|CAN_ID_STD|CAN_RTR_DATA)&0xffff;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFF;
5、对扩展帧进行过滤:(扩展帧不会被过滤掉)
CAN_FilterInitStructure.CAN_FilterIdHigh = (((u32)slave_id<<3)&0xFFFF0000)>>16;
CAN_FilterInitStructure.CAN_FilterIdLow = (((u32)slave_id<<3)|CAN_ID_EXT)&0xFFFF;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFC;
6、对标准帧进行过滤:(标准帧不会被过滤掉)
CAN_FilterInitStructure.CAN_FilterIdHigh = (((u32)slave_id<<21)&0xffff0000)>>16;
CAN_FilterInitStructure.CAN_FilterIdLow = (((u32)slave_id<<21)|CAN_ID_STD)&0xffff;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFC;
注：slave_id为要过滤的id号。标准帧，扩展帧混合配置：
void CAN_Configuration(void)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
// CAN_DeInit();
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN, ENABLE); //
RCC_APB2PeriphClockCmd( RCC_APB2Periph_AFIO, ENABLE ); //复位CAN1所有寄存器
/* CAN cell init */
CAN_InitStructure.CAN_TTCM=DISABLE; //ʹÄÜ»òÕß½ûֹʱ¼ä´¥·¢Í¨ÐÅģʽ
CAN_InitStructure.CAN_ABOM=DISABLE; //ʹÄÜ»òÕß½ûÖ¹×Ô¶¯¹Ø±Õ¹ÜÀí
CAN_InitStructure.CAN_AWUM=DISABLE; //ʹÄÜ»òÕß½ûÖ¹×Ô¶¯»½ÐÑģʽ
CAN_InitStructure.CAN_NART=ENABLE;//DISABLE; //使能或禁止自动重传模式
CAN_InitStructure.CAN_RFLM=DISABLE; //ʹÄÜ»òÕß½ûÖ¹½ÓÊÕFIFOËø¶¨Ä£Ê½
CAN_InitStructure.CAN_TXFP=DISABLE; //ʹÄÜ»òÕß½ûÖ¹·¢ËÍFIFOÓÅÏȼ¶
CAN_InitStructure.CAN_Mode= CAN_Mode_Normal; //CANÓ²¼þ¹¤×÷ÔÚÆÕͨģʽÏ CAN_Mode_Normal CAN_Mode_LoopBack
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq; //
CAN_InitStructure.CAN_BS1=CAN_BS1_4tq; //
CAN_InitStructure.CAN_BS2=CAN_BS2_3tq; //
CAN_InitStructure.CAN_Prescaler=1; //4000K/(1+1+4)/1 = 500K
CAN_Init(&CAN_InitStructure);
#define ID_REQUEST 0xf9
/*第0组滤波器初始化 CAN filter init */
CAN_FilterInitStructure.CAN_FilterNumber = 0;//第0组滤波器
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit; //一个32位过滤器
CAN_FilterInitStructure.CAN_FilterIdHigh = (((u32)ID_REQUEST<<21)&0xffff0000)>>16;
//(u32)(((CAN_EXT0_ID<<3)&0xFFFF0000)>>16);
CAN_FilterInitStructure.CAN_FilterIdLow = (((u32)ID_REQUEST<<21)|CAN_ID_STD|CAN_RTR_DATA)&0xffff;
//(u32)(((CAN_EXT0_ID<<3)|CAN_ID_STD|CAN_RTR_DATA)&0xFFFF);
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFF;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_FIFO0;
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
/*第1组滤波器初始化 CAN filter init */
CAN_FilterInitStructure.CAN_FilterNumber=1; //第1组滤波器
CAN_FilterInitStructure.CAN_FilterIdHigh=(u32)(((CAN_EXT1_ID<<3)&0xFFFF0000)>>16);
CAN_FilterInitStructure.CAN_FilterIdLow=(u32)(((CAN_EXT1_ID<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF); //Ñ¡Ôñ¹ýÂËÆ÷±êʶºÅ£¨µÍ£©
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xFFFF;
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0xFFFF;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;
CAN_FilterInit(&CAN_FilterInitStructure);
/*µÚ3×éÂ˲¨Æ÷³õʼ»¯CAN filter init */
CAN_FilterInitStructure.CAN_FilterNumber=3; //µÚ3×é¹ýÂËÆ÷
CAN_FilterInitStructure.CAN_FilterIdHigh=(u32)(((CAN_EXT3_ID<<3)&0xFFFF0000)>>16); //Ñ¡Ôñ¹ýÂËÆ÷±êʶºÅ£¨¸ß£©
CAN_FilterInitStructure.CAN_FilterIdLow=(u32)(((CAN_EXT3_ID<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF); //Ñ¡Ôñ¹ýÂËÆ÷±êʶºÅ£¨µÍ£©
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xFFFF;
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0xFFFF;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;
CAN_FilterInit(&CAN_FilterInitStructure);
/*µÚ5×éÂ˲¨Æ÷³õʼ»¯CAN filter init */
CAN_FilterInitStructure.CAN_FilterNumber=5; //µÚ5×é¹ýÂËÆ÷
CAN_FilterInitStructure.CAN_FilterIdHigh=(u32)(((CAN_EXT5_ID<<3)&0xFFFF0000)>>16); //Ñ¡Ôñ¹ýÂËÆ÷±êʶºÅ£¨¸ß£©
CAN_FilterInitStructure.CAN_FilterIdLow=(u32)(((CAN_EXT5_ID<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF); //Ñ¡Ôñ¹ýÂËÆ÷±êʶºÅ£¨µÍ£©
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xFFFF;
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0xFFFF;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;
CAN_FilterInit(&CAN_FilterInitStructure);
/*µÚ6×éÂ˲¨Æ÷³õʼ»¯CAN filter init */
/* CAN_FilterInitStructure.CAN_FilterNumber=6; //µÚ6×é¹ýÂËÆ÷
CAN_FilterInitStructure.CAN_FilterIdHigh=(u32)(((CAN_EXT6_ID<<3)&0xFFFF0000)>>16); //Ñ¡Ôñ¹ýÂËÆ÷±êʶºÅ£¨¸ß£©
CAN_FilterInitStructure.CAN_FilterIdLow=(u32)(((CAN_EXT6_ID<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF); //Ñ¡Ôñ¹ýÂËÆ÷±êʶºÅ£¨µÍ£©
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xFFFF;
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0xFFFF;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;
CAN_FilterInit(&CAN_FilterInitStructure);*/
/*µÚ9×éÂ˲¨Æ÷³õʼ»¯CAN filter init */
/* CAN_FilterInitStructure.CAN_FilterNumber=9; //µÚ9×é¹ýÂËÆ÷
CAN_FilterInitStructure.CAN_FilterIdHigh=(u32)(((CAN_EXT9_ID<<3)&0xFFFF0000)>>16); //Ñ¡Ôñ¹ýÂËÆ÷±êʶºÅ£¨¸ß£©
CAN_FilterInitStructure.CAN_FilterIdLow=(u32)(((CAN_EXT9_ID<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF); //Ñ¡Ôñ¹ýÂËÆ÷±êʶºÅ£¨µÍ£©
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xFFFF;
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0xFFFF;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;
CAN_FilterInit(&CAN_FilterInitStructure);*/
/*µÚ13×éÂ˲¨Æ÷³õʼ»¯CAN filter init */
/* CAN_FilterInitStructure.CAN_FilterNumber=13; //µÚ13×é¹ýÂËÆ÷
CAN_FilterInitStructure.CAN_FilterIdHigh=(u32)(((CAN_EXT13_ID<<3)&0xFFFF0000)>>16); //Ñ¡Ôñ¹ýÂËÆ÷±êʶºÅ£¨¸ß£©
CAN_FilterInitStructure.CAN_FilterIdLow=(u32)(((CAN_EXT13_ID<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF); //Ñ¡Ôñ¹ýÂËÆ÷±êʶºÅ£¨µÍ£©
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xFFFF;
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0xFFFF;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;
CAN_FilterInit(&CAN_FilterInitStructure);*/
/* CAN FIFO0 message pending interrupt enable */
CAN_ITConfig(CAN_IT_TME, ENABLE);
CAN_ITConfig(CAN_IT_FMP0, ENABLE);
CAN_ITConfig(CAN_IT_FF0, ENABLE);
CAN_ITConfig(CAN_IT_FOV0, ENABLE);
/* CAN_ITConfig(CAN_IT_FMP1, ENABLE);
CAN_ITConfig(CAN_IT_FF1, ENABLE);
CAN_ITConfig(CAN_IT_FOV1, ENABLE);
CAN_ITConfig(CAN_IT_EWG, ENABLE);
CAN_ITConfig(CAN_IT_EPV, ENABLE);
CAN_ITConfig(CAN_IT_BOF, ENABLE);
CAN_ITConfig(CAN_IT_LEC, ENABLE);
CAN_ITConfig(CAN_IT_ERR, ENABLE);
CAN_ITConfig(CAN_IT_WKU, ENABLE);
CAN_ITConfig(CAN_IT_SLK, ENABLE);*/
}