STM32下调试CAN通信

基本流程：
1、初始化CAN模块：
启用CAN时钟
配置CAN功能寄存器（包括位定时，分频等等）
配置CAN过滤器
打开中断
2、初始化I/O口
启用GPIO时钟
打开CAN对应的GPIO引脚
配置重映射（根据实际情况）
3、定义CAN发送结构体，接收结构体
4、开始发送并准备接收总线上信号
5、检查接收邮箱收的数据是否正确

void    CAN_Config()
{
    CAN_InitTypeDef         CAN_InitStructure;
    CAN_FilterInitTypeDef   CAN_FilterInitStructure;
    GPIO_InitTypeDef        GPIO_InitStructure;
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1,ENABLE);
    /**Configure the PA11 PA12 to CAN1*/
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11 | GPIO_Pin_12;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;   
    GPIO_Init(GPIOA,&GPIO_InitStructure);
    GPIO_PinAFConfig(GPIOA,GPIO_PinSource11,GPIO_AF_CAN1);
    GPIO_PinAFConfig(GPIOA,GPIO_PinSource12,GPIO_AF_CAN1);

    CAN_DeInit(CAN1);
    CAN_InitStructure.CAN_ABOM = DISABLE;       //自动离线
    CAN_InitStructure.CAN_AWUM = DISABLE;       //自动唤醒
    CAN_InitStructure.CAN_TTCM = DISABLE;       //触发通讯模式
    CAN_InitStructure.CAN_NART = ENABLE;        //禁止报文自动重传
    CAN_InitStructure.CAN_RFLM = DISABLE;       //报文自动覆盖¨
    CAN_InitStructure.CAN_TXFP = DISABLE;       //优先级判定
    CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;   //工作模式
    /**configure baudrate 1M */
    CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;            
    CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq;
    CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;
    CAN_InitStructure.CAN_Prescaler =20;
    CAN_Init(CAN1, &CAN_InitStructure);

    CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;              //启用过滤
    CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_FilterFIFO0; //过滤邮箱0
    CAN_FilterInitStructure.CAN_FilterIdHigh= 0x0000;                   //过滤ID
    CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;              //过滤ID掩码
    CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
    CAN_FilterInitStructure.CAN_FilterMode =CAN_FilterMode_IdMask;
    CAN_FilterInitStructure.CAN_FilterNumber = 0;                   
    CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
    CAN_FilterInit(&CAN_FilterInitStructure);

    CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);
}

定义CAN结构体：
CanTxMsg msg;
CanRxMsg RxMsg;

    msg.StdId = 0x09;
    msg.IDE = CAN_Id_Standard;
msg.Data[0]=0x01;
    msg.DLC=1;
发送：
`这里写代码片`
    CanTx =  CAN_Transmit(CAN1,&msg);
中断接收：
void CAN1_RX0_IRQHandler(void)
{
    if(CAN_MessagePending(CAN1,CAN_FIFO0) != RESET)
        {
            CAN_ClearITPendingBit(CAN1,CAN_IT_FMP0);
            CAN_Receive(CAN1,CAN_FIFO0,&RxMsg);
          msg.Data[0] = RxMsg.Data[2]+1;
            msg.DLC =1;
            msg.StdId = 0x02;
            msg.IDE = CAN_Id_Standard;
            if(RxMsg.Data[0] ==0x01)
            {
                GPIO_ToggleBits(GPIOD,GPIO_Pin_14);
            }
            CAN_Transmit(CAN1,&msg);
        }
}