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);        }}