GPIO_InitTypeDef GPIO_InitStructure;RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD | RCC_APB2Periph_AFIO, ENABLE);GPIO_InitStructure.GPIO_Pin = CAN1_TX_Pin;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;     //将CAN1输出端PD1配置为推挽输出模式  GPIO_Init(CAN1_TX_Port,&GPIO_InitStructure);    GPIO_InitStructure.GPIO_Pin = CAN1_RX_Pin;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //将CAN1输入端PD0配置为浮空输入GPIO_Init(CAN1_RX_Port, &GPIO_InitStructure);

void CAN1_MODE_Config(void)
{CAN_InitTypeDef CAN_InitStructure;                                CAN_FilterInitTypeDef CAN_FilterInitStructure;        NVIC_InitTypeDef NVIC_InitStructure;RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);CAN_DeInit(CAN1);CAN_InitStructure.CAN_ABOM = DISABLE;                     //离线模式由软件实现CAN_InitStructure.CAN_AWUM = DISABLE;                     //软件唤醒CAN_InitStructure.CAN_TTCM = DISABLE;                     //禁止时间触发通信模式CAN_InitStructure.CAN_NART = ENABLE;                      //禁止自动重传CAN_InitStructure.CAN_TXFP = DISABLE;                     //优先级由报文的标识符来决定CAN_InitStructure.CAN_RFLM = DISABLE;                     //接受溢出时FIFO不锁定，下一个收到的报文覆盖原有报文CAN_InitStructure.CAN_Mode = CAN_Mode_LoopBack;           //CAN硬件工作环回模式CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;                  //重新同步跳跃宽度为2个时间单位CAN_InitStructure.CAN_BS1 = CAN_BS1_8tq;                  //时间段为8个时间单位CAN_InitStructure.CAN_BS2 = CAN_BS2_7tq;                  //时间段为7个时间单位CAN_InitStructure.CAN_Prescaler = 5;                      //设定一个时间单位的长度为5,范围(1~1024)CAN_Init(CAN1, &CAN_InitStructure);CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;             //设定过滤器组为屏蔽位模式CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;            //过滤器位宽为32位过滤器一个CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;                          //设定过滤器标识符高位(32为高位段，16位为第一个)CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;                           //设定过滤器标识符低位(32为低位段，16位为第二个)CAN_FilterInitStructure.CAN_FilterMaskIdHigh= 0x0000;                       //设定过滤器标识符高位(32为高位段，16位为第一个)CAN_FilterInitStructure.CAN_FilterMaskIdLow= 0x0000;                        //设定过滤器标识符低位(32为低位段，16位为第二个)CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;        //过滤器FIFO0指向过滤器0CAN_FilterInitStructure.CAN_FilterNumber = 1;                               //指定待初始化的过滤器,范围1~13CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;                      //使能过滤器CAN_FilterInit(&CAN_FilterInitStructure);CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE); //FIF0消息挂号中断允许NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;   NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;             //CAN1_RX0中断向量表中开启NVIC_Init(&NVIC_InitStructure);
}

//CAN发送帧构成
void CAN_TxMessageInit(uint32_t std_id, uint32_t ext_id, uint8_t ide, uint8_t rtr, uint8_t dlc, uint8_t *pdata)
{uint8_t i;assert_param(dlc>8);      CanTxMessage.StdId = std_id&0x7ff; //设定标准标识符0~0x7ff  11位CanTxMessage.ExtId = ext_id&0x3ffff; //设定额外标识符0~0x3ffff 18位CanTxMessage.IDE = ide; //输出标识符类型,STD(标准标识符)或EXT(额外标识符)CanTxMessage.RTR = rtr; //输出帧类型,DATA(数据帧)或者REMOTE(远程帧)CanTxMessage.DLC = dlc; //帧长度，0~8for(i=0; i<dlc; i++){CanTxMessage.Data[i] = *(pdata+i);}
}//CAN中断接收函数
void CAN1_RX0_IRQHandler(void)
{ITStatus Status;Status = CAN_GetITStatus(CAN1, CAN_IT_FMP0);             //判断接受到过滤器中断信号if(Status == SET){CAN_Receive(CAN1, CAN_FIFO0, &CanRxMessage);        //接收一个CAN报文memcpy(rdata, &(CanRxMessage.Data[0]), 8);            //将接收到的数据转存到rdata数组中}CAN_ClearITPendingBit(CAN1, CAN_IT_FMP0);
}

int main(void)
{       BSP_Init();                         　　　　　　　　　　　　　　//硬件初始化CAN_TxMessageInit(0x011, 0x0000, CAN_ID_STD, 　　　　　　　　　　　　　　CAN_RTR_DATA, sizeof(tdata), tdata);    //生成CAN报文CAN_Transmit(CAN1, &CanTxMessage);                         //发送CAN报文GPIO_ResetBits(GPIOD, GPIO_LED_1);ARM_DELAY(1000000);GPIO_SetBits(GPIOD, GPIO_LED_1);ARM_DELAY(1000000);while(1){    if(CanRxMessage.StdId == 0x11 && CanRxMessage.DLC == sizeof(tdata))  //判断接收到的报文{                                                                                                                                   if(strncmp((char *)tdata, (char *)rdata, sizeof(rdata)) == 0){GPIO_ResetBits(GPIOD, GPIO_LED_1);printf("stdID is %x, DIC is %x, receive data is %s \r\n", 　　　　　　　　　　　　　　　CanRxMessage.StdId, CanRxMessage.DLC, rdata);}memset(&CanRxMessage, 0, sizeof(CanRxMessage));     //清除接收到的报文            CAN_Transmit(CAN1, &CanTxMessage);                  //发送CAN报文} ARM_DELAY(1000000);GPIO_SetBits(GPIOD, GPIO_LED_1);ARM_DELAY(1000000);}
}