CAN通信是STM32中比較復雜的東西之一，它的初始化主要分為兩個部分，一個是CAN的初始化，一個是過濾器的初始化。自發(fā)自收只需要一個器件，CAN的模式選擇回環(huán)(Loopback)模式，這種模式下發(fā)出的數(shù)據(jù)也會被CAN本身接收回來，只需要檢查接收到的數(shù)據(jù)和發(fā)送的數(shù)據(jù)是否一樣，就能測試發(fā)送是否成功。

代碼：

void CAN_Config(void)

{

CAN_InitTypeDef CAN_InitStructure;

CAN_FilterInitTypeDef CAN_FilterInitStructure;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1,ENABLE);

CAN_DeInit(CAN1);

CAN_StructInit(&CAN_InitStructure);

CAN_InitStructure.CAN_TTCM = DISABLE;

CAN_InitStructure.CAN_ABOM = DISABLE;

CAN_InitStructure.CAN_AWUM = DISABLE;

CAN_InitStructure.CAN_NART = DISABLE;

CAN_InitStructure.CAN_RFLM = DISABLE;

CAN_InitStructure.CAN_TXFP = DISABLE;

CAN_InitStructure.CAN_Mode=CAN_Mode_LoopBack;//回環(huán)模式

CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;//1

CAN_InitStructure.CAN_BS1=CAN_BS1_9tq;//9

CAN_InitStructure.CAN_BS2=CAN_BS2_8tq;//8

CAN_InitStructure.CAN_Prescaler=16;//16分頻

CAN_Init(CAN1,&CAN_InitStructure);

CAN_FilterInitStructure.CAN_FilterNumber=0;

CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;//屏蔽模式

CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;

CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;

CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;

CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;

CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;

CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_FilterFIFO0;

CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;

CAN_FilterInit(&CAN_FilterInitStructure);

}

配置完成，開始發(fā)送和接收：

void CAN_Test(void)

{

CanTxMsg TXmessage;

CanRxMsg RXmessage;

uint8_t TxMailbox=0;

uint8_t ret=0;

CAN_Config();

TXmessage.StdId=0x123;//ID,標識符

TXmessage.IDE=CAN_ID_STD;//標準ID

TXmessage.RTR=CAN_RTR_DATA;//傳送的是數(shù)據(jù)幀

TXmessage.DLC=3;//數(shù)據(jù)個數(shù)。不能超過8個

TXmessage.Data[0]=0x01;//傳送的數(shù)據(jù)

TXmessage.Data[1]=0x10;

TXmessage.Data[2]=0xFF;

TxMailbox=CAN_Transmit(CAN1,&TXmessage);//發(fā)送，返回的是當前郵箱號

while(CAN_TransmitStatus(CAN1,TxMailbox) !=CANTXOK);//等待發(fā)送完成

while(CAN_MessagePending(CAN1,CAN_FIFO0)<1);//查詢接受狀態(tài)位，看是否有信息(報文)到達

RXmessage.StdId=0x00;//初始化接受結構體

RXmessage.IDE=CAN_ID_STD;

RXmessage.DLC=0;

RXmessage.Data[0]=0;

RXmessage.Data[1]=0;

RXmessage.Data[2]=0;

CAN_Receive(CAN1,CAN_FIFO0,&RXmessage);//接收信息(報文)

//最后檢查所接收到的數(shù)據(jù)每一個項和發(fā)送的是否一樣，如果全部一樣則發(fā)送成功，否則發(fā)送失敗

//設置標志位對結果進行保存，用串口打印或者LED顯示不同的狀態(tài)來表示發(fā)送接收情況

}