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。

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