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。

标准帧，扩展帧混合配置：

void CAN_Configuration(void)

{

CAN_InitTypeDef        CAN_InitStructure;

  CAN_FilterInitTypeDef  CAN_FilterInitStructure;

// CAN_DeInit();

RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN, ENABLE); //

RCC_APB2PeriphClockCmd( RCC_APB2Periph_AFIO, ENABLE ); //复位CAN1所有寄存器

/* CAN cell init */

CAN_InitStructure.CAN_TTCM=DISABLE;   //ʹÄÜ»òÕß½ûֹʱ¼ä´¥·¢Í¨ÐÅģʽ

CAN_InitStructure.CAN_ABOM=DISABLE;   //ʹÄÜ»òÕß½ûÖ¹×Ô¶¯¹Ø±Õ¹ÜÀí

CAN_InitStructure.CAN_AWUM=DISABLE;   //ʹÄÜ»òÕß½ûÖ¹×Ô¶¯»½ÐÑģʽ

CAN_InitStructure.CAN_NART=ENABLE;//DISABLE;   //使能或禁止自动重传模式

CAN_InitStructure.CAN_RFLM=DISABLE;   //ʹÄÜ»òÕß½ûÖ¹½ÓÊÕFIFOËø¶¨Ä£Ê½

CAN_InitStructure.CAN_TXFP=DISABLE;   //ʹÄÜ»òÕß½ûÖ¹·¢ËÍFIFOÓÅÏȼ¶

CAN_InitStructure.CAN_Mode= CAN_Mode_Normal;   //CANÓ²¼þ¹¤×÷ÔÚÆÕͨģʽÏ CAN_Mode_Normal   CAN_Mode_LoopBack

CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;   //

CAN_InitStructure.CAN_BS1=CAN_BS1_4tq;   //

CAN_InitStructure.CAN_BS2=CAN_BS2_3tq;   //

CAN_InitStructure.CAN_Prescaler=1;   //4000K/(1+1+4)/1 = 500K

CAN_Init(&CAN_InitStructure);

#define   ID_REQUEST                          0xf9

  /*第0组滤波器初始化 CAN filter init */

CAN_FilterInitStructure.CAN_FilterNumber = 0;//第0组滤波器

CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;

CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit; //一个32位过滤器

CAN_FilterInitStructure.CAN_FilterIdHigh = (((u32)ID_REQUEST<<21)&0xffff0000)>>16;

//(u32)(((CAN_EXT0_ID<<3)&0xFFFF0000)>>16);

CAN_FilterInitStructure.CAN_FilterIdLow =  (((u32)ID_REQUEST<<21)|CAN_ID_STD|CAN_RTR_DATA)&0xffff;

//(u32)(((CAN_EXT0_ID<<3)|CAN_ID_STD|CAN_RTR_DATA)&0xFFFF);

CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF;

CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFF;

CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_FIFO0;

CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;

CAN_FilterInit(&CAN_FilterInitStructure);

/*第1组滤波器初始化 CAN filter init */

CAN_FilterInitStructure.CAN_FilterNumber=1; //第1组滤波器

CAN_FilterInitStructure.CAN_FilterIdHigh=(u32)(((CAN_EXT1_ID<<3)&0xFFFF0000)>>16);

CAN_FilterInitStructure.CAN_FilterIdLow=(u32)(((CAN_EXT1_ID<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF); //Ñ¡Ôñ¹ýÂËÆ÷±êʶºÅ£¨µÍ£©

CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xFFFF;

CAN_FilterInitStructure.CAN_FilterMaskIdLow=0xFFFF;

CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;

CAN_FilterInit(&CAN_FilterInitStructure);

/*µÚ3×éÂ˲¨Æ÷³õʼ»¯CAN filter init */

CAN_FilterInitStructure.CAN_FilterNumber=3; //µÚ3×é¹ýÂËÆ÷

CAN_FilterInitStructure.CAN_FilterIdHigh=(u32)(((CAN_EXT3_ID<<3)&0xFFFF0000)>>16); //Ñ¡Ôñ¹ýÂËÆ÷±êʶºÅ£¨¸ß£©

CAN_FilterInitStructure.CAN_FilterIdLow=(u32)(((CAN_EXT3_ID<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF); //Ñ¡Ôñ¹ýÂËÆ÷±êʶºÅ£¨µÍ£©

CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xFFFF;

CAN_FilterInitStructure.CAN_FilterMaskIdLow=0xFFFF;

CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;

CAN_FilterInit(&CAN_FilterInitStructure);

/*µÚ5×éÂ˲¨Æ÷³õʼ»¯CAN filter init */

CAN_FilterInitStructure.CAN_FilterNumber=5; //µÚ5×é¹ýÂËÆ÷

CAN_FilterInitStructure.CAN_FilterIdHigh=(u32)(((CAN_EXT5_ID<<3)&0xFFFF0000)>>16); //Ñ¡Ôñ¹ýÂËÆ÷±êʶºÅ£¨¸ß£©

CAN_FilterInitStructure.CAN_FilterIdLow=(u32)(((CAN_EXT5_ID<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF); //Ñ¡Ôñ¹ýÂËÆ÷±êʶºÅ£¨µÍ£©

CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xFFFF;

CAN_FilterInitStructure.CAN_FilterMaskIdLow=0xFFFF;

CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;

CAN_FilterInit(&CAN_FilterInitStructure);

/*µÚ6×éÂ˲¨Æ÷³õʼ»¯CAN filter init */

/* CAN_FilterInitStructure.CAN_FilterNumber=6; //µÚ6×é¹ýÂËÆ÷

CAN_FilterInitStructure.CAN_FilterIdHigh=(u32)(((CAN_EXT6_ID<<3)&0xFFFF0000)>>16); //Ñ¡Ôñ¹ýÂËÆ÷±êʶºÅ£¨¸ß£©

CAN_FilterInitStructure.CAN_FilterIdLow=(u32)(((CAN_EXT6_ID<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF); //Ñ¡Ôñ¹ýÂËÆ÷±êʶºÅ£¨µÍ£©

CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xFFFF;

CAN_FilterInitStructure.CAN_FilterMaskIdLow=0xFFFF;

CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;

CAN_FilterInit(&CAN_FilterInitStructure);*/

/*µÚ9×éÂ˲¨Æ÷³õʼ»¯CAN filter init */

/* CAN_FilterInitStructure.CAN_FilterNumber=9; //µÚ9×é¹ýÂËÆ÷

CAN_FilterInitStructure.CAN_FilterIdHigh=(u32)(((CAN_EXT9_ID<<3)&0xFFFF0000)>>16); //Ñ¡Ôñ¹ýÂËÆ÷±êʶºÅ£¨¸ß£©

CAN_FilterInitStructure.CAN_FilterIdLow=(u32)(((CAN_EXT9_ID<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF); //Ñ¡Ôñ¹ýÂËÆ÷±êʶºÅ£¨µÍ£©

CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xFFFF;

CAN_FilterInitStructure.CAN_FilterMaskIdLow=0xFFFF;

CAN_FilterInitStructure.CAN_