CAN通讯的速率，可以用示波器测试TX或RX，看最窄的波形，如果为16us，则为62500，如果为8us则是125000，我也搞不懂为什么STM8选内部时钟CLK_HSIPrescalerConfig(CLK_PRESCALER_HSIDIV1);  即16M

而CAN_Prescaler = 8;//8@125KHZ   16@62500HZ ，预分频选8时，是125KHZ，这是我量出的实际结果。

void CHECK_MAIL(void)//这个只是我调试中用于参考的，可以不检查直接发送

{

uchar i;

i=CAN_TransmitStatus(CAN_TxStatus_MailBox0Ok);

PRINTF("maiL0=%d ",&i);

i=CAN_TransmitStatus(CAN_TxStatus_MailBox1Ok);

PRINTF("maiL1=%d ",&i);

i=CAN_TransmitStatus(CAN_TxStatus_MailBox2Ok);

PRINTF("maiL2=%d \r\n",&i);

}

extern __IO uint8_t _Data[8];

extern char b_can_rxon;

void main(void)

{

uint16_t tx_count=0;

uint16_t re_tx=0;

 CAN_TxStatus_TypeDef status = CAN_TxStatus_Failed;

 CAN_Id_TypeDef Tx_IDE ;//CAN_Id_Standard;  //= CAN_Id_Extended

 CAN_RTR_TypeDef Tx_RTR = CAN_RTR_Data;

 uint8_t Tx_DLC = 0;

 uint8_t Tx_Data[8] = {0};

 uint32_t Tx_Id = 0;

 CLK_Config();

 UART_CONFIG();

//  GPIO_Config();

 // LCD_Config();

 CAN_Config();

 enableInterrupts();

PRINTF("hello world!~\r\n",NULL);

GPIO_Init(GPIOC, GPIO_PIN_1,GPIO_MODE_OUT_PP_HIGH_FAST);

 while(1)

 { 

  #if 1

 //PRINTF("hello world!~\r\n",NULL);

//Delay(1000);

tx_count++;

if(b_can_rxon)

{

GPIO_WriteReverse(GPIOC,GPIO_PIN_1);

PRINTF("RX:%d\r\n",&_Data[0]);

b_can_rxon=0;

}

#else 

   Delay(500);

   GPIO_WriteReverse(GPIOC,GPIO_PIN_1);

   Tx_Id = 0x12345678;//29bit

   Tx_IDE = CAN_Id_Extended;//CAN_Id_Standard;

   Tx_RTR = CAN_RTR_Data;

   Tx_DLC = 2;

   Tx_Data[0] = tx_count++;

   Tx_Data[1] = ~Tx_Data[0];

 CHECK_MAIL();

   status = CAN_Transmit(Tx_Id,Tx_IDE,Tx_RTR,Tx_DLC,Tx_Data);

 if(status>0x10){PRINTF(" error:%d\r\n",&status);continue;}//CAN_TxStatus_Ok

 while(CAN_TransmitStatus(status)!=CAN_TxStatus_Ok)

 {if(++re_tx==0)break;

 }

 if(re_tx==0)

 {

 if(status==CAN_TxStatus_MailBox0Ok)  CAN_ClearFlag(CAN_FLAG_RQCP0);

 if(status==CAN_TxStatus_MailBox1Ok)  CAN_ClearFlag(CAN_FLAG_RQCP1);

 if(status==CAN_TxStatus_MailBox2Ok)  CAN_ClearFlag(CAN_FLAG_RQCP2);  

 PRINTF(" 强制CLEAR mail=%d\r\n",&status);//CAN_TxStatus_Ok

 }

 else 

 {

 PRINTF("tx:success mail=%d\r\n",&status);//CAN_TxStatus_Ok

 }

   #endif

 }

}

void CLK_Config(void)

{

 CLK_HSIPrescalerConfig(CLK_PRESCALER_HSIDIV1);

}

void CAN_Config(void)

{

 CAN_InitStatus_TypeDef status = CAN_InitStatus_Failed;

 CAN_FilterNumber_TypeDef CAN_FilterNumber;

 FunctionalState CAN_FilterActivation;

 CAN_FilterMode_TypeDef CAN_FilterMode;

 CAN_FilterScale_TypeDef CAN_FilterScale;

 uint8_t CAN_FilterID1;

 uint8_t CAN_FilterID2;

 uint8_t CAN_FilterID3;

 uint8_t CAN_FilterID4;

 uint8_t CAN_FilterIDMask1;

 uint8_t CAN_FilterIDMask2;

 uint8_t CAN_FilterIDMask3;

 uint8_t CAN_FilterIDMask4; 

 CAN_MasterCtrl_TypeDef CAN_MasterCtrl;

 CAN_Mode_TypeDef CAN_Mode;

 CAN_SynJumpWidth_TypeDef CAN_SynJumpWidth;

 CAN_BitSeg1_TypeDef CAN_BitSeg1;

 CAN_BitSeg2_TypeDef CAN_BitSeg2;

 uint8_t CAN_Prescaler;  

 CAN_DeInit();

 CAN_MasterCtrl=CAN_MasterCtrl_AllDisabled;

 CAN_Mode = CAN_Mode_Normal;

 CAN_SynJumpWidth = CAN_SynJumpWidth_1TimeQuantum;

 CAN_BitSeg1 = CAN_BitSeg1_8TimeQuantum;

 CAN_BitSeg2 = CAN_BitSeg2_7TimeQuantum;

 CAN_Prescaler = 8;//8@125KHZ   16@62500HZ

 status = CAN_Init(CAN_MasterCtrl, CAN_Mode, CAN_SynJumpWidth, CAN_BitSeg1, \

          CAN_BitSeg2, CAN_Prescaler);

 CAN_FilterNumber = CAN_FilterNumber_0;

 CAN_FilterActivation = ENABLE;

 CAN_FilterMode = CAN_FilterMode_IdMask;

 CAN_FilterScale = CAN_FilterScale_32Bit;

 CAN_FilterID1=0x91;  

 CAN_FilterID2=0x00;

 CAN_FilterID3=0x00;

 CAN_FilterID4=0x00;

 CAN_FilterIDMask1=0xff;

 CAN_FilterIDMask2=0;

 CAN_FilterIDMask3=0;

 CAN_FilterIDMask4=0;  

 CAN_FilterInit(CAN_FilterNumber, CAN_FilterActivation, CAN_FilterMode, 

         CAN_FilterScale,CAN_FilterID1, CAN_FilterID2, CAN_FilterID3,

         CAN_FilterID4,CAN_FilterIDMask1, CAN_FilterIDMask2, 

         CAN_FilterIDMask3, CAN_FilterIDMask4);

 CAN_ITConfig(CAN_IT_FMP, ENABLE);

}