碧海藍天在做CAN模塊的多線路控制系統的程序，現在把簡單的發送和接收的程序貼出來供大家參考，注釋寫的很清楚了，這里我就不廢話了，直接上代碼了——

文件can.c

#include "stm32f10x.h"
#include "can.h"

#define GPIO_CAN                   GPIOA
#define RCC_APB2Periph_GPIO_CAN    RCC_APB2Periph_GPIOA
#define GPIO_Pin_RX                GPIO_Pin_11
#define GPIO_Pin_TX                GPIO_Pin_12
#define GPIO_Remap_CAN             GPIO_Remap1_CAN1
#define LED_SET() GPIO_SetBits(GPIOB,GPIO_Pin_15)
#define LED_RST() GPIO_ResetBits(GPIOB,GPIO_Pin_15)

void CAN_config_init(void)
{
  CAN_InitTypeDef        CAN_InitStructure;
  CAN_FilterInitTypeDef  CAN_FilterInitStructure;
 
  CAN_DeInit(CAN1);
  CAN_StructInit(&CAN_InitStructure);
    // 36M 250k速率
  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_Normal;
  CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
  CAN_InitStructure.CAN_BS1=CAN_BS1_12tq;
  CAN_InitStructure.CAN_BS2=CAN_BS2_3tq;
  CAN_InitStructure.CAN_Prescaler=9;
  CAN_Init(CAN1, &CAN_InitStructure);

 
  CAN_FilterInitStructure.CAN_FilterNumber=0;
  CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
  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=0;
  CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
  CAN_FilterInit(&CAN_FilterInitStructure); 
 }

 
void CAN_init(void)
{
 
    NVIC_InitTypeDef NVIC_InitStructure;
    GPIO_InitTypeDef GPIO_InitStructure;   
      // 首先打開電源及時鐘
   
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO |RCC_APB2Periph_GPIO_CAN, ENABLE);
   
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
  
   
    NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
   
    NVIC_InitStructure.NVIC_IRQChannel = USB_HP_CAN1_TX_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
    // 然后配置pin
   
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_RX;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_Init(GPIO_CAN, &GPIO_InitStructure);
   
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_TX;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIO_CAN, &GPIO_InitStructure);
    // 映射下
    GPIO_PinRemapConfig(GPIO_Remap_CAN , ENABLE);
    // 波特率過濾器初始化
    CAN_config_init();
    CAN_ITConfig(CAN1, CAN_IT_FMP0 | CAN_IT_FF0 | CAN_IT_FOV0, ENABLE);  // fifo0中斷
    CAN_ITConfig(CAN1, CAN_IT_FMP1 | CAN_IT_FF1 | CAN_IT_FOV1, ENABLE);  // fifo1中斷
    CAN_ITConfig(CAN1, CAN_IT_TME, DISABLE);                // 發送中斷
}

 
int CAN_tx_data(void)
{
    CanTxMsg TxMessage;
    uint8_t TransmitMailbox = 0;
  u32 i;
   
    TxMessage.StdId=0x001;
    TxMessage.RTR=CAN_RTR_DATA;
    TxMessage.IDE=CAN_ID_STD;
    TxMessage.DLC=4;
    TxMessage.Data[0]=0x04;
    TxMessage.Data[1]=0x08;
    TxMessage.Data[2]=0x0c;
    TxMessage.Data[3]=0x10;
    TransmitMailbox = CAN_Transmit(CAN1, &TxMessage);
  i = 0;
  // 用于檢查消息傳輸是否正常
  while((CAN_TransmitStatus(CAN1, TransmitMailbox) != CANTXOK) && (i != 0xFF))
  {
   i++;
  }
  i = 0;
  // 檢查返回的掛號的信息數目
  while((CAN_MessagePending(CAN1, CAN_FIFO0) < 1) && (i != 0xFF))
  {
   i++;
  }

}
 
void USB_LP_CAN1_RX0_IRQHandler(void)
{
  //  u32 i;
    CanRxMsg RxMessage;
   if(SET == CAN_GetITStatus(CAN1,CAN_IT_FF0))
   {
        CAN_ClearITPendingBit(CAN1,CAN_IT_FF0);
   }
   else if(SET == CAN_GetITStatus(CAN1,CAN_IT_FOV0))
   {
        CAN_ClearITPendingBit(CAN1,CAN_IT_FOV0);
   }
   else
   {
        CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
        if(RxMessage.StdId==0x001&&RxMessage.DLC==4)
     LED_SET();
     //   printf("CAN_FIFO0 RxMessage.StdId is 0x%x\r\n",RxMessage.StdId);
     //   printf("RxMessage.DLC is 0x%x\r\n",RxMessage.DLC);  
      //  for(i = 0; i < RxMessage.DLC; i++)
     //   {
     //       printf("data[%d] is 0x%x\r\n",i,RxMessage.Data[i]);
      //  }
     //   printf("\r\n");  
   }  
 
}

 
void LED_init(void)
{
 GPIO_InitTypeDef GPIO_InitStruct;

 RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);

 GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;
 GPIO_InitStruct.GPIO_Pin = GPIO_Pin_15;
 GPIO_InitStruct.GPIO_Speed = GPIO_Speed_2MHz;
 GPIO_Init(GPIOB, &GPIO_InitStruct);
}

 
void soft_delayms(u16 t)
{
 u16 tt;
 while(t--)
 {
  tt = 10000;
  while(tt--);
 }
}

文件：can.h

 #ifndef __CAN_H
#define __CAN_H

#include "stm32f10x.h"

void CAN_config_init(void);
void CAN_init(void);
int CAN_tx_data(void);
void LED_init(void);
void soft_delayms(u16 t);

#endif

文件：main.c
#include "stm32f10x.h"
#include "can.h"

int main(void)
{ 
 SystemInit();
 LED_init();
 CAN_config_init();
 CAN_init();
 CAN_tx_data();
 while(1)
  {
   
  }
}

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