基本流程：
1、初始化CAN模塊：

啟用CAN時鐘

配置CAN功能寄存器（包括位定時，分頻等等）

配置CAN過濾器

打開中斷

2、初始化I/O口

啟用GPIO時鐘

打開CAN對應的GPIO引腳

配置重映射（根據實際情況）

3、定義CAN發送結構體，接收結構體

4、開始發送並準備接收總線上信號

5、檢查接收郵箱收的數據是否正確

 1 void    CAN_Config()
 2 {
 3     CAN_InitTypeDef         CAN_InitStructure;
 4     CAN_FilterInitTypeDef     CAN_FilterInitStructure;
 
 5     GPIO_InitTypeDef         GPIO_InitStructure;
 6     RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1,ENABLE);
 7     /**Configure the PA11 PA12 to CAN1*/
 8     GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11 | GPIO_Pin_12;
 9     GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
10     GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
 
11     GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
12     GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;    
13     GPIO_Init(GPIOA,&GPIO_InitStructure);
14     GPIO_PinAFConfig(GPIOA,GPIO_PinSource11,GPIO_AF_CAN1);
15     GPIO_PinAFConfig(GPIOA,GPIO_PinSource12,GPIO_AF_CAN1);
16 
17     CAN_DeInit(CAN1);
 
18     CAN_InitStructure.CAN_ABOM = DISABLE;        //自動離線
19     CAN_InitStructure.CAN_AWUM = DISABLE;        //自動喚醒
20     CAN_InitStructure.CAN_TTCM = DISABLE;        //觸發通訊模式
21     CAN_InitStructure.CAN_NART = ENABLE;        //禁止報文自動重傳
22     CAN_InitStructure.CAN_RFLM = DISABLE;        //報文自動覆蓋¨
23     CAN_InitStructure.CAN_TXFP = DISABLE;        //優先級判定
24     CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;    //工作模式
25     /**configure baudrate 1M */
26     CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;            
27     CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq;
28     CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;
29     CAN_InitStructure.CAN_Prescaler =20;
30     CAN_Init(CAN1, &CAN_InitStructure);
31     
32     CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;                //啟用過濾
33     CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_FilterFIFO0;    //過濾郵箱0
34     CAN_FilterInitStructure.CAN_FilterIdHigh= 0x0000;                    //過濾ID
35     CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
36     CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;                //過濾ID掩碼
37     CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
38     CAN_FilterInitStructure.CAN_FilterMode =CAN_FilterMode_IdMask;
39     CAN_FilterInitStructure.CAN_FilterNumber = 0;                    
40     CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
41     CAN_FilterInit(&CAN_FilterInitStructure);
42     
43     CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);
44 }

定義CAN結構體：

1 CanTxMsg msg;
2 CanRxMsg RxMsg;
3 
4     msg.StdId = 0x09;
5     msg.IDE = CAN_Id_Standard;
6 msg.Data[0]=0x01;
7     msg.DLC=1;

 1 void CAN1_RX0_IRQHandler(void)
 2 {
 3       if(CAN_MessagePending(CAN1,CAN_FIFO0) != RESET)
 4         {
 5             CAN_ClearITPendingBit(CAN1,CAN_IT_FMP0);
 6             CAN_Receive(CAN1,CAN_FIFO0,&RxMsg);
 7           msg.Data[0] = RxMsg.Data[2]+1;
 8             msg.DLC =1;
 9             msg.StdId = 0x02;
10             msg.IDE = CAN_Id_Standard;
11             if(RxMsg.Data[0] ==0x01)
12             {
13                 GPIO_ToggleBits(GPIOD,GPIO_Pin_14);
14             }
15             CAN_Transmit(CAN1,&msg);
16         }
17 }

經過實驗，在通信波特率為20K下可以正常工作。建議在低速下測試，若通信正常，可以逐步提高通信速率。

STM32下調試CAN通信