STM32 can通信部分函数注释

-----CAN1_Mode_Init

CAN模式初始化函数:u8 CAN1_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode)

//CAN初始化
//tsjw:重新同步跳跃时间单元.范围:CAN_SJW_1tq~ CAN_SJW_4tq
//tbs2:时间段2的时间单元.   范围:CAN_BS2_1tq~CAN_BS2_8tq;
//tbs1:时间段1的时间单元.   范围:CAN_BS1_1tq ~CAN_BS1_16tq
//brp :波特率分频器.范围:1~1024; tq=(brp)*tpclk1
//波特率=Fpclk1/((tbs1+1+tbs2+1+1)*brp);
//mode:CAN_Mode_Normal,普通模式;CAN_Mode_LoopBack,回环模式;
//Fpclk1的时钟在初始化的时候设置为42M,如果设置CAN1_Mode_Init(CAN_SJW_1tq,CAN_BS2_6tq,CAN_BS1_7tq,6,CAN_Mode_LoopBack);
//则波特率为:42M/((6+7+1)*6)=500Kbps
//返回值:0,初始化OK;
//    其他,初始化失败; 


u8 CAN1_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode)
{

  	GPIO_InitTypeDef GPIO_InitStructure; 
	  CAN_InitTypeDef        CAN_InitStructure;
  	CAN_FilterInitTypeDef  CAN_FilterInitStructure;
#if CAN1_RX0_INT_ENABLE 
   	NVIC_InitTypeDef  NVIC_InitStructure;
#endif
    //使能相关时钟
	  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);//使能PORTA时钟	/AHB1ENR位 0 GPIOAEN：IO 端口 A 时钟使能                    											 

  	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//使能CAN1时钟	/APB1ENR位 25 CAN1EN：CAN 1 时钟使能
	
    //初始化GPIO
	  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11| GPIO_Pin_12;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
    GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化PA11,PA12
	
	  //引脚复用映射配置
	  GPIO_PinAFConfig(GPIOA,GPIO_PinSource11,GPIO_AF_CAN1); //GPIOA11复用为CAN1
	  GPIO_PinAFConfig(GPIOA,GPIO_PinSource12,GPIO_AF_CAN1); //GPIOA12复用为CAN1
	  
  	//CAN单元设置
   	CAN_InitStructure.CAN_TTCM=DISABLE;	//非时间触发通信模式   
  	CAN_InitStructure.CAN_ABOM=DISABLE;	//软件自动离线管理	  
  	CAN_InitStructure.CAN_AWUM=DISABLE;//睡眠模式通过软件唤醒(清除CAN->MCR的SLEEP位)
  	CAN_InitStructure.CAN_NART=ENABLE;	//禁止报文自动传送 
  	CAN_InitStructure.CAN_RFLM=DISABLE;	//报文不锁定,新的覆盖旧的  
  	CAN_InitStructure.CAN_TXFP=DISABLE;	//优先级由报文标识符决定 
  	CAN_InitStructure.CAN_Mode= mode;	 //模式设置 
  	CAN_InitStructure.CAN_SJW=tsjw;	//重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位 CAN_SJW_1tq~CAN_SJW_4tq
  	CAN_InitStructure.CAN_BS1=tbs1; //Tbs1范围CAN_BS1_1tq ~CAN_BS1_16tq
  	CAN_InitStructure.CAN_BS2=tbs2;//Tbs2范围CAN_BS2_1tq ~	CAN_BS2_8tq
  	CAN_InitStructure.CAN_Prescaler=brp;  //分频系数(Fdiv)为brp+1	
  	CAN_Init(CAN1, &CAN_InitStructure);   // 初始化CAN1 
    
		//配置过滤器
 	  CAN_FilterInitStructure.CAN_FilterNumber=0;	  //过滤器0
  	CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; 
  	CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位 
  	CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;32位ID
  	CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
  	CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//32位MASK
  	CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
   	CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//过滤器0关联到FIFO0
  	CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //激活过滤器0
  	CAN_FilterInit(&CAN_FilterInitStructure);//滤波器初始化
		
#if CAN1_RX0_INT_ENABLE
	
	  CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);//FIFO0消息挂号中断允许.		    
  
  	NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
  	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;     // 主优先级为1
  	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;            // 次优先级为0
  	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  	NVIC_Init(&NVIC_InitStructure);
#endif
	return 0;
}   

-----uint8_t CAN_Init  /

配置CAN接收滤波器:void CAN_FilterInit /

中断初始化函数:void NVIC_Init 

can初始化(寄存器操作):uint8_t CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct)

uint8_t CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct)
{
  uint8_t InitStatus = CAN_InitStatus_Failed;
  uint32_t wait_ack = 0x00000000;
  /* Check the parameters */
  assert_param(IS_CAN_ALL_PERIPH(CANx));
  assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_TTCM));
  assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_ABOM));
  assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_A