stm32f103rbt6使用can

can的初始化我是把之前用的103zet6的程序拿过来的。

就是用的引脚不同，引脚的初始化不同，rbt6使用的是PA11,PA12,是默认功能，不需要复用。PB8,PB9是复用（CANRX,CANTX在Remap栏）

所以初始化的时候用了

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO,ENABLE); 
   /GPIO_PinRemapConfig(GPIO_Remap1_CAN1,ENABLE); 

//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36M,如果设置CAN_Mode_Init(CAN_SJW_1tq,CAN_BS2_8tq,CAN_BS1_9tq,4,CAN_Mode_LoopBack);
//则波特率为:36M/((8+9+1)*4)=500Kbps
//返回值:0,初始化OK;
//其他,初始化失败; 
/*

CAN_RX--PA11
CAN_TX--PA12
与主控器不同之处：主控器板子用的PB8,PB9，是复用引脚，PA11 PA12的默认功能里有can，不用复用
*/
u8 CAN_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 CAN_RX0_INT_ENABLE 
	 NVIC_InitTypeDef  		NVIC_InitStructure;
 #endif

    /* CAN Periph clock enable */
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA ,ENABLE); //| RCC_APB2Periph_AFIO
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
   // GPIO_PinRemapConfig(GPIO_Remap1_CAN1,ENABLE); 
    /* Configure CAN pin: RX */
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_Init(GPIOA, &GPIO_InitStructure); 
    /* Configure CAN pin: TX */
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_Init(GPIOA, &GPIO_InitStructure); 

	//CAN单元设置
	CAN_InitStructure.CAN_TTCM=DISABLE;			//非时间触发通信模式  
	CAN_InitStructure.CAN_ABOM=ENABLE;			//软件自动离线管理	ENABLE：离线自动恢复 
	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=DISABLE;			//允许报文自动传送 ENABLE：禁止
	CAN_InitStructure.CAN_RFLM=DISABLE;		 	//报文不锁定,新的覆盖旧的  
	CAN_InitStructure.CAN_TXFP=ENABLE;			//优先级由报文标识符决定 ENABLE：优先级由发送的请求顺序来决定 
	CAN_InitStructure.CAN_Mode= mode;	        //模式设置： mode:0,普通模式;1,回环模式; 
		//设置波特率                                
	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_2tq CAN_SJW_3tq CAN_SJW_4tq
	CAN_InitStructure.CAN_BS1=tbs1; 			//Tbs1=tbs1+1个时间单位CAN_BS1_1tq ~CAN_BS1_16tq
	CAN_InitStructure.CAN_BS2=tbs2;				//Tbs2=tbs2+1个时间单位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 CAN时钟是36M
																		
//	CAN_FilterInitStructure.CAN_FilterNumber=0;							//过滤器0
//	CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; 		//屏蔽位模式
//	CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; 		//32位宽 
//	CAN_FilterInitStructure.CAN_FilterIdHigh=0x01 <<5;					//32位ID
//	CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
//	CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x1f <<5;				//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_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask; 	//设定过滤器组为列表模式
	CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;	//过滤器位宽为16位过滤器一个
	CAN_FilterInitStructure.CAN_FilterIdHigh = 0; 						//设定过滤器标识符高位(32为高位段，16位为第一个)
	CAN_FilterInitStructure.CAN_FilterIdLow = 0x01 << 3 | CAN_ID_EXT;   // 扩展帧
	CAN_FilterInitStructure.CAN_FilterMaskIdHigh= 0; 					//只管低5位，其他都是0
	CAN_FilterInitStructure.CAN_FilterMaskIdLow= 0x1f << 3; 			//
	CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;//过滤器FIFO0指向过滤器0
	CAN_FilterInitStructure.CAN_FilterNumber = 1;						//指定待初始化的过滤器,范围1~13
	CAN_FilterInitStructure.CAN_FilterActivation = ENABLE; 				//使能过滤器
	CAN_FilterInit(&CAN_FilterInitStructure);							//滤波器初始化	
 #if CAN_RX0_INT_ENABLE 
	CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);								//FIFO0消息挂号中断允许.		    
	NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;     		// 主优先级为2
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;            		// 次优先级为0
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
	NVIC_Init(&NVIC_InitStructure);
 #endif
	return 0;
}