STM32的can總線的配置如下：

CAN_InitStructure.CAN_TTCM=DISABLE;//禁止時間觸發通信模式

CAN_InitStructure.CAN_ABOM=DISABLE;

CAN_InitStructure.CAN_AWUM=DISABLE;

CAN_InitStructure.CAN_NART=DISABLE;//CAN報文只被發送1次，不管發送的結果如何（成功、出錯或仲裁丟失）

CAN_InitStructure.CAN_RFLM=DISABLE;

CAN_InitStructure.CAN_TXFP=DISABLE;

CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;

//CAN_Mode_LoopBack

//CAN_Mode_Normal

CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;

CAN_InitStructure.CAN_BS1=CAN_BS1_5tq;//1--16

CAN_InitStructure.CAN_BS2=CAN_BS2_2tq;//1--8

CAN_InitStructure.CAN_Prescaler=2;

CAN_Init（&CAN_InitStructure）;

/* CAN filter init */

CAN_FilterInitStructure.CAN_FilterNumber=0;//選擇過濾器0

CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;//指定過濾器被設置為標識符屏蔽模式

CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;//給出過濾器位寬為32位

下面根據設置的參數不同來決定can總線can總線的配置情況：

1、對擴展數據幀進行過濾：（只接收擴展數據幀）

CAN_FilterInitStructure.CAN_FilterIdHigh = （（（u32）slave_id《《3）&0xFFFF0000）》》16;

CAN_FilterInitStructure.CAN_FilterIdLow = （（（u32）slave_id《《3）|CAN_ID_EXT|CAN_RTR_DATA）&0xFFFF;

CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF;

CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFF;

（注：標準幀數據幀、標準遠程幀和擴展遠程幀均被過濾）

2、對擴展遠程幀過濾：（只接收擴展遠程幀）

CAN_FilterInitStructure.CAN_FilterIdHigh = （（（u32）slave_id《《3）&0xFFFF0000）》》16;

CAN_FilterInitStructure.CAN_FilterIdLow = （（（u32）slave_id《《3）|CAN_ID_EXT|CAN_RTR_REMOTE）&0xFFFF;

CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF;

CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFF;

3、對標準遠程幀過濾：（只接收標準遠程幀）

CAN_FilterInitStructure.CAN_FilterIdHigh = （（（u32）slave_id《《21）&0xffff0000）》》16;

CAN_FilterInitStructure.CAN_FilterIdLow = （（（u32）slave_id《《21）|CAN_ID_STD|CAN_RTR_REMOTE）&0xffff;

CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF;

CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFF;

4、對標準數據幀過濾：（只接收標準數據幀）

CAN_FilterInitStructure.CAN_FilterIdHigh = （（（u32）slave_id《《21）&0xffff0000）》》16;

CAN_FilterInitStructure.CAN_FilterIdLow = （（（u32）slave_id《《21）|CAN_ID_STD|CAN_RTR_DATA）&0xffff;

CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF;

CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFF;

5、對擴展幀進行過濾：（擴展幀不會被過濾掉）

CAN_FilterInitStructure.CAN_FilterIdHigh = （（（u32）slave_id《《3）&0xFFFF0000）》》16;

CAN_FilterInitStructure.CAN_FilterIdLow = （（（u32）slave_id《《3）|CAN_ID_EXT）&0xFFFF;

CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF;

CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFC;

6、對標準幀進行過濾：（標準幀不會被過濾掉）

CAN_FilterInitStructure.CAN_FilterIdHigh = （（（u32）slave_id《《21）&0xffff0000）》》16;

CAN_FilterInitStructure.CAN_FilterIdLow = （（（u32）slave_id《《21）|CAN_ID_STD）&0xffff;

CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF;

CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFC;

注：slave_id為要過濾的id號。