stm32f4的can通信

对于stm32f4的CAN通信，需要进行以下步骤：

1. 配置GPIO引脚为CAN模式
2. 配置CAN控制器
3. 配置CAN过滤器
4. 启动CAN控制器

以下是一个简单的示例代码：

#include "stm32f4xx.h"

void CAN_Config(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    CAN_InitTypeDef CAN_InitStructure;
    CAN_FilterInitTypeDef CAN_FilterInitStructure;

    // 使能GPIO时钟
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);

    // 配置GPIO引脚为CAN模式
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    // 配置CAN时钟
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

    // 配置CAN控制器
    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_6tq;
    CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;
    CAN_InitStructure.CAN_Prescaler = 4;
    CAN_Init(CAN1, &CAN_InitStructure);

    // 配置CAN过滤器
    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);

    // 启动CAN控制器
    CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
    CAN_ITConfig(CAN1, CAN_IT_TME, ENABLE);
    CAN_ITConfig(CAN1, CAN_IT_EWG, ENABLE);
    CAN_ITConfig(CAN1, CAN_IT_EPV, ENABLE);
    CAN_ITConfig(CAN1, CAN_IT_BOF, ENABLE);
    CAN_ITConfig(CAN1, CAN_IT_LEC, ENABLE);
    CAN_ITConfig(CAN1, CAN_IT_ERR, ENABLE);
}

int main(void)
{
    // 初始化CAN
    CAN_Config();

    while (1)
    {
        // 循环发送CAN数据
        // ...
    }
}