帮我写一个stm32f407芯片的CAN驱动程序

很高兴为您服务。下面是在STM32F407芯片上编写CAN驱动程序的代码示例： #include <stm32f4xx.h>
#include <stm32f4xx_can.h> // CAN初始化函数
void CAN_Config(void)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;

// 打开CAN的时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
// 打开GPIO的时钟
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);

// 配置CAN的GPIO
GPIO_PinAFConfig(GPIOA, GPIO_PinSource11, GPIO_AF_CAN1);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource12, GPIO_AF_CAN1);

// CAN Tx和Rx的GPIO
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11 | GPIO_Pin_12;
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(GPIOA, &GPIO_InitStructure);

// CAN的初始化
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_3tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_5tq;
CAN_InitStructure.CAN_Prescaler = 4;
CAN_Init(CAN1, &CAN_InitStructure);

// CAN滤波器初始化
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);

// 使能CAN
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
CAN_ITConfig(CAN1, CAN_IT_FMP1, ENABLE);
CAN_ITConfig(CAN1, CAN_IT_TME, ENABLE);
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
CAN_ITConfig(CAN1, CAN_IT_FF0, ENABLE);
CAN_ITConfig(CAN1, CAN_IT_FOV0, ENABLE);
CAN_ITConfig(CAN1, CAN_IT_FMP1, ENABLE);
CAN_ITConfig(CAN1, CAN_IT_FF1, ENABLE);
CAN_ITConfig(CAN1, CAN_IT_FOV1, ENABLE);
CAN_ITConfig(CAN1, CAN_IT_WKU, ENABLE);
CAN_ITConfig(CAN1, CAN_IT_SLK, 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);
CAN_ITConfig(CAN1, CAN_IT_ERR, ENABLE);
CAN_ITConfig(CAN1, CAN_IT_ERR, ENABLE);
CAN_ITConfig(CAN1, CAN_IT_ERR, ENABLE);

// 使能CAN
CAN_Cmd(CAN1, ENABLE);
}