STM32的can总线的装备如下：
CAN_InitStructure.CAN_TTCM=DISABLE;//制止时刻触发通讯形式
CAN_InitStructure.CAN_ABOM=DISABLE;
CAN_InitStructure.CAN_AWUM=DISABLE;
CAN_InitStructure.CAN_NART=DISABLE;//CAN报文只被发送1次，不论发送的成果怎么（成功、犯错或裁定丢掉）
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;//挑选过滤器0
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;//指定过滤器被设置为标识符屏蔽形式
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;//给出过滤器位宽为32位
下面依据设置的参数不同来决议can总线can总线的装备状况：
1、对扩展数据帧进行过滤：（只接纳扩展数据帧）
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：规范帧数据帧、规范长途帧和扩展长途帧均被过滤）
2、对扩展长途帧过滤：（只接纳扩展长途帧）
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、对规范长途帧过滤：（只接纳规范长途帧）
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、对规范数据帧过滤：（只接纳规范数据帧）
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、对扩展帧进行过滤：（扩展帧不会被过滤掉）
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、对规范帧进行过滤：（规范帧不会被过滤掉）
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为要过滤的id号。
