1. CAN配置

1.1引脚（STM32F413VGT6-LQFP100）

1.2 时钟

外部使用8MHz晶振
开启内部16MHz晶振
使用锁相环
最大100MHz，3路CAN时钟挂载于APB1时钟上，频率50MHz

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1.3 RCC配置

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1.4 CAN1配置

波特率计算:
500K = 50MHz / (5+4+1)*10 ;(10、5、4、1在下图中有介绍)。

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接收中断全部开启：

1.5 CAN2配置

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1.6 CAN3配置

1.7 输出设置

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2. CAN代码

2.1 CAN初始化

这里只改了void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)的这个部分

else if(canHandle->Instance==CAN2)
  {
  /* USER CODE BEGIN CAN2_MspInit 0 */

  /* USER CODE END CAN2_MspInit 0 */
    /* CAN2 clock enable */
	__HAL_RCC_CAN1_CLK_ENABLE(); //只增加的部分
    __HAL_RCC_CAN2_CLK_ENABLE();

    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**CAN2 GPIO Configuration
    PB12     ------> CAN2_RX
    PB13     ------> CAN2_TX
    */
    GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_13;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF9_CAN2;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    /* CAN2 interrupt Init */
		HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 0, 0);
		
    //HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
    HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn);
  /* USER CODE BEGIN CAN2_MspInit 1 */

  /* USER CODE END CAN2_MspInit 1 */
  }

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2.2 CAN滤波器设置

	//
	CAN1_Filter_Config();
	CAN2_Filter_Config();
	CAN3_Filter_Config();

	//CAN1 滤波器设置
	void CAN1_Filter_Config(){
	CAN_FilterTypeDef sFilterConfig;
	
	sFilterConfig.FilterBank = 0;						//
	sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;	/
	sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;	//
	sFilterConfig.FilterIdHigh = 0X0000;				//
	sFilterConfig.FilterIdLow = 0X0000;					//
	sFilterConfig.FilterMaskIdHigh = 0X0000;			//
	sFilterConfig.FilterMaskIdLow = 0X0000;				//
	sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;	//
	sFilterConfig.FilterActivation = ENABLE;			//
	sFilterConfig.SlaveStartFilterBank = 14;			//
	
	if(HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig) != HAL_OK)
	{
		Error_Handler();
	}
}

//CAN2 滤波器设置
void CAN2_Filter_Config(){
	CAN_FilterTypeDef sFilterConfig;
	
	sFilterConfig.FilterBank = 14;						//滤波器组初始化
	sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;	//
	sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;	//
	sFilterConfig.FilterIdHigh = 0X0000;				//
	sFilterConfig.FilterIdLow = 0X0000;					//
	sFilterConfig.FilterMaskIdHigh = 0X0000;			//
	sFilterConfig.FilterMaskIdLow = 0X0000;				//
	sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;	//
	sFilterConfig.FilterActivation = ENABLE;			//
	sFilterConfig.SlaveStartFilterBank = 14;			//从属滤波器组，单路CAN无意义
	
	if(HAL_CAN_ConfigFilter(&hcan2, &sFilterConfig) != HAL_OK)
	{
		Error_Handler();
	}
}

//CAN3设置
void CAN3_Filter_Config(){
	CAN_FilterTypeDef sFilterConfig;
	
	sFilterConfig.FilterBank = 0;						//
	sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;	//
	sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;	//
	sFilterConfig.FilterIdHigh = 0X0000;				//
	sFilterConfig.FilterIdLow = 0X0000;					//
	sFilterConfig.FilterMaskIdHigh = 0X0000;			//
	sFilterConfig.FilterMaskIdLow = 0X0000;				//
	sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;	//
	sFilterConfig.FilterActivation = ENABLE;			//
	sFilterConfig.SlaveStartFilterBank = 14;			//
	
	if(HAL_CAN_ConfigFilter(&hcan3, &sFilterConfig) != HAL_OK)
	{
		Error_Handler();
	}
}

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2.3 CAN使能

	HAL_CAN_Start(&hcan1);
	HAL_CAN_Start(&hcan2);
	HAL_CAN_Start(&hcan3);

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2.4 激活中断

	HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
	HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);
	HAL_CAN_ActivateNotification(&hcan3, CAN_IT_RX_FIFO0_MSG_PENDING);

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2.5 CAN发送函数

// 配置
CAN_TxHeaderTypeDef CAN_TX_T;
uint32_t tx_mailBox;
uint8_t tx_data[4] = {0x55, 0x66, 0x23, 0x58};
CAN_TX_T.StdId = 0x15;
CAN_TX_T.ExtId = 0;
CAN_TX_T.DLC = 4;

// 发送
HAL_CAN_AddTxMessage(&hcan1, &CAN_TX_T, tx_data, &tx_mailBox);

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2.6 CAN回调函数

CAN_RxHeaderTypeDef rxHeader;
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
	uint8_t data_ss[8];
	//HAL_UART_Transmit(&huart1, data_s2, 10, 1000);
	if(hcan->Instance == CAN1)
	{
		HAL_UART_Transmit(&huart1, data_s1, 10, 1000);
		
		HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &rxHeader, data_ss);
	}
	if(hcan->Instance == CAN2)
	{
		HAL_UART_Transmit(&huart1, data_s2, 10, 1000);
		
		HAL_CAN_GetRxMessage(&hcan2, CAN_RX_FIFO0, &rxHeader, data_ss);
	}
	if(hcan->Instance == CAN3)
	{
		HAL_UART_Transmit(&huart1, data_s3, 10, 1000);
		
		HAL_CAN_GetRxMessage(&hcan3, CAN_RX_FIFO0, &rxHeader, data_ss);
	}
	
}

2.7 main之后的代码

    MX_CAN1_Init();
    MX_CAN2_Init();
    MX_CAN3_Init();
	
	CAN1_Filter_Config();
	CAN2_Filter_Config();
	CAN3_Filter_Config();
	
	HAL_CAN_Start(&hcan1);
	HAL_CAN_Start(&hcan2);
	HAL_CAN_Start(&hcan3);
	
	HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
	HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);
	HAL_CAN_ActivateNotification(&hcan3, CAN_IT_RX_FIFO0_MSG_PENDING);