STM32CAN总线回环模式下的程序已经测试成功

void gp(void)
{
   GPIO_InitTypeDef GPIO_Struct;
   RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOF,ENABLE);
   GPIO_Struct.GPIO_Mode=GPIO_Mode_IPU;
   GPIO_Struct.GPIO_Pin=GPIO_Pin_11;
   GPIO_Init(GPIOA,&GPIO_Struct);

   GPIO_Struct.GPIO_Mode=GPIO_Mode_AF_PP;
   GPIO_Struct.GPIO_Speed=GPIO_Speed_10MHz;
   GPIO_Struct.GPIO_Pin=GPIO_Pin_12;
   GPIO_Init(GPIOA,&GPIO_Struct);

    GPIO_Struct.GPIO_Mode=GPIO_Mode_Out_PP;
   GPIO_Struct.GPIO_Speed=GPIO_Speed_10MHz;
   GPIO_Struct.GPIO_Pin=GPIO_Pin_6;
   GPIO_Init(GPIOF,&GPIO_Struct);
   GPIO_SetBits(GPIOF,GPIO_Pin_6);
}
void can(void)
{
   CAN_InitTypeDef CAN_Struct;
   CAN_FilterInitTypeDef CAN_FilterStruct;
   CanTxMsg  TxMessage;
   CanRxMsg  RxMessage;
   u8 TransmitMailbox=0;
   u8 i=0;
   RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1,ENABLE);
   CAN_Struct.CAN_TTCM=DISABLE;
   CAN_Struct.CAN_ABOM=DISABLE;
   CAN_Struct.CAN_AWUM=DISABLE;
   CAN_Struct.CAN_NART=DISABLE;
   CAN_Struct.CAN_RFLM=DISABLE;
   CAN_Struct.CAN_TXFP=DISABLE;
   CAN_Struct.CAN_Mode=CAN_Mode_LoopBack;
   CAN_Struct.CAN_SJW=CAN_SJW_1tq;
   CAN_Struct.CAN_BS1=CAN_BS1_8tq;
   CAN_Struct.CAN_BS2=CAN_BS2_7tq;
   CAN_Struct.CAN_Prescaler=5;
   CAN_Init(CAN1,&CAN_Struct);

   CAN_FilterStruct.CAN_FilterNumber=0;//
   CAN_FilterStruct.CAN_FilterMode=CAN_FilterMode_IdMask;//
  CAN_FilterStruct.CAN_FilterScale=CAN_FilterScale_32bit;/
  CAN_FilterStruct.CAN_FilterIdHigh=0x0000;//IDµÄ¸ß16λ
  CAN_FilterStruct.CAN_FilterIdLow=0x0000;//IDµÄµÍ16λ
  CAN_FilterStruct.CAN_FilterMaskIdHigh=0x0000;//
  CAN_FilterStruct.CAN_FilterMaskIdLow=0x0000;//
  CAN_FilterStruct.CAN_FilterFIFOAssignment=0;//
  CAN_FilterStruct.CAN_FilterActivation=ENABLE;//¼¤»î¹ýÂËÆ÷
  CAN_FilterInit(&CAN_FilterStruct);
  
  TxMessage.StdId=0x11;//ÉèÖñêʶ·û
  TxMessage.RTR=CAN_RTR_DATA;//Êý¾ÝÖ¡
  TxMessage.IDE=CAN_ID_STD;//±ê×¼±êʶ·û
  TxMessage.DLC=2;//·¢Ë͵Ä×Ö½ÚÊý
  TxMessage.Data[0]=0x33;//µÚÒ»Ö¡Êý¾Ý
  TxMessage.Data[1]=0xFE;// µÚ¶þÖ¡Êý¾Ý
  TransmitMailbox=CAN_Transmit(CAN1,&TxMessage);//·¢ËÍÏûÏ¢
  while((CAN_TransmitStatus(CAN1,TransmitMailbox)!=CANTXOK)&&(i!=0xff))
  {
   i++;
  }
   RxMessage.StdId=0x00;//³õʼ»¯½ÓÊܹýÂËÆ÷
  RxMessage.IDE=CAN_ID_STD;
  RxMessage.DLC=0x00;
  RxMessage.Data[0]=0x00;
  RxMessage.Data[1]=0x00;
   CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
  if(RxMessage.Data[0]==0x33)
  {
   GPIO_ResetBits(GPIOF,GPIO_Pin_6);
  }
  
}