stm32f107的can1的1m波特率设置

u8 CAN_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode)
{ 
	GPIO_InitTypeDef 		GPIO_InitStructure; 
	CAN_InitTypeDef        	CAN_InitStructure;
	CAN_FilterInitTypeDef  	CAN_FilterInitStructure;
#if CAN_RX0_INT_ENABLE 
	NVIC_InitTypeDef  		NVIC_InitStructure;
#endif

    /* CAN Periph clock enable */
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO ,ENABLE);//| RCC_APB2Periph_GPIOD
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
    GPIO_PinRemapConfig(GPIO_Remap1_CAN1,ENABLE); 
    /* Configure CAN pin: RX */
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;//GPIO_Mode_IN_FLOATING;
    GPIO_Init(GPIOB, &GPIO_InitStructure); 
    /* Configure CAN pin: TX */
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_Init(GPIOB, &GPIO_InitStructure); 

	//CAN单元设置
	CAN_InitStructure.CAN_TTCM=DISABLE;			//非时间触发通信模式  
	CAN_InitStructure.CAN_ABOM=DISABLE;			//软件自动离线管理	 
	CAN_InitStructure.CAN_AWUM=DISABLE;			//睡眠模式通过软件唤醒(清除CAN->MCR的SLEEP位)
	CAN_InitStructure.CAN_NART=ENABLE;			//禁止报文自动传送 
	CAN_InitStructure.CAN_RFLM=DISABLE;		 	//报文不锁定,新的覆盖旧的  
	CAN_InitStructure.CAN_TXFP=DISABLE;			//优先级由报文标识符决定 
	CAN_InitStructure.CAN_Mode= mode;	        //模式设置： mode:0,普通模式;1,回环模式; 
	//设置波特率
	CAN_InitStructure.CAN_SJW=tsjw;				//重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位  CAN_SJW_1tq	 CAN_SJW_2tq CAN_SJW_3tq CAN_SJW_4tq
	CAN_InitStructure.CAN_BS1=tbs1; 			//Tbs1=tbs1+1个时间单位CAN_BS1_1tq ~CAN_BS1_16tq
	CAN_InitStructure.CAN_BS2=tbs2;				//Tbs2=tbs2+1个时间单位CAN_BS2_1tq ~	CAN_BS2_8tq
	CAN_InitStructure.CAN_Prescaler=brp;        //分频系数(Fdiv)为brp+1	
	CAN_Init(CAN1, &CAN_InitStructure);        	//初始化CAN1 CAN时钟是36M

	CAN_FilterInitStructure.CAN_FilterNumber=0;	//过滤器0
	CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; 	//屏蔽位模式
	CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; 	//32位宽 
	CAN_FilterInitStructure.CAN_FilterIdHigh=0x01 <<5;	//32位ID
	CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
	CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x1f <<5;//32位MASK
	CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
	CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//过滤器0关联到FIFO0
	CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;//激活过滤器0

	CAN_FilterInit(&CAN_FilterInitStructure);			//滤波器初始化
	
#if CAN_RX0_INT_ENABLE 
	CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);				//FIFO0消息挂号中断允许.		    

	NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;     // 主优先级为1
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;            // 次优先级为0
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
	NVIC_Init(&NVIC_InitStructure);
#endif
	return 0;
}