static void CAN_Mode_Config(void)
{
        CAN_InitTypeDef        CAN_InitStructure;

        CAN_DeInit(CAN1);
        CAN_StructInit(&CAN_InitStructure);

        CAN_InitStructure.CAN_TTCM=DISABLE;
        CAN_InitStructure.CAN_ABOM=ENABLE;
        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_2tq;
        CAN_InitStructure.CAN_BS1=CAN_BS1_13tq;
        CAN_InitStructure.CAN_BS2=CAN_BS2_4tq;
        CAN_InitStructure.CAN_Prescaler = 20;       
        CAN_Init(CAN1, &CAN_InitStructure);
}

static void CAN_Filter_Config(void)
{
        CAN_FilterInitTypeDef  CAN_FilterInitStructure;

        CAN_FilterInitStructure.CAN_FilterNumber=0;
        CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
        CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
       
        CAN_FilterInitStructure.CAN_FilterIdHigh= 0;
        CAN_FilterInitStructure.CAN_FilterIdLow= 0;
        CAN_FilterInitStructure.CAN_FilterMaskIdHigh= 0;
        CAN_FilterInitStructure.CAN_FilterMaskIdLow= 0;
        CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0 ;
        CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
        CAN_FilterInit(&CAN_FilterInitStructure);

        CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
}

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