参考文档CAN总线波特率的设定——以STM32F103为例 - 知乎42. CAN—通讯实验 — [野火]STM32库开发实战指南——基于野火霸道开发板 文档基本知识SMP 采样率STM32F1系列开发板设置的系统时钟大小SYSCLK系统时钟72MHzAHB总线时钟使用SYSCLK72MHzAPB1总线时钟PCLK136MHz CAN、USB、I2C等APB2总线时钟PCLK272MHzPLL时钟72MHz波特率选取规则建议如下TSEG2 SJWBRP波特率预分频尽量小SJW同步跳转宽度尽量大SMP采样点选取在75%~87.5%之间。参数配置BS1BS2RRESbaudSMP619500kbps87.5%4416250kbps55.5%1329250kbps87.5%CAN_BS1CAN_BS2CAN_PrescalerbaudSMP备注CAN_BS1_13tqCAN_BS2_2tq925000036M / 1132/ 987.5% 131/1132最推荐 250K精确CAN_BS1_8tqCAN_BS2_3tq625000081.8%250K采样点均衡CAN_BS1_11tqCAN_BS2_4tq625000080.0%250K兼容性好CAN_BS1_5tqCAN_BS2_4tq9≈44444466.7%接近500K文章常用CAN_BS1_8tqCAN_BS2_7tq545000075.0%接近500KCAN_BS1_9tqCAN_BS2_6tq545000076.9%接近500KCAN_BS1_13tqCAN_BS2_2tq450000087.5%精确500K推荐CAN_BS1_8tqCAN_BS2_3tq450000081.8%精确500KCAN_BS1_11tqCAN_BS2_4tq450000080.0%精确500KCAN_BS1_6tqCAN_BS2_3tq3≈100000077.8%接近1Mbps// CAN波特率 BaudRate RCC_APB1PeriphClock/(CAN_SJWCAN_BS1CAN_BS2)/CAN_Prescaler #define SET_CAN_SJW CAN_SJW_1tq #define SET_CAN_BS1 CAN_BS1_13tq // 8 #define SET_CAN_BS2 CAN_BS2_2tq // 7 #define SET_CAN_PRES 9 // 波特率分频器