首先粘貼出官方提供的can例程代碼，根據(jù)需要我將部分內(nèi)容做了修改，供大家參考！

can_sample中包換以下函數(shù)： 接收數(shù)據(jù)回調(diào)函數(shù) static rt_err_t can_rx_call(rt_device_t dev, rt_size_t size)

定義can接收線程：static void can_rx_thread(void *parameter)

查找can設(shè)備：rt_device_t rt_device_find(const char* name);

打開can設(shè)備：rt_err_t rt_device_open(rt_device_t dev, rt_uint16_t oflags);

發(fā)生can數(shù)據(jù)：rt_size_t rt_device_write(rt_device_t dev, rt_off_t pos, const void* buffer, rt_size_t size);

在int can_sample(int argc, char *argv[])中調(diào)用can接收線程

其中對于描述是有兩個(gè)段代碼可供參考

/*
 * 程序清單：這是一個(gè) CAN 設(shè)備使用例程
 * 例程導(dǎo)出了 can_sample 命令到控制終端
 * 命令調(diào)用格式：can_sample can1
 * 命令解釋：命令第二個(gè)參數(shù)是要使用的 CAN 設(shè)備名稱，為空則使用默認(rèn)的 CAN 設(shè)備
 * 程序功能：通過 CAN 設(shè)備發(fā)送一幀，并創(chuàng)建一個(gè)線程接收數(shù)據(jù)然后打印輸出。
*/
#include 
#include "rtdevice.h"
#define CAN_DEV_NAME       "can1"      /* CAN 設(shè)備名稱 */
static struct rt_semaphore rx_sem;     /* 用于接收消息的信號量 */
static rt_device_t can_dev;            /* CAN 設(shè)備句柄 */
/* 接收數(shù)據(jù)回調(diào)函數(shù) */
static rt_err_t can_rx_call(rt_device_t dev, rt_size_t size)
{
    /* CAN 接收到數(shù)據(jù)后產(chǎn)生中斷，調(diào)用此回調(diào)函數(shù)，然后發(fā)送接收信號量 */
    rt_sem_release(&rx_sem);
    return RT_EOK;
}
static void can_rx_thread(void *parameter)
{
    int i;
    rt_err_t res;
    struct rt_can_msg rxmsg = {0};
    /* 設(shè)置接收回調(diào)函數(shù) */
    rt_device_set_rx_indicate(can_dev, can_rx_call);

    while (1)
    {
        /* hdr 值為 - 1，表示直接從 uselist 鏈表讀取數(shù)據(jù) */
        rxmsg.hdr = -1;
        /* 阻塞等待接收信號量 */
        rt_sem_take(&rx_sem, RT_WAITING_FOREVER);
        /* 從 CAN 讀取一幀數(shù)據(jù) */
        rt_device_read(can_dev, 0, &rxmsg, sizeof(rxmsg));
        /* 打印數(shù)據(jù) ID 及內(nèi)容 */
        rt_kprintf("ID:%x", rxmsg.id);
        for (i = 0; i < 8; i++)
        {
            rt_kprintf("%2x", rxmsg.data[i]);
        }
        rt_kprintf("\n");
    }
}
int can_sample(int argc, char *argv[])
{
    struct rt_can_msg msg = {0};
    rt_err_t res;
    rt_size_t  size;
    rt_thread_t thread;
    char can_name[RT_NAME_MAX];
    if (argc == 2)
    {
        rt_strncpy(can_name, argv[1], RT_NAME_MAX);
    }
    else
    {
        rt_strncpy(can_name, CAN_DEV_NAME, RT_NAME_MAX);
    }
    /* 查找 CAN 設(shè)備 */
    can_dev = rt_device_find(can_name);
    if (!can_dev)
    {
        rt_kprintf("find %s failed!\n", can_name);
        return RT_ERROR;
    }
    /* 初始化 CAN 接收信號量 */
    rt_sem_init(&rx_sem, "rx_sem", 0, RT_IPC_FLAG_FIFO);
    /* 以中斷接收及發(fā)送方式打開 CAN 設(shè)備 */
    res = rt_device_open(can_dev, RT_DEVICE_FLAG_INT_TX | RT_DEVICE_FLAG_INT_RX);
    RT_ASSERT(res == RT_EOK);
    /* 創(chuàng)建數(shù)據(jù)接收線程 */
    thread = rt_thread_create("can_rx", can_rx_thread, RT_NULL, 1024, 25, 10);
    if (thread != RT_NULL)
    {
        rt_thread_startup(thread);
    }
    else
    {
        rt_kprintf("create can_rx thread failed!\n");
    }
    msg.id = 0x78;              /* ID 為 0x78 */
    msg.ide = RT_CAN_STDID;     /* 標(biāo)準(zhǔn)格式 */
    msg.rtr = RT_CAN_DTR;       /* 數(shù)據(jù)幀 */
    msg.len = 8;                /* 數(shù)據(jù)長度為 8 */
    /* 待發(fā)送的 8 字節(jié)數(shù)據(jù) */
    msg.data[0] = 0x00;
    msg.data[1] = 0x11;
    msg.data[2] = 0x22;
    msg.data[3] = 0x33;
    msg.data[4] = 0x44;
    msg.data[5] = 0x55;
    msg.data[6] = 0x66;
    msg.data[7] = 0x77;
    /* 發(fā)送一幀 CAN 數(shù)據(jù) */
    size = rt_device_write(can_dev, 0, &msg, sizeof(msg));
    if (size == 0)
    {
        rt_kprintf("can dev write data failed!\n");
    }
    return res;
}
void can_send_test(void)
{
    struct rt_can_msg msg = {0};
    rt_size_t  size;
    static rt_uint8_t num = 0;
    msg.id = 0x78;              /* ID 為 0x78 */
    msg.ide = RT_CAN_STDID;     /* 標(biāo)準(zhǔn)格式 */
    msg.rtr = RT_CAN_DTR;       /* 數(shù)據(jù)幀 */
    msg.len = 8;                /* 數(shù)據(jù)長度為 8 */
    /* 待發(fā)送的 8 字節(jié)數(shù)據(jù) */
    msg.data[0] = 0x00;
    msg.data[1] = num++;     //can發(fā)送數(shù)據(jù)隨意更改
    msg.data[2] = 0x22;
    msg.data[3] = 0x33;
    msg.data[4] = num++;
    msg.data[5] = 0x55;
    msg.data[6] = 0x66;
    msg.data[7] = 0x77;
    /* 發(fā)送一幀 CAN 數(shù)據(jù) */
    size = rt_device_write(can_dev, 0, &msg, sizeof(msg));
    if (size == 0)
    {
        rt_kprintf("can dev write data failed!\n");
    }
}
/* 導(dǎo)出到 msh 命令列表中 */
MSH_CMD_EXPORT(can_sample, can device sample);
MSH_CMD_EXPORT(can_send_test, can send test);

另外一個(gè)版本，實(shí)現(xiàn)的功能是一樣的

/*
 * 程序清單：這是一個(gè) CAN 設(shè)備使用例程
 * 例程導(dǎo)出了 can_sample 命令到控制終端
 * 命令調(diào)用格式：can_sample can1
 * 命令解釋：命令第二個(gè)參數(shù)是要使用的 CAN 設(shè)備名稱，為空則使用默認(rèn)的 CAN 設(shè)備
 * 程序功能：通過 CAN 設(shè)備發(fā)送一幀，并創(chuàng)建一個(gè)線程接收數(shù)據(jù)然后打印輸出。
*/

#include 
#include "rtdevice.h"

#define CAN_DEV_NAME       "can1"      /* CAN 設(shè)備名稱 */

static struct rt_semaphore rx_sem;     /* 用于接收消息的信號量 */
static rt_device_t can_dev;            /* CAN 設(shè)備句柄 */

#define THREAD_PRIORITY         25
#define THREAD_STACK_SIZE       512
#define THREAD_TIMESLICE        5

static rt_thread_t tid1 = RT_NULL;

/* 接收數(shù)據(jù)回調(diào)函數(shù) */
static rt_err_t can_rx_call(rt_device_t dev, rt_size_t size) {
    /* CAN 接收到數(shù)據(jù)后產(chǎn)生中斷，調(diào)用此回調(diào)函數(shù)，然后發(fā)送接收信號量 */
    rt_sem_release(&rx_sem);

    return RT_EOK;
}

static void can_rx_thread(void *parameter) {
    int i;
    rt_err_t res;
    struct rt_can_msg rxmsg = {0};

    /* 設(shè)置接收回調(diào)函數(shù) */
    rt_device_set_rx_indicate(can_dev, can_rx_call);

    while (1) {
        /* hdr 值為 - 1，表示直接從 uselist 鏈表讀取數(shù)據(jù) */
        rxmsg.hdr = -1;
        /* 阻塞等待接收信號量 */
        rt_sem_take(&rx_sem, RT_WAITING_FOREVER);
        /* 從 CAN 讀取一幀數(shù)據(jù) */
        rt_device_read(can_dev, 0, &rxmsg, sizeof(rxmsg));
        /* 打印數(shù)據(jù) ID 及內(nèi)容 */
        rt_kprintf("ID:%x", rxmsg.id);
        for (i = 0; i < 8; i++) {
            rt_kprintf("%2x", rxmsg.data[i]);
        }

        rt_kprintf("\n");
    }
}

/* 線程 1 的入口函數(shù) */
static void thread1_entry(void *parameter) {
    struct rt_can_msg msg = {0};
    unsigned long count = 0;

    msg.id = 0x78;              /* ID 為 0x78 */
    msg.ide = RT_CAN_STDID;     /* 標(biāo)準(zhǔn)格式 */
    msg.rtr = RT_CAN_DTR;       /* 數(shù)據(jù)幀 */
    msg.len = 8;                /* 數(shù)據(jù)長度為 3 */
    /* 待發(fā)送的 3 字節(jié)數(shù)據(jù) */
    msg.data[0] = 0x00;
    msg.data[1] = 0x11;
    msg.data[2] = 0x22;
    msg.data[3] = 0x00;
    msg.data[4] = 0x11;
    msg.data[5] = 0x00;
    msg.data[6] = 0x11;
    msg.data[7] = 0x22;

    rt_kprintf("send %ld \n", ++count);

    while (1) {
        /* 線程 1 采用低優(yōu)先級運(yùn)行，一直打印計(jì)數(shù)值 */
        rt_device_write(can_dev, 0, &msg, sizeof(msg));
        rt_kprintf("send %ld \n", ++count);
        rt_thread_mdelay(500);
    }
}



int can_sample(int argc, char *argv[]) {
    rt_err_t res;
    rt_size_t  size;
    rt_thread_t thread;
    char can_name[RT_NAME_MAX];

    if (argc == 2) {
        rt_strncpy(can_name, argv[1], RT_NAME_MAX);
    } else {
        rt_strncpy(can_name, CAN_DEV_NAME, RT_NAME_MAX);
    }

    /* 查找 CAN 設(shè)備 */
    can_dev = rt_device_find(can_name);
    if (!can_dev) {
        rt_kprintf("find %s failed!\n", can_name);
        return RT_ERROR;
    }

    /* 初始化 CAN 接收信號量 */
    rt_sem_init(&rx_sem, "rx_sem", 0, RT_IPC_FLAG_FIFO);

    /* 以中斷接收及發(fā)送方式打開 CAN 設(shè)備 */

    res = rt_device_open(can_dev, RT_DEVICE_FLAG_INT_TX | RT_DEVICE_FLAG_INT_RX);
    /* 設(shè)置 CAN 的工作模式為正常工作模式 */
    res = rt_device_control(can_dev, RT_CAN_CMD_SET_MODE, (void *)RT_CAN_MODE_NORMAL);
    res = rt_device_control(can_dev, RT_CAN_CMD_SET_BAUD, (void *)CAN500kBaud);
    RT_ASSERT(res == RT_EOK);
    /* 創(chuàng)建數(shù)據(jù)接收線程 */
    thread = rt_thread_create("can_rx", can_rx_thread, RT_NULL, 1024, 25, 10);
    if (thread != RT_NULL) {
        rt_thread_startup(thread);
    } else {
        rt_kprintf("create can_rx thread failed!\n");
    }


    if (size == 0) {
        rt_kprintf("can dev write data failed!\n");
    }

    /* 創(chuàng)建線程 1，名稱是 thread1，入口是 thread1_entry*/
    tid1 = rt_thread_create("thread1",
                            thread1_entry, RT_NULL,
                            THREAD_STACK_SIZE,
                            THREAD_PRIORITY, THREAD_TIMESLICE);

    /* 如果獲得線程控制塊，啟動(dòng)這個(gè)線程 */
    if (tid1 != RT_NULL)
        rt_thread_startup(tid1);
    else
        rt_kprintf("start can send fail\n");

    return res;
}
/* 導(dǎo)出到 msh 命令列表中 */
MSH_CMD_EXPORT(can_sample, can device sample);

代碼編譯完成，下載。串口運(yùn)行：can_sample，打開創(chuàng)芯科技CAN卡，打開電腦的USB CAN工具

打開USB轉(zhuǎn)CAN，選擇對應(yīng)波特率，這里配置為1Mbps。

重啟，再次運(yùn)行can_sample，發(fā)現(xiàn)，接收到STM32發(fā)出的CAN數(shù)據(jù)幀。

多次運(yùn)行 can_send_test，電腦端可以接受數(shù)據(jù)。