void CAN1_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;

NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);

NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x00;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x00;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);



RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE );

//CAN_RX
GPIO_InitStructure.GPIO_Pin = GPIO_PinSource11; //PA11
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOA, &GPIO_InitStructure);

//CAN_TX
GPIO_InitStructure.GPIO_Pin = GPIO_PinSource12; //PA12
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);


RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
CAN_DeInit(CAN1);

CAN_InitStructure.CAN_TTCM = DISABLE;
CAN_InitStructure.CAN_ABOM = DISABLE;
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;

//расчет на 500кб
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_3tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;
CAN_InitStructure.CAN_Prescaler = 12;
CAN_Init(CAN1, &CAN_InitStructure);

CAN_FilterInitStructure.CAN_FilterNumber = 0;
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;
CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_FIFO0;
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);


TxMessage.StdId = 0x321;
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.IDE = CAN_ID_STD;
TxMessage.DLC = 8;

CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
}

        TxMessage.StdId=PID_REQUEST;
        TxMessage.RTR = CAN_RTR_DATA;
        TxMessage.IDE = CAN_ID_STD;
        TxMessage.DLC = 8;
        TxMessage.Data[0] = 0x02;
        TxMessage.Data[1] = 0x01;
        TxMessage.Data[2] = ENGINE_COOLANT_TEMP;
        TxMessage.Data[3] = 0x00;
        TxMessage.Data[4] = 0x00;
        TxMessage.Data[5] = 0x00;
        TxMessage.Data[6] = 0x00;
        TxMessage.Data[7] = 0x00;

        do
        {
            transmit_mailbox = CAN_Transmit( CAN1, &TxMessage );
        }
        while( transmit_mailbox =! CAN_NO_MB );

        txStat1 = CAN_TransmitStatus(CAN1, 0); //0x02 CAN_TxStatus_Pending
        txStat2 = CAN_TransmitStatus(CAN1, 1); //0x02 CAN_TxStatus_Pending
        txStat3 = CAN_TransmitStatus(CAN1, 2); //0x02 CAN_TxStatus_Pending

        if (txStat1 == CANTXOK || txStat2 == CANTXOK || txStat3 == CANTXOK)
            ok = 1;

GPIO_Mode_Out_PP

int main(void)
{

  SystemInit();

  GPIO_InitTypeDef  GPIO_InitStructure;
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC, ENABLE );
  GPIO_InitStructure.GPIO_Pin = GPIO_PinSource12 | GPIO_PinSource11 | GPIO_PinSource10 | GPIO_PinSource15;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOA, &GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin = GPIO_PinSource3 | GPIO_PinSource8 | GPIO_PinSource9;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOB, &GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin = GPIO_PinSource15;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOC, &GPIO_InitStructure);

  GPIO_SetBits(GPIOA, GPIO_PinSource12);
  GPIO_SetBits(GPIOA, GPIO_PinSource11);
  GPIO_SetBits(GPIOA, GPIO_PinSource10);
  GPIO_SetBits(GPIOA, GPIO_PinSource15);

  GPIO_SetBits(GPIOB, GPIO_PinSource3);
  GPIO_SetBits(GPIOB, GPIO_PinSource8);
  GPIO_SetBits(GPIOB, GPIO_PinSource9);

  GPIO_SetBits(GPIOC, GPIO_PinSource15);


  while (1)
  {
  }
}