/* set LED0 pin mode to output */
rt_pin_mode(LED1_PIN, PIN_MODE_OUTPUT);    
candev = rt_device_find(canpara->name);
RT_ASSERT(candev);
rt_event_init(&canpara->event, canpara->name, RT_IPC_FLAG_FIFO);
rt_device_open(candev, (RT_DEVICE_OFLAG_RDWR | RT_DEVICE_FLAG_INT_RX | RT_DEVICE_FLAG_INT_TX));
rt_device_control(candev, RT_CAN_CMD_SET_FILTER, canpara->filter);
while (1)
{
    if (rt_event_recv(&canpara->event,
                      ( 1 <<canpara->filter->items[0].hdr),//(1 << canpara->filter->items[0].hdr),
                      canpara->eventopt,
                      RT_WAITING_FOREVER, &e) != RT_EOK)
    {
        rt_pin_write(LED1_PIN, PIN_HIGH);    //在这里死循环
        rt_thread_mdelay(1000);
        rt_pin_write(LED1_PIN, PIN_LOW);
        rt_thread_mdelay(1000);
        continue;
    }
    if (e & (1 << canpara->filter->items[0].hdr))
    {
        msg.hdr = canpara->filter->items[0].hdr;
        while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg))
        {
            co_msg.cob_id = msg.id;
            co_msg.len = msg.len;
            co_msg.rtr = msg.rtr;
            memcpy(co_msg.data, msg.data, msg.len);
            EnterMutex();
            canDispatch(OD_Data, &co_msg);
            LeaveMutex();
        }
    }
}    

 {(id), (ide), (rtr), (mode), (mask), -1, (ind), (args)}