stm32 CAN 过滤器配置问题

hanchaoman · 发表于 2017-6-8 17:33:52

STM32 用CAN总线时，如果有多个主机向我发送数据，并且他们发送时CAN ID相同，这样会不会有问题？虽然我也能正确收到所有主机数据，如果多主机同时发送数据时，是不是CAN总线仲裁就不起作用了？

// 我自己的过滤器配置如下：
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 = (((uint32_t)MYID<<3)& 0xFFFF0000)>>16; // 其中MYID = 0001
CAN_FilterInitStructure.CAN_FilterIdLow = (((uint32_t)MYID<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF; // 其中CAN_ID_EXT = 0x00000004， CAN_RTR_DATA = 0x00000000
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFF;

CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;

CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);

CAN_ITConfig(CAN1,CAN_IT_FMP0, ENABLE);
CAN_ITConfig(CAN1,CAN_IT_TME, ENABLE);
}

// 多个主机发送端CAN ID值相同。如下：
void CANTransmitFrame（）

TxMessage.ExtId = SendID; // 0x0001
TxMessage.IDE = CAN_ID_EXT; // 0x00000004
TxMessage.RTR = CAN_RTR_DATA; // 0x00000000
TxMessage.DLC = 8;
for(i=0;i<8;i++){
TxMessage.Data[i]=ucFrameBuf[i];
}
transmailbox = CAN_Transmit(CAN1,&TxMessage);

.....................以下省略

}