STM32CAN通信设置多个滤波器

zjkxxx123 · 发表于 2022-11-23 13:26:21

各位同仁，本人在调试STM32F103ZE 的CAN通信时，遇到滤波器设置问题    问题如下：在设置完过滤器0、1、2后，实测只有过滤器2能正常工作
   请各位同仁，帮忙解答下！代码如下：

      CAN_FilterInitStructure.CAN_FilterNumber=0;    //过滤器0
   CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdList;
    CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位
    CAN_FilterInitStructure.CAN_FilterIdHigh=0x1F00;////32位ID
    CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x1F00;//32位MASK
    CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
    CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//过滤器0关联到FIFO0
   CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //激活过滤器0

   CAN_FilterInitStructure.CAN_FilterNumber=1;    //过滤器1
   CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdList;
    CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位
    CAN_FilterInitStructure.CAN_FilterIdHigh=0x1C00;////32位ID
    CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x1C00;//32位MASK
    CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
    CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//过滤器0关联到FIFO0
   CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //激活过滤器0

      CAN_FilterInitStructure.CAN_FilterNumber=2;    //过滤器2
   CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdList;
    CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位
    CAN_FilterInitStructure.CAN_FilterIdHigh=0x1D00;////32位ID
    CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x1D00;//32位MASK
    CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
    CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//过滤器2关联到FIFO0
   CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //激活过滤器2

以下是整个函数的代码：

u8 CAN_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode)
{

   GPIO_InitTypeDef GPIO_InitStructure;
   CAN_InitTypeDef       CAN_InitStructure;
   CAN_FilterInitTypeDef  CAN_FilterInitStructure;
#if CAN_RX0_INT_ENABLE
   NVIC_InitTypeDef  NVIC_InitStructure;
#endif

   RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//使能PORTA时钟

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//使能CAN1时钟

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽
GPIO_Init(GPIOA, &GPIO_InitStructure); //初始化IO

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;//上拉输入
GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化IO

//CAN单元设置
   CAN_InitStructure.CAN_TTCM=DISABLE;    //非时间触发通信模式  //
   CAN_InitStructure.CAN_ABOM=DISABLE;    //软件自动离线管理    //
    CAN_InitStructure.CAN_AWUM=DISABLE;    //睡眠模式通过软件唤醒(清除CAN->MCR的SLEEP位)//
    CAN_InitStructure.CAN_NART=ENABLE;      //禁止报文自动传送 //
    CAN_InitStructure.CAN_RFLM=DISABLE;    //报文不锁定,新的覆盖旧的 //
    CAN_InitStructure.CAN_TXFP=DISABLE;    //优先级由报文标识符决定 //
    CAN_InitStructure.CAN_Mode= mode;          //模式设置： mode:0,普通模式;1,回环模式; //
    //设置波特率
    CAN_InitStructure.CAN_SJW=tsjw; //重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位  CAN_SJW_1tq    CAN_SJW_2tq CAN_SJW_3tq CAN_SJW_4tq
    CAN_InitStructure.CAN_BS1=tbs1; //Tbs1=tbs1+1个时间单位CAN_BS1_1tq ~CAN_BS1_16tq
    CAN_InitStructure.CAN_BS2=tbs2;//Tbs2=tbs2+1个时间单位CAN_BS2_1tq ~ CAN_BS2_8tq
    CAN_InitStructure.CAN_Prescaler=brp;          //分频系数(Fdiv)为brp+1 //
    CAN_Init(CAN1, &CAN_InitStructure);          // 初始化CAN1

   CAN_FilterInitStructure.CAN_FilterNumber=0;    //过滤器0
   CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdList;
    CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位
    CAN_FilterInitStructure.CAN_FilterIdHigh=0x1F00;////32位ID
    CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x1F00;//32位MASK
    CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
    CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//过滤器0关联到FIFO0
   CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //激活过滤器0

   CAN_FilterInitStructure.CAN_FilterNumber=1;    //过滤器1
   CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdList;
    CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位
    CAN_FilterInitStructure.CAN_FilterIdHigh=0x1C00;////32位ID
    CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x1C00;//32位MASK
    CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
    CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//过滤器0关联到FIFO0
   CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //激活过滤器0

CAN_FilterInitStructure.CAN_FilterNumber=2;    //过滤器2
   CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdList;
    CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位
    CAN_FilterInitStructure.CAN_FilterIdHigh=0x1D00;////32位ID
    CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x1D00;//32位MASK
    CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
    CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//过滤器2关联到FIFO0
   CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //激活过滤器2

    CAN_FilterInit(&CAN_FilterInitStructure);//滤波器初始化
#if CAN_RX0_INT_ENABLE

   CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);//FIFO0消息挂号中断允许.

    NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;    // 主优先级为1
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;          // 次优先级为0
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
#endif
return 0;
}