STM32 CAN通讯滤波器几种模式的设置

RTR：0数据帧；1远程帧
IDE：0标准帧；1扩展帧
#define STANDARD_ID    0x0256     （11位）
#define EXTENDED_ID    0x00025648 （29位）

一、 过滤---标准帧ID

1. 32位过滤器-标识符屏蔽模式（一组筛选ID）

CAN_FilterInitStructure.CAN_FilterNumber=0;		
CAN_FilterInitStructure.CAN_FilterMode  =CAN_FilterMode_IdMask; 		
CAN_FilterInitStructure.CAN_FilterScale  =CAN_FilterScale_32bit; 		
CAN_FilterInitStructure.CAN_FilterIdHigh =STANDARD_ID<<5;		
CAN_FilterInitStructure.CAN_FilterIdLow =0;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xFFE0;	
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;	
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);	

 2. 32位过滤器-标识符列表模式（2个筛选ID）

CAN_FilterInitStructure.CAN_FilterNumber=0;		
CAN_FilterInitStructure.CAN_FilterMode  =CAN_FilterMode_IdList; 		
CAN_FilterInitStructure.CAN_FilterScale  =CAN_FilterScale_32bit; 		
CAN_FilterInitStructure.CAN_FilterIdHigh =STANDARD_ID<<5;		
CAN_FilterInitStructure.CAN_FilterIdLow =0;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=(STANDARD_ID+2)<<5;	
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;	
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);

 3. 16位过滤器-标识符屏蔽模式（2组筛选ID）

CAN_FilterInitStructure.CAN_FilterNumber=0;	
CAN_FilterInitStructure.CAN_FilterMode  =CAN_FilterMode_IdMask; 		
CAN_FilterInitStructure.CAN_FilterScale  =CAN_FilterScale_16bit; 	
CAN_FilterInitStructure.CAN_FilterIdHigh =STANDARD_ID<<5;		
CAN_FilterInitStructure.CAN_FilterIdLow =(STANDARD_ID+1)<<5;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xFFE0;	
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0xFFE0;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);	

 4. 16位过滤器-标识符列表模式(4个筛选ID)

CAN_FilterInitStructure.CAN_FilterNumber=0;		
CAN_FilterInitStructure.CAN_FilterMode  =CAN_FilterMode_IdList; 		
CAN_FilterInitStructure.CAN_FilterScale  =CAN_FilterScale_16bit; 	
CAN_FilterInitStructure.CAN_FilterIdHigh =STANDARD_ID<<5;		
CAN_FilterInitStructure.CAN_FilterIdLow =(STANDARD_ID+1)<<5;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=(STANDARD_ID+2)<<5;
CAN_FilterInitStructure.CAN_FilterMaskIdLow=(STANDARD_ID+3)<<5;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;	
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);	

 二、过滤-扩展帧ID（只能使用32位滤波器）

 1. 32位过滤器-标识符屏蔽模式（一组筛选ID）

CAN_FilterInitStructure.CAN_FilterNumber=0;		
CAN_FilterInitStructure.CAN_FilterMode  =CAN_FilterMode_IdMask; 	
CAN_FilterInitStructure.CAN_FilterScale  =CAN_FilterScale_32bit; 		
CAN_FilterInitStructure.CAN_FilterIdHigh =EXTENDED_ID>>13;	//左移3，再右移16
CAN_FilterInitStructure.CAN_FilterIdLow =(EXTENDED_ID << 3) | (1U << 2); //IDE=1
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xFFFF;	
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0xFFF8 | (1U << 2);   //IDE=1
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;	
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);	

2. 32位过滤器-标识符列表模式（2个筛选ID）

CAN_FilterInitStructure.CAN_FilterNumber=0;		
CAN_FilterInitStructure.CAN_FilterMode  =CAN_FilterMode_IdList; 	
CAN_FilterInitStructure.CAN_FilterScale  =CAN_FilterScale_32bit; 		
CAN_FilterInitStructure.CAN_FilterIdHigh =EXTENDED_ID>>13;	//左移3，再右移16
CAN_FilterInitStructure.CAN_FilterIdLow =(EXTENDED_ID << 3) | (1U << 2); //IDE=1
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=(EXTENDED_ID+1)>>13;	
CAN_FilterInitStructure.CAN_FilterMaskIdLow=((EXTENDED_ID+1) << 3) | (1U << 2);
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;	
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);