K60 CAN 过滤设置

如何只接收特定ID的CAN帧呢？

设置CANx_RXIMRn，
这是一个31bit的寄存器，

格式按照这个设置。
0表示不care
1表示care

void CAN_SetRxFilterMask(uint32_t instance, uint32_t mb, uint32_t mask)
{
    CANBase[instance]->MCR |= (CAN_MCR_FRZ_MASK | CAN_MCR_HALT_MASK);
    while(!(CAN_MCR_FRZACK_MASK & (CANBase[instance]->MCR))) {}; 
    if(mask > 0x7FF)
    {    
      //  CANBase[instance]->RXIMR[mb] = CAN_ID_EXT(mask); 

             CANBase[instance]->RXIMR[mb] =(((uint32_t)(((uint32_t)(mask))<<CAN_ID_EXT_SHIFT))&(CAN_ID_EXT_MASK|CAN_ID_STD_MASK ));

    }
    else
    {
        //CANBase[instance]->RXIMR[mb] = CAN_ID_STD(mask); 

             CANBase[instance]->RXIMR[mb] = (((uint32_t)(((uint32_t)(mask))<<CAN_ID_STD_SHIFT))&CAN_ID_STD_MASK);
    }

    CANBase[instance]->MCR &= ~(CAN_MCR_FRZ_MASK | CAN_MCR_HALT_MASK);
    while((CAN_MCR_FRZACK_MASK & (CANBase[instance]->MCR)));
}

/* ID Bit Fields */
#define CAN_ID_EXT_MASK                          0x3FFFFu
#define CAN_ID_EXT_SHIFT                         0
#define CAN_ID_EXT(x)                            (((uint32_t)(((uint32_t)(x))<<CAN_ID_EXT_SHIFT))&CAN_ID_EXT_MASK)
#define CAN_ID_STD_MASK                          0x1FFC0000u
#define CAN_ID_STD_SHIFT                         18
#define CAN_ID_STD(x)                            (((uint32_t)(((uint32_t)(x))<<CAN_ID_STD_SHIFT))&CAN_ID_STD_MASK)
#define CAN_ID_PRIO_MASK                         0xE0000000u
#define CAN_ID_PRIO_SHIFT                        29
#define CAN_ID_PRIO(x)                           (((uint32_t)(((uint32_t)(x))<<CAN_ID_PRIO_SHIFT))&CAN_ID_PRIO_MAS

设置的时候调用：

CAN_SetRxFilterMask(HW_CAN1,3,0x7FF);// wenxue  标准帧11bits 
111 1111 1111

或者

 CAN_SetRxFilterMask(HW_CAN1,3,0x1FFFFFF);// wenxue  扩展帧 29 bits  1 1111 1111 1111 1111 1111 1111 1111

CAN 扩展帧ID为29位，标准帧为11位