嵌入式作业8

对于can的驱动函数文件加注释。在can(加注释).c中标了“//2024.6”的语句加以理解并写出注释。放入博客中。 实验完成后,将结果截图、连线照片、实验原理图和CAN原理介绍,放入博客中。

can文件注释

//======================================================================
//文件名称:can.c
//功能概要:uart底层驱动构件源文件
//版权所有:苏州大学嵌入式系统与物联网研究所(sumcu.suda.edu.cn)
//更新记录:2021-02-03 V1.0  JJL
//======================================================================
#include "can.h"

CAN_TypeDef *CAN_ARR[] = {(CAN_TypeDef*)CAN1_BASE};
IRQn_Type table_irq_can[2] = {CAN1_RX0_IRQn, CAN1_RX1_IRQn};

uint8_t can_send_once(uint8_t canNo, uint32_t DestID, uint16_t len ,uint8_t* buff);
uint8_t CAN_HWInit(uint8_t CANChannel);
uint8_t CAN_SWInit_Entry(uint8_t canNo);
void CAN_SWInit_CTLMode(uint8_t canNo);
void CAN_SWInit_BT(uint8_t canNo, uint32_t CANMode, uint32_t Prescaler);
uint8_t CAN_SWInit_Quit(uint8_t canNo);
uint8_t CANFilterConfig(uint8_t canNo, uint32_t canID, uint32_t FilterBank, uint32_t Can_Rx_FifoNo, uint8_t IsActivate, uint32_t FilterMode, uint32_t FilterScale);

//=====================================================================
//函数名称:can_init
//函数返回:无
//参数说明:canNo:模块号,本芯片只有CAN_1
//		    canID:自身CAN节点的唯一标识,例如按照CANopen协议给出
//          BitRate:位速率
//功能概要:初始化CAN模块
//=====================================================================
void can_init(uint8_t canNo, uint32_t canID, uint32_t BitRate)
{
	//声明Init函数使用的局部变量
	uint32_t CANMode;
	uint32_t CANFilterBank;
	uint32_t CANFiltermode;
	uint32_t CAN_Filterscale;

	//给Init函数使用的局部变量赋初值
	CANMode = CAN_MODE_NORMAL;//将CAN总线模式设置为普通模式(CAN_MODE_NORMAL)。在普通模式下,CAN控制器在发送和接收数据时不做特别处理                //2024.6 
	CANFilterBank = CANFilterBank0;
	CANFiltermode = CAN_FILTERMODE_IDMASK;
	CAN_Filterscale = CAN_FILTERSCALE_32BIT;

	//(1)CAN总线硬件初始化
	CAN_HWInit(CAN_CHANNEL);
	//(2)CAN总线进入软件初始化模式
	CAN_SWInit_Entry(canNo);
	//(3)CAN总线模式设置
	CAN_SWInit_CTLMode(canNo);
	//(4)CAN总线位时序配置
	CAN_SWInit_BT(canNo,CANMode,BitRate);
	//(5)CAN总线过滤器初始化
    CANFilterConfig(canNo, canID, CANFilterBank, CAN_RX_FIFO0, 1, CANFiltermode, CAN_Filterscale);
    //(6)CAN总线退出软件初始化模式,进入正常模式
    CAN_SWInit_Quit(canNo);
}

//=====================================================================
//函数名称:can_send
//函数返回:0=正常,1=错误
//参数说明:canNo:模块号,本芯片只有CAN_1
//          DestID:目标CAN节点的唯一标识,例如按照CANopen协议给出
//          len:待发送数据的字节数
//          buff:待发送数据发送缓冲区首地址
//功能概要:CAN模块发送数据
//=====================================================================
uint8_t can_send(uint8_t canNo, uint32_t DestID, uint16_t len ,uint8_t* buff)
{
	if(DestID > 0x1FFFFFFFU) return 1;
	uint8_t send_length;
	for(int i = len; i > 0; i = i-8)
	{
		send_length = (i>8)?8:i;
		if(can_send_once(canNo,DestID,send_length,buff+len-i) == 1)//调用can_send_once函数,尝试发送一次数据。参数包括CAN模块号canNo,目标IDDestID,发送数据长度send_length,以及数据缓冲区buff。如果返回值为1说明发送失败,则can_send函数返回1。   //2024.6
		{
			return 1;
		}
	}
	return 0;
}

//=====================================================================
//函数名称:can_recv
//函数返回:接收到的字节数
//参数说明:canNo:模块号,本芯片只有CAN_1
//          buff:接收到的数据存放的内存区首地址
//功能概要:在CAN模块接收中断中调用本函数接收已经到达的数据
//=====================================================================
uint8_t can_recv(uint8_t canNo, uint8_t *buff)
{
	uint8_t len;
	uint32_t RxFifo = CAN_RX_FIFO0;
	//(1)判断哪个邮箱收到了报文信息
	if(RxFifo == CAN_RX_FIFO0)
	{
		if ((CAN_ARR[canNo-1]->RF0R & CAN_RF0R_FMP0) == 0U)//检查接收FIFO0(CAN_RX_FIFO0)中是否有未处理的消息。如果为0,表示没有消息,函数返回1。   //2024.6
		{
			return 1;
		}
	}
	else
	{
		if ((CAN_ARR[canNo-1]->RF1R & CAN_RF1R_FMP1) == 0U)
		{
			return 1;
		}
	}
	//(2)获取数据长度
    len = (CAN_RDT0R_DLC & CAN_ARR[canNo-1]->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_DLC_Pos;//从RDTR中获取数据长度。CAN_RDT0R_DLC是数据长度代码(DLC)掩码,通过右移CAN_RDT0R_DLC_Pos位得到实际数据长度。  //2024.6
    //(3)获取数据帧中的数据
    buff[0] = (uint8_t)((CAN_RDL0R_DATA0 & CAN_ARR[canNo-1]->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA0_Pos);
    buff[1] = (uint8_t)((CAN_RDL0R_DATA1 & CAN_ARR[canNo-1]->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA1_Pos);
    buff[2] = (uint8_t)((CAN_RDL0R_DATA2 & CAN_ARR[canNo-1]->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA2_Pos);
    buff[3] = (uint8_t)((CAN_RDL0R_DATA3 & CAN_ARR[canNo-1]->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA3_Pos);
    buff[4] = (uint8_t)((CAN_RDH0R_DATA4 & CAN_ARR[canNo-1]->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA4_Pos);
    buff[5] = (uint8_t)((CAN_RDH0R_DATA5 & CAN_ARR[canNo-1]->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA5_Pos);
    buff[6] = (uint8_t)((CAN_RDH0R_DATA6 & CAN_ARR[canNo-1]->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA6_Pos);
    buff[7] = (uint8_t)((CAN_RDH0R_DATA7 & CAN_ARR[canNo-1]->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA7_Pos);
    //(4)清除标志位,等待接收下一帧数据
    if (RxFifo == CAN_RX_FIFO0)
    {
      SET_BIT(CAN_ARR[canNo-1]->RF0R, CAN_RF0R_RFOM0); //清除FIFO0的溢出标志位RFOM0,表示已处理完当前消息,准备接收下一条消息。 //2024.6
    }
    else
    {
      SET_BIT(CAN_ARR[canNo-1]->RF1R, CAN_RF1R_RFOM1);
    }
	return len;
}

//=====================================================================
//函数名称:CAN_enable_re_int
//函数返回:无
//参数说明:canNo:模块基地址号,Can_Rx_FifoNo:中断使用的邮箱号
//功能概要:CAN接收中断开启
//=====================================================================
void can_enable_recv_int(uint8_t canNo)
{
	uint8_t Can_Rx_FifoNo;
	Can_Rx_FifoNo = CAN_RX_FIFO0;
	if(Can_Rx_FifoNo == CAN_RX_FIFO0)
		SET_BIT(CAN_ARR[canNo-1]->IER, CAN_IER_FMPIE0);//设置CAN控制器的中断使能寄存器中的FIFO0消息挂起中断使能位,启用该位会在FIFO0接收到新消息时触发中断。    //2024.6
	else
		SET_BIT(CAN_ARR[canNo-1]->IER,CAN_IER_FMPIE1);
	NVIC_EnableIRQ(table_irq_can[Can_Rx_FifoNo]);//使能NVIC中的中断     //2024.6
}

//=====================================================================
//函数名称:can_disable_recv_int
//函数返回:无
//参数说明:canNo:模块号,本芯片只有CAN_1
//功能概要:关闭CAN接收中断
//=====================================================================
void can_disable_recv_int  (uint8_t canNo)
{
	uint8_t Can_Rx_FifoNo;
	Can_Rx_FifoNo = CAN_RX_FIFO0;
	if(Can_Rx_FifoNo == CAN_RX_FIFO0)
		CLEAR_BIT(CAN_ARR[canNo-1]->IER, CAN_IER_FMPIE0);
	else
		CLEAR_BIT(CAN_ARR[canNo-1]->IER,CAN_IER_FMPIE1);
	NVIC_DisableIRQ(table_irq_can[Can_Rx_FifoNo]);
}

//=====================================================================
//函数名称:can_send_once
//函数返回:0=正常,1=错误
//参数说明:canNo:模块号,本芯片只有CAN_1
//          DestID:目标CAN节点的唯一标识,例如按照CANopen协议给出
//          len:待发送数据的字节数
//          buff:待发送数据发送缓冲区首地址
//功能概要:CAN模块发送一次数据
//=====================================================================
uint8_t can_send_once(uint8_t canNo, uint32_t DestID, uint16_t len ,uint8_t* buff)
{
	//(1)定义Can发送函数所需要用到的变量
	uint32_t transmit_mailbox;
	uint32_t register_tsr;
	uint32_t rtr;
	rtr = CAN_RTR_DATA;
	register_tsr = READ_REG(CAN_ARR[canNo-1]->TSR);

	//(2)判断3个邮箱中是否有空闲邮箱,若有,选取其中一个进行发送,选取顺序为1,2,3
    if (((register_tsr & CAN_TSR_TME0) != 0U) ||    
        ((register_tsr & CAN_TSR_TME1) != 0U) ||
        ((register_tsr & CAN_TSR_TME2) != 0U))
    {
    	transmit_mailbox = (register_tsr & CAN_TSR_CODE) >> CAN_TSR_CODE_Pos;//从TSR中读取可用的邮箱号,CAN_TSR_CODE位域表示当前可用的邮箱号,右移CAN_TSR_CODE_Pos位得到实际邮箱号。     //2024.6
    	if(transmit_mailbox > 2U)
    	{
    		return 1;
    	}

    	//(2.1)判断并设置发送帧为标准帧还是扩展帧
    	if(DestID <= 0x7FFU)//根据DestID的大小设置发送帧为标准帧或扩展帧。ID小于等于0x7FF,使用标准帧CAN_ID_STD    //2024.6
    	{
    		CAN_ARR[canNo-1]->sTxMailBox[transmit_mailbox].TIR = ((DestID << CAN_TI0R_STID_Pos)|CAN_ID_STD|rtr);  //2024.6
    	}
    	else
    	{
    		CAN_ARR[canNo-1]->sTxMailBox[transmit_mailbox].TIR = ((DestID << CAN_TI0R_EXID_Pos)|CAN_ID_EXT|rtr);  //2024.6
    	}
    	//(2.2)设置发送帧的数据长度
    	CAN_ARR[canNo-1]->sTxMailBox[transmit_mailbox].TDTR = len;
        //SET_BIT(CAN_ARR[canNo-1]->sTxMailBox[transmit_mailbox].TDTR, CAN_TDT0R_TGT);
        //(2.3)设置发送帧的数据
        WRITE_REG(CAN_ARR[canNo-1]->sTxMailBox[transmit_mailbox].TDHR,//将数据缓冲区中的数据写入发送邮箱的数据寄存器TDHR和TDLR。   //2024.6
                  ((uint32_t)buff[7] << CAN_TDH0R_DATA7_Pos) |
                  ((uint32_t)buff[6] << CAN_TDH0R_DATA6_Pos) |
                  ((uint32_t)buff[5] << CAN_TDH0R_DATA5_Pos) |
                  ((uint32_t)buff[4] << CAN_TDH0R_DATA4_Pos));
        WRITE_REG(CAN_ARR[canNo-1]->sTxMailBox[transmit_mailbox].TDLR,
                  ((uint32_t)buff[3] << CAN_TDL0R_DATA3_Pos) |
                  ((uint32_t)buff[2] << CAN_TDL0R_DATA2_Pos) |
                  ((uint32_t)buff[1] << CAN_TDL0R_DATA1_Pos) |
                  ((uint32_t)buff[0] << CAN_TDL0R_DATA0_Pos));
        //(2.4)发送Can数据报
        SET_BIT(CAN_ARR[canNo-1]->sTxMailBox[transmit_mailbox].TIR, CAN_TI0R_TXRQ);//设置发送邮箱的发送请求位TXRQ,请求CAN控制器发送该数据帧。   //2024.6
        return 0;
    }
    else
    {
    	return 1;
    }
}

//=====================================================================
//函数名称:CAN_HWInit
//函数返回:0=正常,1=错误
//参数说明:CANChannel:硬件引脚组号,共有3组,分别为PTA11&PTA12(CAN_CHANNEL0),PTB8&PTB9(CAN_CHANNEL1),PTD0&PTD1(2)
//功能概要:CAN模块引脚初始化
//=====================================================================
uint8_t CAN_HWInit(uint8_t CANChannel)
{
	if(CANChannel < 0 || CANChannel > 2)
	{
		return 1;
	}
	if(CANChannel == 0)
	{
		RCC->APB1ENR1 |= RCC_APB1ENR1_CAN1EN;//使能CAN1模块的时钟。   //2024.6
		RCC->AHB2ENR |= RCC_AHB2ENR_GPIOAEN;
		GPIOA->MODER &= ~(GPIO_MODER_MODE11|GPIO_MODER_MODE12);
		GPIOA->MODER |= (GPIO_MODER_MODE11_1|GPIO_MODER_MODE12_1);//将GPIOA的11号和12号引脚设置为复用功能模式。  //2024.6
		GPIOA->AFR[1] &= ~(GPIO_AFRH_AFSEL11|GPIO_AFRH_AFSEL12);
		GPIOA->AFR[1] |= (GPIO_AFRH_AFSEL11_0|GPIO_AFRH_AFSEL11_3)|(GPIO_AFRH_AFSEL12_0|GPIO_AFRH_AFSEL12_3);//将GPIOA的11号和12号引脚的复用功能设置为CAN功能。   //2024.6
	}
	else if(CANChannel == 1)
	{
		RCC->APB1ENR1 |= RCC_APB1ENR1_CAN1EN;
		RCC->AHB2ENR |= RCC_AHB2ENR_GPIOBEN;
		GPIOB->MODER &= ~(GPIO_MODER_MODE8|GPIO_MODER_MODE9);
		GPIOB->MODER |= (GPIO_MODER_MODE8_1|GPIO_MODER_MODE9_1);
		GPIOB->AFR[1] &= ~(GPIO_AFRH_AFSEL8|GPIO_AFRH_AFSEL9);
		GPIOB->AFR[1] |= ((GPIO_AFRH_AFSEL8_0|GPIO_AFRH_AFSEL8_3)|
						  (GPIO_AFRH_AFSEL9_0|GPIO_AFRH_AFSEL9_3));
	}
	else
	{
		RCC->APB1ENR1 |= RCC_APB1ENR1_CAN1EN;
		RCC->AHB2ENR |= RCC_AHB2ENR_GPIODEN;
		GPIOD->MODER &= ~(GPIO_MODER_MODE0|GPIO_MODER_MODE1);
		GPIOD->MODER |= (GPIO_MODER_MODE0_1|GPIO_MODER_MODE1_1);
		GPIOD->AFR[0] &= ~(GPIO_AFRL_AFSEL0|GPIO_AFRL_AFSEL1);
		GPIOD->AFR[0] |= ((GPIO_AFRL_AFSEL0_0 | GPIO_AFRL_AFSEL0_3)|
						  (GPIO_AFRL_AFSEL1_0 | GPIO_AFRL_AFSEL1_3));
	}
	return 0;
}

//=====================================================================
//函数名称:CAN_SWInit_Entry
//函数返回:0=正常,1=错误
//参数说明:canNo:模块基地址号,本芯片只有CAN_1,
//功能概要:进入初始化模式
//=====================================================================
uint8_t CAN_SWInit_Entry(uint8_t canNo)
{
	int i;
	CLEAR_BIT(CAN_ARR[canNo-1]->MCR, CAN_MCR_SLEEP);//清除CAN模块控制寄存器MCR中的睡眠模式位,使CAN控制器退出睡眠模式。    //2024.6
	i = 0;
	while ((CAN_ARR[canNo-1]->MSR & CAN_MSR_SLAK) != 0U)//等待CAN控制器退出睡眠模式。如果超时(循环次数超过0x30000),函数返回错误。   //2024.6
	{
		if(i++ > 0x30000)
		{
			return 1;
		}
	}

	SET_BIT(CAN_ARR[canNo-1]->MCR, CAN_MCR_INRQ); //设置CAN控制器的初始化请求位INRQ,请求进入初始化模式。   //2024.6
	i = 0;
	while ((CAN_ARR[canNo-1]->MSR & CAN_MSR_INAK) == 0U)
	{
		if(i++ > 0x30000)
		{
			return 1;
		}
	}
	return 0;
}

//=====================================================================
//函数名称:CAN_SWInit_CTLMode
//函数返回:无
//参数说明:canNo:模块基地址号,本芯片只有CAN_1,
//功能概要:CAN总线模式设置
//=====================================================================
void CAN_SWInit_CTLMode(uint8_t canNo)
{
	CLEAR_BIT(CAN_ARR[canNo-1]->MCR, CAN_MCR_TTCM);//清除MCR寄存器的TTCM位,以禁用时间触发通信模式   //2024.6
	CLEAR_BIT(CAN_ARR[canNo-1]->MCR, CAN_MCR_ABOM);//清除MCR寄存器的ABOM位,以禁用自动总线关闭管理   //2024.6
	CLEAR_BIT(CAN_ARR[canNo-1]->MCR, CAN_MCR_AWUM);//清除MCR寄存器的AWUM位,以禁用自动唤醒模式   //2024.6
	SET_BIT(CAN_ARR[canNo-1]->MCR, CAN_MCR_NART);//设置MCR寄存器的NART位,以禁用自动重传     //2024.6
	CLEAR_BIT(CAN_ARR[canNo-1]->MCR, CAN_MCR_RFLM);//清除MCR寄存器的RFLM位,以禁用接收FIFO锁定模式    //2024.6
	CLEAR_BIT(CAN_ARR[canNo-1]->MCR, CAN_MCR_TXFP);//清除MCR寄存器的TXFP位,以禁用发送FIFO优先级    //2024.6
}

//函数名称:CAN_SWInit_CTLMode
//函数返回:无
//参数说明:canNo:模块基地址号,本芯片只有CAN_1,
//			CANMode:CAN总线工作模式,分别为正常模式(CAN_MODE_NORMAL)、回环模式(CAN_MODE_LOOPBACK)、
//										    静默模式(CAN_MODE_SILENT)以及回环与静默组合模式(CAN_MODE_SILENT_LOOPBACK)
//功能概要:CAN总线位时序配置
void CAN_SWInit_BT(uint8_t canNo, uint32_t CANMode, uint32_t Prescaler)
{
	CAN_ARR[canNo-1]->BTR |= ((uint32_t)(Prescaler-1)|CAN_SJW_1TQ|CAN_BTR_TS1_1|CAN_BTR_TS1_0|CAN_BTR_TS2_2|CANMode);//配置BTR寄存器,设置波特率预分频器、重同步跳转宽度、时间段1、时间段2以及CAN模式    //2024.6
}

//=====================================================================
//函数名称:CAN_SWInit_Quit
//函数返回:0=正常,1=错误
//参数说明:canNo:模块基地址号
//功能概要:退出初始化模式,进入正常模式
//=====================================================================
uint8_t CAN_SWInit_Quit(uint8_t canNo)
{
	int i;
	CLEAR_BIT(CAN_ARR[canNo-1]->MCR, CAN_MCR_INRQ);//清除MCR寄存器的INRQ位,以退出初始化模式    //2024.6
	i = 0;
    while ((CAN_ARR[canNo-1]->MSR & CAN_MSR_INAK) != 0U)//等待MSR寄存器的INAK位清零,表示成功退出初始化模式    //2024.6
    {
      if (i++ > 0x30000)
      {
        return 1;
      }
    }
    return 0;
}

//=====================================================================
//函数名称: CANFilterConfig
//函数返回:0=正常,1=错误
//参数说明: canNo:模块基地址号,
//		    canID:自身CAN节点的唯一标识,例如按照CANopen协议给出
//		    Can_Rx_FifoNo:中断使用的邮箱号,
//			IsActivate:是否激活过滤器
//			CANFilterBank:CAN总线过滤器组选择,共有28个,(CANFilterBank0~CANFilterBank27)
//			CANFiltermode:CAN总线过滤器模式,分别为掩码模式(CAN_FILTERMODE_IDMASK)和列表模式(CAN_FILTERMODE_IDLIST)
//			CAN_Filterscale:CAN总线过滤器位数,分别为32位(CAN_FILTERSCALE_32BIT)和16位(CAN_FILTERSCALE_16BIT)
//功能概要:CAN接收中断开启
//=====================================================================
uint8_t CANFilterConfig(uint8_t canNo, uint32_t CanID, uint32_t FilterBank, uint32_t Can_Rx_FifoNo, uint8_t IsActivate, uint32_t FilterMode, uint32_t FilterScale)
{
	uint32_t FilterIdHigh, FilterIdLow, FilterMaskIdHigh, FilterMaskIdLow, filternbrbitpos;
	if(CanID <= 0x7FFU) CanID = CanID << CAN_TI0R_STID_Pos;//如果CANID是标准ID,则将其左移到标准ID位置    //2024.6

	FilterIdHigh = (CanID >> 16) & 0xFFFF;//计算高16位的过滤器ID    //2024.6
	FilterIdLow = (CanID & 0xFFFF);//计算低16位的过滤器ID    //2024.6
	FilterMaskIdHigh = 0xFFE0;//设置过滤器掩码的高16位为0xFFE0    //2024.6
	FilterMaskIdLow = 0x0000;//设置过滤器掩码的低16位为0x0000    //2024.6
	filternbrbitpos = (uint32_t)1 << (FilterBank & 0x1FU);//计算过滤器组的位置    //2024.6

	//设置过滤器初始化模式 (FINIT=1),在此模式下可以进行过滤器初始化
	SET_BIT(CAN_ARR[canNo-1]->FMR, CAN_FMR_FINIT);//设置过滤器初始化模式 (FINIT=1),在此模式下可以进行过滤器初始化    //2024.6
	CLEAR_BIT(CAN_ARR[canNo-1]->FA1R, filternbrbitpos);//禁用过滤器以进行配置    //2024.6
	if (FilterScale == CAN_FILTERSCALE_16BIT)
	{
	  CLEAR_BIT(CAN_ARR[canNo-1]->FS1R, filternbrbitpos);
	  CAN_ARR[canNo-1]->sFilterRegister[FilterBank].FR1 =
		((0x0000FFFFU & (uint32_t)FilterMaskIdLow) << 16U) |
		(0x0000FFFFU & (uint32_t)FilterIdLow);
	  CAN_ARR[canNo-1]->sFilterRegister[FilterBank].FR2 =
		((0x0000FFFFU & (uint32_t)FilterMaskIdHigh) << 16U) |
		(0x0000FFFFU & (uint32_t)FilterIdHigh);
	}
	if (FilterScale == CAN_FILTERSCALE_32BIT)//判断过滤器的位数设置是否为32位    //2024.6
	{
	  SET_BIT(CAN_ARR[canNo-1]->FS1R, filternbrbitpos);//设置为32位过滤器    //2024.6
	  CAN_ARR[canNo-1]->sFilterRegister[FilterBank].FR1 =//设置过滤器寄存器数组中FilterBank的第一个寄存器FR1    //2024.6
		((0x0000FFFFU & (uint32_t)FilterIdHigh) << 16U) |
		(0x0000FFFFU & (uint32_t)FilterIdLow);
	  CAN_ARR[canNo-1]->sFilterRegister[FilterBank].FR2 =
		((0x0000FFFFU & (uint32_t)FilterMaskIdHigh) << 16U) |
		(0x0000FFFFU & (uint32_t)FilterMaskIdLow);
	}
	if (FilterMode == CAN_FILTERMODE_IDMASK)//检查过滤器模式是否为掩码模式    //2024.6 
	{
	  CLEAR_BIT(CAN_ARR[canNo-1]->FM1R, filternbrbitpos);//如果是掩码模式,清除过滤器模式寄存器中的相应位    //2024.6
	}
	else
	{
	  SET_BIT(CAN_ARR[canNo-1]->FM1R, filternbrbitpos);
	}
	if (Can_Rx_FifoNo == CAN_FILTER_FIFO0)//检查是否使用FIFO0作为中断邮箱     //2024.6
	{
	  CLEAR_BIT(CAN_ARR[canNo-1]->FFA1R, filternbrbitpos);//如果是FIFO0,清除过滤器FIFO分配寄存器中的相应位   //2024.6
	}
	else
	{
	  SET_BIT(CAN_ARR[canNo-1]->FFA1R, filternbrbitpos);
	}
	if (IsActivate == 1)    //2024.6
	{
	  SET_BIT(CAN_ARR[canNo-1]->FA1R, filternbrbitpos);//检查是否需要激活过滤器   //2024.6
	}
	//退出过滤器初始化模式 (FINIT=0)
	CLEAR_BIT(CAN_ARR[canNo-1]->FMR, CAN_FMR_FINIT);//清除过滤器模式寄存器中的FINIT位,使过滤器退出初始化模式    //2024.6

	return 0;
}

CAN原理介绍

        CAN(Controller Area Network)是一种多主模式的串行通信总线,允许多个节点在同一网络中进行数据交换,每个节点可以随时发送消息,消息通过标识符(ID)进行优先级排序,ID较低的消息优先传输。CAN总线使用差分信号传输数据,具有较强的抗干扰能力和高可靠性。数据帧中包含起始位、仲裁域、控制域、数据域、CRC校验、确认位和结束位等部分,确保数据的完整性和正确性。在总线空闲时,任何节点均可尝试发送消息,通过仲裁机制避免冲突,使得CAN通信在实时性和稳定性方面表现优异。        

实验原理图


实验结果图

搭档向我的机器发送I’m cjh,我的机器输出了I’m cjh,对方的机器也没有输出fail,发送成功

向搭档的机器发送lfd,搭档的机器输出了lfd,我的机器也没有输出fail,发送成功

连线图

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