CAN协议 筛选器解析

(5条消息) CAN芯片_ TJA1051T/3_R.ui..的博客-CSDN博客_can芯片

 

 

 

 

 

 

16位筛选器--标识符掩码模式解析

((((u32)0x13<<21)|CAN_ID_STD|CAN_RTR_DATA)&0xFFFF0000)>>16;

此代码执行如上图所示，后面5位不是ID的数据，是其它数据，标识符掩码进行判断的时候不会对其进行判断。

 (6条消息) stm32之can总线过滤器的标准帧、扩展帧、远程帧等_hanchaoman的专栏-CSDN博客

 

stm32的can总线的配置如下：

      CAN_InitStructure.CAN_TTCM=DISABLE;//禁止时间触发通信模式
      CAN_InitStructure.CAN_ABOM=DISABLE;
      CAN_InitStructure.CAN_AWUM=DISABLE;
      CAN_InitStructure.CAN_NART=DISABLE;//CAN报文只被发送1次，不管发送的结果如何（成功、出错或仲裁丢失）
      CAN_InitStructure.CAN_RFLM=DISABLE;
      CAN_InitStructure.CAN_TXFP=DISABLE;
      CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;
      //CAN_Mode_LoopBack
      //CAN_Mode_Normal
      CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
      CAN_InitStructure.CAN_BS1=CAN_BS1_5tq;//1--16
      CAN_InitStructure.CAN_BS2=CAN_BS2_2tq;//1--8
      CAN_InitStructure.CAN_Prescaler=2;

      CAN_Init(&CAN_InitStructure);

       /* CAN filter init */
      CAN_FilterInitStructure.CAN_FilterNumber=0;//选择过滤器0
      CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;//指定过滤器被设置为标识符屏蔽模式
      CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;//给出过滤器位宽为32位

 

下面根据设置的参数不同来决定can总线can总线的配置情况：

1、对扩展数据帧进行过滤:(只接收扩展数据帧)
      CAN_FilterInitStructure.CAN_FilterIdHigh   = (((u32)slave_id<<3)&0xFFFF0000)>>16;
      CAN_FilterInitStructure.CAN_FilterIdLow   = (((u32)slave_id<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF;
      CAN_FilterInitStructure.CAN_FilterMaskIdHigh  = 0xFFFF;
      CAN_FilterInitStructure.CAN_FilterMaskIdLow   = 0xFFFF;
(注：标准帧数据帧、标准远程帧和扩展远程帧均被过滤)
2、对扩展远程帧过滤:(只接收扩展远程帧)
      CAN_FilterInitStructure.CAN_FilterIdHigh   = (((u32)slave_id<<3)&0xFFFF0000)>>16;
      CAN_FilterInitStructure.CAN_FilterIdLow   = (((u32)slave_id<<3)|CAN_ID_EXT|CAN_RTR_REMOTE)&0xFFFF;
      CAN_FilterInitStructure.CAN_FilterMaskIdHigh  = 0xFFFF;
      CAN_FilterInitStructure.CAN_FilterMaskIdLow   = 0xFFFF;

3、对标准远程帧过滤:(只接收标准远程帧)
      CAN_FilterInitStructure.CAN_FilterIdHigh   = (((u32)slave_id<<21)&0xffff0000)>>16;
      CAN_FilterInitStructure.CAN_FilterIdLow   = (((u32)slave_id<<21)|CAN_ID_STD|CAN_RTR_REMOTE)&0xffff;
      CAN_FilterInitStructure.CAN_FilterMaskIdHigh  = 0xFFFF;
      CAN_FilterInitStructure.CAN_FilterMaskIdLow   = 0xFFFF;
4、对标准数据帧过滤:(只接收标准数据帧)
      CAN_FilterInitStructure.CAN_FilterIdHigh   = (((u32)slave_id<<21)&0xffff0000)>>16;
      CAN_FilterInitStructure.CAN_FilterIdLow   = (((u32)slave_id<<21)|CAN_ID_STD|CAN_RTR_DATA)&0xffff;
      CAN_FilterInitStructure.CAN_FilterMaskIdHigh  = 0xFFFF;
      CAN_FilterInitStructure.CAN_FilterMaskIdLow   = 0xFFFF;

5、对扩展帧进行过滤:(扩展帧不会被过滤掉)
      CAN_FilterInitStructure.CAN_FilterIdHigh   = (((u32)slave_id<<3)&0xFFFF0000)>>16;
      CAN_FilterInitStructure.CAN_FilterIdLow   = (((u32)slave_id<<3)|CAN_ID_EXT)&0xFFFF;
      CAN_FilterInitStructure.CAN_FilterMaskIdHigh  = 0xFFFF;
      CAN_FilterInitStructure.CAN_FilterMaskIdLow   = 0xFFFC;
6、对标准帧进行过滤:(标准帧不会被过滤掉)
      CAN_FilterInitStructure.CAN_FilterIdHigh   = (((u32)slave_id<<21)&0xffff0000)>>16;
      CAN_FilterInitStructure.CAN_FilterIdLow   = (((u32)slave_id<<21)|CAN_ID_STD)&0xffff;
      CAN_FilterInitStructure.CAN_FilterMaskIdHigh  = 0xFFFF;
      CAN_FilterInitStructure.CAN_FilterMaskIdLow   = 0xFFFC;
注：slave_id为要过滤的id号。

 

 

(7条消息) CAN通讯难点———验收筛选器_Auto0313的博客-CSDN博客_can筛选器 (印象笔记STM32中有)

 模式1:32位掩码模式

void CAN_Filter_Config(void)
{
	CAN_FilterInitTypeDef  CAN_FilterInitStructure;
	/*CAN筛选器初始化*/
	CAN_FilterInitStructure.CAN_FilterNumber=0;						//筛选器组0
	CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;	//工作在掩码模式
	CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;	//筛选器位宽为单个32位。
	/* 使能筛选器，按照标志的内容进行比对筛选，扩展ID不是如下的就抛弃掉，是的话，会存入FIFO0。 */
	CAN_FilterInitStructure.CAN_FilterIdHigh= ((((u32)0x1314<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF0000)>>16;		//要筛选的ID高位 
	CAN_FilterInitStructure.CAN_FilterIdLow= (((u32)0x1314<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF; //要筛选的ID低位 
	CAN_FilterInitStructure.CAN_FilterMaskIdHigh= 0xFFFF;			//筛选器高16位每位必须匹配
	CAN_FilterInitStructure.CAN_FilterMaskIdLow= 0xFFFF;			//筛选器低16位每位必须匹配
	
	CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0 ;				//筛选器被关联到FIFO0
	CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;			//使能筛选器
	CAN_FilterInit(&CAN_FilterInitStructure);
	/*CAN通信中断使能*/
	CAN_ITConfig(CANx, CAN_IT_FMP0, ENABLE);
}

　　模式2:32位标识符模式

void CAN_Filter_Config(void)
{
	CAN_FilterInitTypeDef  CAN_FilterInitStructure;

	/*CAN筛选器初始化*/
	CAN_FilterInitStructure.CAN_FilterNumber=0;						//筛选器组0
	CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdList;	//工作在标识符模式
	CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;	//筛选器位宽为单个32位。
	/* 使能筛选器，按照标志的内容进行比对筛选，扩展ID不是如下的就抛弃掉，是的话，会存入FIFO0。 */

	CAN_FilterInitStructure.CAN_FilterIdHigh= ((((u32)0x13<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF0000)>>16;		
	CAN_FilterInitStructure.CAN_FilterIdLow= (((u32)0x13<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF; 
	CAN_FilterInitStructure.CAN_FilterMaskIdHigh= ((((u32)0x14<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF0000)>>16;			
	CAN_FilterInitStructure.CAN_FilterMaskIdLow= (((u32)0x14<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF; 
			
	CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0 ;				//筛选器被关联到FIFO0
	CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;			//使能筛选器
	CAN_FilterInit(&CAN_FilterInitStructure);
	/*CAN通信中断使能*/
	CAN_ITConfig(CANx, CAN_IT_FMP0, ENABLE);
}

　　模式3:16位掩码模式

void CAN_Filter_Config(void)
{
	CAN_FilterInitTypeDef  CAN_FilterInitStructure;

	/*CAN筛选器初始化*/
	CAN_FilterInitStructure.CAN_FilterNumber=0;						//筛选器组0
	CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;	//工作在掩码模式
	CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_16bit;	//筛选器位宽为单个16位。
	/* 使能筛选器，按照标志的内容进行比对筛选，扩展ID不是如下的就抛弃掉，是的话，会存入FIFO0。 */

	CAN_FilterInitStructure.CAN_FilterIdHigh= ((((u32)0x13<<21)|CAN_ID_STD|CAN_RTR_DATA)&0xFFFF0000)>>16;		
	CAN_FilterInitStructure.CAN_FilterIdLow= 0xFFFF;			
	
	CAN_FilterInitStructure.CAN_FilterMaskIdHigh= ((((u32)0x24<<21)|CAN_ID_STD|CAN_RTR_DATA)&0xFFFF0000)>>16; 	
	CAN_FilterInitStructure.CAN_FilterMaskIdLow= 0xFFFF; 		
	
	CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0 ;				//筛选器被关联到FIFO0
	CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;			//使能筛选器
	CAN_FilterInit(&CAN_FilterInitStructure);
	/*CAN通信中断使能*/
	CAN_ITConfig(CANx, CAN_IT_FMP0, ENABLE);
}

　　模式4:16位标识符模式

void CAN_Filter_Config(void)
{
	CAN_FilterInitTypeDef  CAN_FilterInitStructure;

	/*CAN筛选器初始化*/
	CAN_FilterInitStructure.CAN_FilterNumber=0;						//筛选器组0
	CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdList;	//工作在标识符模式
	CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_16bit;	//筛选器位宽为单个16位。
	/* 使能筛选器，按照标志的内容进行比对筛选，扩展ID不是如下的就抛弃掉，是的话，会存入FIFO0。 */

	CAN_FilterInitStructure.CAN_FilterIdHigh= ((((u32)0x13<<21)|CAN_ID_STD|CAN_RTR_DATA)&0xFFFF0000)>>16;		
	CAN_FilterInitStructure.CAN_FilterIdLow= ((((u32)0x13<<21)|CAN_ID_STD|CAN_RTR_DATA)&0xFFFF0000)>>16;				
	
	CAN_FilterInitStructure.CAN_FilterMaskIdHigh= ((((u32)0x24<<21)|CAN_ID_STD|CAN_RTR_DATA)&0xFFFF0000)>>16; 	
	CAN_FilterInitStructure.CAN_FilterMaskIdLow= ((((u32)0x24<<21)|CAN_ID_STD|CAN_RTR_DATA)&0xFFFF0000)>>16; 			
	
	CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0 ;				//筛选器被关联到FIFO0
	CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;			//使能筛选器
	CAN_FilterInit(&CAN_FilterInitStructure);
	/*CAN通信中断使能*/
	CAN_ITConfig(CANx, CAN_IT_FMP0, ENABLE);
}

　　要注意：在主函数(main.c)里和中断函数(stm32f10x_it.c 文件)里也要按相应的要求改。
如果想要修改关联到FIFO0或者FIFO1，中断服务函数名要改。

#define CAN_RX_IRQ								USB_LP_CAN1_RX0_IRQn            //当使用CAN_Filter_FIFO0时
#define CAN_RX_IRQHandler					USB_LP_CAN1_RX0_IRQHandler

#define CAN_RX_IRQ1                CAN1_RX1_IRQn           //当使用CAN_Filter_FIFO1时
#define CAN_RX_IRQHandler1	        CAN1_RX1_IRQHandler

　　筛选器组修改如下：

void CAN_Filter_Config(void)
{
	CAN_FilterInitTypeDef  CAN_FilterInitStructure;
	/*CAN筛选器初始化*/
	CAN_FilterInitStructure.CAN_FilterNumber=1;						//筛选器组1
	CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;	//工作在掩码模式
	CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_16bit;	//筛选器位宽为单个16位。
	/* 使能筛选器，按照标志的内容进行比对筛选，扩展ID不是如下的就抛弃掉，是的话，会存入FIFO1。 */

	CAN_FilterInitStructure.CAN_FilterIdHigh= ((((u32)0x67<<21)|CAN_ID_STD|CAN_RTR_DATA)&0xFFFF0000)>>16;		
	CAN_FilterInitStructure.CAN_FilterIdLow= 0xFFFF;			
	
	CAN_FilterInitStructure.CAN_FilterMaskIdHigh= ((((u32)0x45<<21)|CAN_ID_STD|CAN_RTR_DATA)&0xFFFF0000)>>16; 	
	CAN_FilterInitStructure.CAN_FilterMaskIdLow= 0xFFFF; 		
	
	CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO1 ;				//筛选器被关联到FIFO1
	CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;			//使能筛选器
	CAN_FilterInit(&CAN_FilterInitStructure);
	/*CAN通信中断使能*/
	CAN_ITConfig(CANx, CAN_IT_FMP1, ENABLE);