{"id":317,"date":"2021-10-28T14:45:52","date_gmt":"2021-10-28T06:45:52","guid":{"rendered":"https:\/\/www.houjianwei.space\/?p=317"},"modified":"2021-10-28T14:45:52","modified_gmt":"2021-10-28T06:45:52","slug":"stm32%e7%b3%bb%e5%88%97%e6%96%87%e7%ab%a02%ef%bc%9acan%e6%80%bb%e7%ba%bf%e8%bf%87%e6%bb%a4%e5%99%a8%e8%af%a6%e8%a7%a3","status":"publish","type":"post","link":"https:\/\/jianwei.fun\/?p=317","title":{"rendered":"STM32\u7cfb\u5217\u6587\u7ae0(2)\uff1aCAN\u603b\u7ebf\u8fc7\u6ee4\u5668\u8be6\u89e3"},"content":{"rendered":"\n<p class=\"has-vivid-cyan-blue-color has-text-color has-medium-font-size\">\u524d\u8a00<\/p>\n\n\n\n<p>STM32 CAN\u603b\u7ebf\u7684\u8fc7\u6ee4\u5668\u7684\u4f5c\u7528\u4e3b\u8981\u662f\u901a\u8fc7\u6570\u636e\u7684\u5e27ID\uff0c\u8fc7\u6ee4\u6389\u4e00\u90e8\u5206\u6570\u636e\u4e0d\u505a\u5904\u7406\u8282\u7ea6CPU\u786c\u4ef6\u8d44\u6e90\uff0c\u6211\u4eec\u53ef\u4ee5\u8bbe\u7f6e\u4e0d\u540c\u7684\u8fc7\u6ee4\u6761\u4ef6\u6765\u6ee4\u9664\u4e0d\u9700\u8981\u7684\u6570\u636e\uff0c\u672c\u6587\u4e3b\u8981\u8bb2ID\u63a9\u7801\u8fc7\u6ee4\u6a21\u5f0f<\/p>\n\n\n\n<p class=\"has-vivid-cyan-blue-color has-text-color has-medium-font-size\">\u4e00\u3001\u4e0e\u6ee4\u6ce2\u8bbe\u7f6e\u76f8\u5173\u7684\u7ed3\u6784\u4f53<\/p>\n\n\n\n<p>\u5728HAL\u5e93\u4e2d\uff0c\u8ddf\u6ee4\u6ce2\u8bbe\u7f6e\u76f8\u5173\u7684\u7ed3\u6784\u4f53\u662f<code>CAN_FilterTypeDef<\/code>\uff0c\u4e0b\u9762\u9010\u6b65\u8bb2\u89e3\u8fc7\u6ee4\u8fc7\u7a0b\u3002<\/p>\n\n\n\n<p class=\"has-vivid-cyan-blue-color has-text-color has-medium-font-size\">\u4e8c\u3001\u9010\u6b65\u8bb2\u89e3<\/p>\n\n\n\n<p>1.\u5b9a\u4e49\u4e00\u4e2a\u6ee4\u6ce2\u5668\u8bbe\u7f6e\u7ed3\u6784\u4f53<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>CAN_FilterTypeDef CAN_FilterInitStructure; \n<\/code><\/pre>\n\n\n\n<p>2.\u8bbe\u7f6e\u8fc7\u6ee4\u6a21\u5f0f<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>CAN_FilterInitStructure.FilterMode = CAN_FILTERMODE_IDMASK;\n<\/code><\/pre>\n\n\n\n<p>3.\u8bbe\u7f6e \u8fc7\u6ee4\u6bd4\u4f8b<\/p>\n\n\n\n<p>\u8fd9\u91cc\u53ef\u80fd\u4e0d\u660e\u767d\u4ec0\u4e48\u610f\u601d\uff0c\u6211\u7528\u7684STM32\u4fe1\u53f7\u662fF407 CAN\u603b\u7ebf\u670914\u4e2a\u8fc7\u6ee4\u5668\uff0c\u6bcf\u4e2a\u8fc7\u6ee4\u5668\u67092\u4e2a32\u4f4d\u5bc4\u5b58\u5668\u53ef\u4ee5\u914d\u7f6e\uff0c\u53ef\u4ee5\u914d\u7f6e\u621032\u4f4d\u4e5f\u53ef\u4ee5\u914d\u7f6e\u6210\u4e24\u4e2a16\u4f4d\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>CAN_FilterInitStructure.FilterScale = CAN_FILTERSCALE_32BIT;\n<\/code><\/pre>\n\n\n\n<p>4.\u8bbe\u7f6e\u8fc7\u6ee4ID\u548c\u63a9\u7801ID<\/p>\n\n\n\n<p>\u8fd9\u662f\u672c\u6587\u91cd\u70b9,\u4e24\u8005\u5171\u540c\u786e\u5b9a\u4e86,\u5230\u5e95\u54ea\u4e9bID\u63a5\u6536\u54ea\u4e9bID\u8fc7\u6ee4,\u4e0b\u9762\u6211\u5148\u628a\u6211\u7684\u4ee3\u7801\u8d34\u51fa\u6765\u4f5c\u4e3a\u4f8b\u5b50\u8bb2\u89e3.<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\tCAN_FilterInitStructure.FilterIdHigh = 0x0020;\n\tCAN_FilterInitStructure.FilterIdLow = 0x0000;\n\tCAN_FilterInitStructure.FilterMaskIdHigh = 0xFF80;\n\tCAN_FilterInitStructure.FilterMaskIdLow = 0x0000;\n<\/code><\/pre>\n\n\n\n<p>\u9996\u5148\u8fd9\u4e2aID\u662f\u771f\u6b63\u7684\u5e27ID\u5de6\u79fb21\u4f4d\u5f97\u5230\u7684\uff0c\u4e5f\u5c31\u662f\u8bf4\u6211\u8fd9\u91cc0x00200000\uff0c\u662f\u75310x01\u5de6\u79fb21\u4f4d\u5f97\u5230\u7684\uff08\u8fd9\u91cc\u6307\u6807\u51c6\u5e27\uff0c\u6269\u5c55\u5e27\u662f3\u4f4d\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td><strong>ID\u9ad816\u4f4d<\/strong><\/td><td><strong>ID\u4f4e16\u4f4d<\/strong><\/td><\/tr><tr><td>0x0020<\/td><td>0x0000<\/td><\/tr><tr><td>0000 0000 0010 0000<\/td><td>0000 0000 0000 0000<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td><strong>\u63a9\u7801\u9ad816\u4f4d<\/strong><\/td><td><strong>\u63a9\u7801\u4f4e16\u4f4d<\/strong><\/td><\/tr><tr><td>0xFF80<\/td><td>0x0000<\/td><\/tr><tr><td>1111 1111 1000 0000<\/td><td>0000 0000 0000 0000<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>\u6211\u4eec\u628a\u8fd9\u4e24\u4e2a\u6570\u636e\u7684\u4e8c\u8fdb\u5236\u5f62\u5f0f\u653e\u5728\u4e00\u8d77,\u5148\u770b\u9ad816\u4f4d\u5982\u4e0b:<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td><strong>ID<\/strong><\/td><td>0<\/td><td>0<\/td><td>0<\/td><td>0<\/td><td>0<\/td><td>0<\/td><td>0<\/td><td>0<\/td><td>0<\/td><td>0<\/td><td>0<\/td><td>0<\/td><td>0<\/td><td>0<\/td><td>0<\/td><td>0<\/td><\/tr><tr><td> <strong>\u63a9\u7801<\/strong> <\/td><td>1<\/td><td>1<\/td><td>1<\/td><td>1<\/td><td>1<\/td><td>1<\/td><td>1<\/td><td>1<\/td><td>1<\/td><td>0<\/td><td>0<\/td><td>0<\/td><td>0<\/td><td>0<\/td><td>0<\/td><td>0<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>\u63a9\u7801\u662f1\u7684\u4f4d\uff0c\u610f\u5473\u7740\u901a\u8fc7\u7684\u6570\u636e\u5e27\u7684ID\u5fc5\u987b\u4e0e\u4e0a\u9762\u4e00\u884c\u6211\u4eec\u6307\u5b9a\u7684ID\u7684\u5bf9\u5e94\u4f4d\u76f8\u7b49\uff0c\u5982\u679c\u63a9\u7801\u4f4d\u662f0\uff0c\u5219\u6ca1\u6709\u8981\u6c42\uff0c\u8fd9\u6837\u770b\u6765\u6211\u4eec\u4e0a\u9762\u7684\u9ad816\u4f4d\uff0c\u80fd\u591f\u901a\u8fc7\u7684\u6570\u636e\u5e27ID \u5fc5\u987b\u662f<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td> <strong>ID<\/strong><\/td><td>0<\/td><td>0<\/td><td>0<\/td><td>0<\/td><td>0<\/td><td>0<\/td><td>0<\/td><td>0<\/td><td>0<\/td><td>0\/1<\/td><td>0\/1<\/td><td>0<\/td><td>0<\/td><td>0<\/td><td>0<\/td><td>0<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>\u7136\u540e\u518d\u53f321\u4f4d\u5f97\u5230\u5e27ID,\u7531\u6b64\u770b\u6765,\u6211\u8fd9\u79cd\u8fc7\u6ee4\u65b9\u6cd5,\u53ea\u80fd\u8ba90x00,0x01,0x02,0x03\u901a\u8fc7,\u522b\u7684ID\u7edf\u7edf\u8fc7\u6ee4\u6389,\u7ecf\u8fc7\u6211\u7684\u9a8c\u8bc1,\u786e\u5b9e\u662f\u8fd9\u6837,\u6240\u4ee5\u6682\u4e14\u8ba4\u4e3a\u6211\u7406\u89e3\u7684\u662f\u5bf9\u7684.<\/p>\n\n\n\n<p class=\"has-vivid-cyan-blue-color has-text-color has-medium-font-size\">2.\u5b8c\u6574\u4ee3\u7801\u4f9b\u5927\u5bb6\u53c2\u8003<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>void CAN_FilterInit(CAN_HandleTypeDef *hcan)\n{\n\tCAN_FilterTypeDef CAN_FilterInitStructure;\n\tCAN_FilterInitStructure.FilterMode = CAN_FILTERMODE_IDMASK;\n\tCAN_FilterInitStructure.FilterScale = CAN_FILTERSCALE_32BIT;\n\tCAN_FilterInitStructure.FilterIdHigh = 0x0020;\n\tCAN_FilterInitStructure.FilterIdLow = 0x0000;\n\tCAN_FilterInitStructure.FilterMaskIdHigh = 0xFF80;\n\tCAN_FilterInitStructure.FilterMaskIdLow = 0x0000;\n\tCAN_FilterInitStructure.FilterBank = 0;\n\tCAN_FilterInitStructure.FilterFIFOAssignment = CAN_RX_FIFO0;\n\tCAN_FilterInitStructure.FilterActivation = ENABLE;\n\tCAN_FilterInitStructure.SlaveStartFilterBank = 14;\n\tif(HAL_CAN_ConfigFilter(hcan,&amp;CAN_FilterInitStructure) != HAL_OK)\n\t{\n\t\tError_Handler();\n\t}\n\tif(HAL_CAN_ActivateNotification(hcan,CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)\n\t{\n\t\tError_Handler();\n\t}\n\tif(HAL_CAN_Start(hcan) != HAL_OK)\n\t{\n\t\tError_Handler();\n\t}\n}\n<\/code><\/pre>\n\n\n\n<p class=\"has-vivid-cyan-blue-color has-text-color has-medium-font-size\">\u4e09.\u6269\u5c55\u8bf4\u660e<\/p>\n\n\n\n<p>\u6211\u4eec\u8fd8\u53ef\u4ee5\u901a\u8fc7\u6216CAN_ID_EXT\u548cCAN_RTR_DATA\u7b49define\u503c\u6765\u5b9e\u73b0\u53ea\u63a5\u53d7\u6269\u5c55\u6570\u636e\u5e27\u6216\u8005\u6269\u5c55\u9065\u63a7\u5e27\u7b49\u7b49\uff0c\u5177\u4f53\u5982\u4e0b\u4f8b\u5b50\uff08\u5176\u4e2d<strong>slave_id\u4e3a\u8981\u4fdd\u7559\u7684id\u53f7<\/strong>\uff09\uff1a<\/p>\n\n\n\n<p>1\u3001\u5bf9\u6269\u5c55\u6570\u636e\u5e27\u8fdb\u884c\u8fc7\u6ee4:(\u53ea\u63a5\u6536\u6269\u5c55\u6570\u636e\u5e27)<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\n      CAN_FilterInitStructure.CAN_FilterIdHigh = (((u32)slave_id&lt;&lt;3)&amp;0xFFFF0000)>>16;\n      CAN_FilterInitStructure.CAN_FilterIdLow = (((u32)slave_id&lt;&lt;3)|CAN_ID_EXT|CAN_RTR_DATA)&amp;0xFFFF;\n      CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF;\n      CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFF;<\/code><\/pre>\n\n\n\n<p>2\u3001\u5bf9\u6269\u5c55\u8fdc\u7a0b\u5e27\u8fc7\u6ee4:(\u53ea\u63a5\u6536\u6269\u5c55\u8fdc\u7a0b\u5e27)<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>      CAN_FilterInitStructure.CAN_FilterIdHigh = (((u32)slave_id&lt;&lt;3)&amp;0xFFFF0000)>>16;\n      CAN_FilterInitStructure.CAN_FilterIdLow = (((u32)slave_id&lt;&lt;3)|CAN_ID_EXT|CAN_RTR_REMOTE)&amp;0xFFFF;\n      CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF;\n      CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFF;<\/code><\/pre>\n\n\n\n<p>3\u3001\u5bf9\u6807\u51c6\u8fdc\u7a0b\u5e27\u8fc7\u6ee4:(\u53ea\u63a5\u6536\u6807\u51c6\u8fdc\u7a0b\u5e27)<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>      CAN_FilterInitStructure.CAN_FilterIdHigh = (((u32)slave_id&lt;&lt;21)&amp;0xffff0000)>>16;\n      CAN_FilterInitStructure.CAN_FilterIdLow = (((u32)slave_id&lt;&lt;21)|CAN_ID_STD|CAN_RTR_REMOTE)&amp;0xffff;\n      CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF;\n      CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFF;<\/code><\/pre>\n\n\n\n<p>4\u3001\u5bf9\u6807\u51c6\u6570\u636e\u5e27\u8fc7\u6ee4:(\u53ea\u63a5\u6536\u6807\u51c6\u6570\u636e\u5e27)<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>      CAN_FilterInitStructure.CAN_FilterIdHigh = (((u32)slave_id&lt;&lt;21)&amp;0xffff0000)>>16;\n      CAN_FilterInitStructure.CAN_FilterIdLow = (((u32)slave_id&lt;&lt;21)|CAN_ID_STD|CAN_RTR_DATA)&amp;0xffff;\n      CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF;\n      CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFF;<\/code><\/pre>\n\n\n\n<p>5\u3001\u5bf9\u6269\u5c55\u5e27\u8fdb\u884c\u8fc7\u6ee4:(\u6269\u5c55\u5e27\u4e0d\u4f1a\u88ab\u8fc7\u6ee4\u6389)<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>      CAN_FilterInitStructure.CAN_FilterIdHigh = (((u32)slave_id&lt;&lt;3)&amp;0xFFFF0000)>>16;\n      CAN_FilterInitStructure.CAN_FilterIdLow = (((u32)slave_id&lt;&lt;3)|CAN_ID_EXT)&amp;0xFFFF;\n      CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF;\n      CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFC;<\/code><\/pre>\n\n\n\n<p>6\u3001\u5bf9\u6807\u51c6\u5e27\u8fdb\u884c\u8fc7\u6ee4:(\u6807\u51c6\u5e27\u4e0d\u4f1a\u88ab\u8fc7\u6ee4\u6389)<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>      CAN_FilterInitStructure.CAN_FilterIdHigh = (((u32)slave_id&lt;&lt;21)&amp;0xffff0000)>>16;\n      CAN_FilterInitStructure.CAN_FilterIdLow = (((u32)slave_id&lt;&lt;21)|CAN_ID_STD)&amp;0xffff;\n      CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF;\n      CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFC;<\/code><\/pre>\n\n\n\n<p class=\"has-vivid-cyan-blue-color has-text-color has-medium-font-size\">\u56db.\u603b\u7ed3<\/p>\n\n\n\n<p>\u901a\u8fc7\u5bf9\u4ee5\u4e0a\u4e24\u79cd\u7684\u7efc\u5408\u8fd0\u7528\uff0c\u76f8\u4fe1\u53ef\u4ee5\u5b9e\u73b0\u5bf9\u4efb\u610f\u5e27\u79cd\u7c7b\u4efb\u610f\u5e27ID\u8fdb\u884c\u8fc7\u6ee4\u4e86\u3002\u7d2f\u4e86\uff0c\u62dc\u62dc<\/p>\n","protected":false},"excerpt":{"rendered":"<div 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