STM32F105 CAN通信过滤器配置问题

谁践踏了优雅 2022-03-26 10:24 795阅读 0赞

总结一些最近做项目对CAN通信的过滤器配置的理解；

1.  这里我使用STM32F105系列的芯片，有2路CAN，我使用的是CAN2，过滤器可以设置从15开始，当然，从1开始也是没有问题的；
2.  当设置了CAN过滤器，表示只能接收指定ID的数据，其他ID发送过来的数据，不再触发CAN中断，可以进一步提高系统的稳定性。当CAN总线上数据比较多的时候，是很有必要的。  
    具体配置如下：

CAN_SlaveStartBank(15); // can2筛选器组从15开始 
    	CAN_FilterInitStructure.CAN_FilterNumber=15; 
    	CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; 
    	CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; 
    	//表示只能接收接收方ID为0x11，发送方ID为0x14的数据，具体看通信协议
    	CAN_FilterInitStructure.CAN_FilterIdHigh=0x1114; 
    	CAN_FilterInitStructure.CAN_FilterIdLow=0x0000; 
    	CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xffff; 
    	CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000; 
    	CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0; 
    	CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; 
    	CAN_FilterInit(&CAN_FilterInitStructure);

如果要设置多个过滤器，继续配置如下：

CAN_FilterInitStructure.CAN_FilterNumber=16; 
    	CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; 
    	CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; 
    	CAN_FilterInitStructure.CAN_FilterIdHigh=0x1113; 
    	CAN_FilterInitStructure.CAN_FilterIdLow=0x0000; 
    	CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xffff; 
    	CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000; 
    	CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0; 
    	CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; 
    	CAN_FilterInit(&CAN_FilterInitStructure);

以此类推。  
3. 单独使用CAN2的时候必须开启先CAN1的时钟，否则收不到数据；  
CAN完整的初始化代码（注意F105系列的CAN2时钟使能部分）：

//CAN模式初始化
    //参数 tsjw ：重新同步跳跃时间单元.范围:CAN_SJW_1tq~ CAN_SJW_4tq
    //参数 tbs2 ：时间段2的时间单元.   范围:CAN_BS2_1tq~CAN_BS2_8tq;
    //参数 tbs1 ：时间段1的时间单元.   范围:CAN_BS1_1tq ~CAN_BS1_16tq
    //参数 brp ;波特率分频器.范围:1~1024;  tq=(brp)*tpclk1
    //波特率=Fpclk1/((tbs1+1+tbs2+1+1)*brp);
    //示例：Fpclk1的时钟在初始化的时候设置为36M,如果设置 CAN_Mode_Init(CAN_SJW_1tq,CAN_BS2_8tq,CAN_BS1_9tq,4,CAN_Mode_LoopBack);
    //则波特率为:(pclk1/((tsjw+tbs2+tbs1)*brp)) = 36Mhz/18/4 = 500Kbits
    //参数 mode ：模式设置： mode:CAN_Mode_Normal,普通模式;CAN_Mode_LoopBack,回环模式; 
    //CAN普通模式初始化, 波特率500Kbps 
    //返回值：0,初始化OK;
    //    其他,初始化失败;
    //这里我使用正常模式；CAN_Mode_Init(CAN_SJW_1tq,CAN_BS1_4tq,CAN_BS2_7tq,6,CAN_Mode_Normal);//正常模式
    u8 CAN_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode)
    {
    	GPIO_InitTypeDef 		GPIO_InitStructure; //声明结构体
    	CAN_InitTypeDef        	CAN_InitStructure;
    	CAN_FilterInitTypeDef  	CAN_FilterInitStructure;
    	
    	NVIC_InitTypeDef  		NVIC_InitStructure;//CAN接收RX0中断使能
    	
    	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);//使能PORTB时钟	                   											 
    
    	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); //新增 注意
    	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE);//使能CAN2时钟	 
    
    	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
    	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;	//复用推挽输出
    	GPIO_Init(GPIOB, &GPIO_InitStructure);			//初始化IO
    	
    	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
    //  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;	//上拉输入  
    	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; 
      GPIO_Init(GPIOB, &GPIO_InitStructure);			//初始化IO
    	
    	//CAN单元设置
      CAN_InitStructure.CAN_TTCM = DISABLE;//禁止时间触发通信模式
    	CAN_InitStructure.CAN_ABOM = ENABLE; /* 自动离线禁止，自动离线：一旦硬件监控到128次11个隐性位，就自动退出离线状态。在这里要软件设定后才能退出 */
    //  CAN_InitStructure.CAN_ABOM = DISABLE;//软件对CAN_MCR寄存器的INRQ位进行置1后清0后，一旦硬件检测到128次11位连续的隐形位，就退出离线状态(软件自动离线管理)
      CAN_InitStructure.CAN_AWUM = DISABLE;//睡眠模式通过软件唤醒(清除CAN->MCR的SLEEP位)???
      CAN_InitStructure.CAN_NART = DISABLE; /* 报文重传, 如果错误一直传到成功止，否则只传一次 */
    //	CAN_InitStructure.CAN_NART = ENABLE;//禁止报文自动传送 
      CAN_InitStructure.CAN_RFLM = DISABLE;//报文不锁定,新的覆盖旧的  
    	CAN_InitStructure.CAN_TXFP = ENABLE;  /* 发送优先级  0---由标识符决定  1---由发送请求顺序决定	*/
    //	CAN_InitStructure.CAN_TXFP = DISABLE;//发生FIFO的优先级由报文的标识符决定
      CAN_InitStructure.CAN_Mode = mode;//模式设置： mode:CAN_Mode_Normal,普通模式;CAN_Mode_LoopBack,回环模式; 
      
      //设置波特率
      CAN_InitStructure.CAN_SJW = tsjw;//重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位  CAN_SJW_1tq  CAN_SJW_2tq CAN_SJW_3tq CAN_SJW_4tq
      CAN_InitStructure.CAN_BS1 = tbs1;//Tbs1=tbs1+1个时间单位CAN_BS1_1tq ~CAN_BS1_16tq
      CAN_InitStructure.CAN_BS2 = tbs2;//Tbs2=tbs2+1个时间单位CAN_BS2_1tq ~	CAN_BS2_8tq
    	
    	//(pclk1/((1+8+9)*4)) = 36Mhz/18/4 = 500Kbits
    	//(pclk1/((1+4+7)*6)) = 36Mhz/18/4 = 500Kbits
      CAN_InitStructure.CAN_Prescaler = brp; 
            
      CAN_Init(CAN2, &CAN_InitStructure);
    	
    	#if 1
    	//待优化
    	CAN_SlaveStartBank(15); // can2筛选器组从15开始 
    	CAN_FilterInitStructure.CAN_FilterNumber=15; 
    	CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; 
    	CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; 
    	CAN_FilterInitStructure.CAN_FilterIdHigh=0x1114; 
    	CAN_FilterInitStructure.CAN_FilterIdLow=0x0000; 
    	CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xffff; 
    	CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000; 
    	CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0; 
    	CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; 
    	CAN_FilterInit(&CAN_FilterInitStructure);
    
    	CAN_FilterInitStructure.CAN_FilterNumber=16; 
    	CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; 
    	CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; 
    	CAN_FilterInitStructure.CAN_FilterIdHigh=0x1113; 
    	CAN_FilterInitStructure.CAN_FilterIdLow=0x0000; 
    	CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xffff; 
    	CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000; 
    	CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0; 
    	CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; 
    	CAN_FilterInit(&CAN_FilterInitStructure);
    	
    	CAN_FilterInitStructure.CAN_FilterNumber=17; 
    	CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; 
    	CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; 
    	CAN_FilterInitStructure.CAN_FilterIdHigh=0x1115; 
    	CAN_FilterInitStructure.CAN_FilterIdLow=0x0000; 
    	CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xffff; 
    	CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000; 
    	CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0; 
    	CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; 
    	CAN_FilterInit(&CAN_FilterInitStructure);
    	
    	CAN_FilterInitStructure.CAN_FilterNumber=18; 
    	CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; 
    	CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; 
    	CAN_FilterInitStructure.CAN_FilterIdHigh=0x1116; 
    	CAN_FilterInitStructure.CAN_FilterIdLow=0x0000; 
    	CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xffff; 
    	CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000; 
    	CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0; 
    	CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; 
    	CAN_FilterInit(&CAN_FilterInitStructure);
    	#endif
    	
    	CAN_ITConfig(CAN2,CAN_IT_FMP0,ENABLE);				//FIFO0消息挂号中断允许.		    
    
    	NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX0_IRQn;    //优先级配置，比较特殊 	USB_LP_CAN1_RX0_IRQn
    	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 5;     // 主优先级为1
    	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;            // 次优先级为0
    	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;/* 挂号中断, 进入中断后读fifo的报文函数释放报文清中断标志 */
    	NVIC_Init(&NVIC_InitStructure);
    	
    }