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STM32
请问各位大侠,我在stm32 CAN过滤器组编号为什么只能到4,大于5就不管用了,为什么?
2019-07-20 12:08
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STM32/STM8
9907
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930
请问各位大侠,我在stm32 CAN过滤器组编号为什么只能到4,大于5就不管用了,为什么?
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3条回答
正点原子
1楼-- · 2019-07-20 15:29
精彩回答 2 元偷偷看……
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STM32新学习者
2楼-- · 2019-07-20 15:29
精彩回答 2 元偷偷看……
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jchj
3楼-- · 2019-07-20 16:39
STM32新学习者 发表于 2017-7-8 11:48
代码发出来看看呀!!!!
GPIO_InitTypeDef GPIO_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure1,CAN_FilterInitStructure2,CAN_FilterInitStructure3,CAN_FilterInitStructure4;
CAN_FilterInitTypeDef CAN_FilterInitStructure5,CAN_FilterInitStructure6;
NVIC_InitTypeDef NVIC_InitStructure;
unsigned short mask;
unsigned short filter_data1[] = {0x500, 0x501, 0x502, 0x503, 0x504, 0x505, 0x506, 0x507, 0x508, 0x509, 0x50A, 0x50B, 0x50C, 0x50D, 0x50E, 0x50F};
unsigned short filter_data2[] = {0x510, 0x511, 0x512, 0x513, 0x514, 0x515, 0x516, 0x517, 0x518, 0x519, 0x51A, 0x51B, 0x51C, 0x51D, 0x51E, 0x51F};
unsigned short filter_data3[] = {0x520, 0x521, 0x522, 0x523, 0x524, 0x525, 0x526, 0x527, 0x528, 0x529, 0x52A, 0x52B, 0x52C, 0x52D, 0x52E, 0x52F};
unsigned short filter_data4[] = {0x530, 0x531, 0x532, 0x533, 0x534, 0x535, 0x536, 0x537, 0x538, 0x539, 0x53A, 0x53B, 0x53C, 0x53D, 0x53E, 0x53F};
unsigned short filter_data5[] = {0x4E0,0x4E3,0x5E8,0x540};
//ê1ÄüÏà1Øê±Öó
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);//ê1ÄüPORTAê±Öó
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//ê1ÄüCAN1ê±Öó
//3õê¼»ˉGPIO
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11| GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//¸′óÃ1|Äü
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//íÆíìêä3ö
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//éÏà-
GPIO_Init(GPIOA, &GPIO_InitStructure);//3õê¼»ˉPA11,PA12
//òy½Å¸′óÃó3éäÅäÖÃ
GPIO_PinAFConfig(GPIOA,GPIO_PinSource11,GPIO_AF_CAN1); //GPIOA11¸′óÃÎaCAN1
GPIO_PinAFConfig(GPIOA,GPIO_PinSource12,GPIO_AF_CAN1); //GPIOA12¸′óÃÎaCAN1
//CANμ¥ÔaéèÖÃ
CAN_InitStructure.CAN_TTCM=DISABLE; //·Çê±¼ä′¥·¢í¨DÅÄ£ê½
CAN_InitStructure.CAN_ABOM=DISABLE; //èí¼t×Ô¶ˉàëÏß1üàí
CAN_InitStructure.CAN_AWUM=DISABLE;//ËˉÃßÄ£ê½í¨1yèí¼t»½DÑ(Çå3yCAN->MCRμÄSLEEPλ)
CAN_InitStructure.CAN_NART=ENABLE; //½ûÖ1±¨ÎÄ×Ô¶ˉ′«Ëí
CAN_InitStructure.CAN_RFLM=DISABLE; //±¨ÎÄ2»Ëø¶¨,DÂμĸ2¸Ç¾éμÄ
CAN_InitStructure.CAN_TXFP=DISABLE; //óÅÏ輶ó鱨Îıê궷û¾ö¶¨
CAN_InitStructure.CAN_Mode= CAN_Mode_Normal; //Ä£ê½éèÖÃ
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq; //ÖØDÂí¬2½ìøÔ¾¿í¶è(Tsjw)Îatsjw+1¸öê±¼äμ¥λ CAN_SJW_1tq~CAN_SJW_4tq
CAN_InitStructure.CAN_BS1=CAN_BS1_7tq; //Tbs1·¶Î§CAN_BS1_1tq ~CAN_BS1_16tq
CAN_InitStructure.CAN_BS2=CAN_BS2_6tq;//Tbs2·¶Î§CAN_BS2_1tq ~ CAN_BS2_8tq
CAN_InitStructure.CAN_Prescaler=6; //·ÖÆμÏμêy(Fdiv)Îabrp+1
CAN_Init(CAN1, &CAN_InitStructure); // 3õê¼»ˉCAN1
//ÅäÖÃ1yÂËÆ÷
CAN_FilterInitStructure1.CAN_FilterNumber=0; //1yÂËÆ÷0
CAN_FilterInitStructure1.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure1.CAN_FilterScale=CAN_FilterScale_32bit; //32λ
CAN_FilterInitStructure1.CAN_FilterIdHigh=filter_data1[0] << 5;////32λID
CAN_FilterInitStructure1.CAN_FilterIdLow=0x0000;
mask =0xff0; //
CAN_FilterInitStructure1.CAN_FilterMaskIdHigh= (mask << 5);//32λMASK
CAN_FilterInitStructure1.CAN_FilterMaskIdLow=0x0000 | 0x02;
CAN_FilterInitStructure1.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//1yÂËÆ÷01Øáaμ½FIFO0
CAN_FilterInitStructure1.CAN_FilterActivation=ENABLE; //¼¤»î1yÂËÆ÷0
CAN_FilterInit(&CAN_FilterInitStructure1);//ÂË2¨Æ÷3õê¼»ˉ
//ÅäÖÃ1yÂËÆ÷
CAN_FilterInitStructure2.CAN_FilterNumber=1; //1yÂËÆ÷1
CAN_FilterInitStructure2.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure2.CAN_FilterScale=CAN_FilterScale_32bit; //32λ
CAN_FilterInitStructure2.CAN_FilterIdHigh=filter_data2[0] << 5;////32λID
CAN_FilterInitStructure2.CAN_FilterIdLow=0x0000;
mask =0xff0; //
CAN_FilterInitStructure2.CAN_FilterMaskIdHigh= (mask << 5);//32λMASK
CAN_FilterInitStructure2.CAN_FilterMaskIdLow=0x0000 | 0x02;
CAN_FilterInitStructure2.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//1yÂËÆ÷01Øáaμ½FIFO0
CAN_FilterInitStructure2.CAN_FilterActivation=ENABLE; //¼¤»î1yÂËÆ÷0
CAN_FilterInit(&CAN_FilterInitStructure2);//ÂË2¨Æ÷3õê¼»ˉ
//ÅäÖÃ1yÂËÆ÷
CAN_FilterInitStructure3.CAN_FilterNumber=2; //1yÂËÆ÷2
CAN_FilterInitStructure3.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure3.CAN_FilterScale=CAN_FilterScale_32bit; //32λ
CAN_FilterInitStructure3.CAN_FilterIdHigh=filter_data3[0] << 5;////32λID
CAN_FilterInitStructure3.CAN_FilterIdLow=0x0000;
mask =0xff0; //
CAN_FilterInitStructure3.CAN_FilterMaskIdHigh= (mask << 5);//32λMASK
CAN_FilterInitStructure3.CAN_FilterMaskIdLow=0x0000 | 0x02;
CAN_FilterInitStructure3.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//1yÂËÆ÷01Øáaμ½FIFO0
CAN_FilterInitStructure3.CAN_FilterActivation=ENABLE; //¼¤»î1yÂËÆ÷0
CAN_FilterInit(&CAN_FilterInitStructure3);//ÂË2¨Æ÷3õê¼»ˉ
//ÅäÖÃ1yÂËÆ÷
CAN_FilterInitStructure4.CAN_FilterNumber=3; //1yÂËÆ÷3
CAN_FilterInitStructure4.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure4.CAN_FilterScale=CAN_FilterScale_32bit; //32λ
CAN_FilterInitStructure4.CAN_FilterIdHigh=filter_data4[0] << 5;////32λID
CAN_FilterInitStructure4.CAN_FilterIdLow=0x0000;
mask =0xff0; //
CAN_FilterInitStructure4.CAN_FilterMaskIdHigh= (mask << 5);//32λMASK
CAN_FilterInitStructure4.CAN_FilterMaskIdLow=0x0000 | 0x02;
CAN_FilterInitStructure4.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//1yÂËÆ÷01Øáaμ½FIFO0
CAN_FilterInitStructure4.CAN_FilterActivation=ENABLE; //¼¤»î1yÂËÆ÷0
CAN_FilterInit(&CAN_FilterInitStructure4);//ÂË2¨Æ÷3õê¼»ˉ
//
//ÅäÖÃ1yÂËÆ÷
CAN_FilterInitStructure5.CAN_FilterNumber=4; //1yÂËÆ÷4
CAN_FilterInitStructure5.CAN_FilterMode=CAN_FilterMode_IdList;
CAN_FilterInitStructure5.CAN_FilterScale=CAN_FilterScale_16bit; //32λ
CAN_FilterInitStructure5.CAN_FilterIdHigh=filter_data5[0] << 5;////32λID
CAN_FilterInitStructure5.CAN_FilterIdLow=filter_data5[1] << 5;
CAN_FilterInitStructure5.CAN_FilterMaskIdHigh= (filter_data5[2] << 5);//32λMASK
CAN_FilterInitStructure5.CAN_FilterMaskIdLow=filter_data5[3] << 5;
CAN_FilterInitStructure5.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//1yÂËÆ÷01Øáaμ½FIFO0
CAN_FilterInitStructure5.CAN_FilterActivation=ENABLE; //¼¤»î1yÂËÆ÷0
CAN_FilterInit(&CAN_FilterInitStructure5);//ÂË2¨Æ÷3õê¼»ˉ
//下面过滤器5就不行了 不清楚为什么
// CAN_FilterInitStructure6.CAN_FilterNumber=5; //1yÂËÆ÷1
// CAN_FilterInitStructure6.CAN_FilterMode=CAN_FilterMode_IdList;
// CAN_FilterInitStructure6.CAN_FilterScale=CAN_FilterScale_32bit; //32λ
// CAN_FilterInitStructure6.CAN_FilterIdHigh=filter_data5[2] << 5;////32λID
// CAN_FilterInitStructure6.CAN_FilterIdLow=0x0000 | CAN_ID_STD;
//
// CAN_FilterInitStructure6.CAN_FilterMaskIdHigh= (filter_data5[3] << 5);//32λMASK
// CAN_FilterInitStructure6.CAN_FilterMaskIdLow=0x0000 | CAN_ID_STD;
//
// CAN_FilterInitStructure6.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//1yÂËÆ÷01Øáaμ½FIFO0
// CAN_FilterInitStructure6.CAN_FilterActivation=ENABLE; //¼¤»î1yÂËÆ÷0
// CAN_FilterInit(&CAN_FilterInitStructure6);//ÂË2¨Æ÷3õê¼»ˉ
CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);//FIFO0ÏûÏ¢1òoÅÖD¶ÏÔêDí.
NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; // Ö÷óÅÏ輶Îa1
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; // ′ÎóÅÏ輶Îa0
NVIC_InitStructure.NVIC_IRQChanne
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GPIO_InitTypeDef GPIO_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure1,CAN_FilterInitStructure2,CAN_FilterInitStructure3,CAN_FilterInitStructure4;
CAN_FilterInitTypeDef CAN_FilterInitStructure5,CAN_FilterInitStructure6;
NVIC_InitTypeDef NVIC_InitStructure;
unsigned short mask;
unsigned short filter_data1[] = {0x500, 0x501, 0x502, 0x503, 0x504, 0x505, 0x506, 0x507, 0x508, 0x509, 0x50A, 0x50B, 0x50C, 0x50D, 0x50E, 0x50F};
unsigned short filter_data2[] = {0x510, 0x511, 0x512, 0x513, 0x514, 0x515, 0x516, 0x517, 0x518, 0x519, 0x51A, 0x51B, 0x51C, 0x51D, 0x51E, 0x51F};
unsigned short filter_data3[] = {0x520, 0x521, 0x522, 0x523, 0x524, 0x525, 0x526, 0x527, 0x528, 0x529, 0x52A, 0x52B, 0x52C, 0x52D, 0x52E, 0x52F};
unsigned short filter_data4[] = {0x530, 0x531, 0x532, 0x533, 0x534, 0x535, 0x536, 0x537, 0x538, 0x539, 0x53A, 0x53B, 0x53C, 0x53D, 0x53E, 0x53F};
unsigned short filter_data5[] = {0x4E0,0x4E3,0x5E8,0x540};
//ê1ÄüÏà1Øê±Öó
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);//ê1ÄüPORTAê±Öó
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//ê1ÄüCAN1ê±Öó
//3õê¼»ˉGPIO
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11| GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//¸′óÃ1|Äü
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//íÆíìêä3ö
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//éÏà-
GPIO_Init(GPIOA, &GPIO_InitStructure);//3õê¼»ˉPA11,PA12
//òy½Å¸′óÃó3éäÅäÖÃ
GPIO_PinAFConfig(GPIOA,GPIO_PinSource11,GPIO_AF_CAN1); //GPIOA11¸′óÃÎaCAN1
GPIO_PinAFConfig(GPIOA,GPIO_PinSource12,GPIO_AF_CAN1); //GPIOA12¸′óÃÎaCAN1
//CANμ¥ÔaéèÖÃ
CAN_InitStructure.CAN_TTCM=DISABLE; //·Çê±¼ä′¥·¢í¨DÅÄ£ê½
CAN_InitStructure.CAN_ABOM=DISABLE; //èí¼t×Ô¶ˉàëÏß1üàí
CAN_InitStructure.CAN_AWUM=DISABLE;//ËˉÃßÄ£ê½í¨1yèí¼t»½DÑ(Çå3yCAN->MCRμÄSLEEPλ)
CAN_InitStructure.CAN_NART=ENABLE; //½ûÖ1±¨ÎÄ×Ô¶ˉ′«Ëí
CAN_InitStructure.CAN_RFLM=DISABLE; //±¨ÎÄ2»Ëø¶¨,DÂμĸ2¸Ç¾éμÄ
CAN_InitStructure.CAN_TXFP=DISABLE; //óÅÏ輶ó鱨Îıê궷û¾ö¶¨
CAN_InitStructure.CAN_Mode= CAN_Mode_Normal; //Ä£ê½éèÖÃ
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq; //ÖØDÂí¬2½ìøÔ¾¿í¶è(Tsjw)Îatsjw+1¸öê±¼äμ¥λ CAN_SJW_1tq~CAN_SJW_4tq
CAN_InitStructure.CAN_BS1=CAN_BS1_7tq; //Tbs1·¶Î§CAN_BS1_1tq ~CAN_BS1_16tq
CAN_InitStructure.CAN_BS2=CAN_BS2_6tq;//Tbs2·¶Î§CAN_BS2_1tq ~ CAN_BS2_8tq
CAN_InitStructure.CAN_Prescaler=6; //·ÖÆμÏμêy(Fdiv)Îabrp+1
CAN_Init(CAN1, &CAN_InitStructure); // 3õê¼»ˉCAN1
//ÅäÖÃ1yÂËÆ÷
CAN_FilterInitStructure1.CAN_FilterNumber=0; //1yÂËÆ÷0
CAN_FilterInitStructure1.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure1.CAN_FilterScale=CAN_FilterScale_32bit; //32λ
CAN_FilterInitStructure1.CAN_FilterIdHigh=filter_data1[0] << 5;////32λID
CAN_FilterInitStructure1.CAN_FilterIdLow=0x0000;
mask =0xff0; //
CAN_FilterInitStructure1.CAN_FilterMaskIdHigh= (mask << 5);//32λMASK
CAN_FilterInitStructure1.CAN_FilterMaskIdLow=0x0000 | 0x02;
CAN_FilterInitStructure1.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//1yÂËÆ÷01Øáaμ½FIFO0
CAN_FilterInitStructure1.CAN_FilterActivation=ENABLE; //¼¤»î1yÂËÆ÷0
CAN_FilterInit(&CAN_FilterInitStructure1);//ÂË2¨Æ÷3õê¼»ˉ
//ÅäÖÃ1yÂËÆ÷
CAN_FilterInitStructure2.CAN_FilterNumber=1; //1yÂËÆ÷1
CAN_FilterInitStructure2.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure2.CAN_FilterScale=CAN_FilterScale_32bit; //32λ
CAN_FilterInitStructure2.CAN_FilterIdHigh=filter_data2[0] << 5;////32λID
CAN_FilterInitStructure2.CAN_FilterIdLow=0x0000;
mask =0xff0; //
CAN_FilterInitStructure2.CAN_FilterMaskIdHigh= (mask << 5);//32λMASK
CAN_FilterInitStructure2.CAN_FilterMaskIdLow=0x0000 | 0x02;
CAN_FilterInitStructure2.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//1yÂËÆ÷01Øáaμ½FIFO0
CAN_FilterInitStructure2.CAN_FilterActivation=ENABLE; //¼¤»î1yÂËÆ÷0
CAN_FilterInit(&CAN_FilterInitStructure2);//ÂË2¨Æ÷3õê¼»ˉ
//ÅäÖÃ1yÂËÆ÷
CAN_FilterInitStructure3.CAN_FilterNumber=2; //1yÂËÆ÷2
CAN_FilterInitStructure3.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure3.CAN_FilterScale=CAN_FilterScale_32bit; //32λ
CAN_FilterInitStructure3.CAN_FilterIdHigh=filter_data3[0] << 5;////32λID
CAN_FilterInitStructure3.CAN_FilterIdLow=0x0000;
mask =0xff0; //
CAN_FilterInitStructure3.CAN_FilterMaskIdHigh= (mask << 5);//32λMASK
CAN_FilterInitStructure3.CAN_FilterMaskIdLow=0x0000 | 0x02;
CAN_FilterInitStructure3.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//1yÂËÆ÷01Øáaμ½FIFO0
CAN_FilterInitStructure3.CAN_FilterActivation=ENABLE; //¼¤»î1yÂËÆ÷0
CAN_FilterInit(&CAN_FilterInitStructure3);//ÂË2¨Æ÷3õê¼»ˉ
//ÅäÖÃ1yÂËÆ÷
CAN_FilterInitStructure4.CAN_FilterNumber=3; //1yÂËÆ÷3
CAN_FilterInitStructure4.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure4.CAN_FilterScale=CAN_FilterScale_32bit; //32λ
CAN_FilterInitStructure4.CAN_FilterIdHigh=filter_data4[0] << 5;////32λID
CAN_FilterInitStructure4.CAN_FilterIdLow=0x0000;
mask =0xff0; //
CAN_FilterInitStructure4.CAN_FilterMaskIdHigh= (mask << 5);//32λMASK
CAN_FilterInitStructure4.CAN_FilterMaskIdLow=0x0000 | 0x02;
CAN_FilterInitStructure4.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//1yÂËÆ÷01Øáaμ½FIFO0
CAN_FilterInitStructure4.CAN_FilterActivation=ENABLE; //¼¤»î1yÂËÆ÷0
CAN_FilterInit(&CAN_FilterInitStructure4);//ÂË2¨Æ÷3õê¼»ˉ
//
//ÅäÖÃ1yÂËÆ÷
CAN_FilterInitStructure5.CAN_FilterNumber=4; //1yÂËÆ÷4
CAN_FilterInitStructure5.CAN_FilterMode=CAN_FilterMode_IdList;
CAN_FilterInitStructure5.CAN_FilterScale=CAN_FilterScale_16bit; //32λ
CAN_FilterInitStructure5.CAN_FilterIdHigh=filter_data5[0] << 5;////32λID
CAN_FilterInitStructure5.CAN_FilterIdLow=filter_data5[1] << 5;
CAN_FilterInitStructure5.CAN_FilterMaskIdHigh= (filter_data5[2] << 5);//32λMASK
CAN_FilterInitStructure5.CAN_FilterMaskIdLow=filter_data5[3] << 5;
CAN_FilterInitStructure5.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//1yÂËÆ÷01Øáaμ½FIFO0
CAN_FilterInitStructure5.CAN_FilterActivation=ENABLE; //¼¤»î1yÂËÆ÷0
CAN_FilterInit(&CAN_FilterInitStructure5);//ÂË2¨Æ÷3õê¼»ˉ
//下面过滤器5就不行了 不清楚为什么
// CAN_FilterInitStructure6.CAN_FilterNumber=5; //1yÂËÆ÷1
// CAN_FilterInitStructure6.CAN_FilterMode=CAN_FilterMode_IdList;
// CAN_FilterInitStructure6.CAN_FilterScale=CAN_FilterScale_32bit; //32λ
// CAN_FilterInitStructure6.CAN_FilterIdHigh=filter_data5[2] << 5;////32λID
// CAN_FilterInitStructure6.CAN_FilterIdLow=0x0000 | CAN_ID_STD;
//
// CAN_FilterInitStructure6.CAN_FilterMaskIdHigh= (filter_data5[3] << 5);//32λMASK
// CAN_FilterInitStructure6.CAN_FilterMaskIdLow=0x0000 | CAN_ID_STD;
//
// CAN_FilterInitStructure6.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//1yÂËÆ÷01Øáaμ½FIFO0
// CAN_FilterInitStructure6.CAN_FilterActivation=ENABLE; //¼¤»î1yÂËÆ÷0
// CAN_FilterInit(&CAN_FilterInitStructure6);//ÂË2¨Æ÷3õê¼»ˉ
CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);//FIFO0ÏûÏ¢1òoÅÖD¶ÏÔêDí.
NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; // Ö÷óÅÏ輶Îa1
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; // ′ÎóÅÏ輶Îa0
NVIC_InitStructure.NVIC_IRQChanne
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