STM32的CAN总线的接收双FIFO的使用问题

CAN_HandleTypeDef hcan;

CanTxMsgTypeDef TxMessage;

CanRxMsgTypeDef RxMessage;

/* CAN init function */

void MX_CAN_Init(void)

{



  hcan.Instance = CAN;

  hcan.pTxMsg = &TxMessage;

  hcan.pRxMsg = &RxMessage;

  //250K

  hcan.Init.Prescaler = 12;

  hcan.Init.Mode = CAN_MODE_NORMAL;

  hcan.Init.SJW = CAN_SJW_1TQ;

  hcan.Init.BS1 = CAN_BS1_7TQ;

  hcan.Init.BS2 = CAN_BS2_8TQ;

  hcan.Init.TTCM = DISABLE;

  hcan.Init.ABOM = ENABLE;

  hcan.Init.AWUM = DISABLE;

  hcan.Init.NART = DISABLE;

  hcan.Init.RFLM = DISABLE;

  hcan.Init.TXFP = DISABLE;

  if (HAL_CAN_Init(&hcan) != HAL_OK)

  {

    Error_Handler();

  }

        

CAN_FilterConfTypeDef  sFilterConfig;

//  /*##-2- Configure the CAN Filter ###########################################*/

//  sFilterConfig.FilterNumber = 0;

//  sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;

//  sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;

//  sFilterConfig.FilterIdHigh = 0x0000;

//  sFilterConfig.FilterIdLow = 0x0000;

//  sFilterConfig.FilterMaskIdHigh = 0x0000;

//  sFilterConfig.FilterMaskIdLow = 0x0000;

//  sFilterConfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;

//  sFilterConfig.FilterActivation = ENABLE;

//  sFilterConfig.BankNumber = 14;

//  if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)

//  {

//    /* Filter configuration Error */

//    Error_Handler();

//  }

//        HAL_CAN_Receive_IT(&hcan, CAN_FIFO0);               //使能CAN接收中断

        

  /*##-2- Configure the CAN Filter ###########################################*/

  sFilterConfig.FilterNumber = 1;

  sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;

  sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;

  sFilterConfig.FilterIdHigh = 0x0000;

  sFilterConfig.FilterIdLow = 0x0000;

  sFilterConfig.FilterMaskIdHigh = 0x0000;

  sFilterConfig.FilterMaskIdLow = 0x0000;

  sFilterConfig.FilterFIFOAssignment = CAN_FILTER_FIFO1;

  sFilterConfig.FilterActivation = ENABLE;

  sFilterConfig.BankNumber = 14;



  if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)

  {

    /* Filter configuration Error */

    Error_Handler();

  }

  HAL_CAN_Receive_IT(&hcan, CAN_FIFO1);               //使能CAN接收中断

}