本帖最后由 yuanxinfei 于 2016-1-14 11:03 编辑


中断部分：void CAN1_RX0_IRQHandler(void)
{
        uint8_t can;
  CanRxMsg RxMessage;
  CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
  if ((RxMessage.ExtId == 0x0202FE32)&&(RxMessage.IDE == CAN_ID_EXT) && (RxMessage.DLC == 8))
{}
}
f407接收配置部分
static void CAN_Config(void)
{
  RCC_APB1PeriphClockCmd(CAN_CLK, ENABLE);
  
  /* CAN register init */
  CAN_DeInit(CANx);

  /* CAN cell init */
  CAN_InitStructure.CAN_TTCM = DISABLE;
  CAN_InitStructure.CAN_ABOM = DISABLE;
  CAN_InitStructure.CAN_AWUM = DISABLE;
  CAN_InitStructure.CAN_NART = DISABLE;
  CAN_InitStructure.CAN_RFLM = DISABLE;
  CAN_InitStructure.CAN_TXFP = DISABLE;
  CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
  CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
   
  /* CAN Baudrate = 1 MBps (CAN clocked at 30 MHz) */
  CAN_InitStructure.CAN_BS1 = CAN_BS1_12tq;
  CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;
  CAN_InitStructure.CAN_Prescaler = 8;
  CAN_Init(CANx, &CAN_InitStructure);

  /* CAN filter init */
  CAN_FilterInitStructure.CAN_FilterNumber = 0;
  CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
  CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
  CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;   //((0x0202FE20<<3)&0xFFFF0000)>>16
  CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;     //((0x0202FE20<<3)|CAN_ID_EXT)&0xFFFF
  CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
  CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
  CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_FIFO0;
  CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
  CAN_FilterInit(&CAN_FilterInitStructure);
  
  /* Transmit Structure preparation */
  
  
  /* Enable FIFO 0 message pending Interrupt */
  CAN_ITConfig(CANx, CAN_IT_FMP0, ENABLE);
}

/**
  * @brief  Configures the NVIC for CAN.
  * @param  None
  * @retval None
  */
static void NVIC_Config(void)
{
  NVIC_InitTypeDef  NVIC_InitStructure;

  NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);
}