RTR：0數(shù)據(jù)幀；1遠程幀
IDE：0標準幀；1擴展幀
#define STANDARD_ID    0x0256     （11位）
#define EXTENDED_ID    0x00025648 （29位）

一、 過濾---標準幀ID

1. 32位過濾器-標識符屏蔽模式（一組篩選ID）

CAN_FilterInitStructure.CAN_FilterNumber=0;		
CAN_FilterInitStructure.CAN_FilterMode  =CAN_FilterMode_IdMask; 		
CAN_FilterInitStructure.CAN_FilterScale  =CAN_FilterScale_32bit; 		
CAN_FilterInitStructure.CAN_FilterIdHigh =STANDARD_ID<<5;		
CAN_FilterInitStructure.CAN_FilterIdLow =0;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xFFE0;	
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;	
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);	

?2. 32位過濾器-標識符列表模式（2個篩選ID）

CAN_FilterInitStructure.CAN_FilterNumber=0;		
CAN_FilterInitStructure.CAN_FilterMode  =CAN_FilterMode_IdList; 		
CAN_FilterInitStructure.CAN_FilterScale  =CAN_FilterScale_32bit; 		
CAN_FilterInitStructure.CAN_FilterIdHigh =STANDARD_ID<<5;		
CAN_FilterInitStructure.CAN_FilterIdLow =0;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=(STANDARD_ID+2)<<5;	
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;	
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);

?3.?16位過濾器-標識符屏蔽模式（2組篩選ID）

CAN_FilterInitStructure.CAN_FilterNumber=0;	
CAN_FilterInitStructure.CAN_FilterMode  =CAN_FilterMode_IdMask; 		
CAN_FilterInitStructure.CAN_FilterScale  =CAN_FilterScale_16bit; 	
CAN_FilterInitStructure.CAN_FilterIdHigh =STANDARD_ID<<5;		
CAN_FilterInitStructure.CAN_FilterIdLow =(STANDARD_ID+1)<<5;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xFFE0;	
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0xFFE0;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);	

?4. 16位過濾器-標識符列表模式(4個篩選ID)

CAN_FilterInitStructure.CAN_FilterNumber=0;		
CAN_FilterInitStructure.CAN_FilterMode  =CAN_FilterMode_IdList; 		
CAN_FilterInitStructure.CAN_FilterScale  =CAN_FilterScale_16bit; 	
CAN_FilterInitStructure.CAN_FilterIdHigh =STANDARD_ID<<5;		
CAN_FilterInitStructure.CAN_FilterIdLow =(STANDARD_ID+1)<<5;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=(STANDARD_ID+2)<<5;
CAN_FilterInitStructure.CAN_FilterMaskIdLow=(STANDARD_ID+3)<<5;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;	
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);	

?二、過濾-擴展幀ID（只能使用32位濾波器）

?1. 32位過濾器-標識符屏蔽模式（一組篩選ID）

CAN_FilterInitStructure.CAN_FilterNumber=0;		
CAN_FilterInitStructure.CAN_FilterMode  =CAN_FilterMode_IdMask; 	
CAN_FilterInitStructure.CAN_FilterScale  =CAN_FilterScale_32bit; 		
CAN_FilterInitStructure.CAN_FilterIdHigh =EXTENDED_ID>>13;	//左移3，再右移16
CAN_FilterInitStructure.CAN_FilterIdLow =(EXTENDED_ID << 3) | (1U << 2); //IDE=1
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xFFFF;	
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0xFFF8 | (1U << 2);   //IDE=1
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;	
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);	

2. 32位過濾器-標識符列表模式（2個篩選ID）

CAN_FilterInitStructure.CAN_FilterNumber=0;		
CAN_FilterInitStructure.CAN_FilterMode  =CAN_FilterMode_IdList; 	
CAN_FilterInitStructure.CAN_FilterScale  =CAN_FilterScale_32bit; 		
CAN_FilterInitStructure.CAN_FilterIdHigh =EXTENDED_ID>>13;	//左移3，再右移16
CAN_FilterInitStructure.CAN_FilterIdLow =(EXTENDED_ID << 3) | (1U << 2); //IDE=1
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=(EXTENDED_ID+1)>>13;	
CAN_FilterInitStructure.CAN_FilterMaskIdLow=((EXTENDED_ID+1) << 3) | (1U << 2);
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;	
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);	

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