TC397同时接收多个不同ID的CAN信号的具体代码

以下是一个基于STM32的CAN接收多个不同ID的信号的示例代码：

#include "stm32f4xx.h"
#include "stm32f4xx_can.h"

#define CANx                       CAN1
#define CAN_CLK                    RCC_APB1Periph_CAN1
#define CAN_RX_PIN                 GPIO_Pin_0
#define CAN_TX_PIN                 GPIO_Pin_1
#define CAN_GPIO_PORT              GPIOD
#define CAN_GPIO_CLK               RCC_AHB1Periph_GPIOD

/* CAN filter parameters */
#define CAN_FILTER_FIFO            CAN_FilterFIFO0
#define CAN_FILTER_MODE            CAN_FilterMode_IdMask
#define CAN_FILTER_SCALE           CAN_FilterScale_32bit
#define CAN_FILTER_ACTIVATION      ENABLE
#define CAN_FILTER_ID_LOW          0x0000
#define CAN_FILTER_ID_HIGH         0x0000
#define CAN_FILTER_MASK_LOW        0x0000
#define CAN_FILTER_MASK_HIGH       0x0000
#define CAN_FILTER_FIFO_ASSIGNMENT 0

void CAN_Config(void);
void NVIC_Config(void);
void CAN_Filter_Config(void);
void CAN_RxMessage_Handler(CanRxMsg *RxMessage);

int main(void)
{
  /* CAN configuration */
  CAN_Config();
  NVIC_Config();
  CAN_Filter_Config();

  while (1);
}

void CAN_Config(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;
  CAN_InitTypeDef  CAN_InitStructure;

  /* Enable CAN GPIO clocks */
  RCC_AHB1PeriphClockCmd(CAN_GPIO_CLK, ENABLE);

  /* Configure CAN RX and TX pins */
  GPIO_InitStructure.GPIO_Pin = CAN_RX_PIN | CAN_TX_PIN;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_UP;
  GPIO_Init(CAN_GPIO_PORT, &GPIO_InitStructure);

  /* Connect CAN RX and TX pins to AF9 */
  GPIO_PinAFConfig(CAN_GPIO_PORT, GPIO_PinSource0, GPIO_AF_CAN1);
  GPIO_PinAFConfig(CAN_GPIO_PORT, GPIO_PinSource1, GPIO_AF_CAN1);

  /* Enable CAN clock */
  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_InitStructure.CAN_BS1  = CAN_BS1_9tq;
  CAN_InitStructure.CAN_BS2  = CAN_BS2_5tq;
  CAN_InitStructure.CAN_Prescaler = 4;
  CAN_Init(CANx, &CAN_InitStructure);
}

void NVIC_Config(void)
{
  NVIC_InitTypeDef NVIC_InitStructure;

  /* Enable CAN RX interrupts */
  NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);
}

void CAN_Filter_Config(void)
{
  CAN_FilterInitTypeDef CAN_FilterInitStructure;

  /* CAN filter init */
  CAN_FilterInitStructure.CAN_FilterNumber = 0;
  CAN_FilterInitStructure.CAN_FilterMode = CAN_FILTER_MODE;
  CAN_FilterInitStructure.CAN_FilterScale = CAN_FILTER_SCALE;
  CAN_FilterInitStructure.CAN_FilterIdHigh = CAN_FILTER_ID_HIGH;
  CAN_FilterInitStructure.CAN_FilterIdLow = CAN_FILTER_ID_LOW;
  CAN_FilterInitStructure.CAN_FilterMaskIdHigh = CAN_FILTER_MASK_HIGH;
  CAN_FilterInitStructure.CAN_FilterMaskIdLow = CAN_FILTER_MASK_LOW;
  CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_FILTER_FIFO_ASSIGNMENT;
  CAN_FilterInitStructure.CAN_FilterActivation = CAN_FILTER_ACTIVATION;
  CAN_FilterInit(&CAN_FilterInitStructure);
}

void CAN_RxMessage_Handler(CanRxMsg *RxMessage)
{
  /* Handle received CAN message */
}

void CAN1_RX0_IRQHandler(void)
{
  CanRxMsg RxMessage;

  /* Check if FIFO0 has received a message */
  if (CAN_GetITStatus(CAN1, CAN_IT_FMP0) != RESET)
  {
    /* Get the received message */
    CAN_Receive(CAN1, CAN_FILTER_FIFO, &RxMessage);

    /* Handle the received message */
    CAN_RxMessage_Handler(&RxMessage);

    /* Clear the FIFO0 message pending bit */
    CAN_ClearITPendingBit(CAN1, CAN_IT_FMP0);
  }
}

在CAN_Filter_Config函数中，你需要设置CAN滤波器的ID和掩码，以便只接收你需要的CAN信号。例如，如果你需要接收ID为0x100和0x200的CAN信号，则可以将CAN_FILTER_ID_LOW分别设置为0x100和0x200，将CAN_FILTER_ID_HIGH和CAN_FILTER_MASK_HIGH设置为0x0000。

在CAN_RxMessage_Handler函数中，你可以处理接收到的CAN消息。你可以根据CAN消息的ID和数据来执行不同的操作。