STM32F103使用CAN通信读取多个扩展帧命令,并将命令按照字节进行解析

首先需要初始化CAN模块并设置CAN的波特率、模式等参数。然后需要配置CAN过滤器，以过滤出需要接收的扩展帧命令。

接收到数据后，可以通过CAN接收中断来处理数据。在中断处理函数中，可以通过CAN的数据结构体来获取接收到的数据。

接收到的数据需要按字节进行解析。可以将数据存储在一个缓冲区中，然后逐个字节进行解析。解析时需要根据协议规定的数据格式进行解析，并将解析结果存储在相应的变量中。

以下是一个示例代码，用于接收并解析两个扩展帧命令：

#include "stm32f10x.h"

CAN_InitTypeDef CAN_InitStruct;
CAN_FilterInitTypeDef CAN_FilterInitStruct;
CanRxMsg RxMessage;

uint8_t buffer[8];
uint8_t command1, command2;

void CAN_Config(void)
{
    // 初始化CAN模块
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
    CAN_InitStruct.CAN_TTCM = DISABLE;
    CAN_InitStruct.CAN_ABOM = DISABLE;
    CAN_InitStruct.CAN_AWUM = DISABLE;
    CAN_InitStruct.CAN_NART = ENABLE;
    CAN_InitStruct.CAN_RFLM = DISABLE;
    CAN_InitStruct.CAN_TXFP = DISABLE;
    CAN_InitStruct.CAN_Mode = CAN_Mode_Normal;
    CAN_InitStruct.CAN_SJW = CAN_SJW_1tq;
    CAN_InitStruct.CAN_BS1 = CAN_BS1_9tq;
    CAN_InitStruct.CAN_BS2 = CAN_BS2_4tq;
    CAN_InitStruct.CAN_Prescaler = 2;
    CAN_Init(CAN1, &CAN_InitStruct);

    // 配置CAN过滤器
    CAN_FilterInitStruct.CAN_FilterNumber = 0;
    CAN_FilterInitStruct.CAN_FilterMode = CAN_FilterMode_IdMask;
    CAN_FilterInitStruct.CAN_FilterScale = CAN_FilterScale_32bit;
    CAN_FilterInitStruct.CAN_FilterIdHigh = 0x0000;
    CAN_FilterInitStruct.CAN_FilterIdLow = 0x0000;
    CAN_FilterInitStruct.CAN_FilterMaskIdHigh = 0x0000;
    CAN_FilterInitStruct.CAN_FilterMaskIdLow = 0x0000;
    CAN_FilterInitStruct.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;
    CAN_FilterInitStruct.CAN_FilterActivation = ENABLE;
    CAN_FilterInit(&CAN_FilterInitStruct);

    // 使能CAN接收中断
    NVIC_InitTypeDef NVIC_InitStruct;
    NVIC_InitStruct.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
    NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0;
    NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStruct);

    CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
}

void USB_LP_CAN1_RX0_IRQHandler(void)
{
    CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
    if (RxMessage.IDE == CAN_Id_Extended)
    {
        // 解析命令1
        if (RxMessage.ExtId == 0x12345678)
        {
            buffer[0] = RxMessage.Data[0];
            buffer[1] = RxMessage.Data[1];
            buffer[2] = RxMessage.Data[2];
            buffer[3] = RxMessage.Data[3];
            command1 = buffer[0];
        }
        // 解析命令2
        else if (RxMessage.ExtId == 0x87654321)
        {
            buffer[0] = RxMessage.Data[0];
            buffer[1] = RxMessage.Data[1];
            buffer[2] = RxMessage.Data[2];
            buffer[3] = RxMessage.Data[3];
            command2 = buffer[0];
        }
    }
}

int main(void)
{
    CAN_Config();

    while (1) {}
}