RTR：0数据帧；1远程帧
IDE：0标准帧；1扩展帧
#define STANDARD_ID 0x0256 （11位）
#define EXTENDED_ID 0x00025648 （29位）
一、 过滤—标准帧ID
1. 32位过滤器-标识符屏蔽模式（一组筛选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位过滤器-标识符列表模式（2个筛选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位过滤器-标识符屏蔽模式（2组筛选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位过滤器-标识符列表模式(4个筛选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、过滤-扩展帧ID（只能使用32位滤波器）
1. 32位过滤器-标识符屏蔽模式（一组筛选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位过滤器-标识符列表模式（2个筛选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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