CAN通信配置过滤器和使用三个邮箱发送

/**
  * @brief          CAN筛选器
  */
void Can_Filter_Init(void)
{
	/***	CAN1	***/
    CAN_FilterTypeDef sFilterConfig;
	sFilterConfig.FilterActivation = ENABLE;			// 激活过滤器
	sFilterConfig.FilterBank = 0;						// 配置主CAN筛选器组编号
	sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;	// 配置工作模式为列表模式
	sFilterConfig.FilterScale = CAN_FILTERSCALE_16BIT;	// 配置筛选器的尺度为16位长
	sFilterConfig.FilterIdHigh = 0x0000;				// CAN_FxR1寄存器
	sFilterConfig.FilterIdLow = 0x0000;
	sFilterConfig.FilterMaskIdHigh = 0x0000;			// CAN_FxR2寄存器
	sFilterConfig.FilterMaskIdLow = 0x0000;
	sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;	// 筛选器接筛选报文关联到FIFO0

	if (HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig) != HAL_OK) {						// 配置CAN1接收筛选过滤器
		Error_Handler();
	}
	if (HAL_CAN_Start(&hcan1) != HAL_OK) {												// 开启CAN1
		Error_Handler();
	}
	if (HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK) {	// 开启CAN1的FIFO0接收中断
		Error_Handler();
	}
}

#include <stdbool.h>

/**
  * @brief          发送C620电调控制电流
  * @param[in]		motorID对应的电机控制电流, 范围 [-16384, 16384]，对应电调输出的转矩电流范围 [-20A, 20A]
  * @param[in]      etcID: 控制报文标识符(电调ID)为1-4还是5-8
  */
void CAN_Cmd_C620(CAN_HandleTypeDef *hcan, int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4, bool_t etcID)
{
	CAN_TxHeaderTypeDef TxHeader;						// CAN通信协议头
	uint8_t TxData[8] = {0};							// 发送电机指令缓存
	uint32_t TxMailboxX = CAN_TX_MAILBOX0;				// CAN发送邮箱

	if (etcID == false) {
		TxHeader.StdId = CAN_3508_ALL_ID;				// 标准格式标识符ID
	} else {
		TxHeader.StdId = CAN_3508_ETC_ID;
	}
	TxHeader.ExtId = 0;
	TxHeader.IDE = CAN_ID_STD;							// 标准帧
	TxHeader.RTR = CAN_RTR_DATA;						// 传送帧类型为数据帧
	TxHeader.DLC = 0x08;								// 数据长度码
	TxData[0] = (uint8_t)(motor1 >> 8);
	TxData[1] = (uint8_t)motor1;
	TxData[2] = (uint8_t)(motor2 >> 8);
	TxData[3] = (uint8_t)motor2;
	TxData[4] = (uint8_t)(motor3 >> 8);
	TxData[5] = (uint8_t)motor3;
	TxData[6] = (uint8_t)(motor4 >> 8);
	TxData[7] = (uint8_t)motor4;

	//找到空的发送邮箱 把数据发送出去
	while (HAL_CAN_GetTxMailboxesFreeLevel(hcan) == 0);	// 如果三个发送邮箱都阻塞了就等待直到其中某个邮箱空闲
	if ((hcan->Instance->TSR & CAN_TSR_TME0) != RESET) {
		// 检查发送邮箱0状态 如果邮箱0空闲就将待发送数据放入FIFO0
		TxMailboxX = CAN_TX_MAILBOX0;
	} else if ((hcan->Instance->TSR & CAN_TSR_TME1) != RESET) {
		TxMailboxX = CAN_TX_MAILBOX1;
	} else if ((hcan->Instance->TSR & CAN_TSR_TME2) != RESET) {
		TxMailboxX = CAN_TX_MAILBOX2;
	}
	// 将数据通过CAN总线发送
	#if DEBUGMODE
		if (HAL_CAN_AddTxMessage(hcan, &TxHeader, TxData, (uint32_t *)TxMailboxX) != HAL_OK) {
			Error_Handler();
		}
	#else
		HAL_CAN_AddTxMessage(hcan, &TxHeader, TxData, (uint32_t *)TxMailboxX);
	#endif
}

/**
  * @brief			HAL库CAN FIFO0接受邮箱中断（Rx0）回调函数
  * @param			hcan : CAN句柄指针
  */
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
    static BaseType_t xHigherPriorityTaskWoken = pdFALSE;	// 不请求上下文切换
	CAN_RxHeaderTypeDef RxHeader;							// CAN通信协议头
	uint8_t rx_data[8] = {0};								// 暂存CAN接收数据
	motor_measure_t motorDataTmp;							// 电机数据
	uint8_t i = 0;

	if (hcan == &hcan1)
	{
		if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, rx_data) == HAL_OK)	// 接收CAN总线上发送来的数据
		{
			// 对应电机向总线上发送的反馈的标识符和程序电机序号
            switch (RxHeader.StdId) {
                case CAN_PITCH_MOTOR_ID : i = MotorID_GimbalPitch; break;
                case CAN_YAW_MOTOR_ID : i = MotorID_GimbalYaw; break;
				#if DEBUGMODE
                	default : i = RxHeader.StdId - CAN_3508_M1_ID; break;
				#endif
            }
            // 电机返回数据协议解析
            get_motor_measure(&motorDataTmp, rx_data);
            // 向消息队列中填充数据
            if (messageQueueCreateFlag) {
                xQueueOverwriteFromISR(messageQueue[i], (void *)&motorDataTmp, &xHigherPriorityTaskWoken);
                portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
            }
		}
	}
}