28377D 只接收固定ID 不能接收任意ID数据

我现在是使用C:\ti\c2000\C2000Ware_3_01_00_00\driverlib\f2837xd\examples\cpu1\can 的can_ex1_loopback来进行测试，修改代码后如下

可以接收其他ID的消息

主要修改如下：

    CAN_setupMessageObject(CANA_BASE, 2, 0x3FF, CAN_MSG_FRAME_STD,
                           CAN_MSG_OBJ_TYPE_RX, 0x00000000, CAN_MSG_OBJ_USE_ID_FILTER,
                           MSG_DATA_LENGTH);

//#############################################################################
//
// FILE:   can_ex1_loopback.c
//
// TITLE:   CAN External Loopback Example
//
//! \addtogroup driver_example_list
//! <h1> CAN External Loopback </h1>
//!
//! This example shows the basic setup of CAN in order to transmit and receive
//! messages on the CAN bus.  The CAN peripheral is configured to transmit
//! messages with a specific CAN ID.  A message is then transmitted once per
//! second, using a simple delay loop for timing.  The message that is sent is
//! a 2 byte message that contains an incrementing pattern.
//!
//! This example sets up the CAN controller in "External" Loopback test mode.
//! Data transmitted is visible on the CANTXA pin and is received internally
//! back to the CAN Core. It is important that the GPIO mapping in device.h
//! file in this project is edited to reflect the GPIO pins that are used for
//! CAN function in your hardware. Otherwise, the transmitted data will not be
//! seen on CANTXA pin. No interrupts are used.
//!
//! Note: "External" loopback does not mean the loopback is done externally.
//! The loopback is done internally, but the transmitted data can be seen
//! externally on the CANTX pin.
//!
//! \b External \b Connections \n
//!  - None. (Transmitting node generates its own ACK)
//!
//! \b Watch \b Variables \n
//!  - msgCount - A counter for the number of successful messages received
//!  - txMsgData - An array with the data being sent
//!  - rxMsgData - An array with the data that was received
//!
//
//#############################################################################
// $TI Release: F2837xD Support Library v3.09.00.00 $
// $Release Date: Thu Mar 19 07:35:24 IST 2020 $
// $Copyright:
// Copyright (C) 2013-2020 Texas Instruments Incorporated - http://www.ti.com/
//
// Redistribution and use in source and binary forms, with or without 
// modification, are permitted provided that the following conditions 
// are met:
// 
//   Redistributions of source code must retain the above copyright 
//   notice, this list of conditions and the following disclaimer.
// 
//   Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the 
//   documentation and/or other materials provided with the   
//   distribution.
// 
//   Neither the name of Texas Instruments Incorporated nor the names of
//   its contributors may be used to endorse or promote products derived
//   from this software without specific prior written permission.
// 
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// $
//#############################################################################

//
// Included Files
//
#include "driverlib.h"
#include "device.h"

//
// Defines
//
#define MSG_DATA_LENGTH    2

//
// Globals
//
volatile unsigned long msgCount = 0;

//
// Main
//
void main(void)
{
    uint16_t txMsgData[2], rxMsgData[2];

    //
    // Initialize device clock and peripherals
    //
    Device_init();

    //
    // Initialize GPIO and configure GPIO pins for CANTX/CANRX
    //
    Device_initGPIO();
    GPIO_setPinConfig(DEVICE_GPIO_CFG_CANRXA);
    GPIO_setPinConfig(DEVICE_GPIO_CFG_CANTXA);

    //
    // Initialize the CAN controller
    //
    CAN_initModule(CANA_BASE);

    //
    // Set up the CAN bus bit rate to 500 kbps
    // Refer to the Driver Library User Guide for information on how to set
    // tighter timing control. Additionally, consult the device data sheet
    // for more information about the CAN module clocking.
    //
    CAN_setBitRate(CANA_BASE, DEVICE_SYSCLK_FREQ, 500000, 20);

    //
    // Initialize PIE and clear PIE registers. Disables CPU interrupts.
    //
    Interrupt_initModule();

    //
    // Initialize the PIE vector table with pointers to the shell Interrupt
    // Service Routines (ISR).
    //
    Interrupt_initVectorTable();

    //
    // Enable Global Interrupt (INTM) and realtime interrupt (DBGM)
    //
    EINT;
    ERTM;

    //
    // Enable CAN test mode with external loopback
    //
    CAN_enableTestMode(CANA_BASE, CAN_TEST_EXL);

    //
    // Initialize the transmit message object used for sending CAN messages.
    // Message Object Parameters:
    //      Message Object ID Number: 1
    //      Message ID: 0x3FF (STDID should be from 0x1 through 0x7FF only)
    //      Message Frame: Standard
    //      Message Type: Transmit
    //      Message ID Mask: 0x0
    //      Message Object Flags: None
    //      Message Data Length: 2 Bytes
    //
    CAN_setupMessageObject(CANA_BASE, 1, 0x3FE, CAN_MSG_FRAME_STD,
                           CAN_MSG_OBJ_TYPE_TX, 0, CAN_MSG_OBJ_NO_FLAGS,
                           MSG_DATA_LENGTH);

    //
    // Initialize the receive message object used for receiving CAN messages.
    // Message Object Parameters:
    //      Message Object ID Number: 2
    //      Message ID: 0x3FF (STDID should be from 0x1 through 0x7FF only)
    //      Message Frame: Standard
    //      Message Type: Receive
    //      Message ID Mask: 0x0
    //      Message Object Flags: None
    //      Message Data Length: 2 Bytes (Note that DLC field is a "don't care"
    //      for a Receive mailbox
    //
//    CAN_setupMessageObject(CANA_BASE, 2, 0x3FF, CAN_MSG_FRAME_STD,
                         //  CAN_MSG_OBJ_TYPE_RX, 0, CAN_MSG_OBJ_NO_FLAGS,
                         //  MSG_DATA_LENGTH);

    //
    // Initialize the receive message object used for receiving CAN messages.
    // Message Object Parameters:
    //      Message Object ID Number: 2
    //      Message Identifier: 0x1234
    //      Message Frame: Standard
    //      Message Type: Receive
    //      Message ID Mask: 0x0
    //      Message Object Flags: None
    //      Message Data Length: 2 Bytes
    //
  //  CAN_setupMessageObject(CANA_BASE, 2, 0x1234, CAN_MSG_FRAME_STD,
                        //   CAN_MSG_OBJ_TYPE_RX, 0, CAN_MSG_OBJ_NO_FLAGS,
                         //  MSG_DATA_LENGTH);

    CAN_setupMessageObject(CANA_BASE, 2, 0x3FF, CAN_MSG_FRAME_STD,
                           CAN_MSG_OBJ_TYPE_RX, 0x00000000, CAN_MSG_OBJ_USE_ID_FILTER,
                           MSG_DATA_LENGTH);

    //
    // Start CAN module operations
    //
    CAN_startModule(CANA_BASE);

    //
    // Setup send and receive buffers
    //
    txMsgData[0] = 0x01;
    txMsgData[1] = 0x02;
    *(uint16_t *)rxMsgData = 0;

    //
    // Loop Forever - Send and Receive data continuously
    //
    for(;;)
    {
        //
        // Send CAN message data from message object 1
        //
        CAN_sendMessage(CANA_BASE, 1, MSG_DATA_LENGTH, txMsgData);

        //
        // Delay before receiving the data
        //
        DEVICE_DELAY_US(1000000);

        //
        // Read CAN message object 2 and check for new data
        //
        if (CAN_readMessage(CANA_BASE, 2, rxMsgData))
        {
            //
            // Check that received data matches sent data.
            // Device will halt here during debug if data doesn't match.
            //
            if((txMsgData[0] != rxMsgData[0]) ||
               (txMsgData[1] != rxMsgData[1]))
            {
                Example_Fail = 1;
                asm("   ESTOP0");
            }
            else
            {
                //
                // Increment message received counter
                //
                msgCount++;
                Example_PassCount++;
            }
        }
        else
        {
            //
            // Device will halt here during debug if no new data was received.
            //
            Example_Fail = 1;
            asm(" ESTOP0");
        }

        //
        // Increment the value in the transmitted message data.
        //
        txMsgData[0] += 0x01;
        txMsgData[1] += 0x01;

        //
        // Reset data if exceeds a byte
        //
        if(txMsgData[0] > 0xFF)
        {
            txMsgData[0] = 0;
        }
        if(txMsgData[1] > 0xFF)
        {
            txMsgData[1] = 0;
        }
    }
}

//
// End of File
//