CAN在常规模式下无法进入中断函数

只看该作者 · 2024-7-29 18:00

我用的单片机为STM32F103VC，CAN 在回环模式下，可以正常收发。在常规模式下，可以发送数据，但无法收到数据，中断接收无法进入。以下为部分代码：
初始化：
{
      GPIO_InitTypeDef GPIO_InitStructure;
      CAN_InitTypeDef  CAN_InitStructure;
      CAN_FilterInitTypeDef  CAN_FilterInitStructure;
         NVIC_InitTypeDef  NVIC_InitStructure;

      RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_AFIO,ENABLE);//使能PORTA时钟
      RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1,ENABLE);//使能CAN时钟

      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;       //复用推挽
GPIO_Init(GPIOA, &GPIO_InitStructure);             //初始化IO
      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;//上拉输入
GPIO_Init(GPIOA, &GPIO_InitStructure);             //初始化IO

      CAN_InitStructure.CAN_Prescaler = 24;//12;
      CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;//CAN_Mode_LoopBack;
      CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
      CAN_InitStructure.CAN_BS1 = CAN_BS1_7tq;
      CAN_InitStructure.CAN_BS2 = CAN_BS2_4tq;  //250Kbps
      CAN_InitStructure.CAN_TTCM = DISABLE; //非时间触发通信模式
      CAN_InitStructure.CAN_ABOM = DISABLE; //软件自动离线管理
      CAN_InitStructure.CAN_AWUM = DISABLE;       //睡眠模式通过软件唤醒(清除CAN->MCR的SLEEP位)
      CAN_InitStructure.CAN_NART = ENABLE;       //禁止报文自动传送
      CAN_InitStructure.CAN_RFLM = DISABLE;  //报文不锁定,新的覆盖旧的
      CAN_InitStructure.CAN_TXFP = DISABLE; //优先级由报文标识符决定
CAN_Init(CAN1,&CAN_InitStructure);    // 初始化CAN1

      CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;//32 位 ID
      CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
      CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;//32 位 MASK
      CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
      CAN_FilterInitStructure.CAN_FilterNumber = 0;       //过滤器0
      CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_FilterFIFO0; //过滤器0关联到FIFO0
      CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
      CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
      CAN_FilterInitStructure.CAN_FilterActivation = ENABLE; //激活过滤器0
      CAN_FilterInit(&CAN_FilterInitStructure);//滤波器初始化

      CAN_ClearITPendingBit(CAN1,CAN_IT_FF0);
      CAN_ClearITPendingBit(CAN1,CAN_IT_FOV0);
CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);  //FIFO0消息挂号中断允许
      NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
      NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
      NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
      NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
      NVIC_Init(&NVIC_InitStructure);
}

中断函数
void USB_LP_CAN1_RX0_IRQHandler(void)
{
CAN_Receive(CAN1,CAN_FIFO0,&RxMessage);
}

一直无法进入中断函数，救助.