STM32F767用CUBE配置的CAN1能正常收发数据，CAN2和CAN3则不行

liqing666 提问时间：2017-9-14 22:37 /

如题，我是想用CAN1，CAN2，CAN3分别独立收发数据，但现在只有CAN1能正常收发，CAN2，CAN3只能发，不能中断接收，代码配置如下，求大神们帮我看看：
int CAN_Config(void)
{
   CAN_FilterConfTypeDef  sFilterConfig;
   static CanTxMsgTypeDef       TxMessage2;
   static CanRxMsgTypeDef       RxMessage2;
   static CanTxMsgTypeDef       TxMessage1;
   static CanRxMsgTypeDef       RxMessage1;
   static CanTxMsgTypeDef       TxMessage;
   static CanRxMsgTypeDef       RxMessage;
   //CAN1  初始化  25MHz  125kbps
   CanHandleToBMS1.Instance = CAN1;
   CanHandleToBMS1.pTxMsg = &TxMessage1;
   CanHandleToBMS1.pRxMsg = &RxMessage1;
      //CAN1工作模式及波特率配置
   CanHandleToBMS1.Init.TTCM = DISABLE;
   CanHandleToBMS1.Init.ABOM = ENABLE;
   CanHandleToBMS1.Init.AWUM = DISABLE;
   CanHandleToBMS1.Init.NART = DISABLE;
   CanHandleToBMS1.Init.RFLM = ENABLE;
   CanHandleToBMS1.Init.TXFP = DISABLE;
   CanHandleToBMS1.Init.Mode =  CAN_MODE_NORMAL;
   CanHandleToBMS1.Init.SJW = CAN_SJW_1TQ;
   CanHandleToBMS1.Init.BS1 = CAN_BS1_4TQ;
   CanHandleToBMS1.Init.BS2 = CAN_BS2_5TQ;
   CanHandleToBMS1.Init.Prescaler = 20;
   if(HAL_CAN_Init(&CanHandleToBMS1)!=HAL_OK)
   return 1;
   //CAN1过滤器  使能FIFO0
   sFilterConfig.FilterNumber = 0;
   sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
   sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
   sFilterConfig.FilterIdHigh = 0x0000;
   sFilterConfig.FilterIdLow = 0x0000;
   sFilterConfig.FilterMaskIdHigh = 0x0000;
   sFilterConfig.FilterMaskIdLow = 0x0000;
   sFilterConfig.FilterFIFOAssignment = CAN_FIFO0;
   sFilterConfig.FilterActivation = ENABLE;
   sFilterConfig.BankNumber = 14;
   if(HAL_CAN_ConfigFilter(&CanHandleToBMS1, &sFilterConfig)!=HAL_OK)
   return 2;

      //CAN2 初始化  25MHz  125kbps
   CanHandleToBMS2.Instance = CAN2;
   CanHandleToBMS2.pTxMsg = &TxMessage;
   CanHandleToBMS2.pRxMsg = &RxMessage;
   //CAN2工作模式及波特率配置
   CanHandleToBMS2.Init.TTCM = DISABLE;
   CanHandleToBMS2.Init.ABOM = ENABLE;
   CanHandleToBMS2.Init.AWUM = DISABLE;
   CanHandleToBMS2.Init.NART = DISABLE;
   CanHandleToBMS2.Init.RFLM = ENABLE;
   CanHandleToBMS2.Init.TXFP = DISABLE;
   CanHandleToBMS2.Init.Mode = CAN_MODE_NORMAL;
   CanHandleToBMS2.Init.SJW = CAN_SJW_1TQ;
   CanHandleToBMS2.Init.BS1 = CAN_BS1_4TQ;
   CanHandleToBMS2.Init.BS2 = CAN_BS2_5TQ;
   CanHandleToBMS2.Init.Prescaler =20;
   if(HAL_CAN_Init(&CanHandleToBMS2)!=HAL_OK)
   return 3;
   //CAN2过滤器  使能FIFO1
   sFilterConfig.FilterNumber = 14;//14;
   sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
   sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
   sFilterConfig.FilterIdHigh = 0x0000;
   sFilterConfig.FilterIdLow = 0x0000;
   sFilterConfig.FilterMaskIdHigh = 0x0000;
   sFilterConfig.FilterMaskIdLow = 0x0000;
   sFilterConfig.FilterFIFOAssignment = CAN_FIFO1;
   sFilterConfig.FilterActivation = ENABLE;
   sFilterConfig.BankNumber = 14;
   if(HAL_CAN_ConfigFilter(&CanHandleToBMS2, &sFilterConfig)!=HAL_OK)
      return 4;
//
   /*##-CAN3初始化 #######################################*/
   CanHandleToDC.Instance = CAN3;
   CanHandleToDC.pTxMsg = &TxMessage2;
   CanHandleToDC.pRxMsg = &RxMessage2;
   //CAN3 初始化 25MHz 125kbps
   CanHandleToDC.Init.TTCM = DISABLE;
   CanHandleToDC.Init.ABOM = ENABLE;
   CanHandleToDC.Init.AWUM = DISABLE;
   CanHandleToDC.Init.NART = DISABLE;
   CanHandleToDC.Init.RFLM = ENABLE;
   CanHandleToDC.Init.TXFP = DISABLE;
   CanHandleToDC.Init.Mode = CAN_MODE_NORMAL;
   CanHandleToDC.Init.SJW = CAN_SJW_1TQ;
   CanHandleToDC.Init.BS1 = CAN_BS1_4TQ;
   CanHandleToDC.Init.BS2 = CAN_BS2_5TQ;
   CanHandleToDC.Init.Prescaler = 20;
   HAL_CAN_Init(&CanHandleToDC);
//CAN3过滤器  使能FIFO0
   sFilterConfig.FilterNumber = 14;
   sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
   sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
   sFilterConfig.FilterIdHigh = 0x0000;
   sFilterConfig.FilterIdLow =  0x0000;
   sFilterConfig.FilterMaskIdHigh = 0x0000;//0xFFFF;
   sFilterConfig.FilterMaskIdLow = 0x0000;//0xFF00;
   sFilterConfig.FilterFIFOAssignment = CAN_FIFO0
   sFilterConfig.FilterActivation = ENABLE;
   sFilterConfig.BankNumber = 14;
   HAL_CAN_ConfigFilter(&CanHandleToDC, &sFilterConfig);

   return 0;
}

回调函数如下：
void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef *CanHandle)
{
uint8_t i;
if(CanHandle->pRxMsg->IDE == CAN_ID_EXT)
{
if(CanHandle->Instance == CAN1)
{
CANBMS.IDE = CanHandle->pRxMsg->ExtId;
CANBMS.DLC = CanHandle->pRxMsg->DLC;
for(i=0;i<8;i++)
{
CANBMS.Data[i] = CanHandle->pRxMsg->Data[i];
}
LeftCANqueue_push(CANBMS);
HAL_CAN_Receive_IT(CanHandle, CAN_FIFO0);
__HAL_CAN_ENABLE_IT(&CanHandleToBMS1,CAN_IT_FMP0);//重新开启FIF00消息挂号中断
}
if(CanHandle->Instance == CAN2)
{
CANBMS.IDE = CanHandle->pRxMsg->ExtId;
CANBMS.DLC = CanHandle->pRxMsg->DLC;
for(i=0;i<8;i++)
{
CANBMS.Data[i] = CanHandle->pRxMsg->Data[i];
}
RightCANqueue_push(CANBMS);
HAL_CAN_Receive_IT(CanHandle, CAN_FIFO1);
__HAL_CAN_ENABLE_IT(&CanHandleToBMS2,CAN_IT_FMP1);
}
if(CanHandle->Instance == CAN3)
{
CANBMS.IDE = CanHandle->pRxMsg->ExtId;
CANBMS.DLC = CanHandle->pRxMsg->DLC;
for(i=0;i<8;i++)
{
CANBMS.Data[i] = CanHandle->pRxMsg->Data[i];
}
HAL_CAN_Receive_IT(CanHandle, CAN_FIFO0);
__HAL_CAN_ENABLE_IT(&CanHandleToDC,CAN_IT_FMP0);
}
}
}