采用STM32H7的FDCAN上的FIFO0中断接收数据，使用KEIL单步运行能出来结果，但是整个运行的话就会跳转到HardFault_Handler()

void MX_FDCAN1_Init(void)
{

  /* USER CODE BEGIN FDCAN1_Init 0 */

  /* USER CODE END FDCAN1_Init 0 */

  /* USER CODE BEGIN FDCAN1_Init 1 */

  /* USER CODE END FDCAN1_Init 1 */
  hfdcan1.Instance = FDCAN1;
  hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
  hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
  hfdcan1.Init.AutoRetransmission = DISABLE;
  hfdcan1.Init.TransmitPause = DISABLE;
  hfdcan1.Init.ProtocolException = DISABLE;
  hfdcan1.Init.NominalPrescaler = 3;
  hfdcan1.Init.NominalSyncJumpWidth = 8;
  hfdcan1.Init.NominalTimeSeg1 = 21;
  hfdcan1.Init.NominalTimeSeg2 = 8;
  hfdcan1.Init.DataPrescaler = 2;
  hfdcan1.Init.DataSyncJumpWidth = 8;
  hfdcan1.Init.DataTimeSeg1 = 32;
  hfdcan1.Init.DataTimeSeg2 = 12;
  hfdcan1.Init.MessageRAMOffset = 0;
  hfdcan1.Init.StdFiltersNbr = 1;
  hfdcan1.Init.ExtFiltersNbr = 0;
  hfdcan1.Init.RxFifo0ElmtsNbr = 8;
  hfdcan1.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
  hfdcan1.Init.RxFifo1ElmtsNbr = 0;
  hfdcan1.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
  hfdcan1.Init.RxBuffersNbr = 0;
  hfdcan1.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
  hfdcan1.Init.TxEventsNbr = 0;
  hfdcan1.Init.TxBuffersNbr = 0;
  hfdcan1.Init.TxFifoQueueElmtsNbr = 3;
  hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
  hfdcan1.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
  if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN FDCAN1_Init 2 */
    FDCAN_FilterTypeDef sFilterConfig;

    sFilterConfig.IdType = FDCAN_STANDARD_ID;
    sFilterConfig.FilterIndex = 0;
    sFilterConfig.FilterType = FDCAN_FILTER_MASK;
    sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
    sFilterConfig.FilterID1 = 0X007;
    sFilterConfig.FilterID2 = 0X7FF;
    sFilterConfig.RxBufferIndex = 0;

    if(HAL_FDCAN_ConfigFilter(&hfdcan1,&sFilterConfig) != HAL_OK)
    {
        Error_Handler();
    }
    HAL_FDCAN_ConfigGlobalFilter(&hfdcan1,FDCAN_REJECT,FDCAN_REJECT,FDCAN_FILTER_REMOTE,FDCAN_FILTER_REMOTE);
    //HAL_FDCAN_ConfigFifoWatermark

    //Enable FIFO0 new  message interrupt

    HAL_FDCAN_Start(&hfdcan1);
    HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);



  /* USER CODE END FDCAN1_Init 2 */

}

//void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
//{
//  if (hfdcan == &hfdcan1 &&(RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != RESET) // 判断是hfdcan1的中断
//  {
//      while(HAL_FDCAN_GetRxFifoFillLevel(&hfdcan1, FDCAN_RX_FIFO0) > 0)
//      {
//          if(cache_idx < CAN_RECEIVE_DATA)
//          {
//              volatile uint8_t *frame_data = &RxData[cache_idx * 8];
//              if(HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO0, &RxHeader,(uint8_t *) frame_data) == HAL_OK)
//              {
//                  cache_idx++;
//              }
//          }
//      }
////        uint32_t tx_timeout = 1000;
////        while(HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1) == 0 && tx_timeout --);
//      can_receive_ok_flag = 1;
//  }       
//  HAL_FDCAN_ActivateNotification(hfdcan,FDCAN_IT_RX_FIFO0_NEW_MESSAGE,0);
//}



// FDCAN1 接收回调函数
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
{
    if (hfdcan->Instance == FDCAN1) 
        {
            if((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE)!= RESET)
            {
                volatile uint8_t *frame_data = &RxData[cache_idx * 8];
        // 从接收 FIFO 中读取数据
        if(HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &RxHeader, (uint8_t *)frame_data) == HAL_OK)
        {
            cache_idx++;
        }
                // 设置接收标志
        can_receive_ok_flag = 1;
        // 重启接收 FIFO
        HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);  
            }
        //HAL_FDCAN_ActivateNotification(hfdcan,FDCAN_IT_RX_FIFO0_NEW_MESSAGE,0);
        }
}

帮忙看一下哪里有问题

这种一般都属于底层配置的问题，用示例代码跑下