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我正在为 stm32f103 编码。我想读取 CAN-BUS，但中断不起作用。我会写，但我不会读！！！

这是编写和阅读代码。

定义：

CAN_FilterTypeDef canfil; //CAN Bus Filter
uint32_t canMailbox; //CAN Bus Mail box variable

canfil.FilterBank = 0;
canfil.FilterMode = CAN_FILTERMODE_IDMASK;
canfil.FilterFIFOAssignment = CAN_RX_FIFO0;
canfil.FilterIdHigh = 0;
canfil.FilterIdLow = 0;
canfil.FilterMaskIdHigh = 0;
canfil.FilterMaskIdLow = 0;
canfil.FilterScale = CAN_FILTERSCALE_32BIT;
canfil.FilterActivation = ENABLE;
canfil.SlaveStartFilterBank = 14;

txHeader.DLC = 8; // Number of bites to be transmitted max- 8
txHeader.IDE = CAN_ID_STD;
txHeader.RTR = CAN_RTR_DATA;
txHeader.StdId = 0x030;
txHeader.ExtId = 0x02;
txHeader.TransmitGlobalTime = DISABLE;

HAL_CAN_ConfigFilter(&hcan,&canfil); //Initialize CAN Filter
HAL_CAN_Start(&hcan); //Initialize CAN Bus
HAL_CAN_ActivateNotification(&hcan,CAN_IT_RX_FIFO0_MSG_PENDING);// Initialize CAN Bus 
//Rx Interrupt

hcan 初始化：

  hcan.Instance = CAN1;
  hcan.Init.Prescaler = 8;
  hcan.Init.Mode = CAN_MODE_NORMAL;
  hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan.Init.TimeSeg1 = CAN_BS1_6TQ;
  hcan.Init.TimeSeg2 = CAN_BS2_1TQ;
  hcan.Init.TimeTriggeredMode = DISABLE;
  hcan.Init.AutoBusOff = ENABLE;
  hcan.Init.AutoWakeUp = ENABLE;
  hcan.Init.AutoRetransmission = DISABLE;
  hcan.Init.ReceiveFifoLocked = DISABLE;
  hcan.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan) != HAL_OK)
  {
    Error_Handler();
  }

编写代码：

        uint8_t csend[] = {'a','b','c','d'}; // Tx Buffer

        if (HAL_CAN_AddTxMessage(&hcan,&txHeader,csend,&canMailbox)!= HAL_OK)
        {
             Error_Handler ();
        }

读取中断代码：

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
  if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rxHeader, canRX) != HAL_OK)
  {
    Error_Handler();
  }
}

我的错误在哪里？

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