GD32F107RC调试，CAN2不能进入接收中断的原因

一开始的配置

    rcu_periph_clock_enable(RCU_CAN0);
    rcu_periph_clock_enable(RCU_CAN1);
    rcu_periph_clock_enable(RCU_GPIOB);

    rcu_periph_clock_enable(RCU_AF);

    /* configure CAN0 GPIO */
    gpio_init(GPIOA, GPIO_MODE_IPU, GPIO_OSPEED_50MHZ, GPIO_PIN_11); //CAN0
    gpio_init(GPIOA, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_12);


    /* configure CAN1 GPIO */
    gpio_init(GPIOB,GPIO_MODE_IPU,GPIO_OSPEED_50MHZ,GPIO_PIN_5);
    gpio_init(GPIOB,GPIO_MODE_AF_PP,GPIO_OSPEED_50MHZ,GPIO_PIN_6);
    gpio_pin_remap_config(GPIO_CAN1_REMAP,ENABLE);

    nvic_priority_group_set(NVIC_PRIGROUP_PRE1_SUB3);
    /* configure CAN0 NVIC */
    nvic_irq_enable(CAN0_RX0_IRQn, 0, 0);

    /* configure CAN1 NVIC */
    nvic_irq_enable(CAN1_RX0_IRQn,2,0);

    can_struct_para_init(CAN_INIT_STRUCT, &can_parameter);
    can_struct_para_init(CAN_INIT_STRUCT, &can_filter);
    /* initialize CAN register */
    can_deinit(CAN0);
    can_deinit(CAN1);

    /* initialize CAN parameters */
    can_parameter.time_triggered = DISABLE;
    can_parameter.auto_bus_off_recovery = ENABLE;//DISABLE;允许离线自动恢复
    can_parameter.auto_wake_up = DISABLE;
    can_parameter.no_auto_retrans = DISABLE;
    can_parameter.rec_fifo_overwrite = DISABLE;
    can_parameter.trans_fifo_order = DISABLE;
    can_parameter.working_mode = CAN_NORMAL_MODE;
    can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
    can_parameter.time_segment_1 = CAN_BT_BS1_5TQ;
    can_parameter.time_segment_2 = CAN_BT_BS2_3TQ;

    /* 1MBps */
    #if CAN_BAUDRATE == 1000
    can_parameter.prescaler = 6;//        56M/6/(1+3+5)=1M
    /* 500KBps */
    #elif CAN_BAUDRATE == 500
    can_parameter.prescaler = 12;
    /* 250KBps */
    #elif CAN_BAUDRATE == 250
    can_parameter.prescaler = 24;
    /* 125KBps */
    #elif CAN_BAUDRATE == 125
    can_parameter.prescaler = 48;
    /* 100KBps */
    #elif  CAN_BAUDRATE == 100
    can_parameter.prescaler = 60;
    /* 50KBps */
    #elif  CAN_BAUDRATE == 50
    can_parameter.prescaler = 120;
    /* 20KBps */
    #elif  CAN_BAUDRATE == 20
    can_parameter.prescaler = 300;
    #else
#error "please select list can baudrate in private defines in main.c "
    #endif
    /* initialize CAN */
    can_init(CAN0, &can_parameter);
    can_init(CAN1, &can_parameter);

    /* initialize filter */
    can_filter.filter_number=0;
    can_filter.filter_mode = CAN_FILTERMODE_MASK;
    can_filter.filter_bits = CAN_FILTERBITS_32BIT;
    can_filter.filter_list_high = 0x3000;
    can_filter.filter_list_low = 0x0000;
    can_filter.filter_mask_high = 0x3000;
    can_filter.filter_mask_low = 0x0000;
    can_filter.filter_fifo_number = CAN_FIFO0;
    can_filter.filter_enable = ENABLE;

/* CAN1 filter number */    can_filter.filter_number = 14;
    can_filter.filter_mode = CAN_FILTERMODE_MASK;
    can_filter.filter_bits = CAN_FILTERBITS_32BIT;
    can_filter.filter_list_high = 0x0000;
    can_filter.filter_list_low = 0x0000;
    can_filter.filter_mask_high = 0x0000;
    can_filter.filter_mask_low = 0x0000;
    can_filter.filter_fifo_number = CAN_FIFO0;//stm32为CAN_FIFO1
    can_filter.filter_enable = ENABLE;
    can_filter_init(&can_filter);

    can_interrupt_enable(CAN0, CAN_INT_RFNE0);//使能CAN中断
    can_interrupt_enable(CAN1, CAN_INT_RFNE0);

发现CAN1中断进入不了。

各种折腾都没有。测试硬件，发现CAN_RX和TX的电平都是0，推测是芯片的Can接口没有配置好，但怎么检查都没有发现配置问题。后来在数据手册发现

程序确实在配置CAN后开启的TIM3

void timer3_config(void)
{
    /* ----------------------------------------------------------------------------
    TIMER1 Configuration:
    TIMER1CLK = SystemCoreClock/5400 = 20KHz.
    TIMER1 configuration is timing mode, and the timing is 0.2s(4000/20000 = 0.2s).
    CH0 update rate = TIMER1 counter clock/CH0CV = 20000/4000 = 5Hz.
    ---------------------------------------------------------------------------- */

    /* ----------------------------------------------------------------------------
    TIMER1 Configuration:
    TIMER1CLK = SystemCoreClock/135 = 800KHz.
    TIMER1 configuration is timing mode, and the timing is 0.1ms(80/8000000 = 0.1ms).
    CH0 update rate = TIMER1 counter clock/CH0CV = 800000/80 = 10KHz.
    ---------------------------------------------------------------------------- */
    timer_oc_parameter_struct timer_ocinitpara;
    timer_parameter_struct timer_initpara;

    rcu_periph_clock_enable(RCU_TIMER3);

    timer_deinit(TIMER3);
    /* initialize TIMER init parameter struct */
    timer_struct_para_init(&timer_initpara);
    /* TIMER1 configuration */
    timer_initpara.prescaler         = 134;//5399;
    timer_initpara.alignedmode       = TIMER_COUNTER_EDGE;
    timer_initpara.counterdirection  = TIMER_COUNTER_UP;
    timer_initpara.period            = 80;//4000;
    timer_initpara.clockdivision     = TIMER_CKDIV_DIV1;
    timer_init(TIMER3, &timer_initpara);

    /* initialize TIMER channel output parameter struct */
    timer_channel_output_struct_para_init(&timer_ocinitpara);
    /* CH0,CH1 and CH2 configuration in OC timing mode */
    timer_ocinitpara.outputstate  = TIMER_CCX_ENABLE;
    timer_ocinitpara.ocpolarity   = TIMER_OC_POLARITY_HIGH;
    timer_ocinitpara.ocidlestate  = TIMER_OC_IDLE_STATE_LOW;
    timer_channel_output_config(TIMER3, TIMER_CH_0, &timer_ocinitpara);

    /* CH0 configuration in OC timing mode */
    timer_channel_output_pulse_value_config(TIMER3, TIMER_CH_0, 40);//2000);
    timer_channel_output_mode_config(TIMER3, TIMER_CH_0, TIMER_OC_MODE_TIMING);
    timer_channel_output_shadow_config(TIMER3, TIMER_CH_0, TIMER_OC_SHADOW_DISABLE);

    timer_interrupt_enable(TIMER3, TIMER_INT_CH0);
    timer_enable(TIMER3);
}

改成

void timer3_config(void)
{
    /* ----------------------------------------------------------------------------
    TIMER1 Configuration:
    TIMER1CLK = SystemCoreClock/5400 = 20KHz.
    TIMER1 configuration is timing mode, and the timing is 0.2s(4000/20000 = 0.2s).
    CH0 update rate = TIMER1 counter clock/CH0CV = 20000/4000 = 5Hz.
    ---------------------------------------------------------------------------- */

    /* ----------------------------------------------------------------------------
    TIMER1 Configuration:
    TIMER1CLK = SystemCoreClock/135 = 800KHz.
    TIMER1 configuration is timing mode, and the timing is 0.1ms(80/8000000 = 0.1ms).
    CH0 update rate = TIMER1 counter clock/CH0CV = 800000/80 = 10KHz.
    ---------------------------------------------------------------------------- */
    timer_oc_parameter_struct timer_ocinitpara;
    timer_parameter_struct timer_initpara;

    rcu_periph_clock_enable(RCU_TIMER3);

    timer_deinit(TIMER3);
    /* initialize TIMER init parameter struct */
    timer_struct_para_init(&timer_initpara);
    /* TIMER1 configuration */
    timer_initpara.prescaler         = 134;//5399;
    timer_initpara.alignedmode       = TIMER_COUNTER_EDGE;
    timer_initpara.counterdirection  = TIMER_COUNTER_UP;
    timer_initpara.period            = 80;//4000;
    timer_initpara.clockdivision     = TIMER_CKDIV_DIV1;
    timer_init(TIMER3, &timer_initpara);

    /* initialize TIMER channel output parameter struct */
    timer_channel_output_struct_para_init(&timer_ocinitpara);
//    /* CH0,CH1 and CH2 configuration in OC timing mode */
//    timer_ocinitpara.outputstate  = TIMER_CCX_ENABLE;
//    timer_ocinitpara.ocpolarity   = TIMER_OC_POLARITY_HIGH;
//    timer_ocinitpara.ocidlestate  = TIMER_OC_IDLE_STATE_LOW;
//    timer_channel_output_config(TIMER3, TIMER_CH_0, &timer_ocinitpara);

//    /* CH0 configuration in OC timing mode */
//    timer_channel_output_pulse_value_config(TIMER3, TIMER_CH_0, 40);//2000);
//    timer_channel_output_mode_config(TIMER3, TIMER_CH_0, TIMER_OC_MODE_TIMING);
//    timer_channel_output_shadow_config(TIMER3, TIMER_CH_0, TIMER_OC_SHADOW_DISABLE);

    timer_interrupt_enable(TIMER3, TIMER_INT_CH0);
    timer_enable(TIMER3);
}

CAN2中断就可以了！原来，开启TIM3的ch1输出PWM，竟然导致CAN2的remap失效了！！