stm32 hal can接收大量数据的轰炸后，不能继续接收（不能再进入中断）;

原因：若在接收的时候发送数据，

发送中的处理：

hal_can_transmit()中会进行hal_lock(hcan);然后更改can状态为HAL_CAN_STATE_BUSY_TX相关的。

再谈一下接收中的处理，不用多说肯定是在接收中断国会开启下一次接收，即hal_can_receive_it();那么这里边又干了什么：

  /* Check if CAN state is not busy for RX FIFO0 */
  if((FIFONumber == CAN_FIFO0) && ((hcan->State == HAL_CAN_STATE_BUSY_RX0) ||         \
                                   (hcan->State == HAL_CAN_STATE_BUSY_TX_RX0) ||      \
                                   (hcan->State == HAL_CAN_STATE_BUSY_RX0_RX1) ||     \
                                   (hcan->State == HAL_CAN_STATE_BUSY_TX_RX0_RX1)))
  {
    return HAL_BUSY;
  }

  /* Check if CAN state is not busy for RX FIFO1 */
  if((FIFONumber == CAN_FIFO1) && ((hcan->State == HAL_CAN_STATE_BUSY_RX1) ||         \
                                   (hcan->State == HAL_CAN_STATE_BUSY_TX_RX1) ||      \
                                   (hcan->State == HAL_CAN_STATE_BUSY_RX0_RX1) ||     \
                                   (hcan->State == HAL_CAN_STATE_BUSY_TX_RX0_RX1)))
  {
    return HAL_BUSY;
  }

这儿会直接返回，也就是说如果此时处于这些状态说明一定有执行过hal_lock(), 既然我们返回了那相应的中断标签并没有得到相应的处理。

对比后发现hal_can_transmit和hal_can_receive_it中在lock之后都会执行以下语句

  __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG |
                            CAN_IT_EPV |
                            CAN_IT_BOF |
                            CAN_IT_LEC |
                            CAN_IT_ERR |
                            CAN_IT_TME);

不过hal_can_receive_it中在unlock之后还多执行了

  /* Process unlocked */
   __HAL_UNLOCK(hcan);

  if(FIFONumber == CAN_FIFO0)
  {
    /* Enable FIFO 0 overrun and message pending Interrupt */
    __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FOV0 | CAN_IT_FMP0);
  }
  else
  {
    /* Enable FIFO 1 overrun and message pending Interrupt */
    __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FOV1 | CAN_IT_FMP1);
  }

好，那我们是不是如果hal_can_receive_it（&hcan1）== hal_busy时添加执行以上语句就可以了 ，实现证明是可以的。

那在接收中断中对果hal_can_receive_it作如下处理：

if( HAL_BUSY == HAL_CAN_Receive_IT(hcanx, CAN_FIFO0))//开启中断接收
{
	/* Enable FIFO 0 overrun and message pending Interrupt */
	__HAL_CAN_ENABLE_IT(&hcan1, CAN_IT_FOV0 | CAN_IT_FMP0);
}