STM32配置CAN通信造成总线有些模块发不出数据

开始配置如下波特率500k

/* CAN1 init function */
void MX_CAN1_Init(void)
{

  hcan1.Instance = CAN1;
  hcan1.Init.Prescaler = 18;
  hcan1.Init.Mode = CAN_MODE_NORMAL;
  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan1.Init.TimeSeg1 = CAN_BS1_2TQ;
  hcan1.Init.TimeSeg2 = CAN_BS2_1TQ;
  hcan1.Init.TimeTriggeredMode = DISABLE;
  hcan1.Init.AutoBusOff = ENABLE;
  hcan1.Init.AutoWakeUp = DISABLE;
  hcan1.Init.AutoRetransmission = ENABLE;
  hcan1.Init.ReceiveFifoLocked = DISABLE;
  hcan1.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan1) != HAL_OK)
  {
    Error_Handler();
  }

}

 相位缓冲段⽤于补偿节点间的晶振误差，上面将相位缓冲段1和相位缓冲段2配置的周期比较小，当设备挂挡总线上会导致其他设备发不出数据。按照下面配置问题解决。

/* CAN1 init function */
void MX_CAN1_Init(void)
{

  hcan1.Instance = CAN1;
  hcan1.Init.Prescaler = 9;
  hcan1.Init.Mode = CAN_MODE_NORMAL;
  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan1.Init.TimeSeg1 = CAN_BS1_5TQ;
  hcan1.Init.TimeSeg2 = CAN_BS2_2TQ;
  hcan1.Init.TimeTriggeredMode = DISABLE;
  hcan1.Init.AutoBusOff = ENABLE;
  hcan1.Init.AutoWakeUp = DISABLE;
  hcan1.Init.AutoRetransmission = ENABLE;
  hcan1.Init.ReceiveFifoLocked = DISABLE;
  hcan1.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan1) != HAL_OK)
  {
    Error_Handler();
  }

}