cubemx配置stm32f407vet6的can通信，can发送失败

cubemx

生成代码后。写了一个测试程序；

调用这个函数，
一直提示can发送error；

原因分析：
cubemx生成代码如下：

void MX_CAN1_Init(void)
{

  /* USER CODE BEGIN CAN1_Init 0 */

  /* USER CODE END CAN1_Init 0 */

  /* USER CODE BEGIN CAN1_Init 1 */

  /* USER CODE END CAN1_Init 1 */
  hcan1.Instance = CAN1;
  hcan1.Init.Prescaler = 21;
  hcan1.Init.Mode = CAN_MODE_NORMAL;
  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan1.Init.TimeSeg1 = CAN_BS1_2TQ;
  hcan1.Init.TimeSeg2 = CAN_BS2_5TQ;
  hcan1.Init.TimeTriggeredMode = DISABLE;
  hcan1.Init.AutoBusOff = DISABLE;
  hcan1.Init.AutoWakeUp = DISABLE;
  hcan1.Init.AutoRetransmission = DISABLE;
  hcan1.Init.ReceiveFifoLocked = DISABLE;
  hcan1.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN1_Init 2 */

  /* USER CODE END CAN1_Init 2 */

}

MX_CAN1_Init函数不完全；
想要实现发送，需要在MX_CAN1_Init添加

    HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig) ;
    HAL_CAN_Start(&hcan1);
    HAL_CAN_ActivateNotification(&hcan1,CAN_IT_RX_FIFO0_MSG_PENDING);

想要接收，需要做2个操作：
1）需要在MX_CAN1_Init添加

CAN_FilterTypeDef sFilterConfig;
     sFilterConfig.FilterBank = 0;
    sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
    sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
    sFilterConfig.FilterIdHigh = 0x0000;
    sFilterConfig.FilterIdLow = 0x0000;
    sFilterConfig.FilterMaskIdHigh = 0x0000;
    sFilterConfig.FilterMaskIdLow = 0x0000;
    sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
    sFilterConfig.FilterActivation = CAN_FILTER_ENABLE;
    sFilterConfig.SlaveStartFilterBank = 14;

2）实现can回调函数

uint8_t User_CAN_RxData[8]=0;
uint8_t Can_Rx_Data_for_calculate[8] = 0;
CAN_RxHeaderTypeDef   RxHeader;
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)//can接收中断回调函数
{
  uint8_t can_rx_string[30] = {0};
  memset(User_CAN_RxData,0,sizeof(User_CAN_RxData));
  if(hcan->Instance==CAN1)
  {
    HAL_CAN_GetRxMessage(hcan,CAN_FILTER_FIFO0,&RxHeader,User_CAN_RxData);
    if(RxHeader.StdId == 0x01)//接收ID为00 00 00 01的can包
    {
      sprintf(can_rx_string,"can_data:[0x]%d,%d,%d,%d,%d,%d,%d,%d\r\n",User_CAN_RxData[0],\
              User_CAN_RxData[1],User_CAN_RxData[2],User_CAN_RxData[3],User_CAN_RxData[4],\
              User_CAN_RxData[5],User_CAN_RxData[6],User_CAN_RxData[7]);
      HAL_UART_Transmit(&huart3, can_rx_string, strlen(can_rx_string), 100);
    }
  }

}

因此完整的can配置代码如下：

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    can.c
  * @brief   This file provides code for the configuration
  *          of the CAN instances.
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "can.h"

/* USER CODE BEGIN 0 */
CAN_TxHeaderTypeDef 	TxHeader= {
    .RTR = CAN_RTR_DATA,
    .IDE = CAN_ID_STD,
    .StdId = 1,
    .TransmitGlobalTime = DISABLE,
    .DLC = 8,
};
/* USER CODE END 0 */

CAN_HandleTypeDef hcan1;
extern UART_HandleTypeDef huart3;
/* CAN1 init function */
void MX_CAN1_Init(void)
{
CAN_FilterTypeDef sFilterConfig;//--------------------------------------------
  /* USER CODE BEGIN CAN1_Init 0 */

  /* USER CODE END CAN1_Init 0 */

  /* USER CODE BEGIN CAN1_Init 1 */

  /* USER CODE END CAN1_Init 1 */
  hcan1.Instance = CAN1;
  hcan1.Init.Prescaler = 21;
  hcan1.Init.Mode = CAN_MODE_NORMAL;
  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;/
  hcan1.Init.TimeSeg1 = CAN_BS1_2TQ;/
  hcan1.Init.TimeSeg2 = CAN_BS2_5TQ;
  hcan1.Init.TimeTriggeredMode = DISABLE;
  hcan1.Init.AutoBusOff = DISABLE;///
  hcan1.Init.AutoWakeUp = DISABLE;/
  hcan1.Init.AutoRetransmission = DISABLE;//
  hcan1.Init.ReceiveFifoLocked = DISABLE;
  hcan1.Init.TransmitFifoPriority = DISABLE;///
  if (HAL_CAN_Init(&hcan1) != HAL_OK)/
  {
    Error_Handler();
    HAL_UART_Transmit(&huart3, "HAL_CAN_Init failed\r\n", strlen("HAL_CAN_Init failed\r\n"), 100);
  }
  /* USER CODE BEGIN CAN1_Init 2 */
     sFilterConfig.FilterBank = 0;
    sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
    sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
    sFilterConfig.FilterIdHigh = 0x0000;
    sFilterConfig.FilterIdLow = 0x0000;
    sFilterConfig.FilterMaskIdHigh = 0x0000;
    sFilterConfig.FilterMaskIdLow = 0x0000;
    sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
    sFilterConfig.FilterActivation = CAN_FILTER_ENABLE;
    sFilterConfig.SlaveStartFilterBank = 14;

    HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig) ;
    HAL_CAN_Start(&hcan1);
    HAL_CAN_ActivateNotification(&hcan1,CAN_IT_RX_FIFO0_MSG_PENDING);
  /* USER CODE END CAN1_Init 2 */

}

void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(canHandle->Instance==CAN1)
  {
  /* USER CODE BEGIN CAN1_MspInit 0 */

  /* USER CODE END CAN1_MspInit 0 */
    /* CAN1 clock enable */
    __HAL_RCC_CAN1_CLK_ENABLE();

    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**CAN1 GPIO Configuration
    PA11     ------> CAN1_RX
    PA12     ------> CAN1_TX
    */
    GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    /* CAN1 interrupt Init */
    HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
    HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
  /* USER CODE BEGIN CAN1_MspInit 1 */

  /* USER CODE END CAN1_MspInit 1 */
  }
}

void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
{

  if(canHandle->Instance==CAN1)
  {
  /* USER CODE BEGIN CAN1_MspDeInit 0 */

  /* USER CODE END CAN1_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_CAN1_CLK_DISABLE();

    /**CAN1 GPIO Configuration
    PA11     ------> CAN1_RX
    PA12     ------> CAN1_TX
    */
    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);

    /* CAN1 interrupt Deinit */
    HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
    HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
  /* USER CODE BEGIN CAN1_MspDeInit 1 */

  /* USER CODE END CAN1_MspDeInit 1 */
  }
}

/* USER CODE BEGIN 1 */
uint8_t User_CAN_RxData[8]=0;
uint8_t Can_Rx_Data_for_calculate[8] = 0;
CAN_RxHeaderTypeDef   RxHeader;
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)//can接收中断回调函数
{
  uint8_t can_rx_string[30] = {0};
  memset(User_CAN_RxData,0,sizeof(User_CAN_RxData));
  if(hcan->Instance==CAN1)
  {
    HAL_CAN_GetRxMessage(hcan,CAN_FILTER_FIFO0,&RxHeader,User_CAN_RxData);
    if(RxHeader.StdId == 0x01)//接收ID为00 00 00 01的can包
    {
      sprintf(can_rx_string,"can_data:[0x]%d,%d,%d,%d,%d,%d,%d,%d\r\n",User_CAN_RxData[0],\
              User_CAN_RxData[1],User_CAN_RxData[2],User_CAN_RxData[3],User_CAN_RxData[4],\
              User_CAN_RxData[5],User_CAN_RxData[6],User_CAN_RxData[7]);
      HAL_UART_Transmit(&huart3, can_rx_string, strlen(can_rx_string), 100);
    }
  }

}
/* USER CODE END 1 */

验证：
1)测试can发送

2）测试can接收