stm32f407CAN通信问题

1、CAN无法正常收发数据
排查：
（1）GPIO是否初始化正确，时钟启用
（2）是否复用，AFIO时钟是否启用
（3）供电情况；
（4)终端电阻
（5）波特率设置必须是整数
注意：这里波特率设置不能有小数，比如想设500kbps，计算出来的数就不能是499，其次波特率也和时钟配置相关，我一直收发数据异常就是时钟配置错误导致的。
下面是时钟配置的代码

void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage 
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 336;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 7;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

下面是CAN的代码

/**
  ******************************************************************************
  * File Name          : CAN.c
  * Description        : This file provides code for the configuration
  *                      of the CAN instances.
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under Ultimate Liberty license
  * SLA0044, the "License"; You may not use this file except in compliance with
  * the License. You may obtain a copy of the License at:
  *                             www.st.com/SLA0044
  *
  ******************************************************************************
  */

/* Includes ------------------------------------------------------------------*/
#include "can.h"
#include "stdbool.h"
#include "stdio.h"

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

CAN_HandleTypeDef hcan1;

CAN_TxHeaderTypeDef	TxHeader;      //·¢ËÍ
CAN_RxHeaderTypeDef	RxHeader;      //½ÓÊÕ
unsigned char can_recv_node[8];
bool can_recv_flag = false;
/* CAN1 init function */
void MX_CAN1_Init(void)
{
	CAN_FilterTypeDef Filter;
  hcan1.Instance = CAN1;
  hcan1.Init.Prescaler = 6;
  hcan1.Init.Mode = CAN_MODE_NORMAL;
  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan1.Init.TimeSeg1 = CAN_BS1_7TQ;
  hcan1.Init.TimeSeg2 = CAN_BS2_6TQ;
  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();
  }
	
	//¹ýÂËÆ÷0 
   Filter.FilterBank = 0;
    Filter.FilterMode = CAN_FILTERMODE_IDMASK;
    Filter.FilterScale = CAN_FILTERSCALE_32BIT;
    Filter.FilterIdHigh = 0x0000;
    Filter.FilterIdLow = 0x0000;
    Filter.FilterMaskIdHigh = 0x0000;
    Filter.FilterMaskIdLow = 0x0000;
    Filter.FilterFIFOAssignment = CAN_RX_FIFO0;
    Filter.FilterActivation = ENABLE;
    Filter.SlaveStartFilterBank = 14;

    if (HAL_CAN_ConfigFilter(&hcan1, &Filter) != HAL_OK)
    {
        /* Filter configuration Error */
        Error_Handler();
    }

  
	HAL_CAN_Start(&hcan1);
	HAL_CAN_ActivateNotification(&hcan1,CAN_IT_RX_FIFO0_MSG_PENDING);
	
}

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_GPIOD_CLK_ENABLE();
    /**CAN1 GPIO Configuration    
    PD0     ------> CAN1_RX
    PD1     ------> CAN1_TX 
    */
    GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_PULLUP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

    /* CAN1 interrupt Init */
    HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(CAN1_RX0_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    
    PD0     ------> CAN1_RX
    PD1     ------> CAN1_TX 
    */
    HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1);

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

  /* USER CODE END CAN1_MspDeInit 1 */
  }
} 

/* USER CODE BEGIN 1 */
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
    uint8_t index = 0;
    uint8_t recv_data[8];
    uint8_t count = 0;

    if(hcan->Instance==CAN1)
    {
			HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &RxHeader, recv_data);  //»ñÈ¡CAN±¨ÎÄ
			for(index = 0; index < RxHeader.DLC; index++)
      {
         can_recv_node[count++] = recv_data[index];
				
      }
			can_recv_flag = true;
		}
}
/*******************************************************************************
 ** Ãû   ³Æ : CAN_Send_Stdmsg
 ** ¹¦   ÄÜ : ·¢ËÍCAN±ê×¼Ö¡
 ** Èë¿Ú²ÎÊý: CAN±¨ÎÄÊý¾Ý¡¢³¤¶È¡¢Ö¡ID
 ** ³ö¿Ú²ÎÊý:
 *******************************************************************************/
uint8_t CAN_Send_Stdmsg(uint8_t* msg, uint8_t len, uint32_t Id)
{
    uint8_t i;
    uint32_t TxMailbox;
    uint8_t message[8];

    TxHeader.StdId = Id;
    TxHeader.IDE = CAN_ID_STD;
    TxHeader.RTR = CAN_RTR_DATA;
    TxHeader.DLC = len;
    for(i = 0; i < len; i++)
    {
        message[i] = msg[i];
    }

    if(HAL_CAN_AddTxMessage(&hcan1, &TxHeader, message, &TxMailbox) != HAL_OK)
    {
        return 1;
    }
    while(HAL_CAN_GetTxMailboxesFreeLevel(&hcan1) != 3) {}
    return 0;
}
/*******************************************************************************
 ** Ãû   ³Æ : CAN_Send_Extmsg
 ** ¹¦   ÄÜ : ·¢ËÍCANÍØÕ¹Ö¡
 ** Èë¿Ú²ÎÊý: CAN±¨ÎÄÊý¾Ý¡¢³¤¶È¡¢Ö¡ID
 ** ³ö¿Ú²ÎÊý:
 *******************************************************************************/
uint8_t CAN_Send_Extmsg(uint8_t* msg, uint8_t len, uint32_t Id)
{
    uint8_t i;
    uint32_t TxMailbox;
    uint8_t message[8];

    TxHeader.ExtId = Id;
    TxHeader.IDE = CAN_ID_EXT;
    TxHeader.RTR = CAN_RTR_DATA;
    TxHeader.DLC = len;
    for(i = 0; i < len; i++)
    {
        message[i] = msg[i];
    }
    if(HAL_CAN_AddTxMessage(&hcan1, &TxHeader, message, &TxMailbox) != HAL_OK)
    {
        return 1;
    }
    while(HAL_CAN_GetTxMailboxesFreeLevel(&hcan1) != 3) {}
    return 0;
}








/* USER CODE END 1 */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/