用stm32cubemx生成的can代码，运行调试显示显性位错误，找不到原因，芯片是stm32f103z，求助各位。

楼主，应该是波特率配置的不对把。cubemx的波特率配置参数发一下，CAN接收器的波特率发一下。

你好，先谢一下，接收端是can分析器，为什么与波特率有关呢？

接收端用的是CAN示波器吗？请检查一下CAN芯片的模式，是不是进入低功耗模式了。

f:\can1.jpg

f:\can2.jpg

源代码见附件

源码见附件。

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "can.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
extern CAN_HandleTypeDef hcan;
CAN_TxHeaderTypeDef   TxHeader;
CAN_RxHeaderTypeDef   RxHeader;
uint8_t               TxData[8];
uint8_t               RxData[8];
uint32_t              TxMailbox;
/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
static void CAN_Config(void);
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
TxData[0]=0x01;
TxData[1]=0xAD;

  /* USER CODE END 1 */
  

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_CAN_Init();
  /* USER CODE BEGIN 2 */
        HAL_CAN_MspInit(&hcan);
  
        CAN_Config();
       
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
//                while( HAL_CAN_GetTxMailboxesFreeLevel( &hcan ) == 0 )
                        {
                   /* Start the Transmission process */
        if (HAL_CAN_AddTxMessage(&hcan, &TxHeader, TxData, &TxMailbox) != HAL_OK)
        {
          /* Transmission request Error */
          Error_Handler();
        }
                        }
                                HAL_GPIO_TogglePin(LED0_GPIO_Port,LED0_Pin);
                               
        HAL_Delay(100);
                               
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the CPU, AHB and APB busses clocks
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL4;
  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_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
/**
  * @brief  Configures the CAN.
  * @param  None
  * @retval None
  */
static void CAN_Config(void)
{
  CAN_FilterTypeDef  sFilterConfig;

  /* Configure the CAN Filter */
  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 = ENABLE;
  sFilterConfig.SlaveStartFilterBank = 14;

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

  /* Start the CAN peripheral */
  if (HAL_CAN_Start(&hcan) != HAL_OK)
  {
    /* Start Error */
    Error_Handler();
  }

  /* Activate CAN RX notification */
  if (HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
  {
    /* Notification Error */
    Error_Handler();
  }
  
  /* Configure Transmission process */
  TxHeader.StdId = 0x321;
  TxHeader.ExtId = 0x01;
  TxHeader.RTR = CAN_RTR_DATA;
  TxHeader.IDE = CAN_ID_STD;
  TxHeader.DLC = 2;
  TxHeader.TransmitGlobalTime = DISABLE;
}

/**
  * @brief  Rx Fifo 0 message pending callback in non blocking mode
  * @param  CanHandle: pointer to a CAN_HandleTypeDef structure that contains
  *         the configuration information for the specified CAN.
  * @retval None
  */
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *CanHandle)
{
  /* Get RX message */
  if (HAL_CAN_GetRxMessage(CanHandle, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
  {
    /* Reception Error */
    Error_Handler();
  }

  /* Display LEDx */
//  if ((RxHeader.StdId == 0x321) && (RxHeader.IDE == CAN_ID_STD) && (RxHeader.DLC == 2))
//  {
//    LED_Display(RxData[0]);
//    ubKeyNumber = RxData[0];
//  }
}

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */

  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

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

我遇到同样的问题，我设置了静默回环模式 也是一样。SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TIR, CAN_TI0R_TXRQ); 这条语句执行完后 LEC 被设置成5