ret = HAL_CAN_GetRxMessage(&hcan1,0, &Can1RxHeader, Can1RxData); // Rx Can data if(ret == 0) //收到CAN 数据 { if(Can1RxHeader.IDE)ID=Can1RxHeader.ExtId;//扩展ID else ID=Can1RxHeader.StdId;//标准ID IDE=Can1RxHeader.IDE; RTR=Can1RxHeader.RTR; DLC=Can1RxHeader.DLC; TIME=Can1RxHeader.Timestamp; TIME为什么一直是0

在使用HAL_CAN_GetRxMessage函数时，如果CAN消息的时间戳没有被启用，则时间戳将被设置为0。因此，TIME一直是0可能是因为您没有启用CAN消息的时间戳。您可以通过在CAN初始化期间启用时间戳来解决此问题。您可以按照以下步骤操作：

1. 在CAN初始化代码中启用时间戳功能，例如：

hcan1.Instance = CAN1;
hcan1.Init.Prescaler = 16;
hcan1.Init.Mode = CAN_MODE_NORMAL;
hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan1.Init.TimeSeg1 = CAN_BS1_13TQ;
hcan1.Init.TimeSeg2 = CAN_BS2_2TQ;
hcan1.Init.TimeTriggeredMode = DISABLE;
hcan1.Init.AutoBusOff = DISABLE;
hcan1.Init.AutoWakeUp = DISABLE;
hcan1.Init.AutoRetransmission = ENABLE;
hcan1.Init.ReceiveFifoLocked = DISABLE;
hcan1.Init.TransmitFifoPriority = DISABLE;
hcan1.Init.TxFifoQueueMode = DISABLE;
hcan1.Init.TxFifoQueue = CAN_TX_FIFO0;
hcan1.Init.HwPtcap = DISABLE;
hcan1.Init.Ttcm = DISABLE;
hcan1.Init.ABOM = DISABLE;
hcan1.Init.TXFP = DISABLE;
hcan1.Init.NART = DISABLE;
hcan1.Init.RFLM = DISABLE;
hcan1.Init.TXFP = DISABLE;
hcan1.Init.TTCM = DISABLE;
hcan1.Init.TimeStamp = ENABLE;
if(HAL_CAN_Init(&hcan1) != HAL_OK)
{
  Error_Handler();
}

2. 然后，使用HAL_CAN_GetRxMessage函数接收CAN消息，例如：

ret = HAL_CAN_GetRxMessage(&hcan1, 0, &Can1RxHeader, Can1RxData);
if(ret == HAL_OK)
{
  if(Can1RxHeader.IDE)ID=Can1RxHeader.ExtId;//扩展ID
  else ID=Can1RxHeader.StdId;//标准ID
  IDE=Can1RxHeader.IDE;
  RTR=Can1RxHeader.RTR;
  DLC=Can1RxHeader.DLC;
  TIME=Can1RxHeader.Timestamp;
}

这样，您应该能够正确获取CAN消息的时间戳了。