写一段stm32 hal库can通讯的程序

好的，以下是一个基本的STM32 HAL库CAN通讯程序的示例，包含了CAN初始化、发送和接收数据的代码：

#include "stm32f4xx_hal.h"

CAN_HandleTypeDef hcan;

void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN1_Init(void);

int main(void)
{
  HAL_Init();
  SystemClock_Config();
  MX_GPIO_Init();
  MX_CAN1_Init();
  
  CAN_TxHeaderTypeDef TxHeader;
  uint8_t TxData[8] = {0, 1, 2, 3, 4, 5, 6, 7};
  uint32_t TxMailbox;
  
  CAN_RxHeaderTypeDef RxHeader;
  uint8_t RxData[8];
  
  while (1)
  {
    if (HAL_CAN_GetState(&hcan) == HAL_CAN_STATE_READY)
    {
      TxHeader.StdId = 0x123;
      TxHeader.RTR = CAN_RTR_DATA;
      TxHeader.IDE = CAN_ID_STD;
      TxHeader.DLC = 8;
      TxHeader.TransmitGlobalTime = DISABLE;
      HAL_CAN_AddTxMessage(&hcan, &TxHeader, TxData, &TxMailbox);
    }
    
    if (HAL_CAN_GetRxFifoFillLevel(&hcan, CAN_RX_FIFO0) != 0)
    {
      HAL_CAN_GetRxMessage(&hcan, CAN_RX_FIFO0, &RxHeader, RxData);
      // 处理接收到的数据
    }
  }
}

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

  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 16;
  RCC_OscInitStruct.PLL.PLLN = 336;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV4;
  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();
  }
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_CAN;
  PeriphClkInit.CanClockSelection = RCC_CANCLKSOURCE_PLL;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  {
    Error_Handler();
  }
}

static void MX_CAN1_Init(void)
{