stm32f405rgt6使用can通讯，来个代码

下是一个简单的CAN通讯代码，使用的是HAL库：

#include "stm32f4xx_hal.h"

CAN_HandleTypeDef hcan1;

void SystemClock_Config(void);

int main(void)
{
  HAL_Init();
  SystemClock_Config();

  hcan1.Instance = CAN1;
  hcan1.Init.Prescaler = 3;
  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;
  if (HAL_CAN_Init(&hcan1) != HAL_OK)
  {
    Error_Handler();
  }

  CAN_FilterTypeDef can_filter;
  can_filter.FilterBank = 0;
  can_filter.FilterMode = CAN_FILTERMODE_IDMASK;
  can_filter.FilterScale = CAN_FILTERSCALE_32BIT;
  can_filter.FilterIdHigh = 0x0000;
  can_filter.FilterIdLow = 0x0000;
  can_filter.FilterMaskIdHigh = 0x0000;
  can_filter.FilterMaskIdLow = 0x0000;
  can_filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
  can_filter.FilterActivation = ENABLE;
  if (HAL_CAN_ConfigFilter(&hcan1, &can_filter) != HAL_OK)
  {
    Error_Handler();
  }

  CAN_TxHeaderTypeDef can_tx_header;
  can_tx_header.StdId = 0x321;
  can_tx_header.ExtId = 0x01;
  can_tx_header.RTR = CAN_RTR_DATA;
  can_tx_header.IDE = CAN_ID_STD;
  can_tx_header.DLC = 8;
  uint8_t can_tx_data[8] = {1, 2, 3, 4, 5, 6, 7, 8};
  uint32_t can_tx_mailbox;

  while (1)
  {
    if (HAL_CAN_AddTxMessage(&hcan1, &can_tx_header, can_tx_data, &can_tx_mailbox) != HAL_OK)
    {
      Error_Handler();
    }
    HAL_Delay(500);
  }
}

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_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();
  }
}

这个代码会周期性地发送一个标准帧（ID为0x321，数据长度为8），发送间隔为500ms。需要注意的是，这个代码只是一个简单示例，具体的配置参数需要根据实际情况进行修改。