原驱动使用CAN2时可以发送无法接收，需修改配置里面如下两片，有说F4只修改上面一处的，但测试不可以
static rt_err_t drv_configure(struct rt_can_device dev_can,
struct can_configure cfg)
{
struct stm32_drv_can drv_can;
rt_uint32_t baud_index;
CAN_InitTypeDef drv_init;
CAN_FilterConfTypeDef *filterConf;
RT_ASSERT(dev_can);RT_ASSERT(cfg);drv_can = (struct stm32_drv_can *)dev_can->parent.user_data;drv_init = &drv_can->CanHandle.Init;drv_init->TTCM = DISABLE;drv_init->ABOM = ENABLE;drv_init->AWUM = DISABLE;drv_init->NART = DISABLE;drv_init->RFLM = DISABLE;drv_init->TXFP = DISABLE;switch (cfg->mode){case RT_CAN_MODE_NORMAL: drv_init->Mode = CAN_MODE_NORMAL; break;case RT_CAN_MODE_LISEN: drv_init->Mode = CAN_MODE_SILENT; break;case RT_CAN_MODE_LOOPBACK: drv_init->Mode = CAN_MODE_LOOPBACK; break;case RT_CAN_MODE_LOOPBACKANLISEN: drv_init->Mode = CAN_MODE_SILENT_LOOPBACK; break;}baud_index = get_can_baud_index(cfg->baud_rate);drv_init->SJW = BAUD_DATA(SJW, baud_index);drv_init->BS1 = BAUD_DATA(BS1, baud_index);drv_init->BS2 = BAUD_DATA(BS2, baud_index);drv_init->Prescaler = BAUD_DATA(RRESCL, baud_index);if (HAL_CAN_Init(&drv_can->CanHandle) != HAL_OK){ return RT_ERROR;}/* Filter conf */filterConf = &drv_can->FilterConfig;filterConf->FilterNumber = 0; if(drv_can->CanHandle.Instance==CAN2) filterConf->FilterNumber = 14;else filterConf->FilterNumber = 0;filterConf->FilterMode = CAN_FILTERMODE_IDMASK;filterConf->FilterScale = CAN_FILTERSCALE_32BIT;filterConf->FilterIdHigh = 0x0000;filterConf->FilterIdLow = 0x0000;filterConf->FilterMaskIdHigh = 0x0000;filterConf->FilterMaskIdLow = 0x0000;filterConf->FilterFIFOAssignment = CAN_FIFO0;filterConf->FilterActivation = ENABLE; filterConf->BankNumber = 14; if(drv_can->CanHandle.Instance==CAN2) filterConf->BankNumber = 14;else filterConf->BankNumber = 0;HAL_CAN_ConfigFilter(&drv_can->CanHandle, filterConf);return RT_EOK;
}
