STM32F4 HAL库如何使用CAN总线？

CAN_HandleTypeDef hcan1;
void CAN1_User_Init(CAN_HandleTypeDef* hcan );
/* CAN1 init function */
void MX_CAN1_Init(void)
{


  hcan1.Instance = CAN1;
  hcan1.Init.Prescaler = 6;
  hcan1.Init.Mode = CAN_MODE_NORMAL;
  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan1.Init.TimeSeg1 = CAN_BS1_3TQ;
  hcan1.Init.TimeSeg2 = CAN_BS2_3TQ;
  hcan1.Init.TimeTriggeredMode = DISABLE;
  hcan1.Init.AutoBusOff = DISABLE;
  hcan1.Init.AutoWakeUp = DISABLE;
  hcan1.Init.AutoRetransmission = DISABLE;
  hcan1.Init.ReceiveFifoLocked = DISABLE;
  hcan1.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan1) != HAL_OK)
  {
    Error_Handler();
  }
    CAN1_User_Init(&hcan1);
}


void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{


  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(canHandle->Instance==CAN1)
  {
  /* USER CODE BEGIN CAN1_MspInit 0 */


  /* USER CODE END CAN1_MspInit 0 */
    /* CAN1 clock enable */
    __HAL_RCC_CAN1_CLK_ENABLE();
  
    __HAL_RCC_GPIOD_CLK_ENABLE();
    /**CAN1 GPIO Configuration   
    PD0     ------> CAN1_RX
    PD1     ------> CAN1_TX
    */
    GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);


    /* CAN1 interrupt Init */
    HAL_NVIC_SetPriority(CAN1_TX_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
    HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
  /* USER CODE BEGIN CAN1_MspInit 1 */


  /* USER CODE END CAN1_MspInit 1 */
  }
}


void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
{


  if(canHandle->Instance==CAN1)
  {
  /* USER CODE BEGIN CAN1_MspDeInit 0 */


  /* USER CODE END CAN1_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_CAN1_CLK_DISABLE();
  
    /**CAN1 GPIO Configuration   
    PD0     ------> CAN1_RX
    PD1     ------> CAN1_TX
    */
    HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1);


    /* CAN1 interrupt Deinit */
    HAL_NVIC_DisableIRQ(CAN1_TX_IRQn);
    HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
  /* USER CODE BEGIN CAN1_MspDeInit 1 */


  /* USER CODE END CAN1_MspDeInit 1 */
  }
}


/* USER CODE BEGIN 1 */
void CAN1_User_Init(CAN_HandleTypeDef* hcan )
{
    CAN_FilterTypeDef  sFilterConfig;
    HAL_StatusTypeDef  HAL_Status;


    sFilterConfig. FilterIdHigh = 0;
    sFilterConfig. FilterIdLow = 0;
    sFilterConfig. FilterMaskIdHigh = 0;
    sFilterConfig. FilterMaskIdLow = 0;
    sFilterConfig. FilterFIFOAssignment = CAN_FILTER_FIFO0;
    sFilterConfig. FilterBank = 0;
    sFilterConfig. FilterMode = CAN_FILTERMODE_IDMASK;
    sFilterConfig. FilterScale = CAN_FILTERSCALE_32BIT;  
    sFilterConfig. FilterActivation = ENABLE;
    sFilterConfig. SlaveStartFilterBank = 14;
    HAL_Status = HAL_CAN_ConfigFilter(hcan, &sFilterConfig);
    HAL_Status = HAL_CAN_Start(hcan);  
    if(HAL_Status != HAL_OK){
        Error_Handler();
    }       
    HAL_Status = HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING | CAN_IT_TX_MAILBOX_EMPTY);
    if(HAL_Status != HAL_OK){
        Error_Handler();
    }
}