HAL图书馆不'；t使用USB和CAN外围设备不能正常工作

我正在进行一个项目，其中我必须使用USB（虚拟COM端口）和CAN外围设备，但当我在STM32F4DISCOVERY上运行代码时，PC无法正确识别VCP（“USB设备未识别”，错误代码43）。 这是我的主页：

int main(void)
{
  /* STM32F4xx HAL library initialization:
       - Configure the Flash prefetch, instruction and Data caches
       - Systick timer is configured by default as source of time base, but user
         can eventually implement his proper time base source (a general purpose
         timer for example or other time source), keeping in mind that Time base
         duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and
         handled in milliseconds basis.
       - Set NVIC Group Priority to 4
       - Low Level Initialization: global MSP (MCU Support Package) initialization
     */
  HAL_Init();

  /* Configure the system clock to 180 MHz */
  SystemClock_Config();

  /* Configure LED1 and LED3 */
  BSP_LED_Init(LED4);
  BSP_LED_Init(LED5);


  /* Init Device Library */
   USBD_Init(&USBD_Device, &VCP_Desc, 0);

   /* Add Supported Class */
   USBD_RegisterClass(&USBD_Device, USBD_CDC_CLASS);

   /* Add CDC Interface Class */
   USBD_CDC_RegisterInterface(&USBD_Device, &USBD_CDC_fops);

   /* Start Device Process */
   USBD_Start(&USBD_Device);

  if(CAN_Polling() == HAL_OK)
  {
    /* OK: Turn on LED1 */
    BSP_LED_On(LED4);
  }
  else
  {
    /* KO: Turn on LED3 */
    BSP_LED_On(LED5);
  }

  /* Infinite loop */
  while (1)
  {
  }
}

static void SystemClock_Config(void)
{
  RCC_ClkInitTypeDef RCC_ClkInitStruct;
  RCC_OscInitTypeDef RCC_OscInitStruct;
  HAL_StatusTypeDef ret = HAL_OK;

  /* Enable Power Control clock */
  __HAL_RCC_PWR_CLK_ENABLE();

  /* The voltage scaling allows optimizing the power consumption when the device is
     clocked below the maximum system frequency, to update the voltage scaling value
     regarding system frequency refer to product datasheet.  */
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /* Enable HSE Oscillator and activate PLL with HSE as source */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 25;
  RCC_OscInitStruct.PLL.PLLN = 336;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 7;

  ret = HAL_RCC_OscConfig(&RCC_OscInitStruct);
  if(ret != HAL_OK)
  {
    while(1) { ; }
  }

  /* Activate the OverDrive to reach the 180 MHz Frequency */
  /*ret = HAL_PWREx_EnableOverDrive();
  if(ret != HAL_OK)
  {
    while(1) { ; }
  }*/

  /* Select PLL as system clock source and configure the HCLK, PCLK1 and PCLK2 clocks dividers */
  RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_HCLK | 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;

  ret = HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5);
  if(ret != HAL_OK)
  {
    while(1) { ; }
  }
}

HAL_StatusTypeDef CAN_Polling(void)
{
  CAN_FilterConfTypeDef  sFilterConfig;
  static CanTxMsgTypeDef        TxMessage;
  static CanRxMsgTypeDef        RxMessage;

  /*##-1- Configure the CAN peripheral #######################################*/
  CanHandle.Instance = CANx;
  CanHandle.pTxMsg = &TxMessage;
  CanHandle.pRxMsg = &RxMessage;

  CanHandle.Init.TTCM = DISABLE;
  CanHandle.Init.ABOM = DISABLE;
  CanHandle.Init.AWUM = DISABLE;
  CanHandle.Init.NART = DISABLE;
  CanHandle.Init.RFLM = DISABLE;
  CanHandle.Init.TXFP = DISABLE;
  CanHandle.Init.Mode = CAN_MODE_LOOPBACK;
  CanHandle.Init.SJW = CAN_SJW_1TQ;
  CanHandle.Init.BS1 = CAN_BS1_6TQ;
  CanHandle.Init.BS2 = CAN_BS2_8TQ;
  CanHandle.Init.Prescaler = 2;

  if(HAL_CAN_Init(&CanHandle) != HAL_OK)
  {
    /* Initialization Error */
    Error_Handler();
  }

  /*##-2- Configure the CAN Filter ###########################################*/
  sFilterConfig.FilterNumber = 0;
  sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
  sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
  sFilterConfig.FilterIdHigh = 0x0000;
  sFilterConfig.FilterIdLow = 0x0000;
  sFilterConfig.FilterMaskIdHigh = 0x0000;
  sFilterConfig.FilterMaskIdLow = 0x0000;
  sFilterConfig.FilterFIFOAssignment = 0;
  sFilterConfig.FilterActivation = ENABLE;
  sFilterConfig.BankNumber = 14;

  if(HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig) != HAL_OK)
  {
    /* Filter configuration Error */
    Error_Handler();
  }

  /*##-3- Start the Transmission process #####################################*/
  CanHandle.pTxMsg->StdId = 0x11;
  CanHandle.pTxMsg->RTR = CAN_RTR_DATA;
  CanHandle.pTxMsg->IDE = CAN_ID_STD;
  CanHandle.pTxMsg->DLC = 2;
  CanHandle.pTxMsg->Data[0] = 0xCA;
  CanHandle.pTxMsg->Data[1] = 0xFE;

  if(HAL_CAN_Transmit(&CanHandle, 10) != HAL_OK)
  {
    /* Transmition Error */
    Error_Handler();
  }

  if(HAL_CAN_GetState(&CanHandle) != HAL_CAN_STATE_READY)
  {
    return HAL_ERROR;
  }

  /*##-4- Start the Reception process ########################################*/
  if(HAL_CAN_Receive(&CanHandle, CAN_FIFO0,10) != HAL_OK)
  {
    /* Reception Error */
    Error_Handler();
  }

  if(HAL_CAN_GetState(&CanHandle) != HAL_CAN_STATE_READY)
  {
    return HAL_ERROR;
  }

  if(CanHandle.pRxMsg->StdId != 0x11)
  {
    return HAL_ERROR;
  }

  if(CanHandle.pRxMsg->IDE != CAN_ID_STD)
  {
    return HAL_ERROR;
  }

  if(CanHandle.pRxMsg->DLC != 2)
  {
    return HAL_ERROR;
  }

  if((CanHandle.pRxMsg->Data[0]<<8|RxMessage.Data[1]) != 0xCAFE)
  {
    return HAL_ERROR;
  }

  return HAL_OK; /* Test Passed */
}

这是系统时钟配置：

int main(void)
{
  /* STM32F4xx HAL library initialization:
       - Configure the Flash prefetch, instruction and Data caches
       - Systick timer is configured by default as source of time base, but user
         can eventually implement his proper time base source (a general purpose
         timer for example or other time source), keeping in mind that Time base
         duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and
         handled in milliseconds basis.
       - Set NVIC Group Priority to 4
       - Low Level Initialization: global MSP (MCU Support Package) initialization
     */
  HAL_Init();

  /* Configure the system clock to 180 MHz */
  SystemClock_Config();

  /* Configure LED1 and LED3 */
  BSP_LED_Init(LED4);
  BSP_LED_Init(LED5);


  /* Init Device Library */
   USBD_Init(&USBD_Device, &VCP_Desc, 0);

   /* Add Supported Class */
   USBD_RegisterClass(&USBD_Device, USBD_CDC_CLASS);

   /* Add CDC Interface Class */
   USBD_CDC_RegisterInterface(&USBD_Device, &USBD_CDC_fops);

   /* Start Device Process */
   USBD_Start(&USBD_Device);

  if(CAN_Polling() == HAL_OK)
  {
    /* OK: Turn on LED1 */
    BSP_LED_On(LED4);
  }
  else
  {
    /* KO: Turn on LED3 */
    BSP_LED_On(LED5);
  }

  /* Infinite loop */
  while (1)
  {
  }
}

static void SystemClock_Config(void)
{
  RCC_ClkInitTypeDef RCC_ClkInitStruct;
  RCC_OscInitTypeDef RCC_OscInitStruct;
  HAL_StatusTypeDef ret = HAL_OK;

  /* Enable Power Control clock */
  __HAL_RCC_PWR_CLK_ENABLE();

  /* The voltage scaling allows optimizing the power consumption when the device is
     clocked below the maximum system frequency, to update the voltage scaling value
     regarding system frequency refer to product datasheet.  */
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /* Enable HSE Oscillator and activate PLL with HSE as source */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 25;
  RCC_OscInitStruct.PLL.PLLN = 336;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 7;

  ret = HAL_RCC_OscConfig(&RCC_OscInitStruct);
  if(ret != HAL_OK)
  {
    while(1) { ; }
  }

  /* Activate the OverDrive to reach the 180 MHz Frequency */
  /*ret = HAL_PWREx_EnableOverDrive();
  if(ret != HAL_OK)
  {
    while(1) { ; }
  }*/

  /* Select PLL as system clock source and configure the HCLK, PCLK1 and PCLK2 clocks dividers */
  RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_HCLK | 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;

  ret = HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5);
  if(ret != HAL_OK)
  {
    while(1) { ; }
  }
}

HAL_StatusTypeDef CAN_Polling(void)
{
  CAN_FilterConfTypeDef  sFilterConfig;
  static CanTxMsgTypeDef        TxMessage;
  static CanRxMsgTypeDef        RxMessage;

  /*##-1- Configure the CAN peripheral #######################################*/
  CanHandle.Instance = CANx;
  CanHandle.pTxMsg = &TxMessage;
  CanHandle.pRxMsg = &RxMessage;

  CanHandle.Init.TTCM = DISABLE;
  CanHandle.Init.ABOM = DISABLE;
  CanHandle.Init.AWUM = DISABLE;
  CanHandle.Init.NART = DISABLE;
  CanHandle.Init.RFLM = DISABLE;
  CanHandle.Init.TXFP = DISABLE;
  CanHandle.Init.Mode = CAN_MODE_LOOPBACK;
  CanHandle.Init.SJW = CAN_SJW_1TQ;
  CanHandle.Init.BS1 = CAN_BS1_6TQ;
  CanHandle.Init.BS2 = CAN_BS2_8TQ;
  CanHandle.Init.Prescaler = 2;

  if(HAL_CAN_Init(&CanHandle) != HAL_OK)
  {
    /* Initialization Error */
    Error_Handler();
  }

  /*##-2- Configure the CAN Filter ###########################################*/
  sFilterConfig.FilterNumber = 0;
  sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
  sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
  sFilterConfig.FilterIdHigh = 0x0000;
  sFilterConfig.FilterIdLow = 0x0000;
  sFilterConfig.FilterMaskIdHigh = 0x0000;
  sFilterConfig.FilterMaskIdLow = 0x0000;
  sFilterConfig.FilterFIFOAssignment = 0;
  sFilterConfig.FilterActivation = ENABLE;
  sFilterConfig.BankNumber = 14;

  if(HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig) != HAL_OK)
  {
    /* Filter configuration Error */
    Error_Handler();
  }

  /*##-3- Start the Transmission process #####################################*/
  CanHandle.pTxMsg->StdId = 0x11;
  CanHandle.pTxMsg->RTR = CAN_RTR_DATA;
  CanHandle.pTxMsg->IDE = CAN_ID_STD;
  CanHandle.pTxMsg->DLC = 2;
  CanHandle.pTxMsg->Data[0] = 0xCA;
  CanHandle.pTxMsg->Data[1] = 0xFE;

  if(HAL_CAN_Transmit(&CanHandle, 10) != HAL_OK)
  {
    /* Transmition Error */
    Error_Handler();
  }

  if(HAL_CAN_GetState(&CanHandle) != HAL_CAN_STATE_READY)
  {
    return HAL_ERROR;
  }

  /*##-4- Start the Reception process ########################################*/
  if(HAL_CAN_Receive(&CanHandle, CAN_FIFO0,10) != HAL_OK)
  {
    /* Reception Error */
    Error_Handler();
  }

  if(HAL_CAN_GetState(&CanHandle) != HAL_CAN_STATE_READY)
  {
    return HAL_ERROR;
  }

  if(CanHandle.pRxMsg->StdId != 0x11)
  {
    return HAL_ERROR;
  }

  if(CanHandle.pRxMsg->IDE != CAN_ID_STD)
  {
    return HAL_ERROR;
  }

  if(CanHandle.pRxMsg->DLC != 2)
  {
    return HAL_ERROR;
  }

  if((CanHandle.pRxMsg->Data[0]<<8|RxMessage.Data[1]) != 0xCAFE)
  {
    return HAL_ERROR;
  }

  return HAL_OK; /* Test Passed */
}

所以我不明白为什么代码不能正常工作。 有人能帮我修复虚拟COM端口吗

这是CAN初始化：

int main(void)
{
  /* STM32F4xx HAL library initialization:
       - Configure the Flash prefetch, instruction and Data caches
       - Systick timer is configured by default as source of time base, but user
         can eventually implement his proper time base source (a general purpose
         timer for example or other time source), keeping in mind that Time base
         duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and
         handled in milliseconds basis.
       - Set NVIC Group Priority to 4
       - Low Level Initialization: global MSP (MCU Support Package) initialization
     */
  HAL_Init();

  /* Configure the system clock to 180 MHz */
  SystemClock_Config();

  /* Configure LED1 and LED3 */
  BSP_LED_Init(LED4);
  BSP_LED_Init(LED5);


  /* Init Device Library */
   USBD_Init(&USBD_Device, &VCP_Desc, 0);

   /* Add Supported Class */
   USBD_RegisterClass(&USBD_Device, USBD_CDC_CLASS);

   /* Add CDC Interface Class */
   USBD_CDC_RegisterInterface(&USBD_Device, &USBD_CDC_fops);

   /* Start Device Process */
   USBD_Start(&USBD_Device);

  if(CAN_Polling() == HAL_OK)
  {
    /* OK: Turn on LED1 */
    BSP_LED_On(LED4);
  }
  else
  {
    /* KO: Turn on LED3 */
    BSP_LED_On(LED5);
  }

  /* Infinite loop */
  while (1)
  {
  }
}

static void SystemClock_Config(void)
{
  RCC_ClkInitTypeDef RCC_ClkInitStruct;
  RCC_OscInitTypeDef RCC_OscInitStruct;
  HAL_StatusTypeDef ret = HAL_OK;

  /* Enable Power Control clock */
  __HAL_RCC_PWR_CLK_ENABLE();

  /* The voltage scaling allows optimizing the power consumption when the device is
     clocked below the maximum system frequency, to update the voltage scaling value
     regarding system frequency refer to product datasheet.  */
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /* Enable HSE Oscillator and activate PLL with HSE as source */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 25;
  RCC_OscInitStruct.PLL.PLLN = 336;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 7;

  ret = HAL_RCC_OscConfig(&RCC_OscInitStruct);
  if(ret != HAL_OK)
  {
    while(1) { ; }
  }

  /* Activate the OverDrive to reach the 180 MHz Frequency */
  /*ret = HAL_PWREx_EnableOverDrive();
  if(ret != HAL_OK)
  {
    while(1) { ; }
  }*/

  /* Select PLL as system clock source and configure the HCLK, PCLK1 and PCLK2 clocks dividers */
  RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_HCLK | 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;

  ret = HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5);
  if(ret != HAL_OK)
  {
    while(1) { ; }
  }
}

HAL_StatusTypeDef CAN_Polling(void)
{
  CAN_FilterConfTypeDef  sFilterConfig;
  static CanTxMsgTypeDef        TxMessage;
  static CanRxMsgTypeDef        RxMessage;

  /*##-1- Configure the CAN peripheral #######################################*/
  CanHandle.Instance = CANx;
  CanHandle.pTxMsg = &TxMessage;
  CanHandle.pRxMsg = &RxMessage;

  CanHandle.Init.TTCM = DISABLE;
  CanHandle.Init.ABOM = DISABLE;
  CanHandle.Init.AWUM = DISABLE;
  CanHandle.Init.NART = DISABLE;
  CanHandle.Init.RFLM = DISABLE;
  CanHandle.Init.TXFP = DISABLE;
  CanHandle.Init.Mode = CAN_MODE_LOOPBACK;
  CanHandle.Init.SJW = CAN_SJW_1TQ;
  CanHandle.Init.BS1 = CAN_BS1_6TQ;
  CanHandle.Init.BS2 = CAN_BS2_8TQ;
  CanHandle.Init.Prescaler = 2;

  if(HAL_CAN_Init(&CanHandle) != HAL_OK)
  {
    /* Initialization Error */
    Error_Handler();
  }

  /*##-2- Configure the CAN Filter ###########################################*/
  sFilterConfig.FilterNumber = 0;
  sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
  sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
  sFilterConfig.FilterIdHigh = 0x0000;
  sFilterConfig.FilterIdLow = 0x0000;
  sFilterConfig.FilterMaskIdHigh = 0x0000;
  sFilterConfig.FilterMaskIdLow = 0x0000;
  sFilterConfig.FilterFIFOAssignment = 0;
  sFilterConfig.FilterActivation = ENABLE;
  sFilterConfig.BankNumber = 14;

  if(HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig) != HAL_OK)
  {
    /* Filter configuration Error */
    Error_Handler();
  }

  /*##-3- Start the Transmission process #####################################*/
  CanHandle.pTxMsg->StdId = 0x11;
  CanHandle.pTxMsg->RTR = CAN_RTR_DATA;
  CanHandle.pTxMsg->IDE = CAN_ID_STD;
  CanHandle.pTxMsg->DLC = 2;
  CanHandle.pTxMsg->Data[0] = 0xCA;
  CanHandle.pTxMsg->Data[1] = 0xFE;

  if(HAL_CAN_Transmit(&CanHandle, 10) != HAL_OK)
  {
    /* Transmition Error */
    Error_Handler();
  }

  if(HAL_CAN_GetState(&CanHandle) != HAL_CAN_STATE_READY)
  {
    return HAL_ERROR;
  }

  /*##-4- Start the Reception process ########################################*/
  if(HAL_CAN_Receive(&CanHandle, CAN_FIFO0,10) != HAL_OK)
  {
    /* Reception Error */
    Error_Handler();
  }

  if(HAL_CAN_GetState(&CanHandle) != HAL_CAN_STATE_READY)
  {
    return HAL_ERROR;
  }

  if(CanHandle.pRxMsg->StdId != 0x11)
  {
    return HAL_ERROR;
  }

  if(CanHandle.pRxMsg->IDE != CAN_ID_STD)
  {
    return HAL_ERROR;
  }

  if(CanHandle.pRxMsg->DLC != 2)
  {
    return HAL_ERROR;
  }

  if((CanHandle.pRxMsg->Data[0]<<8|RxMessage.Data[1]) != 0xCAFE)
  {
    return HAL_ERROR;
  }

  return HAL_OK; /* Test Passed */
}

HAL_StatusTypeDef CAN_轮询（无效）
{
CAN_FilterConfTypeDef sFilterConfig；
静态CanTxMsgTypeDef TxMessage；
静态CanRxMsgTypeDef RxMessage；
/*##-1-配置CAN外围设备#######################################*/
CanHandle.Instance=CANx；
CanHandle.pTxMsg=&TxMessage；
CanHandle.pRxMsg=&RxMessage；
CanHandle.Init.TTCM=禁用；
CanHandle.Init.ABOM=禁用；
CanHandle.Init.AWUM=禁用；
CanHandle.Init.NART=禁用；
CanHandle.Init.RFLM=禁用；
CanHandle.Init.TXFP=禁用；
CanHandle.Init.Mode=CAN\u Mode\u环回；
CanHandle.Init.SJW=CAN_SJW_1TQ；
CanHandle.Init.BS1=CAN_BS1_6TQ；
CanHandle.Init.BS2=CAN_BS2_8TQ；
CanHandle.Init.Prescaler=2；
if（HAL\u CAN\u Init（&CanHandle）！=HAL\u OK）
{
/*初始化错误*/
错误处理程序（）；
}
/*##-2-配置CAN过滤器###########################################*/
sFilterConfig.FilterNumber=0；
sFilterConfig.FilterMode=CAN\u FilterMode\u IDMASK；
sFilterConfig.FilterScale=CAN_FilterScale_32位；
sFilterConfig.FilterIdHigh=0x0000；
sFilterConfig.FilterIdLow=0x0000；
sFilterConfig.FilterMaskIdHigh=0x0000；
sFilterConfig.FilterMaskIdLow=0x0000；
sFilterConfig.filterfoassignment=0；
sFilterConfig.FilterActivation=启用；
sFilterConfig.BankNumber=14；
if（HAL\u CAN\u ConfigFilter（&CanHandle，&sFilterConfig）！=HAL\u OK）
{
/*筛选器配置错误*/
错误处理程序（）；
}
/*##-3-启动传输过程#####################################*/
CanHandle.pTxMsg->StdId=0x11；
CanHandle.pTxMsg->RTR=CAN\u RTR\u数据；
CanHandle.pTxMsg->IDE=CAN\u ID\u STD；
CanHandle.pTxMsg->DLC=2；
CanHandle.pTxMsg->Data[0]=0xCA；
CanHandle.pTxMsg->Data[1]=0xFE；
如果（HAL\U CAN\U传输（&CanHandle，10）！=HAL\U正常）
{
/*传输误差*/
错误处理程序（）；
}
if（HAL\u CAN\u GetState（&CanHandle）！=HAL\u CAN\u STATE\u READY）
{
返回halu错误；
}
/*##-4-启动接收过程########################################*/
如果（HAL_可以接收（&CanHandle，CAN_FIFO0,10）！=HAL_OK）
{
/*接收误差*/
错误处理程序（）；
}
if（HAL\u CAN\u GetState（&CanHandle）！=HAL\u CAN\u STATE\u READY）
{
返回halu错误；
}
if（CanHandle.pRxMsg->StdId！=0x11）
{
返回halu错误；
}
if（CanHandle.pRxMsg->IDE！=CAN\u ID\u STD）
{
返回halu错误；
}
if（CanHandle.pRxMsg->DLC！=2）
{
返回halu错误；
}
如果（（CanHandle.pRxMsg->Data[0]我建议您使用STMCubeMX作为起点，它将为您完成所有初始化

逐步调试并检查USBD_设备中是否有有效的内容。
在我的例子中，我必须手动增加startup.s文件中堆的大小以使VCP工作

USB的另一个常见问题是时钟初始化。要使USB正常工作，需要在他们称之为48MHz的时钟上精确设置48MHz。使用8MHz晶体，PLLM=25、PLLN=336和PLLQ=7，就像现在一样，您没有48MHz。同样，使用STMCubMX，时钟初始化非常简单

如果您使用外部电源为MCU供电，请确保其电压超过3.0V。
我也遇到了同样的问题，问题是为CAN和USB分配了相同的插脚。我不知道我的USB打开了哪些插脚，但更改了CAN的插脚，之后就可以正常工作。
我尝试使用HAL示例通过VCP，它可以工作；但是当我尝试实现CAN时，代码也无法工作。我尝试调试，但无法解决问题（当函数HAL_init（）时，程序停止工作）开始。CAN和USB兼容吗？我需要VCP和CAN的48MHz时钟？我可以使用相同的时钟吗？最后，我必须初始化PLLM、PLLN和PLLQ的哪个值才能获得48MHz时钟？非常感谢您的回答。M=5、N=210、P=2和Q=7将48MHz时钟设置为48MHz，系统时钟设置为168MHz。USB和CAN可以吗ally共享相同的管脚。USB有固定管脚，因此您需要确保CAN不使用与USB相同的管脚。48MHz时钟仅用于USB。编辑您的帖子并共享CAN初始化代码，这可能会有所帮助。我已添加CAN初始化代码。如何为CAN设置正确的管脚？感谢您的回答，我很抱歉我的愚蠢问题，但我是新成员bie.你实现了
HAL_CAN_MspInit
HAL_CAN_Init
调用它了吗？再一次使用STMCube，初始化是为你完成的，你不必担心它。如果你不想使用STMCube，那很好。但是首先使用它使它工作，然后将你的代码建立在STMCube创建的基础上。我试着首先实现VCP c仅限通信，在一个新项目中，我只实现了CAN。两个项目都独立工作，但当我尝试结合两个项目并尝试使用CAN和VCP时，它不起作用。您能帮助我以正确的方式实现HAL INIT吗？