关于stm32 f302 can 通讯的显性位错误的问题 bit dominant error

我在用stm32f302 做一个can的通信的电路板。我先在静默回环模式下测试，用的是stm32cubmax 生成can的配置代码，在keil下编程调试。但是即使在静默回环模式下都出现显性位错误。

当调用 HAL_CAN_AddTxMessage函数，执行 SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TIR, CAN_TI0R_TXRQ); 语句后LEC 位被设置成5 bit dominant 错误 teer 也被设置。

void MX_CAN_Init(void)
{

  hcan.Instance = CAN;
  hcan.Init.Prescaler = 36;
  hcan.Init.Mode = CAN_MODE_SILENT_LOOPBACK;
  hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan.Init.TimeSeg1 = CAN_BS1_1TQ;
  hcan.Init.TimeSeg2 = CAN_BS2_1TQ;
  hcan.Init.TimeTriggeredMode = DISABLE;
  hcan.Init.AutoBusOff = DISABLE;
  hcan.Init.AutoWakeUp = DISABLE;
  hcan.Init.AutoRetransmission = ENABLE;
  hcan.Init.ReceiveFifoLocked = DISABLE;
  hcan.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan) != HAL_OK)
  {
    Error_Handler();
  }

}

void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{

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

  /* USER CODE END CAN_MspInit 0 */
    /* CAN clock enable */
    __HAL_RCC_CAN1_CLK_ENABLE();

    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**CAN GPIO Configuration
    PB8     ------> CAN_RX
    PB9     ------> CAN_TX
    */
    GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF9_CAN;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    /* CAN interrupt Init */
    HAL_NVIC_SetPriority(USB_HP_CAN_TX_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(USB_HP_CAN_TX_IRQn);
    HAL_NVIC_SetPriority(USB_LP_CAN_RX0_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(USB_LP_CAN_RX0_IRQn);
    HAL_NVIC_SetPriority(CAN_RX1_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(CAN_RX1_IRQn);
    HAL_NVIC_SetPriority(CAN_SCE_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(CAN_SCE_IRQn);
  /* USER CODE BEGIN CAN_MspInit 1 */

  /* USER CODE END CAN_MspInit 1 */
  }
}

void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
{

  if(canHandle->Instance==CAN)
  {
  /* USER CODE BEGIN CAN_MspDeInit 0 */

  /* USER CODE END CAN_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_CAN1_CLK_DISABLE();

    /**CAN GPIO Configuration
    PB8     ------> CAN_RX
    PB9     ------> CAN_TX
    */
    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8|GPIO_PIN_9);

    /* CAN interrupt Deinit */
  /* USER CODE BEGIN CAN:USB_HP_CAN_TX_IRQn disable */
    /**
    * Uncomment the line below to disable the "USB_HP_CAN_TX_IRQn" interrupt
    * Be aware, disabling shared interrupt may affect other IPs
    */
    /* HAL_NVIC_DisableIRQ(USB_HP_CAN_TX_IRQn); */
  /* USER CODE END CAN:USB_HP_CAN_TX_IRQn disable */

  /* USER CODE BEGIN CAN:USB_LP_CAN_RX0_IRQn disable */
    /**
    * Uncomment the line below to disable the "USB_LP_CAN_RX0_IRQn" interrupt
    * Be aware, disabling shared interrupt may affect other IPs
    */
    /* HAL_NVIC_DisableIRQ(USB_LP_CAN_RX0_IRQn); */
  /* USER CODE END CAN:USB_LP_CAN_RX0_IRQn disable */

    HAL_NVIC_DisableIRQ(CAN_RX1_IRQn);
    HAL_NVIC_DisableIRQ(CAN_SCE_IRQn);
  /* USER CODE BEGIN CAN_MspDeInit 1 */

  /* USER CODE END CAN_MspDeInit 1 */
  }
}
 

你好请问下这个问题解决了吗，是因为总线空闲的原因吗，我也有一样的问题

我也遇到了同样的问题 ，显示ESR 提示显性错误，怎么解决的？