解决一开CAN就卡死问题，根因是发送长度左移了16位，导致数组越界；并修改CAN波特率为500k

32g431.ioc

@@ -21,10 +21,16 @@ Dma.USART1_TX.0.SyncEnable=DISABLE
 Dma.USART1_TX.0.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
 Dma.USART1_TX.0.SyncRequestNumber=1
 Dma.USART1_TX.0.SyncSignalID=NONE
-FDCAN1.CalculateBaudRateNominal=2083333
+FDCAN1.CalculateBaudRateNominal=500000
-FDCAN1.CalculateTimeBitNominal=480
+FDCAN1.CalculateTimeBitNominal=2000
-FDCAN1.CalculateTimeQuantumNominal=160.0
+FDCAN1.CalculateTimeQuantumNominal=100.0
-FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal
+FDCAN1.DataTimeSeg1=1
+FDCAN1.DataTimeSeg2=1
+FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,Mode,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2,DataTimeSeg1,DataTimeSeg2
+FDCAN1.Mode=FDCAN_MODE_NORMAL
+FDCAN1.NominalPrescaler=10
+FDCAN1.NominalTimeSeg1=15
+FDCAN1.NominalTimeSeg2=4
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false

CMakePresets.json

@@ -31,6 +31,7 @@
         "BUILD_BSPMCU": "ON",
         "BUILD_SPOOLEND": "ON",
         "MEM_POOL_TOTAL_SIZE": "8*1024",
+        "CONFIG_CAN_NEW_VERSION": "1",
         "USE_UART": true,
         "USE_PRINT": true,
         "PRINT_ID": "1",

Core/Src/fdcan.c

@@ -44,10 +44,10 @@ void MX_FDCAN1_Init(void)
   hfdcan1.Init.AutoRetransmission = DISABLE;
   hfdcan1.Init.TransmitPause = DISABLE;
   hfdcan1.Init.ProtocolException = DISABLE;
-  hfdcan1.Init.NominalPrescaler = 16;
+  hfdcan1.Init.NominalPrescaler = 10;
   hfdcan1.Init.NominalSyncJumpWidth = 1;
-  hfdcan1.Init.NominalTimeSeg1 = 1;
+  hfdcan1.Init.NominalTimeSeg1 = 15;
-  hfdcan1.Init.NominalTimeSeg2 = 1;
+  hfdcan1.Init.NominalTimeSeg2 = 4;
   hfdcan1.Init.DataPrescaler = 1;
   hfdcan1.Init.DataSyncJumpWidth = 1;
   hfdcan1.Init.DataTimeSeg1 = 1;

robot

@@ -1 +1 @@
-Subproject commit 25ecd887967077edda62cdbf46c9b63eff5cf17a
+Subproject commit cb9e2962ff29da185602fa9baaaaae02bffc17d9