diff --git a/bsp/stm32/libraries/HAL_Drivers/drivers/drv_can.c b/bsp/stm32/libraries/HAL_Drivers/drivers/drv_can.c
index 1b50b661d0..c366f94c17 100644
--- a/bsp/stm32/libraries/HAL_Drivers/drivers/drv_can.c
+++ b/bsp/stm32/libraries/HAL_Drivers/drivers/drv_can.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2023, RT-Thread Development Team
+ * Copyright (c) 2006-2024 RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -174,8 +174,6 @@ static rt_err_t _can_config(struct rt_can_device *can, struct can_configure *cfg
 
     /* default filter config */
     HAL_CAN_ConfigFilter(&drv_can->CanHandle, &drv_can->FilterConfig);
-    /* can start */
-    HAL_CAN_Start(&drv_can->CanHandle);
 
     return RT_EOK;
 }
@@ -321,7 +319,7 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
         rt_uint32_t id_l = 0;
         rt_uint32_t mask_h = 0;
         rt_uint32_t mask_l = 0;
-        rt_uint32_t mask_l_tail = 0;  //CAN_FxR2 bit [2:0]
+        rt_uint32_t mask_l_tail = 0;  /*CAN_FxR2 bit [2:0]*/
 
         if (RT_NULL == arg)
         {
@@ -458,7 +456,6 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
         }
         break;
     case RT_CAN_CMD_GET_STATUS:
-    {
         rt_uint32_t errtype;
         errtype = drv_can->CanHandle.Instance->ESR;
         drv_can->device.status.rcverrcnt = errtype >> 24;
@@ -467,8 +464,19 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
         drv_can->device.status.errcode = errtype & 0x07;
 
         rt_memcpy(arg, &drv_can->device.status, sizeof(drv_can->device.status));
-    }
-    break;
+        break;
+    case RT_CAN_CMD_START:
+        argval = (rt_uint32_t) arg;
+        if (argval == 0)
+        {
+            HAL_CAN_Stop(&drv_can->CanHandle);
+        }
+        else
+        {
+            HAL_CAN_Start(&drv_can->CanHandle);
+        }
+
+        break;
     }
 
     return RT_EOK;
diff --git a/components/drivers/can/dev_can.c b/components/drivers/can/dev_can.c
index f10e05dc55..186f113828 100644
--- a/components/drivers/can/dev_can.c
+++ b/components/drivers/can/dev_can.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2023, RT-Thread Development Team
+ * Copyright (c) 2006-2024 RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -435,7 +435,7 @@ static rt_err_t rt_can_close(struct rt_device *dev)
     }
 
     can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void *)RT_DEVICE_CAN_INT_ERR);
-
+    can->ops->control(can, RT_CAN_CMD_START, RT_FALSE);
     CAN_UNLOCK(can);
 
     return RT_EOK;
diff --git a/components/drivers/include/drivers/dev_can.h b/components/drivers/include/drivers/dev_can.h
index 4dc28b4f98..aed78b28d3 100644
--- a/components/drivers/include/drivers/dev_can.h
+++ b/components/drivers/include/drivers/dev_can.h
@@ -111,7 +111,8 @@ enum CANBAUD
  *     res = rt_device_control(can_dev, RT_CAN_CMD_SET_FILTER, &cfg);
  *     RT_ASSERT(res == RT_EOK);
  * #endif
- *
+ *     res = RT_TRUE;
+ *     res = rt_device_control(can_dev, RT_CAN_CMD_START, &res);
  *     while (1)
  *     {
  *         // hdr 值为 - 1，表示直接从 uselist 链表读取数据
@@ -345,6 +346,7 @@ struct rt_can_ops;
 #define RT_CAN_CMD_SET_CANFD        0x1A
 #define RT_CAN_CMD_SET_BAUD_FD      0x1B
 #define RT_CAN_CMD_SET_BITTIMING    0x1C
+#define RT_CAN_CMD_START            0x1D
 
 #define RT_DEVICE_CAN_INT_ERR       0x1000