From 3e7580dc7dacd57f93c5375d238534731c5817a1 Mon Sep 17 00:00:00 2001
From: zhangjun1996 <2281979437@qq.com>
Date: Sat, 15 Jun 2019 18:08:00 +0800
Subject: [PATCH] =?UTF-8?q?=E9=87=8D=E6=96=B0=E9=85=8D=E7=BD=AECAN?=
 =?UTF-8?q?=E4=B9=8B=E5=89=8D=EF=BC=8C=E5=85=B3=E9=97=ADCAN=EF=BC=8C?=
 =?UTF-8?q?=E9=85=8D=E7=BD=AE=E5=AE=8C=E5=86=8D=E6=89=93=E5=BC=80=E3=80=82?=
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---
 bsp/stm32/libraries/HAL_Drivers/drv_can.c | 24 +++++++++++++++++++++++
 1 file changed, 24 insertions(+)

diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_can.c b/bsp/stm32/libraries/HAL_Drivers/drv_can.c
index 2a48985c43..5f5feb268a 100644
--- a/bsp/stm32/libraries/HAL_Drivers/drv_can.c
+++ b/bsp/stm32/libraries/HAL_Drivers/drv_can.c
@@ -806,10 +806,18 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
         if (argval != can->config.mode)
         {
             can->config.mode = argval;
+            if (HAL_CAN_Stop(&drv_can->CanHandle) != HAL_OK)
+            {
+                return RT_ERROR;
+            }
             if (HAL_CAN_Init(&drv_can->CanHandle) != HAL_OK)
             {
                 return RT_ERROR;
             }
+            if (HAL_CAN_Start(&drv_can->CanHandle) != HAL_OK)
+            {
+                return RT_ERROR;
+            }
         }
         break;
     case RT_CAN_CMD_SET_BAUD:
@@ -844,10 +852,18 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
             drv_init->TimeSeg2 = BAUD_DATA(BS2, baud_index);
             drv_init->Prescaler = BAUD_DATA(RRESCL, baud_index);
 
+            if (HAL_CAN_Stop(&drv_can->CanHandle) != HAL_OK)
+            {
+                return RT_ERROR;
+            }
             if (HAL_CAN_Init(&drv_can->CanHandle) != HAL_OK)
             {
                 return RT_ERROR;
             }
+            if (HAL_CAN_Start(&drv_can->CanHandle) != HAL_OK)
+            {
+                return RT_ERROR;
+            }
         }
         break;
     case RT_CAN_CMD_SET_PRIV:
@@ -860,10 +876,18 @@ static rt_err_t drv_control(struct rt_can_device *can, int cmd, void *arg)
         if (argval != can->config.privmode)
         {
             can->config.privmode = argval;
+            if (HAL_CAN_Stop(&drv_can->CanHandle) != HAL_OK)
+            {
+                return RT_ERROR;
+            }
             if (HAL_CAN_Init(&drv_can->CanHandle) != HAL_OK)
             {
                 return RT_ERROR;
             }
+            if (HAL_CAN_Start(&drv_can->CanHandle) != HAL_OK)
+            {
+                return RT_ERROR;
+            }
         }
         break;
     case RT_CAN_CMD_GET_STATUS: