static void MX_CAN1_Init(void)
{

  hcan1.Instance = CAN1;
  hcan1.Init.Prescaler = 16;
  hcan1.Init.Mode = CAN_MODE_SILENT_LOOPBACK;
  hcan1.Init.SJW = CAN_SJW_1TQ;
  hcan1.Init.BS1 = CAN_BS1_3TQ;
  hcan1.Init.BS2 = CAN_BS2_3TQ;
  hcan1.Init.TTCM = DISABLE;
  hcan1.Init.ABOM = ENABLE;
  hcan1.Init.AWUM = DISABLE;
  hcan1.Init.NART = DISABLE;
  hcan1.Init.RFLM = ENABLE;
  hcan1.Init.TXFP = DISABLE;
  if (HAL_CAN_Init(&hcan1) != HAL_OK)
  {
    Error_Handler();
  }

}

void CAN_Transmit(void)
{
    hcan1.pTxMsg->StdId = 0x002;
    hcan1.pTxMsg->DLC = 3;
    hcan1.pTxMsg->Data[0] = tx++;
    hcan1.pTxMsg->Data[1] = 2;
    hcan1.pTxMsg->Data[2] = 3;
    HAL_CAN_Transmit(&hcan1, 10);

void CAN1_TX_IRQHandler(void)
{
  /* USER CODE BEGIN CAN1_TX_IRQn 0 */

  /* USER CODE END CAN1_TX_IRQn 0 */
  HAL_CAN_IRQHandler(&hcan1);
  /* USER CODE BEGIN CAN1_TX_IRQn 1 */
    //HAL_CAN_Transmit_IT(&hcan1);
  /* USER CODE END CAN1_TX_IRQn 1 */
}

/**
* @brief This function handles CAN1 RX0 interrupt.
*/
void CAN1_RX0_IRQHandler(void)
{
  /* USER CODE BEGIN CAN1_RX0_IRQn 0 */
    HAL_CAN_IRQHandler(&hcan1);
  /* USER CODE END CAN1_RX0_IRQn 0 */
  HAL_CAN_Receive(&hcan1,CAN_FIFO0,10);
    hcan1.pRxMsg->DLC = 0x00;
  hcan1.pRxMsg->StdId =0x00;
  hcan1.pRxMsg->Data [0] = 0x00;
  hcan1.pRxMsg->Data [1] = 0x00;
  hcan1.pRxMsg->Data [2] = 0x00;
  hcan1.pRxMsg->Data [3] = 0x00;
  hcan1.pRxMsg->Data [4] = 0x00;
  hcan1.pRxMsg->Data [5] = 0x00;
  hcan1.pRxMsg->Data [6] = 0x00;
  hcan1.pRxMsg->Data [7] = 0x00;
  /* USER CODE BEGIN CAN1_RX0_IRQn 1 */
  /* USER CODE END CAN1_RX0_IRQn 1 */
}

int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration----------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* Configure the system clock */
  SystemClock_Config();

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_CAN1_Init();

  /* USER CODE BEGIN 2 */
    hcan1.pTxMsg = &canTxMessage;
    hcan1.pRxMsg = &canRxMessage;
    
    //фильтры CAN
    // настраиваем фильтр — приём всех посылок
    CAN_FilterConfTypeDef canFilterConfig;
    canFilterConfig.FilterNumber = 0;
    canFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
    canFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
    canFilterConfig.FilterIdHigh = 0x0000;
    canFilterConfig.FilterIdLow = 0x0000;
    canFilterConfig.FilterMaskIdHigh = 0x0000 << 5;
    canFilterConfig.FilterMaskIdLow = 0x0000;
    canFilterConfig.FilterFIFOAssignment = 0;
    canFilterConfig.FilterActivation = ENABLE;
    canFilterConfig.BankNumber = 1;
    
    HAL_CAN_ConfigFilter(&hcan1, &canFilterConfig);
    HAL_CAN_Receive_IT(&hcan1, CAN_FIFO0); //разрешаем приём посылок
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
        CAN_Transmit();
        HAL_Delay(10);
  /* USER CODE END WHILE */

  /* USER CODE BEGIN 3 */

  }
  /* USER CODE END 3 */

}

void CAN1_TX_IRQHandler(void)
{
  /* USER CODE BEGIN CAN1_TX_IRQn 0 */
    HAL_NVIC_ClearPendingIRQ(CAN1_TX_IRQn);
  /* USER CODE END CAN1_TX_IRQn 0 */
  HAL_CAN_IRQHandler(&hcan1);
  /* USER CODE BEGIN CAN1_TX_IRQn 1 */

  /* USER CODE END CAN1_TX_IRQn 1 */
}

/**
* @brief This function handles CAN1 RX0 interrupts.
*/
void CAN1_RX0_IRQHandler(void)
{
  /* USER CODE BEGIN CAN1_RX0_IRQn 0 */
    HAL_NVIC_ClearPendingIRQ(CAN1_RX0_IRQn);
  /* USER CODE END CAN1_RX0_IRQn 0 */
  HAL_CAN_IRQHandler(&hcan1);
  /* USER CODE BEGIN CAN1_RX0_IRQn 1 */

  /* USER CODE END CAN1_RX0_IRQn 1 */
}

static void MX_CAN1_Init(void)
{

  hcan1.Instance = CAN1;
  hcan1.Init.Prescaler = 4;
  hcan1.Init.Mode = CAN_MODE_NORMAL;
  hcan1.Init.SJW = CAN_SJW_1TQ;
  hcan1.Init.BS1 = CAN_BS1_4TQ;
  hcan1.Init.BS2 = CAN_BS2_4TQ;
  hcan1.Init.TTCM = DISABLE;
  hcan1.Init.ABOM = DISABLE;
  hcan1.Init.AWUM = DISABLE;
  hcan1.Init.NART = ENABLE;
  hcan1.Init.RFLM = DISABLE;
  hcan1.Init.TXFP = DISABLE;
  if (HAL_CAN_Init(&hcan1) != HAL_OK)
  {
    Error_Handler();
  }

}

hcan1.pTxMsg = &canTxMessage;
    hcan1.pRxMsg = &canRxMessage;
    CAN_FilterConfTypeDef canFilterConfig;
    canFilterConfig.FilterNumber = 0;
    canFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
    canFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
    canFilterConfig.FilterIdHigh = 0;
    canFilterConfig.FilterIdLow = 0;
    canFilterConfig.FilterMaskIdHigh = 0;
    canFilterConfig.FilterMaskIdLow = 0;
    canFilterConfig.FilterFIFOAssignment = 0;
    canFilterConfig.FilterActivation = ENABLE;
    canFilterConfig.BankNumber = 1;
    HAL_CAN_ConfigFilter(&hcan1, &canFilterConfig);

    canRxMessage.StdId = 0x801;
    canRxMessage.RTR = CAN_RTR_DATA;
    canRxMessage.IDE = CAN_ID_STD;
    canRxMessage.DLC = 2;
    HAL_CAN_Receive_IT(&hcan1, CAN_FIFO0);
    HAL_NVIC_SetPriority(CAN1_RX0_IRQn,2,0);
    HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);

void CAN_Transmit()
{
    canTxMessage.StdId=0x802;
    canTxMessage.DLC=2;  
    canTxMessage.Data[0] = 0x00;
    canTxMessage.Data[1] = 0x01;
    HAL_CAN_Transmit(&hcan1,10);
}

while (1)
  {
  /* USER CODE END WHILE */
        CAN_Transmit();
        HAL_Delay(2000);
  /* USER CODE BEGIN 3 */

  }

void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* CanHandle)
{
    CAN_ID = CanHandle->pRxMsg->StdId;
    CAN_DLC = CanHandle->pRxMsg->DLC;
    __HAL_UNLOCK (CanHandle);
    r=HAL_CAN_Receive_IT(&hcan1, CAN_FIFO0);
    DATA[0]=CanHandle->pRxMsg->Data[0];
    DATA[1]=CanHandle->pRxMsg->Data[1];
}