diff --git a/bsp/stm32/libraries/HAL_Drivers/drivers/drv_can.c b/bsp/stm32/libraries/HAL_Drivers/drivers/drv_can.c
index 196cc94a529..040af5c7f24 100644
--- a/bsp/stm32/libraries/HAL_Drivers/drivers/drv_can.c
+++ b/bsp/stm32/libraries/HAL_Drivers/drivers/drv_can.c
@@ -472,10 +472,11 @@ static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
         argval = (rt_uint32_t) arg;
         if (argval == 0)
         {
-            HAL_CAN_Stop(&drv_can->CanHandle);
+            HAL_CAN_DeInit(&drv_can->CanHandle);
         }
         else
         {
+            _can_config(&drv_can->device, &drv_can->device.config);
             HAL_CAN_Start(&drv_can->CanHandle);
         }
 
@@ -515,32 +516,32 @@ static int _can_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t
             (state == HAL_CAN_STATE_LISTENING))
     {
         /*check select mailbox  is empty */
+        uint32_t mailbox_mask;
+        uint32_t tme_flag;
+
         switch (1 << box_num)
         {
         case CAN_TX_MAILBOX0:
-            if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME0) != SET)
-            {
-                /* Return function status */
-                return -RT_ERROR;
-            }
+            mailbox_mask = CAN_TX_MAILBOX0;
+            tme_flag = CAN_TSR_TME0;
             break;
         case CAN_TX_MAILBOX1:
-            if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME1) != SET)
-            {
-                /* Return function status */
-                return -RT_ERROR;
-            }
+            mailbox_mask = CAN_TX_MAILBOX1;
+            tme_flag = CAN_TSR_TME1;
             break;
         case CAN_TX_MAILBOX2:
-            if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME2) != SET)
-            {
-                /* Return function status */
-                return -RT_ERROR;
-            }
+            mailbox_mask = CAN_TX_MAILBOX2;
+            tme_flag = CAN_TSR_TME2;
             break;
         default:
             RT_ASSERT(0);
-            break;
+            return -RT_ERROR;
+        }
+
+        if (HAL_IS_BIT_SET(hcan->Instance->TSR, tme_flag) != SET)
+        {
+            HAL_CAN_AbortTxRequest(hcan, mailbox_mask);
+            return -RT_ERROR;
         }
 
         if (RT_CAN_STDID == pmsg->ide)