diff --git a/components/drivers/can/can.c b/components/drivers/can/can.c
index a3d81f6..6d09a17 100644
--- a/components/drivers/can/can.c
+++ b/components/drivers/can/can.c
@@ -154,6 +154,7 @@ rt_inline int _can_int_tx(struct rt_can_device *can, const struct rt_can_msg *da
 
         no = ((rt_uint32_t)tx_tosnd - (rt_uint32_t)tx_fifo->buffer) / sizeof(struct rt_can_sndbxinx_list);
         tx_tosnd->result = RT_CAN_SND_RESULT_WAIT;
+        rt_completion_init(&(tx_tosnd->completion));
         if (can->ops->sendmsg(can, data, no) != RT_EOK)
         {
             /* send failed. */
@@ -192,6 +193,8 @@ rt_inline int _can_int_tx(struct rt_can_device *can, const struct rt_can_msg *da
 err_ret:
             level = rt_hw_interrupt_disable();
             can->status.dropedsndpkg++;
+            //TODO:发送失败，取消发送状态
+            can->ops->control(can, RT_CAN_CMD_CANCEL, (void *)no);
             rt_hw_interrupt_enable(level);
             break;
         }
diff --git a/components/drivers/include/drivers/can.h b/components/drivers/include/drivers/can.h
index 1834fbe..e607ba2 100644
--- a/components/drivers/include/drivers/can.h
+++ b/components/drivers/include/drivers/can.h
@@ -182,6 +182,7 @@ 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_CANCEL           0x1D
 
 #define RT_DEVICE_CAN_INT_ERR       0x1000