feat:[stm32][can]: enhance control logic and refactor sendmsg

[wdfk-prog]

拉取/合并请求描述：(PR description)

[

为什么提交这份PR (why to submit this PR)

当前的 stm32 CAN 驱动 (drv_can.c) 存在两个潜在问题：

1. 当使用 rt_device_control 接口，通过 RT_CAN_CMD_START 命令先关闭 CAN 设备再重新打开时，CAN 设备可能无法正常重新启动和工作。

你的解决方案是什么 (what is your solution)

1. 针对重启失败问题：将关闭设备的操作从 HAL_CAN_Stop() 修改为 HAL_CAN_DeInit()。DeInit 会彻底复位 CAN 外设状态。作为对应，在重新打开设备时，在调用 HAL_CAN_Start() 之前，先调用 _can_config() 函数，使用设备结构体中保存的配置来重新初始化 CAN 外设。

请提供验证的bsp和config (provide the config and bsp)

• BSP:

• .config:

• action:

]

当前拉取/合并请求的状态 Intent for your PR

必须选择一项 Choose one (Mandatory):

• 本拉取/合并请求是一个草稿版本 This PR is for a code-review and is intended to get feedback
• 本拉取/合并请求是一个成熟版本 This PR is mature, and ready to be integrated into the repo

代码质量 Code Quality：

我在这个拉取/合并请求中已经考虑了 As part of this pull request, I've considered the following:

• 已经仔细查看过代码改动的对比 Already check the difference between PR and old code
• 代码风格正确，包括缩进空格，命名及其他风格 Style guide is adhered to, including spacing, naming and other styles
• 没有垃圾代码，代码尽量精简，不包含#if 0代码，不包含已经被注释了的代码 All redundant code is removed and cleaned up
• 所有变更均有原因及合理的，并且不会影响到其他软件组件代码或BSP All modifications are justified and not affect other components or BSP
• 对难懂代码均提供对应的注释 I've commented appropriately where code is tricky
• 代码是高质量的 Code in this PR is of high quality
• 已经使用formatting 等源码格式化工具确保格式符合RT-Thread代码规范 This PR complies with RT-Thread code specification
• 如果是新增bsp, 已经添加ci检查到.github/ALL_BSP_COMPILE.json 详细请参考链接BSP自查

[github-actions]

👋 感谢您对 RT-Thread 的贡献！Thank you for your contribution to RT-Thread!

为确保代码符合 RT-Thread 的编码规范，请在你的仓库中执行以下步骤运行代码格式化工作流（如果格式化CI运行失败）。
To ensure your code complies with RT-Thread's coding style, please run the code formatting workflow by following the steps below (If the formatting of CI fails to run).

---

🛠 操作步骤 | Steps

1. 前往 Actions 页面 | Go to the Actions page
   点击进入工作流 → | Click to open workflow →

2. 点击 Run workflow | Click Run workflow

• 设置需排除的文件/目录（目录请以"/"结尾）
  Set files/directories to exclude (directories should end with "/")
• 将目标分支设置为 \ Set the target branch to：stm32_can
• 设置PR number为 \ Set the PR number to：10898

3. 等待工作流完成 | Wait for the workflow to complete
   格式化后的代码将自动推送至你的分支。
   The formatted code will be automatically pushed to your branch.

完成后，提交将自动更新至 stm32_can 分支，关联的 Pull Request 也会同步更新。
Once completed, commits will be pushed to the stm32_can branch automatically, and the related Pull Request will be updated.

如有问题欢迎联系我们，再次感谢您的贡献！💐
If you have any questions, feel free to reach out. Thanks again for your contribution!

[github-actions]

📌 Code Review Assignment

🏷️ Tag: bsp_stm32

Reviewers: @Liang1795 @hamburger-os @wdfk-prog

Changed Files (Click to expand)

• bsp/stm32/libraries/HAL_Drivers/drivers/drv_can.c

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📊 Current Review Status (Last Updated: 2025-11-13 10:56 CST)

• ⌛ @Liang1795 Pending Review
• ⌛ @hamburger-os Pending Review
• ⌛ @wdfk-prog Pending Review

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📝 Review Instructions

1. 维护者可以通过单击此处来刷新审查状态: 🔄 刷新状态
   Maintainers can refresh the review status by clicking here: 🔄 Refresh Status

2. 确认审核通过后评论 LGTM/lgtm
   Comment LGTM/lgtm after confirming approval

3. PR合并前需至少一位维护者确认
   PR must be confirmed by at least one maintainer before merging

ℹ️ 刷新CI状态操作需要具备仓库写入权限。
ℹ️ Refresh CI status operation requires repository Write permission.

[Copilot]

Pull Request Overview

This PR modifies the STM32 CAN driver to improve the CAN start/stop control flow and refactor the mailbox handling logic in the message send function.

Key Changes:

• Changed CAN stop behavior from HAL_CAN_Stop to HAL_CAN_DeInit and added reconfiguration on CAN start
• Refactored mailbox availability checking to use variables instead of duplicated switch cases
• Added automatic transmission abort when mailbox is busy instead of immediately returning error

[wdfk-prog]

• 去掉了HAL_CAN_AbortTxRequest的逻辑