stm32f105 и Can шина

По замыслу кода должны отправляться сообщения в кан на скорости 500 по очереди с паузой между мини в 250мс. А по факту отправляется только первый пид и так по кругу. Если убрать задержку между сообщениями, то отправляются все сразу ( пятое немного с запозданием). Но мне то нужно 250!!! В чем проблема может быть? В будущем нужно отправить около 30 сообщений и уснуть. Но сейчас хотя-бы с 5 справиться. Приём сообщений вообще не нужен. 

/* USER CODE BEGIN Header */

/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* 5 разных сообщений */
static const struct {
uint32_t id;
uint8_t data[8];
} can_messages[] = {
{0x001, {0x18, 0x00, 0x01, 0x24, 0x3A, 0x33, 0x0D, 0x00}},
{0x002, {0x80, 0x00, 0x13, 0xFE, 0x03, 0xFE, 0x0F, 0xFE}},
{0x003, {0x00, 0x00, 0x30, 0x08, 0x92, 0x80, 0x96, 0x4A}},
{0x004, {0x44, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00}},
{0x005, {0x02, 0x11, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00}}
};

#define NUM_MESSAGES 5
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
CAN_HandleTypeDef hcan2;

/* USER CODE BEGIN PV */
CAN_TxHeaderTypeDef txHeader;
uint32_t txMailbox;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN2_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
* brief The application entry point.
* retval int
*/
int main(void)
{

/* USER CODE BEGIN 1 */

/* USER CODE END 1 */

HAL_Init();

SystemClock_Config();

MX_GPIO_Init();
MX_CAN2_Init();

/* USER CODE BEGIN 2 */

if (HAL_CAN_Start(&hcan2) != HAL_OK)
{
Error_Handler();
}

CAN_FilterTypeDef filter = {0};
filter.FilterBank = 14;
filter.SlaveStartFilterBank = 14;
filter.FilterMode = CAN_FILTERMODE_IDMASK;
filter.FilterScale = CAN_FILTERSCALE_32BIT;
filter.FilterIdHigh = 0x0000;
filter.FilterIdLow = 0x0000;
filter.FilterMaskIdHigh = 0x0000;
filter.FilterMaskIdLow = 0x0000;
filter.FilterFIFOAssignment = CAN_RX_FIFO0;
filter.FilterActivation = ENABLE;

if (HAL_CAN_ConfigFilter(&hcan2, &filter) != HAL_OK)
{
Error_Handler();
}

txHeader.RTR = CAN_RTR_DATA;
txHeader.IDE = CAN_ID_STD;
txHeader.DLC = 8;
txHeader.TransmitGlobalTime = DISABLE;

/* USER CODE END 2 */

/* Infinite loop */
/* USER CODE BEGIN WHILE */
uint8_t msg_index = 0;
uint32_t currentTime = 0;
uint32_t lastSendTime = 0;

while (1)
{
/* USER CODE END WHILE */

/* USER CODE BEGIN 3 */

currentTime = HAL_GetTick(); // Get current time in milliseconds

/* send every 250ms */
if ((currentTime — lastSendTime) >= 250) {
lastSendTime = currentTime;

txHeader.StdId = can_messages[msg_index].id;

/* Abort всех mailbox'ов — очищаем от зависших (без ACK) */
HAL_CAN_AbortTxRequest(&hcan2, CAN_TX_MAILBOX0 | CAN_TX_MAILBOX1 | CAN_TX_MAILBOX2);

if (HAL_CAN_AddTxMessage(&hcan2, &txHeader, (uint8_t*)can_messages[msg_index].data, &txMailbox) != HAL_OK)
{
Error_Handler();
}

/* Переходим к следующему сообщению */
msg_index = (msg_index + 1) % NUM_MESSAGES;

/* Если есть IWDG, можно добавить: */
/* HAL_IWDG_Refresh(&hiwdg); */
}

}
/* USER CODE END 3 */
}

/**
* brief System Clock Configuration
* retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.Prediv1Source = RCC_PREDIV1_SOURCE_HSE;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL4;
RCC_OscInitStruct.PLL2.PLL2State = RCC_PLL_NONE;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}

RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
{
Error_Handler();
}

__HAL_RCC_PLLI2S_ENABLE();
}

/**
* brief CAN2 Initialization Function
* param None
* retval None
*/
static void MX_CAN2_Init(void)
{

hcan2.Instance = CAN2;
hcan2.Init.Prescaler = 4;
hcan2.Init.Mode = CAN_MODE_NORMAL;
hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan2.Init.TimeSeg1 = CAN_BS1_13TQ;
hcan2.Init.TimeSeg2 = CAN_BS2_2TQ;
hcan2.Init.TimeTriggeredMode = DISABLE;
hcan2.Init.AutoBusOff = DISABLE;
hcan2.Init.AutoWakeUp = ENABLE;
hcan2.Init.AutoRetransmission = DISABLE; /* Одна попытка — ключ к работе без полного ACK */
hcan2.Init.ReceiveFifoLocked = DISABLE;
hcan2.Init.TransmitFifoPriority = ENABLE;
if (HAL_CAN_Init(&hcan2) != HAL_OK)
{
Error_Handler();
}
}

/**
* brief GPIO Initialization Function
* param None
* retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};

__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();

GPIO_InitStruct.Pin = GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

GPIO_InitStruct.Pin = GPIO_PIN_12;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
* brief This function is executed in case of error occurrence.
* retval None
*/
void Error_Handler(void)
{
__disable_irq();
while (1)
{
}
}

#ifdef USE_FULL_ASSERT
void assert_failed(uint8_t *file, uint32_t line)
{
}
#endif /* USE_FULL_ASSERT */