Cube 1.18.0 appears to generate HAL CAN code in can.c and can.h which is aimed at the 1.21.0 redisigned CAN driver.The code refers to member variables which do not exist in the 1.18.0 register structures, for example: hcan1.Init.SyncJumpWidth = CAN_S...

It would appear that the CAN driver was redesigned in Cube 1.19.0, but the current 'Description of HAL drivers' document (DocID025834 Rev 5 for the F4) describes the old version. They are substantially different.