stm32f407 双can总线通讯 发送数据不成功，求高手解释

/**
  ******************************************************************************
  * @file    main.c
  * @author  MCD Application Team
  * @version V1.0.0
  * @date    18-April-2011
  * @brief   Main program body
  ******************************************************************************
  * @attention
  *
  * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
  * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
  * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
  * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
  * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
  *
  *

© COPYRIGHT 2011 STMicroelectronics

  ******************************************************************************  
  */
/* Includes ------------------------------------------------------------------*/
#include "STM32f4xx.h"
#include "usart.h"
#include "config.h"
#include
#ifdef __GNUC__
  /* With GCC/RAISONANCE, small printf (option LD Linker->Libraries->Small printf
     set to 'Yes') calls __io_putchar() */
  #define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
  #define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif /* __GNUC__ */

//#define USER_KEY_Port     GPIOD
//#define USER_KEY_Pin     GPIO_Pin_15
//#define USER_KEY_RCC_AHBPeriph   RCC_AHB1Periph_GPIOD
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
CAN_InitTypeDef        CAN_InitStructure;
CAN_FilterInitTypeDef  CAN_FilterInitStructure;
CanTxMsg TxMessage;
/* Private variables ---------------------------------------------------------*/
uint16_t CAN1_ID;
uint8_t CAN1_DATA0,CAN1_DATA1,CAN1_DATA2,CAN1_DATA3,CAN1_DATA4,CAN1_DATA5,CAN1_DATA6,CAN1_DATA7;
uint16_t CAN2_ID;
uint8_t CAN2_DATA0,CAN2_DATA1,CAN2_DATA2,CAN2_DATA3,CAN2_DATA4,CAN2_DATA5,CAN2_DATA6,CAN2_DATA7;
__IO uint8_t Can1Flag,Can2Flag;
void CAN1_Config(void);
void CAN2_Config(void);
void NVIC_Config(void);
void Can1WriteData(uint16_t ID);
void Can2WriteData(uint16_t ID);
//void Key_Config(void);
/* Private functions ---------------------------------------------------------*/
/**
  * @brief  Main program.
  * @param  None
  * @retval None
  */
int main(void)
{
  uint8_t error_can=0;
// USART_Configuration();
// printf("rnCAN-Bus Test rn");
// printf("CAN-Bus Speed 100kHz rn");
//  Key_Config();
  CAN1_Config();
  CAN2_Config();
  NVIC_Config();
    /* Infinite loop */
  while (1)
{
//   while(GPIO_ReadInputDataBit(USER_KEY_Port,USER_KEY_Pin));
   Can1WriteData(0x123);
   while(Can2Flag!= ENABLE);
      Can2Flag = DISABLE;  

   if(CAN2_ID!=0x123 ||
   CAN2_DATA0!=CAN1_DATA0 ||
   CAN2_DATA1!=CAN1_DATA1 ||
   CAN2_DATA2!=CAN1_DATA2 ||
   CAN2_DATA3!=CAN1_DATA3 ||
   CAN2_DATA4!=CAN1_DATA4 ||
   CAN2_DATA5!=CAN1_DATA5 ||
   CAN2_DATA6!=CAN1_DATA6 ||
   CAN2_DATA7!=CAN1_DATA7 )
    {//printf("CAN1 发送或者CAN2 接收有问题rn");
      error_can=1;}
      Can2WriteData(0x321);
   while(Can1Flag!= ENABLE);
      Can1Flag = DISABLE;
   if(CAN1_ID!=0x321 ||
   CAN1_DATA0!=CAN2_DATA0 ||
   CAN1_DATA1!=CAN2_DATA1 ||
   CAN1_DATA2!=CAN2_DATA2 ||
   CAN1_DATA3!=CAN2_DATA3 ||
   CAN1_DATA4!=CAN2_DATA4 ||
   CAN1_DATA5!=CAN2_DATA5 ||
   CAN1_DATA6!=CAN2_DATA6 ||
   CAN1_DATA7!=CAN2_DATA7 )
    {//printf("CAN2 发送或者CAN1 接收有问题rn");
error_can=1;}
     while(!GPIO_ReadInputDataBit(USER_KEY_Port,USER_KEY_Pin));
//  if(error_can==0){printf("CAN1 CAN2正常!rn");}
  }
}
//void Key_Config(void)
//{
// GPIO_InitTypeDef GPIO_InitStructure;
// RCC_AHB1PeriphClockCmd(USER_KEY_RCC_AHBPeriph, ENABLE);
//
// /* Configure Input pushpull mode */
// GPIO_InitStructure.GPIO_Pin = USER_KEY_Pin;
// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
// GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
// GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
// GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
// GPIO_Init(USER_KEY_Port, &GPIO_InitStructure);
//}
/**
  * @brief  Configures the CAN.
  * @param  None
  * @retval None
  */
void CAN1_Config(void)
{
  GPIO_InitTypeDef  GPIO_InitStructure;
  
  /* CAN GPIOs configuration **************************************************/
  /* Enable GPIO clock */
  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
  /* Connect CAN pins */
  GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_CAN1);
  GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_CAN1);
  
  /* Configure CAN RX and TX pins */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_UP;
  GPIO_Init(GPIOB, &GPIO_InitStructure);
  /* CAN configuration ********************************************************/  
  /* Enable CAN clock */
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
  
  /* CAN register init */
  CAN_DeInit(CAN1);
  CAN_StructInit(&CAN_InitStructure);
  /* CAN cell init */
  CAN_InitStructure.CAN_TTCM = DISABLE;
  CAN_InitStructure.CAN_ABOM = DISABLE;
  CAN_InitStructure.CAN_AWUM = DISABLE;
  CAN_InitStructure.CAN_NART = DISABLE;
  CAN_InitStructure.CAN_RFLM = DISABLE;
  CAN_InitStructure.CAN_TXFP = DISABLE;
  CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
  CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
   
  /* CAN Baudrate = 1MBps (CAN clocked at 30 MHz) */
  CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq;
  CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;
  CAN_InitStructure.CAN_Prescaler = 2;
  CAN_Init(CAN1, &CAN_InitStructure);
  /* CAN filter init */
  CAN_FilterInitStructure.CAN_FilterNumber = 0;
  CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
  CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
  CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;
  CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
  CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
  CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
  CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;
  CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
  CAN_FilterInit(&CAN_FilterInitStructure);
  
  /* Transmit Structure preparation */
  TxMessage.StdId = 0x321;
  TxMessage.ExtId = 0x01;
  TxMessage.RTR = CAN_RTR_DATA;
  TxMessage.IDE = CAN_ID_STD;
  TxMessage.DLC = 1;
  
  /* Enable FIFO 0 message pending Interrupt */
  CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
}
void CAN2_Config(void)
{
  GPIO_InitTypeDef  GPIO_InitStructure;
  
  /* CAN GPIOs configuration **************************************************/
  /* Enable GPIO clock */
  RCC_AHB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE);
  /* Connect CAN pins to AF9 */
  GPIO_PinAFConfig(GPIOB, GPIO_PinSource5, GPIO_AF_CAN2);
  GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_CAN2);
  
  /* Configure CAN RX and TX pins */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5 | GPIO_Pin_6;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_UP;
  GPIO_Init(GPIOB, &GPIO_InitStructure);
  /* CAN configuration ********************************************************/  
  /* Enable CAN clock */
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE);
  
  /* CAN register init */
  CAN_DeInit(CAN2);
  CAN_StructInit(&CAN_InitStructure);
  /* CAN cell init */
  CAN_InitStructure.CAN_TTCM = DISABLE;
  CAN_InitStructure.CAN_ABOM = DISABLE;
  CAN_InitStructure.CAN_AWUM = DISABLE;
  CAN_InitStructure.CAN_NART = DISABLE;
  CAN_InitStructure.CAN_RFLM = DISABLE;
  CAN_InitStructure.CAN_TXFP = DISABLE;
  CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
  CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
   
  /* CAN Baudrate = 1MBps (CAN clocked at 30 MHz) */
  CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq;
  CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;
  CAN_InitStructure.CAN_Prescaler = 2;
  CAN_Init(CAN2, &CAN_InitStructure);
  /* CAN filter init */
  CAN_FilterInitStructure.CAN_FilterNumber = 14;
  CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
  CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
  CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;
  CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
  CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
  CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
  CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;
  CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
  CAN_FilterInit(&CAN_FilterInitStructure);
  
  /* Transmit Structure preparation */
  TxMessage.StdId = 0x123;
  TxMessage.ExtId = 0x01;
  TxMessage.RTR = CAN_RTR_DATA;
  TxMessage.IDE = CAN_ID_STD;
  TxMessage.DLC = 1;
  
  /* Enable FIFO 0 message pending Interrupt */
  CAN_ITConfig(CAN2, CAN_IT_FMP0, ENABLE);
}
/**
  * @brief  Configures the NVIC for CAN.
  * @param  None
  * @retval None
  */
void NVIC_Config(void)
{
  NVIC_InitTypeDef  NVIC_InitStructure;
  NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x1;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);
  NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX0_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);
}
     
         
/*******************************************************************************
* Function Name  : Can1WriteData
* Description    : Can1 Write Date to CAN-BUS
* Input          : None
* Output         : None
* Return         : None
* Attention   : None
*******************************************************************************/
void Can1WriteData(uint16_t ID)
{
  CanTxMsg TxMessage;
  CAN1_DATA0=2;  CAN1_DATA1=4;  
  CAN1_DATA2=6;  CAN1_DATA3=8;  
  CAN1_DATA4=10;  CAN1_DATA5=12;
  CAN1_DATA6=14;  CAN1_DATA7=0;
  /* transmit */
  TxMessage.StdId = ID;
//TxMessage.ExtId = 0x00;
  TxMessage.RTR = CAN_RTR_DATA;
  TxMessage.IDE = CAN_ID_STD;
  TxMessage.DLC = 8;
  TxMessage.Data[0] = CAN1_DATA0;   
  TxMessage.Data[1] = CAN1_DATA1;   
  TxMessage.Data[2] = CAN1_DATA2;   
  TxMessage.Data[3] = CAN1_DATA3;   
  TxMessage.Data[4] = CAN1_DATA4;   
  TxMessage.Data[5] = CAN1_DATA5;     
  TxMessage.Data[6] = CAN1_DATA6;   
  TxMessage.Data[7] = CAN1_DATA7;      
  CAN_Transmit(CAN1,&TxMessage);
}
/*******************************************************************************
* Function Name  : CanWriteData
* Description    : Can Write Date to CAN-BUS
* Input          : None
* Output         : None
* Return         : None
* Attention   : None
*******************************************************************************/
void Can2WriteData(uint16_t ID)
{
  CanTxMsg TxMessage;
  CAN2_DATA0=1;  CAN2_DATA1=3;  
  CAN2_DATA2=5;  CAN2_DATA3=7;  
  CAN2_DATA4=9;  CAN2_DATA5=11;
  CAN2_DATA6=13;  CAN2_DATA7=15;
  /* transmit */
  TxMessage.StdId = ID;
//TxMessage.ExtId = 0x00;
  TxMessage.RTR = CAN_RTR_DATA;
  TxMessage.IDE = CAN_ID_STD;
  TxMessage.DLC = 8;
  TxMessage.Data[0] = CAN2_DATA0;   
  TxMessage.Data[1] = CAN2_DATA1;   
  TxMessage.Data[2] = CAN2_DATA2;   
  TxMessage.Data[3] = CAN2_DATA3;   
  TxMessage.Data[4] = CAN2_DATA4;   
  TxMessage.Data[5] = CAN2_DATA5;     
  TxMessage.Data[6] = CAN2_DATA6;   
  TxMessage.Data[7] = CAN2_DATA7;      
  CAN_Transmit(CAN2,&TxMessage);
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t* file, uint32_t line)
{
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %drn", file, line) */
  /* Infinite loop */
  while (1)
  {
  }
}
#endif
/**
  * @}
  */
/**
  * @}
  */
/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/

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