有关CAN多节点发送数据冲突的问题！！

芯片：STM32 F103E芯片，一个电脑上安装周立功CAN卡，总线上连接12个设备CAN。调试时出现总线冲突。大家帮忙看看代码是否有问题。

int InitFilterCan(u8 canAddr, u32 filterMaskCode)
{
    CAN_FilterInitTypeDef  CAN_FilterStructure;
    CAN_ITConfig((&CANDevList[canAddr - 1])->ADDR, CAN_IT_FMP0, DISABLE);
    CAN_FilterStructure.CAN_FilterNumber = 0;                                                                                
    CAN_FilterStructure.CAN_FilterMode = CAN_FilterMode_IdMask;                                       
    CAN_FilterStructure.CAN_FilterScale = CAN_FilterScale_32bit;                                    
    CAN_FilterStructure.CAN_FilterIdHigh = (u16)(filterMaskCode& 0xE0)>>5;                                                               
    CAN_FilterStructure.CAN_FilterIdLow = (filterMaskCode << 11);//6.20   
    CAN_FilterStructure.CAN_FilterMaskIdHigh = 0x0007;
    CAN_FilterStructure.CAN_FilterMaskIdLow = (u16)((u16)0xFF << 11);//6.20
    CAN_FilterStructure.CAN_FilterFIFOAssignment = CAN_FIFO0;
    CAN_FilterStructure.CAN_FilterActivation = ENABLE;                                                            
    CAN_FilterInit(&CAN_FilterStructure);
   
#define CAN_FILTER_2
#ifdef CAN_FILTER_2
    CAN_FilterStructure.CAN_FilterNumber = 2;                        
    CAN_FilterStructure.CAN_FilterMode = CAN_FilterMode_IdMask;            
    CAN_FilterStructure.CAN_FilterScale = CAN_FilterScale_32bit;        
    CAN_FilterStructure.CAN_FilterIdHigh = 0x0007;                        
    CAN_FilterStructure.CAN_FilterIdLow = (u16)((u16)0x00FF << 11);
    CAN_FilterStructure.CAN_FilterMaskIdHigh = 0x0007;                    
    CAN_FilterStructure.CAN_FilterMaskIdLow = (u16)((u16)0x00FF << 11);
    CAN_FilterStructure.CAN_FilterFIFOAssignment = CAN_FIFO0;
    CAN_FilterStructure.CAN_FilterActivation = ENABLE;            
    CAN_FilterInit(&CAN_FilterStructure);
#endif

    CAN_ITConfig((&CANDevList[canAddr - 1])->ADDR, CAN_IT_FMP0, ENABLE);
    return 1;
}

int InitCan(pCANDev pCanDevice, u32 filterMaskCode, u32 baudType)
{
    GPIO_InitTypeDef          GPIO_InitStructure;
    CAN_InitTypeDef        CAN_InitStructure;
    //CAN_FilterInitTypeDef  CAN_FilterStructure;
    NVIC_InitTypeDef NVIC_InitStructure;

    //CanTxMsg CAN_TxStructure;
    NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
   
    NVIC_InitStructure.NVIC_IRQChannel = pCanDevice->RxIRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = pCanDevice->PreemptionPriority;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = pCanDevice->SubPriority;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
   
    NVIC_InitStructure.NVIC_IRQChannel = pCanDevice->TxIRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = pCanDevice->PreemptionPriority;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = pCanDevice->SubPriority;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
   
   
    BSP_IntVectSet(pCanDevice->IntId,pCanDevice->RxIRQHandler);
    APBxPeriphClockCmd(GPIO_BUS,pCanDevice->APBPeriphGpio , ENABLE);//³õʼ»¯CANʹÓõÄGPIOʱÖÓ
    APBxPeriphClockCmd(CAN_BUS,pCanDevice->APBPeriphCan, ENABLE);//³õʼ»¯CANʱÖÓ
   
    /* Configure CAN RX and TX pins */
    GPIO_InitStructure.GPIO_Pin = pCanDevice->CAN_RX;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;        
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;                                    
    GPIO_Init(pCanDevice->CPOIx, &GPIO_InitStructure);   
   
    GPIO_InitStructure.GPIO_Pin = pCanDevice->CAN_TX;        
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;            
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;                                    
    GPIO_Init(pCanDevice->CPOIx, &GPIO_InitStructure);        

    /* CAN register init */
    CAN_DeInit(pCanDevice->ADDR);
        
    /* CAN cell init */
    CAN_InitStructure.CAN_TTCM = DISABLE;
    CAN_InitStructure.CAN_ABOM = ENABLE;//ENABLE;//;
    CAN_InitStructure.CAN_AWUM = ENABLE;
    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_InitStructure.CAN_BS1 = CAN_BS1_3tq;   
    CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;   

    CAN_InitStructure.CAN_Prescaler = 36000/baudType/6;    //OK                //36M/(36000/baudType/6)/(2+3+1)

    CAN_Init(pCanDevice->ADDR, &CAN_InitStructure);   
    return 1;
}

int CanOpen(u8 canAddr, u32 filterMaskCode, u32 baudType)
{
    if(canAddr == 1 )
    {
        InitCan(&CANDevList[canAddr - 1], filterMaskCode, baudType);
        InitFilterCan(canAddr, filterMaskCode);
    }
    return 1;
}

uint32_t CreateExtId(u8 PF)
{
    uint32_t extId = 0;
    extId |= PF;
    extId <<= 8;
    extId |= 0;
    extId <<= 8;
    extId |= _g_DC_Id;
    return extId;
}

CanTxMsg __createCanTxMsgHeader(u8 PF)
{
    CanTxMsg canMsg;
    memset(&canMsg, 0, sizeof(CanTxMsg));
    canMsg.StdId = 0;
    canMsg.ExtId = CreateExtId(PF);
    canMsg.IDE = CAN_ID_EXT;    //À©Õ¹Ö¡
    canMsg.RTR = CAN_RTR_DATA;  //Êý¾ÝÖ¡
    return canMsg;
}


int CanSend(u8 canAddr, CanTxMsg CAN_TxStructure)
{   
    u8 state;
//    CAN_Transmit(CANDevList[canAddr - 1].ADDR, &CAN_TxStructure);
//    return 1;
    u8  TransmitMailbox = 0;
    u32 t=0;

    TransmitMailbox = CAN_Transmit(CANDevList[canAddr - 1].ADDR, &CAN_TxStructure);
         
    /* µÈ´ý·¢ËÍÍê³É */
    state = CAN_TransmitStatus(CANDevList[canAddr - 1].ADDR, TransmitMailbox);
    while((state != CANTXOK) && (t < 0xffff))
    {
        if(state == CANTXFAILED)
            return _Can_Transmit_Fail;
        else if(state == CAN_NO_MB)
            return _Can_No_MailBox;
        t++;   
        state = CAN_TransmitStatus(CANDevList[canAddr - 1].ADDR, TransmitMailbox);
    }
    if(t == 0XFFFF)
        return _Can_Transmit_timeout;
    return _Can_Success;
}