F103使用CAN死活不通，求助各位

//can function ------------------------------------------------

#define CAN_REMAP

#define USE_CAN 

int canStat = 0;

static void can_rcc_config()

{

    RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);

    //RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA, ENABLE);

        RCC_APB1PeriphClockCmd( RCC_APB1Periph_CAN1, ENABLE);

    

#ifdef CAN_REMAP    

    //Remap  to PB8, PB9

        GPIO_PinRemapConfig( GPIO_Remap1_CAN1, ENABLE);

#endif

}

static void can_gpio_config()

{

    GPIO_InitTypeDef initStructure;



#ifdef CAN_REMAP

        //CAN RX

    initStructure.GPIO_Pin  = GPIO_Pin_8;

    initStructure.GPIO_Speed = GPIO_Speed_50MHz;

    initStructure.GPIO_Mode = GPIO_Mode_IPU;

    GPIO_Init( GPIOB, &initStructure );



    //CAN TX

    initStructure.GPIO_Pin  = GPIO_Pin_9;

    initStructure.GPIO_Mode = GPIO_Mode_AF_PP;

    GPIO_Init( GPIOB, &initStructure );

#else

    //CAN RX

    initStructure.GPIO_Pin  = GPIO_Pin_11;

    initStructure.GPIO_Speed = GPIO_Speed_50MHz;

    initStructure.GPIO_Mode = GPIO_Mode_IPU;

    GPIO_Init( GPIOA, &initStructure );



    //CAN TX

    initStructure.GPIO_Pin  = GPIO_Pin_12;

    initStructure.GPIO_Mode = GPIO_Mode_AF_PP;

    GPIO_Init( GPIOA, &initStructure );

#endif        

    //?

        //GPIO_PinAFConfig(GPIOA,GPIO_PinSource11,GPIO_AF_CAN0); 

    //GPIO_PinAFConfig(GPIOA,GPIO_PinSource12,GPIO_AF_CAN1); //GPIOA12复用为CAN1

}

static void can_config()

{

    CAN_InitTypeDef initStructure;

    CAN_FilterInitTypeDef filterInitStructure;



    //CAN_DeInit( CAN1 );

    CAN_StructInit(&initStructure );

    initStructure.CAN_TTCM = DISABLE;

    initStructure.CAN_ABOM = DISABLE;  //如果ABOM位为’1’，bxCAN进入离线状态后，就自动开启恢复过程

    initStructure.CAN_AWUM = DISABLE;

    initStructure.CAN_NART = DISABLE;  // DISABLE;  //禁止自动重发

    initStructure.CAN_RFLM = DISABLE;

    initStructure.CAN_TXFP = DISABLE;

    initStructure.CAN_Mode = CAN_Mode_Normal; //CAN_Mode_LoopBack , CAN_Mode_Normal;

    initStructure.CAN_SJW  = CAN_SJW_1tq;  // CAN_SJW_1tq;

    initStructure.CAN_BS1  = CAN_BS1_8tq; //CAN_BS1_5tq; // CAN_BS1_8tq;

    initStructure.CAN_BS2  = CAN_BS2_7tq;// CAN_BS2_3tq;  // CAN_BS2_7tq;

    

    //36M / ( 1 + 5 + 3 ) / 16 = 250kbps 

    //2,1,9 = 1M;   8,7,9 = 250k

    initStructure.CAN_Prescaler = 9; //16

    CAN_Init(CAN1, &initStructure );



    filterInitStructure.CAN_FilterNumber = 0;

    filterInitStructure.CAN_FilterMode   = CAN_FilterMode_IdMask;

    filterInitStructure.CAN_FilterScale  = CAN_FilterScale_32bit;

    filterInitStructure.CAN_FilterIdHigh = 0x0000;// << 3;

    filterInitStructure.CAN_FilterIdLow  = 0x0000;

    filterInitStructure.CAN_FilterMaskIdHigh = 0x0000;// << 3;

    filterInitStructure.CAN_FilterMaskIdLow  = 0x0000;

    filterInitStructure.CAN_FilterFIFOAssignment = CAN_FIFO0;

    filterInitStructure.CAN_FilterActivation = ENABLE;

    CAN_FilterInit( &filterInitStructure );



}





void can_sendData()

{

    static uint32_t count = 0;

    int tryCount = 0;

    uint8_t ret = 0;



    uint8_t transmitMailbox = 0;

    CanTxMsg txMessage;

    CanRxMsg rxMessage;



    //txMessage.ExtId = 0x00AA0000;

    txMessage.StdId = 0x123;

    txMessage.ExtId = 0x12345;

    txMessage.RTR = CAN_RTR_DATA;

    txMessage.IDE = CAN_ID_EXT;

    //txMessage.IDE = CAN_ID_STD;

    txMessage.DLC = 8;

    txMessage.Data[0] = 0x00;

    txMessage.Data[1] = 0x12;

    txMessage.Data[2] = 0x34;

    txMessage.Data[3] = 0x56;

    txMessage.Data[4] = ((char*)&count)[0];// 0x78;

    txMessage.Data[5] = ((char*)&count)[1];//0xAB;

    txMessage.Data[6] = ((char*)&count)[2];//0xCD;

    txMessage.Data[7] = ((char*)&count)[3];//0xEF;

    count++;



    transmitMailbox = CAN_Transmit(CAN1, &txMessage );

    

    if( transmitMailbox < 3 )

    {

        ret = CAN_TransmitStatus(CAN1, transmitMailbox);

        while( tryCount < 1000 && (ret) != CANTXOK )

        {

            ret = CAN_TransmitStatus(CAN1, transmitMailbox);

            tryCount++;

        };

    }



}