CAN通信中地址设置的问题

我在用STM32F107做双CAN口测试时，遇到的问题是不管如何设置过滤器和ID，发送的数据都能够传送过去，先做个标记。程序代码如下，后续会回复问题的解决办法
问题解决办法：由于过滤器MASKID的设置错误，STDID所处的位置如下图所示，位于最高的11位，所以MASKID应该设置位0XFFF0 0000,简单设置位0XFFFF FFFF也可以。

u8 CAN1_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode){GPIO_InitTypeDef GPIO_InitStructure; CAN_InitTypeDef        CAN_InitStructure; CAN_FilterInitTypeDef  CAN_FilterInitStructure;   NVIC_InitTypeDef  NVIC_InitStructure;RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB|RCC_APB2Periph_AFIO, ENABLE);//ʹÄÜPORTAʱÖÓ                      RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//ʹÄÜCAN1ʱÖÓ    GPIO_PinRemapConfig(GPIO_Remap1_CAN1,ENABLE);    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;//¸´ÓÃÍÆÍì    GPIO_Init(GPIOB, &GPIO_InitStructure);//³õʼ»¯IO       GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;//ÉÏÀ­ÊäÈë    GPIO_Init(GPIOB, &GPIO_InitStructure);//³õʼ»¯IO   //CANµ¥ÔªÉèÖà CAN_InitStructure.CAN_TTCM=DISABLE; //·Çʱ¼ä´¥·¢Í¨ÐÅģʽ  // CAN_InitStructure.CAN_ABOM=DISABLE; //Èí¼þ×Ô¶¯ÀëÏß¹ÜÀí //  CAN_InitStructure.CAN_AWUM=DISABLE; //˯Ãßģʽͨ¹ýÈí¼þ»½ÐÑ(Çå³ýCAN->MCRµÄSLEEPλ)//  CAN_InitStructure.CAN_NART=ENABLE; //½ûÖ¹±¨ÎÄ×Ô¶¯´«ËÍ //  CAN_InitStructure.CAN_RFLM=DISABLE; //±¨ÎIJ»Ëø¶¨,еĸ²¸Ç¾ÉµÄ //   CAN_InitStructure.CAN_TXFP=DISABLE; //ÓÅÏȼ¶Óɱ¨Îıêʶ·û¾ö¶¨ //  CAN_InitStructure.CAN_Mode= mode;         //ģʽÉèÖ㺠mode:0,ÆÕͨģʽ;1,»Ø»·Ä£Ê½; //  //ÉèÖò¨ÌØÂÊ  CAN_InitStructure.CAN_SJW=tsjw;//ÖØÐÂͬ²½ÌøÔ¾¿í¶È(Tsjw)Ϊtsjw+1¸öʱ¼äµ¥Î»  CAN_SJW_1tq CAN_SJW_2tq CAN_SJW_3tq CAN_SJW_4tq  CAN_InitStructure.CAN_BS1=tbs1; //Tbs1=tbs1+1¸öʱ¼äµ¥Î»CAN_BS1_1tq ~CAN_BS1_16tq  CAN_InitStructure.CAN_BS2=tbs2;//Tbs2=tbs2+1¸öʱ¼äµ¥Î»CAN_BS2_1tq ~CAN_BS2_8tq  CAN_InitStructure.CAN_Prescaler=brp;            //·ÖƵϵÊý(Fdiv)Ϊbrp+1//  CAN_Init(CAN1, &CAN_InitStructure);            // ³õʼ»¯CAN1  CAN_FilterInitStructure.CAN_FilterNumber=0;  //¹ýÂËÆ÷0 CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; //±êʶ·ûÆÁ±Îλģʽ  CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32λ   CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;////32λID  ÓÃÀ´È·¶¨½ÓÊÕµ½µÄÊý¾ÝIDµÄÆÚÍûÖµ  CAN_FilterInitStructure.CAN_FilterIdLow=0x0022;  CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//32λMASK  ÓÃÀ´È·¶¨±ØÐë¹ØÐĵÄÄǼ¸Î»Îª±ØÐë·ûºÏµÄIDλ  CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x00FF;  CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//¹ýÂËÆ÷0¹ØÁªµ½FIFO0 CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //¼¤»î¹ýÂËÆ÷0  CAN_FilterInit(&CAN_FilterInitStructure);//Â˲¨Æ÷³õʼ»¯CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);//FIFO0ÏûÏ¢¹ÒºÅÖжÏÔÊÐí.        NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;     // Ö÷ÓÅÏȼ¶Îª1  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;            // ´ÎÓÅÏȼ¶Îª0  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;  NVIC_Init(&NVIC_InitStructure);return 0;}    //ÖжϷþÎñº¯Êý    void CAN1_RX0_IRQHandler(void){    CanRxMsg RxMessage;int i=0;int res;LED2=!LED2;    CAN_Receive(CAN1, 0, &RxMessage);if(RxMessage.Data[0]==112){//canbuf[0]=111;//res=Can2_Send_Msg(canbuf,8);//·¢ËÍ8¸ö×Ö½Ú //if(res==0)//{//LED0=!LED0;//}LED1=!LED1;}//else if(RxMessage.Data[0]==112)//{//   LED5=!LED5;//}//for(i=0;i<8;i++)//printf("rxbuf[%d]:%d\r\n",i,RxMessage.Data[i]);}//can·¢ËÍÒ»×éÊý¾Ý(¹Ì¶¨¸ñʽ:IDΪ0X12,±ê×¼Ö¡,Êý¾ÝÖ¡)//len:Êý¾Ý³¤¶È(×î´óΪ8)     //msg:Êý¾ÝÖ¸Õë,×î´óΪ8¸ö×Ö½Ú.//·µ»ØÖµ:0,³É¹¦;// ÆäËû,ʧ°Ü;u8 Can1_Send_Msg(u8* msg,u8 len){  u8 mbox;  u16 i=0;  CanTxMsg TxMessage;  TxMessage.StdId=0x0033; // ±ê×¼±êʶ·ûΪ0  TxMessage.ExtId=0x0000; // ÉèÖÃÀ©Õ¹±êʾ·û£¨29룩  TxMessage.IDE=0; // ʹÓñê×¼±êʶ·û  TxMessage.RTR=0; // ÏûÏ¢ÀàÐÍΪÊý¾ÝÖ¡£¬Ò»Ö¡8λ  TxMessage.DLC=len; // ·¢ËÍÁ½Ö¡ÐÅÏ¢  for(i=0;i<len;i++)  TxMessage.Data[i]=msg[i]; // µÚÒ»Ö¡ÐÅÏ¢            mbox= CAN_Transmit(CAN1, &TxMessage);     i=0;  while((CAN_TransmitStatus(CAN1, mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))i++;//µÈ´ý·¢ËͽáÊø  if(i>=0XFFF)return 1;  return 0;}//can¿Ú½ÓÊÕÊý¾Ý²éѯ//buf:Êý¾Ý»º´æÇø; //·µ»ØÖµ:0,ÎÞÊý¾Ý±»ÊÕµ½;// ÆäËû,½ÓÊÕµÄÊý¾Ý³¤¶È;u8 Can1_Receive_Msg(u8 *buf){       u32 i;CanRxMsg RxMessage;    if( CAN_MessagePending(CAN1,CAN_FIFO0)==0)return 0;//ûÓнÓÊÕµ½Êý¾Ý,Ö±½ÓÍ˳ö     CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);//¶ÁÈ¡Êý¾Ý    for(i=0;i<8;i++)    buf[i]=RxMessage.Data[i];  return RxMessage.DLC;}/************************************************************************************************///CAN2³õʼ»¯º¯Êýu8 CAN2_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode){GPIO_InitTypeDef GPIO_InitStructure; CAN_InitTypeDef        CAN_InitStructure; CAN_FilterInitTypeDef  CAN_FilterInitStructure;   NVIC_InitTypeDef  NVIC_InitStructure;RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB|RCC_APB2Periph_AFIO, ENABLE);//ʹÄÜPORTAʱÖÓ                      RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE);//ʹÄÜCAN1ʱÖÓ    GPIO_PinRemapConfig(GPIO_Remap_CAN2,ENABLE);    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;//¸´ÓÃÍÆÍì    GPIO_Init(GPIOB, &GPIO_InitStructure);//³õʼ»¯IO       GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;//ÉÏÀ­ÊäÈë    GPIO_Init(GPIOB, &GPIO_InitStructure);//³õʼ»¯IO   //CANµ¥ÔªÉèÖà CAN_InitStructure.CAN_TTCM=DISABLE; //·Çʱ¼ä´¥·¢Í¨ÐÅģʽ  // CAN_InitStructure.CAN_ABOM=DISABLE; //Èí¼þ×Ô¶¯ÀëÏß¹ÜÀí //  CAN_InitStructure.CAN_AWUM=DISABLE; //˯Ãßģʽͨ¹ýÈí¼þ»½ÐÑ(Çå³ýCAN->MCRµÄSLEEPλ)//  CAN_InitStructure.CAN_NART=ENABLE; //½ûÖ¹±¨ÎÄ×Ô¶¯´«ËÍ //  CAN_InitStructure.CAN_RFLM=DISABLE; //±¨ÎIJ»Ëø¶¨,еĸ²¸Ç¾ÉµÄ //   CAN_InitStructure.CAN_TXFP=DISABLE; //ÓÅÏȼ¶Óɱ¨Îıêʶ·û¾ö¶¨ //  CAN_InitStructure.CAN_Mode= mode;         //ģʽÉèÖ㺠mode:0,ÆÕͨģʽ;1,»Ø»·Ä£Ê½; //  //ÉèÖò¨ÌØÂÊ  CAN_InitStructure.CAN_SJW=tsjw;//ÖØÐÂͬ²½ÌøÔ¾¿í¶È(Tsjw)Ϊtsjw+1¸öʱ¼äµ¥Î»  CAN_SJW_1tq CAN_SJW_2tq CAN_SJW_3tq CAN_SJW_4tq  CAN_InitStructure.CAN_BS1=tbs1; //Tbs1=tbs1+1¸öʱ¼äµ¥Î»CAN_BS1_1tq ~CAN_BS1_16tq  CAN_InitStructure.CAN_BS2=tbs2;//Tbs2=tbs2+1¸öʱ¼äµ¥Î»CAN_BS2_1tq ~CAN_BS2_8tq  CAN_InitStructure.CAN_Prescaler=brp;            //·ÖƵϵÊý(Fdiv)Ϊbrp+1//  CAN_Init(CAN2, &CAN_InitStructure);            // ³õʼ»¯CAN2 CAN_FilterInitStructure.CAN_FilterNumber=14;  //¹ýÂËÆ÷14 CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; //±êʶ·ûÆÁ±Îλģʽ  CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32λ     CAN_FilterInitStructure.CAN_FilterIdHigh   = (((u32)0x33<<21)&0xffff0000)>>16;    CAN_FilterInitStructure.CAN_FilterIdLow   = (((u32)0x33<<21)|CAN_ID_STD|CAN_RTR_DATA)&0xffff;  CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xFFFF;//32λMASK  CAN_FilterInitStructure.CAN_FilterMaskIdLow=0xFFFF;  CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//¹ýÂËÆ÷14¹ØÁªµ½FIFO0 CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //¼¤»î¹ýÂËÆ÷0//CAN_FilterInitStructure.CAN_FilterNumber=0;//    CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;//    CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;//CAN_FilterScale_16bit; //32bit//    CAN_FilterInitStructure.CAN_FilterIdHigh   = (((u32)slave_id<<21)&0xffff0000)>>16;//    CAN_FilterInitStructure.CAN_FilterIdLow   = (((u32)slave_id<<21)|CAN_ID_STD|CAN_RTR_DATA)&0xffff;//    CAN_FilterInitStructure.CAN_FilterMaskIdHigh  = 0xFFFF;//    CAN_FilterInitStructure.CAN_FilterMaskIdLow   = 0xFFFF;    CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;    CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;   //?????    CAN_FilterInit(&CAN_FilterInitStructure);    CAN_ITConfig(CAN1,CAN_IT_FMP0|CAN_IT_EPV, ENABLE);  CAN_FilterInit(&CAN_FilterInitStructure);//Â˲¨Æ÷³õʼ»¯CAN_ITConfig(CAN2,CAN_IT_FMP0,ENABLE);//FIFO0ÏûÏ¢¹ÒºÅÖжÏÔÊÐí.        NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX0_IRQn;  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;     // Ö÷ÓÅÏȼ¶Îª1  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;            // ´ÎÓÅÏȼ¶Îª0  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;  NVIC_Init(&NVIC_InitStructure);return 0;}    //ÖжϷþÎñº¯Êý    void CAN2_RX0_IRQHandler(void){    CanRxMsg RxMessage;int i=0;  int res;    CAN_Receive(CAN2, 0, &RxMessage);if(RxMessage.Data[0]==1){//canbuf[0]=112;//res=Can1_Send_Msg(canbuf,8);//·¢ËÍ8¸ö×Ö½Ú //if(res==0)//{LED1=!LED1;//}LED2=!LED2;}//else if(RxMessage.Data[0]==112)//{//   LED5=!LED5;//}//for(i=0;i<8;i++)//printf("rxbuf[%d]:%d\r\n",i,RxMessage.Data[i]);}//can·¢ËÍÒ»×éÊý¾Ý(¹Ì¶¨¸ñʽ:IDΪ0X12,±ê×¼Ö¡,Êý¾ÝÖ¡)//len:Êý¾Ý³¤¶È(×î´óΪ8)     //msg:Êý¾ÝÖ¸Õë,×î´óΪ8¸ö×Ö½Ú.//·µ»ØÖµ:0,³É¹¦;// ÆäËû,ʧ°Ü;u8 Can2_Send_Msg(u8* msg,u8 len){  u8 mbox;  u16 i=0;  CanTxMsg TxMessage;  TxMessage.StdId=0x12; // ±ê×¼±êʶ·ûΪ0  TxMessage.ExtId=0x12; // ÉèÖÃÀ©Õ¹±êʾ·û£¨29룩  TxMessage.IDE=0; // ʹÓÃÀ©Õ¹±êʶ·û  TxMessage.RTR=0; // ÏûÏ¢ÀàÐÍΪÊý¾ÝÖ¡£¬Ò»Ö¡8λ  TxMessage.DLC=len; // ·¢ËÍÁ½Ö¡ÐÅÏ¢  for(i=0;i<len;i++)  TxMessage.Data[i]=msg[i]; // µÚÒ»Ö¡ÐÅÏ¢            mbox= CAN_Transmit(CAN2, &TxMessage);     i=0;  while((CAN_TransmitStatus(CAN2, mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))i++;//µÈ´ý·¢ËͽáÊø  if(i>=0XFFF)return 1;  return 0;}//can¿Ú½ÓÊÕÊý¾Ý²éѯ//buf:Êý¾Ý»º´æÇø; //·µ»ØÖµ:0,ÎÞÊý¾Ý±»ÊÕµ½;// ÆäËû,½ÓÊÕµÄÊý¾Ý³¤¶È;u8 Can2_Receive_Msg(u8 *buf){       u32 i;CanRxMsg RxMessage;    if( CAN_MessagePending(CAN2,CAN_FIFO0)==0)return 0;//ûÓнÓÊÕµ½Êý¾Ý,Ö±½ÓÍ˳ö     CAN_Receive(CAN2, CAN_FIFO0, &RxMessage);//¶ÁÈ¡Êý¾Ý    for(i=0;i<8;i++)    buf[i]=RxMessage.Data[i];  return RxMessage.DLC;}