stm32f103开发CAN通讯，相互通讯数据错误

void CAN_Configuration(void)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;

CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);

//关闭时间触发模式
CAN_InitStructure.CAN_TTCM=DISABLE;
//关闭自动离线管理
CAN_InitStructure.CAN_ABOM=DISABLE;
//关闭自动唤醒模式
CAN_InitStructure.CAN_AWUM=DISABLE;
//禁止报文自动重传
CAN_InitStructure.CAN_NART=DISABLE;
//FIFO 溢出时报文覆盖源文件
CAN_InitStructure.CAN_RFLM=DISABLE;
//报文发送优先级取决于ID号
CAN_InitStructure.CAN_TXFP=DISABLE;
//正常的工作模式
CAN_InitStructure.CAN_Mode= CAN_Mode_Normal;//CAN_Mode_LoopBack;//CAN_Mode_Normal;

// 设置CAN 波特率 250 KBPS

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 =