謝謝你!! 果然是這問題 Orz , 問題已經解決了

連接線是否有跳線 ?
若無則CAN_H 與CAN_L 會短路 ,
會產生Error Frame

大家好:
我這邊有一個奇怪的問題想請問大家
我是使用APP001的版子, 上面有PIC18F458,
我現在有兩塊APP001,
我曾上過CAN202的課程, 我使用的code是課程裡面的範例程式
ex3.cpp, code大致如下:

#include <p18f458.h>
#include "CAN18XX8.h"
#include "WAP_LCD.H"
#include <stdlib.h>


void Delay_100(void) ;

char Temp_ASCII[10] ;

union
{
unsigned char Bytes[2] ;
unsigned int Word ;
} AD_ALL ;

unsigned char Var1,Var2 ;

unsigned long TX_ID1 ;
BYTE TX_Data_Buf1[8] ;

unsigned long RX_ID1 ;
BYTE RX_Data_Buf1[8] ;
BYTE RX_Data_Len1 ;
enum CAN_RX_MSG_FLAGS RX1_Message_Flag ;

unsigned long RX_ID2 ;
BYTE RX_Data_Buf2[8] ;
BYTE RX_Data_Len2 ;
enum CAN_RX_MSG_FLAGS RX2_Message_Flag ;

#define OUTGOING_ID 0X210
#define INCOMING_ID 0X200

#define MESSAGE_ID1 0x110
#define RX_Filter0 0x120
#define RX_Filter1 0x00
#define RX_Filter2 0x00
#define RX_Filter3 0x00
#define RX_Filter4 0x00
#define RX_Filter5 0x00
#define RXB0_MASK 0x7ff
#define RXB1_MASK 0x7ff

void main( void )
{

PORTD = 0x00 ;
TRISD = 0x00 ;
TRISBbits.TRISB2 = 0 ; // CANTX
TRISBbits.TRISB3 = 1 ; // CANRX

CMCON = 0b00000111 ; // Disable Comparator Module
ADCON0 = 0b10000001 ; // Initial ADCON0 for A/D Module
ADCON1bits.ADFM = 1 ; // Right Justified !!


OpenLCD( ) ;

Delay_100( ) ;

putrsLCD("FL= IN= ") ;
LCD_Set_Cursor(0,1) ;
putrsLCD("ID= AD= ") ;

itoa ( MESSAGE_ID1 ,Temp_ASCII ) ;
LCD_Set_Cursor(3,1) ;
putsLCD(Temp_ASCII ) ;

itoa (RX_Filter0,Temp_ASCII ) ;
LCD_Set_Cursor(3,0) ;
putsLCD(Temp_ASCII ) ;


CANInitialize( 2,8,3,3,1, CAN_CONFIG_LINE_FILTER_OFF &
CAN_CONFIG_SAMPLE_ONCE &
CAN_CONFIG_VALID_STD_MSG &
CAN_CONFIG_PHSEG2_PRG_ON ) ;

CANSetOperationMode(CAN_OP_MODE_CONFIG) ;

CANSetMask(CAN_MASK_B1, 0x7ff, CAN_CONFIG_STD_MSG ) ; // Set Mask For Standard Data Frame
CANSetMask(CAN_MASK_B2, 0x7ff, CAN_CONFIG_STD_MSG ) ;

CANSetFilter(CAN_FILTER_B1_F1, RX_Filter0 , CAN_CONFIG_STD_MSG) ;
CANSetFilter(CAN_FILTER_B1_F2, 0x00000000 , CAN_CONFIG_STD_MSG) ;
CANSetFilter(CAN_FILTER_B2_F1, 0x00000000 , CAN_CONFIG_STD_MSG) ;
CANSetFilter(CAN_FILTER_B2_F2, 0x00000000 , CAN_CONFIG_STD_MSG) ;
CANSetFilter(CAN_FILTER_B2_F3, 0x00000000 , CAN_CONFIG_STD_MSG) ;
CANSetFilter(CAN_FILTER_B2_F4, 0x00000000 , CAN_CONFIG_STD_MSG) ;

CANSetOperationMode(CAN_OP_MODE_NORMAL) ;

TX_Data_Buf1[0] = 0x01 ;
TX_Data_Buf1[1] = 0x02 ;
TX_Data_Buf1[2] = 0x03 ;
TX_Data_Buf1[3] = 0x04 ;
TX_Data_Buf1[4] = 0x05 ;

while (1)
{
Delay_100() ;
// if ( CANIsTxReady( ) )
// {
CANSendMessage( MESSAGE_ID1 ,TX_Data_Buf1,5,CAN_TX_PRIORITY_0 &
CAN_TX_STD_FRAME &
CAN_TX_NO_RTR_FRAME ) ;
// }
ADCON0bits.GO = 1 ;

while ( ADCON0bits.GO) ;

TX_Data_Buf1[3] = ADRESH ;
TX_Data_Buf1[4] = ADRESL ;

LCD_Set_Cursor(12,1) ;
putrsLCD(" ") ;
LCD_Set_Cursor(12,1) ;

AD_ALL.Bytes[0] = ADRESL ;
AD_ALL.Bytes[1] = ADRESH ;

itoa ( AD_ALL.Word , Temp_ASCII ) ;

putsLCD( Temp_ASCII ) ;

if ( CANIsRxReady( ) )

{
CANReceiveMessage(&RX_ID1,RX_Data_Buf1,&RX_Data_Len1,&RX1_Message_Flag ) ;

AD_ALL.Bytes[1] = RX_Data_Buf1[3] ; // ADRESH
AD_ALL.Bytes[0] = RX_Data_Buf1[4] ; // ADRESL

LCD_Set_Cursor(12,0) ;
puthexLCD(RX_Data_Buf1[3]) ;
puthexLCD(RX_Data_Buf1[4]) ;

LATD = AD_ALL.Word >> 2 ;
}

}

}


void Delay_100(void)
{
int X1 ;

for (X1 = 0 ; X1 < 10000 ; X1 ++ ) ;

}

#pragma interrupt isr_high // save = PRODL,PRODH,FSR0L,FSR0H
#pragma interruptlow isr_low // save = WREG,STATUS,BSR,PRODL,PRODH,FSR0L,FSR0H

#pragma code isrhighcode = 0x0000008

void isr_high_direct(void)
{
//***EXERCISE 2 CODE HERE***

_asm //begin in-line assembly
goto isr_high //go to isr_high function
_endasm //end in-line assembly
}

#pragma code


#pragma code isrlowcode = 0x0000018

void isr_low_direct(void)
{
//***EXERCISE 2 CODE HERE***

_asm //begin in-line assembly
goto isr_low //go to isr_high function
_endasm //end in-line assembly
}
#pragma code

void isr_high(void)
{

}
void isr_low(void)
{

}


======================
我是使用program燒錄進去
我兩塊APP001都是使用這code, 差別只在於其中一塊
的MESSAGE_ID1 為0x110, RX_Filter0為0x120
另一塊MESSAGE_ID1為0x120
也就是我0x120是用來傳輸的, 0x110是來街收的,
但是結果是: 0x110收不到0x120傳來的訊息,

而如果我將mode由CAN_OP_MODE_NORMAL改為
CAN_OP_MODE_LOOP, 則能收到自己looback的訊息

請問是怎麼回事呢, 謝謝大家解答!

還是APP001上的Jump要設定什麼呢?