CH32V203 CAN在发送数据时接收脚也检测到相同波形，跟其它模块通信又没问题，正常吗？

这是初始化

void CAN_Mode_Init( u8 tsjw, u8 tbs2, u8 tbs1, u16 brp, u8 mode )

{

    GPIO_InitTypeDef      GPIO_InitSturcture={0};

    CAN_InitTypeDef       CAN_InitSturcture={0};

    CAN_FilterInitTypeDef CAN_FilterInitSturcture={0};

    NVIC_InitTypeDef      NVIC_InitStructure={0};

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOB, ENABLE);

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

    GPIO_PinRemapConfig(GPIO_Remap1_CAN1, ENABLE);

    GPIO_InitSturcture.GPIO_Pin = GPIO_Pin_9;

    GPIO_InitSturcture.GPIO_Mode = GPIO_Mode_AF_PP;

    GPIO_InitSturcture.GPIO_Speed = GPIO_Speed_50MHz;

    GPIO_Init(GPIOB, &GPIO_InitSturcture);

    GPIO_InitSturcture.GPIO_Pin = GPIO_Pin_8;

    GPIO_InitSturcture.GPIO_Mode = GPIO_Mode_IPU;

    GPIO_Init(GPIOB, &GPIO_InitSturcture);

  //CAN单元配置

    CAN_InitSturcture.CAN_TTCM = DISABLE;

    CAN_InitSturcture.CAN_ABOM = DISABLE;

    CAN_InitSturcture.CAN_AWUM = DISABLE;

    CAN_InitSturcture.CAN_NART = ENABLE;

    CAN_InitSturcture.CAN_RFLM = DISABLE;

    CAN_InitSturcture.CAN_TXFP = DISABLE;

    CAN_InitSturcture.CAN_Mode = mode;

    CAN_InitSturcture.CAN_SJW = tsjw;

    CAN_InitSturcture.CAN_BS1 = tbs1;

    CAN_InitSturcture.CAN_BS2 = tbs2;

    CAN_InitSturcture.CAN_Prescaler = brp;

    CAN_Init( CAN1, &CAN_InitSturcture );

    CAN_FilterInitSturcture.CAN_FilterNumber = 0;

    if(SetExtendedFrame == Standard_Frame)

    {

        /* identifier/mask mode, One 32-bit filter, StdId: All*/

        CAN_FilterInitSturcture.CAN_FilterMode = CAN_FilterMode_IdMask;

        CAN_FilterInitSturcture.CAN_FilterScale = CAN_FilterScale_32bit;

        CAN_FilterInitSturcture.CAN_FilterIdHigh = 0xFFFF;

        CAN_FilterInitSturcture.CAN_FilterIdLow = 0xFFFF;

        CAN_FilterInitSturcture.CAN_FilterMaskIdHigh = 0;

        CAN_FilterInitSturcture.CAN_FilterMaskIdLow = 0;

    }

    else if(SetExtendedFrame == Extended_Frame)

    {

        /* identifier/mask mode, One 32-bit filter, ExtId: 0x12124567 */

        CAN_FilterInitSturcture.CAN_FilterMode = CAN_FilterMode_IdMask;

        CAN_FilterInitSturcture.CAN_FilterScale = CAN_FilterScale_32bit;

        CAN_FilterInitSturcture.CAN_FilterIdHigh = 0x9092;

        CAN_FilterInitSturcture.CAN_FilterIdLow = 0x2B3C;

        CAN_FilterInitSturcture.CAN_FilterMaskIdHigh = 0xFFFF;

        CAN_FilterInitSturcture.CAN_FilterMaskIdLow = 0xFFFE;

    }

    CAN_FilterInitSturcture.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;

    CAN_FilterInitSturcture.CAN_FilterActivation = ENABLE;

    CAN_FilterInit( &CAN_FilterInitSturcture );

    CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);                 //FIFO0消息挂号中断允许.

    NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;

    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;

    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;

    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;

    NVIC_Init(&NVIC_InitStructure);

}

你好，CAN在通信时是TX/RX接到一起的，因为CAN在发送时要根据接收来判断发送的是否正确，是正常的

这是正常的CAN总线竞争逻辑，所有的CAN都是这样的。CAN节点发送ID的时候要同时判断接收到的ID是否相同，如果不同，说明其它节点发送的显性电平覆盖了自己发送的隐性电平，有其它节点发送优先级更高的帧，当前节点退出总线竞争。