CAN communication

void HS_CAN_Init(void)
{
//configuration mode   
//CANCONbits.ABAT=1;

CANCONbits.REQOP2 = 1;
CANCONbits.REQOP1 = 0;
CANCONbits.REQOP0 = 0;
//CANCONbits.ABAT=0;
   while ((CANSTAT & 0xE0) != 0x80);
ECANCON=0x00; //40
//baud rate confi
    BRGCON1=0x07;
   BRGCON2=0x92;
   BRGCON3=0x02;

CIOCON=0x20;   //20
TRISB=0x08;
//PORTB=0xFF;
//filter config

RXB0CON=0x20;  //receive only standard messages, 24
RXB1CON=0x20;  //20
//RXB0SIDL=0x60;
//RXB0SIDH=0x00;

 //sidl
  //    ptr--;
  //    *ptr=(make8(id,0) << 5) & 0xE0;
//RXB0SIDL=((0x01) << 5) & 0xE0);

      //sidh
   //   ptr--;
   //   *ptr=(make8(id,0) >> 3) & 0x1F;
   //   *ptr|=(make8(id,1) << 5) & 0xE0;
//RXB0SIDH = ((0x01) >> 3) & 0x1F);
//RXB0SIDH |= ((0x02) << 5) & 0xE0);
      
TXB0DLC=0x08;
RXB0DLC=0x08; //48
//RXF0SIDL=0x40;
//RXF0SIDH=0x00;

//RXF0SIDL=((0x01 << 5) & 0xE0);
//RXF0SIDH = ((0x01 >> 3) & 0x1F);
//RXF0SIDH |= ((0x02 << 5) & 0xE0);

RXM0SIDL=0xE3;  //0x00
RXM0SIDH=0xFF;  //0x00
RXFCON0=0x03; //01
RXFCON1=0;
RXFBCON0  = 0x10;  //00
RXFBCON1  = 0x00;
RXFBCON2  = 0x00;
RXFCON0  = 0x03;  //01
RXFCON1  = 0x00;
MSEL0=0x54;  //FC
//return to loopback mode 

CANCONbits.REQOP2 = 0;
CANCONbits.REQOP1 = 0;
CANCONbits.REQOP0 = 0;
while ((CANSTAT & 0xE0) != 0x00);
}

void send_CAN(void)
{
   TXB0D0=0;
   TXB0D1=0;
   TXB0D2=0x28;   
   TXB0D3=0;   
   TXB0D4=0;   //k1
   TXB0D5=0;  //k
   TXB0D6=0;
   TXB0D7=0;    
   TXB0SIDL=((0x40 << 5) & 0xE0);
   TXB0SIDH = ((0x40 >> 3) & 0x1F);
   TXB0SIDH |= ((0x04 << 5) & 0xE0);
   TXB0CONbits.TXREQ=1;
   while(TXB0CONbits.TXREQ == 1);
}