CAN implementation Using LPC2129

hi to all,

i want to implement the Can protocol using two LPC2129 controller so help,

here is the receiving code of the can which is not working so please guide me

code:

#include<lpc21xx.h>



unsigned int val,n,fs,id,data;
unsigned char i=0;


void CAN_init()
{
unsigned int * pAddr;
pAddr  = (unsigned int * )0xE0038000;




PINSEL1 =0x00054000;

C1MOD = 0x01;
C1GSR = 0x00;
C1ICR = 0x00;
C1IER = 0x01;
C1BTR = 0x001C001D;
C1EWL = 0xff;
C1MOD = 0x00;



AFMR = 0x00000001;
SFF_sa = 0xE0038000;

*pAddr = 0x211f20cf;
pAddr++;
*pAddr = 0x206B2064;

SFF_GRP_sa = 0x00000008;
EFF_sa = 0x00000008;
EFF_GRP_sa = 0x00000008;
ENDofTable = 0x00000008;

AFMR = 0x00000001;

}

void can_receive()
{
i=10;
fs=C1RFS;
id=C1RID;
data=C1RDA;	
C1CMR = 0x00000004;
VICSoftIntClr = 0x04000000;
VICVectAddr		= 0x00000000;
}

void initFiq(void) 
{


VICIntEnable	= 0x04000000;
VICDefVectAddr	= (unsigned) can_receive;

}

void MSdelay(unsigned int rtime)
	{
	unsigned int r,s;
	for(r=0;r<rtime;r++)
	for(s=0;s<7500;s++);
	}

void lcdcommand(void)
 		{

			 MSdelay(6);
			 IODIR1=0X00FF0000;				/* P1.16..23 defined as Outputs  */	 
			 IOPIN1 = n; 
			 IOCLR0=0x00000010;	   			/* RS(P0.4)=0  */
			 IOCLR0=0x00000020;				/* R/W(P0.5)=0  */
			 IOSET0=0x00000040;				/* EN(P0.6)=1  */
			 IOCLR0=0x00000040;				/* EN(P0.6)=0  */			 
		 }

void lcddatawrt(void)
		{

			MSdelay(4);
			IODIR1=0X00FF0000;				/* P1.16..23 defined as Outputs  */	  
			IOPIN1 = n;
			IOSET0=0x00000010;				/* RS(P0.4)=1  */
			IOCLR0=0x00000020;				/* R/W(P0.5)=0  */
			IOSET0=0x00000040;				/* EN(P0.6)=1  */
			IOCLR0=0x00000040;				/* EN(P0.6)=0  */
		 }	
void lcd_initialization(void)
		{
		//PINSEL1=0x00000000;				/*MAKE 0.28,0.29,0.30 AS I/O*/
		//PINSEL2=0x00000000;				   /*MAKE 1.16...1.23 AS I/O*/
	   	n=0x00380000;
		lcdcommand();
		n=0x000c0000;
		lcdcommand();
		n=0x00060000;
		lcdcommand();
		n=0x00010000;
		lcdcommand(); 
			   	   
		  }

int main()
{
//unsigned int temp;
PINSEL0=0;

IO0DIR= 0x000000ff;
initFiq();
lcd_initialization();
CAN_init();

//VICSoftInt = 0x04000000;

n=0x00310000;
lcddatawrt();


while(1)
{
///*
if(i==10)
{
	n=0x00310000;
	lcddatawrt();
	i=0;
	IOSET0=0x00000001;
	//if((fs & 0x40000000)!=0x40000000)
//	{
	 	//n=0x00310000;
		//lcddatawrt();
	
	
	
//		if (id == 0x000000CF)
//		{	
			n=0x000c0000;
			lcdcommand();
			val = data;
			n=val<<16;
			lcddatawrt();
		
//		}
//		else;
		
//	}
}
//else;
//*/



/*
while ((C1SR & 0x00000001) !=0x00000001)
{
		 IO0SET = 0x0000000f;  
		 //MSdelay (2000);  
  		 //IO0CLR = 0x0000000f;
		 //MSdelay(2000);


}
IO0CLR = 0X0000000F;
//n=0x00310000;
//lcddatawrt();
//temp=C1RFS;

	if((C1RFS & 0x40000000)!=0x40000000)
	{
	 	n=0x00310000;
		lcddatawrt();
		//if((temp & 0x80000000) == 0x80000000)
	
	
		if (C1RID == 0x000000CF)
		{
			 val = C1RDA;
			 n=val<<16;
			 lcddatawrt();
		
		}
		else;
		C1CMR = 0x00000004;
	}	
	*/

}

/*
while((C1SR & 0x00000004) != 0x00000004);
C1TFI1 = 0x00040000;
C1TID1 = 0x000000CF;
C1TDA1 = i;
C1CMR = 0x21;

while((C1GSR & 0x00000008) != 0x00000008);
*/

//while(1);



}

regards,
jeevan