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Help me with writing a CAN protocol for MPC555

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BMWE

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MPC555 & CAN

does any body wrote a CAN protocol for this controller?

i need a help:

i have a protocol which communicate between 3 controllers: MAIN, GPS &
LASER.

the protocol works fine with MAIN & GPS.
the problem is with the Laser. in the protocol there is handshaking
between the MAIN & GPS/LASER.
for example: the main sends message with ID 50, and the other 2 should
answer him with mesaage ID 51.

in first time this occurs in the LASER, it works fine. the second time
the MAIN sends a message with ID 50, the LASER don't recive it (but
the GPS yes).


what can be the problem & how to solve it?

10x alot
 

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