LPC2129 based CAN Protocol

#include <LPC21xx.H>
#include "header.h"
extern int flag;
extern CAN1 v1;

void can1_init(void)
{
  VPBDIV=1;//pclk 60MHz
  PINSEL1|=0X14000;
  C2MOD=1;//Transmission Request
  C2BTR=0X001C001D;//Baud-Rate setting (125 kbps)
  AFMR=2;//By-pass filter ON
  C2MOD=0;//Reset mode
}

void can1_tx(CAN1 v)
{
 C2TID1=v.id; //0x123
 C2TFI1=v.dlc<<16;       //1
 if(v.rtr==0)            //1
 {
  C2TDA1=v.byteA;
  C2TDB1=v.byteB;
 }
 else
 {
  C2TFI1=(1<<30);
 }
 C2CMR=1|(1<<5);
 while(TCS==0);
}

void can1_rx(CAN1 *ptr)
{
 while(RBS==0);
 ptr->id=C2RID;
 ptr->dlc=((C2RFS>>16)&0XF);
 ptr->rtr=((C2RFS>>30)&1);
 if(ptr->rtr==0)
 {
   ptr->byteA=C2RDA;
   ptr->byteB=C2RDB;
 }
 C2CMR=(1<<2);
}

__irq void can1_rx_interupt_handler(void)
{
  v1.id=C2RID;
  v1.dlc=((C2RFS>>16)&0XF);
  v1.rtr=((C2RFS>>30)&1);
  if(v1.rtr==0)
  {
    v1.byteA=C2RDA;
        v1.byteB=C2RDB;
  }
  C2CMR=(1<<2);
  flag=1;
  VICVectAddr=0;
}


void can1_interupt_init(void)
{
   C2IER=1;
}

void config_vic_CAN(void)
{
 VICIntSelect=0;
 VICVectCntl0=27|(1<<5);
 VICVectAddr0=(unsigned int)can1_rx_interupt_handler;
 VICIntEnable=(1<<27);
}

#include <LPC21xx.H>
#include "header.h"
#define LED (1<<17)
#include <stdio.h>


void uart0_init(unsigned int baud)
{
 unsigned int pclk,res;
 int a[]={15,60,30,15,15};
 PINSEL0|=0X5;
 pclk=a[VPBDIV]*1000000;
 res=pclk/(16*baud);
 U0LCR=0X83;
 U0DLL=((res>>0)&0xFF);
 U0DLM=((res>>8)&0XFF);
 U0LCR=0X03;
}

void uart0_tx(unsigned char data)
{
 while(THRE==0);
 U0THR=data;
}

unsigned char uart0_rx(void)
{
 while(RDR==0);
 return U0RBR;
}

void uart0_tx_string(unsigned char* ptr)
{
 while(*ptr!=0)
 {
  uart0_tx(*ptr);
  ptr++;
 }
}

void uart0_rx_string(unsigned char*ptr,unsigned int len)
{
 int i;
 for(i=0;i<len;i++)
 {
  while(RDR==0);
  ptr[i]=U0RBR;
  uart0_tx(ptr[i]);
  if(ptr[i]=='\r')
  {
   break;
  }
 }
 ptr[i]='\0';
}

void uart_tx_integer(int num)//123
{
 unsigned char a[10];
 int i;
 for(i=0;num>0;num/=10,i++)
 {
  a[i]=((num%10)+48);//321
 }
 for(i=i-1;i>=0;i--)
 {
  uart0_tx(a[i]);
 }
}

void integer_to_hex(unsigned int num)
{
 int c=0,d=1,n,n1,n2;
 unsigned char s[]="0123456789ABCDEF";
 n=num;
 for(  ;n;n/=10)
 {
  c++;
 }
 for(  ;c--; )
 {
  d=d*10;
 }
 n=num;
 while(num)     //255
 {
  n1=num%16;//
  n2=num/16;//
  if(n1>9)
  {
   n1=s[n1];
  }
  else
  {
   n1=n1+48;
  }
  if(n2>9)
  {
   n2=s[n2];
  }
  else
  {
   n2=n2+48;
  }
  num=num/d;
 }
 uart0_tx_string("0x");
 uart0_tx(n2);
 uart0_tx(n1);
}

int uart0_atoi(unsigned char*a1)
{
 int i,num=0;
 if(a1[0]=='-')
 {
  i=1;
 }
 else
 {
  i=0;
 }
 for( ;a1[i];i++)
 {
   if(a1[i]>='0' && a1[i]<='9')
   {
    num=((num*10)+(a1[i]-48));//123
   }
   else
   {
    break;
   }
 }
 if(a1[0]=='-')
 {
  return -num;
 }
 return num;
}

#include <LPC21xx.H>

#define THRE ((U0LSR>>5)&1)
#define RDR  (U0LSR&1)

#define RS (1<<17)
#define RW (1<<18)
#define EN (1<<19)

#define CS      (1<<7)
#define SPIF ((S0SPSR>>7)&1)

#define SI ((I2CONSET>>3)&1)

#define SW1 ((IOPIN0>>14)&1)
#define SW2     ((IOPIN0>>15)&1)
#define SW3     ((IOPIN0>>16)&1)

#define TCS ((C1GSR>>3)&1)
#define RBS ((C1GSR>>0)&1)

typedef struct CAN_MSG
{
  unsigned int id;
  unsigned int byteA;
  unsigned int byteB;
  unsigned char rtr;
  unsigned char dlc;
}CAN1;

extern void uart0_init(unsigned int);
extern void uart0_tx(unsigned char);
extern unsigned char uart0_rx(void);
extern void uart0_tx_string(unsigned char*);
extern void uart_tx_integer(int num);
extern void uart0_config_VIC(void);
extern void uart0_interupt_enable(void);
extern void uart0_rx_string(unsigned char*ptr,unsigned int len);
extern void integer_to_hex(unsigned int);
extern int uart0_atoi(unsigned char*a1);

extern void delay_ms(unsigned int);
extern void delay_sec(unsigned int);
extern void delay_us(unsigned int);

extern void lcd_data(unsigned char);
extern void lcd_cmd(unsigned char);
extern void lcd_init(void);
extern void lcd_string(char*);
extern void lcd_cgram1(unsigned char *ptr);
extern void lcd_cgram2(unsigned char *ptr);
extern void lcd_cgram3(unsigned char *ptr);
extern void lcd_cgram4(unsigned char *ptr);
extern void lcd_cgram5(unsigned char *ptr);

extern void timer0_interupt_init(unsigned int);
extern void config_VIC(void);

extern void i2c_byte_write_frame(unsigned char ad,unsigned char mr,unsigned char data);
extern unsigned char i2c_byte_read_frame(unsigned char ad,unsigned char mr);
extern void i2c_init(void);

extern void spi0_init(void);
extern unsigned char spi0_data(unsigned char data);
extern unsigned short int mcp3204_read_data(unsigned char ch_num);

extern void can1_tx(CAN1 v);
extern void can1_init(void);
extern void can1_rx(CAN1 *ptr);
extern void config_vic_CAN(void);
extern void can1_interupt_init(void);

#include <LPC21xx.H>
#include "header.h"

unsigned int flag;

CAN1 v1={0X3F0,0X13,0,0,1};//Left-Indecator ON
CAN1 v2={0X3F0,0X14,0,0,1};//Left-Indecator OFF
CAN1 v3={0X3F1,0X15,0,0,1};//Right-Indecator ON
CAN1 v4={0X3F1,0X16,0,0,1};//Right-Indecator OFF
CAN1 v5={0X3F6,0X30,0,0,1};//Head-Light ON
CAN1 v6={0X3F6,0X31,0,0,1};//Head-Light OFF

int main()
{
  unsigned int le=0,re=0,h=0;
  can1_init();
  uart0_init(9600);
  can1_interupt_init();
  config_vic_CAN();
  while(1)
  {
    if(SW1==0)
	{
	  while(SW1==0);
	  if(le)
	  {
	    le=0;
		re=1;
		uart0_tx_string("Left-OFF\r\n");
		can1_tx(v2);//Left-Indecator off 
	  }
	  else
	  {
	    le=1;
		re=!re;
		uart0_tx_string("Left-ON\r\n");
		can1_tx(v1);//Left-Indecator on
	  }
	}
	if(SW2==0)
	{
	  while(SW2==0);
	  if(re)
	  {
	    re=0;
		le=1;
		can1_tx(v4);//Right-Indecator off 
	  }
	  else
	  {
	    re=1;
		le=0;
		can1_tx(v3);//Right-Indecator on
	  }
	}
	if(SW3==0)
	{
	  while(SW3==0);
	  if(h)
	  {
	    h=0;
		can1_tx(v6);//Head-light off 
	  }
	  else
	  {
	    h=1;
		can1_tx(v5);//Head-light on
	  }
	} 
  }
}