void CAN_Init(void)
{
	//настройка скорости
#if	defined(_18F4580) 
	CANCON_0 = 0b10010000;//run
	while( (CANSTAT_0 & 0b11100000) != 0b10000000 );
#endif	
#if	defined(_18F458) 
	CANCON = 0b10010000;//run
	while((CANSTAT & 0b11100000) != 0b10000000 );
#endif	
#if	defined(_18F258) 
	CANCON = 0b10010000;//run
	while((CANSTAT & 0b11100000) != 0b10000000 );
#endif	
	
	BRGCON1 = 0b00111111;
	BRGCON2 = 0b00111000;
	BRGCON3 = 0b00000111;
	//настройка портов
	CIOCON = 0b000000;
	
	RXB0CON = 0b01100000;
	RXM0SIDH = 0x0;
	RXM0SIDL = 0x0;
	RXM1SIDH = 0xff;
	RXM1SIDL = 0xff;
	RXF0SIDH = 0;
	RXF0SIDL = 0;
	RXF1SIDH = 0;
	RXF1SIDL = 0;
	RXF2SIDH = 0;
	RXF2SIDL = 0;
	RXF3SIDH = 0;
	RXF3SIDL = 0;
	RXF4SIDH = 0;
	RXF4SIDL = 0;
	RXF5SIDH = 0;
	RXF5SIDL = 0;

#if	defined(_18F4580) 
	CANCON_0 = 0b00000000;//run
	while( (CANSTAT_0 & 0b11100000) != 0b0 );
#endif	
#if	defined(_18F458) 
	CANCON = 0b00000000;//run
	while((CANSTAT & 0b11100000) != 0b0 );
#endif	
#if	defined(_18F258) 
	CANCON = 0b00000000;//run
	while((CANSTAT & 0b11100000) != 0b0 );
#endif	
}

unsigned char CAN_SendMessage(void)
{
	MSCount = 0;
	while((TXB0CON & 0b00001000) != 0)if(MSCount>10000)return 0;
	{
		
		TXB0SIDH = ID >> 3;
		TXB0SIDL = (ID & 255) << 5;
//		TXB0DLC = 0b000001000;//8byte
		TXB0DLC = 4;
		TXB0D0 = CanData[0];
		TXB0D1 = CanData[1];
		TXB0D2 = CanData[2];
		TXB0D3 = CanData[3];
		TXB0D4 = CanData[4];
		TXB0D5 = CanData[5];
		TXB0D6 = CanData[6];
		TXB0D7 = CanData[7];
		TXB0CON |= 0b00001000;//start transmitt;
		return 1;
	}	
}