Hello, I am working on the XC167 and I have a little problem with CAN node B. My program already works well for CAN node A, he receives something with Vector CANanalyzer. So I just took the same registers with the same values to configure the node B in CAN.c, and I put the bit "Node" from CAN_MSGCFGL1 to 1. I configure others ports for node B: ALTSEL0P4 |= 0x0080; DP4 |= 0x0080; DP4 is also too in Main.c I start the two CAN nodes at the end of CAN initialisation. CAN_PISEL = 0x0000; because I use P4.4 as input. I don't touch to the baudrate of CANanalyzer sended message, but I have "error frame" for this node B (and not for node A). I tried to have a look on Dave without results, but it must just be an other register to change. Thanks for your help.