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CAN communication code examples XC16x

Hello,
I am trying to write C code (under Keil uVision 3) to achieve a communication over the CAN bus, via TwinCAN module, between two Infineon microcontrollers: one is the XC161CJ the other is the XC167CI. Could you suggest me where I can find some code examples on which I can practise?
I thank you very much. Best regards,
Erika Chiari.

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