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Can anyone explain how to send data using the CAN protocol step-by-step?

Can anyone help explain the step-wise procedure for sending data using the CAN protocol?

I’m working on Project Where we are Calculating the Distance using Ultrasonic sensor and wanted to send the data using CAN Protocol ,

I’m Using Controller Board STM32F407 DISCOVERY BOARD 1 , I’m Using the CAN Module for Communication, Module : CAN transceiver SN65HVD230

1) I wanted to send data using can Protocol , Can any one explain in detail and Step wise procedure for send the data over CAN ?

2) Suppose There are Multiple Sensor are Connected to CAN bus, Multiple Sensors Sending Data, Through The CAN , to The microcontroller how to read data of a Perticular Sensor, throughout the CAN ,and use that data in other task , explain step wise process?

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