Index: firmware/source/can.c
===================================================================
diff -u -reb877ae36c28eb83553ee11ccccf42e2c4a5b4d2 -r3ae0b1ecc324220e3f82106a09384ae2826e012e
--- firmware/source/can.c	(.../can.c)	(revision eb877ae36c28eb83553ee11ccccf42e2c4a5b4d2)
+++ firmware/source/can.c	(.../can.c)	(revision 3ae0b1ecc324220e3f82106a09384ae2826e012e)
@@ -106,14 +106,28 @@
     */
     canREG1->CTL = (uint32)0x00000200U 
                  | (uint32)0x00000000U 
-                 | (uint32)((uint32)0x00000005U  << 10U)
+                 | (uint32)((uint32)0x0000000AU  << 10U)
                  | (uint32)0x00020043U;
 
     /** - Clear all pending error flags and reset current status */
     canREG1->ES |= 0xFFFFFFFFU;
 
     /** - Assign interrupt level for messages */
     canREG1->INTMUXx[0U] = (uint32)0x00000000U
+                         | (uint32)0x00000002U
+                         | (uint32)0x00000004U
+                         | (uint32)0x00000008U
+                         | (uint32)0x00000010U
+                         | (uint32)0x00000020U
+                         | (uint32)0x00000040U
+                         | (uint32)0x00000080U
+                         | (uint32)0x00000100U
+                         | (uint32)0x00000200U
+                         | (uint32)0x00000400U
+                         | (uint32)0x00000800U
+                         | (uint32)0x00001000U
+                         | (uint32)0x00002000U
+                         | (uint32)0x00004000U
                          | (uint32)0x00000000U
                          | (uint32)0x00000000U
                          | (uint32)0x00000000U
@@ -130,20 +144,6 @@
                          | (uint32)0x00000000U
                          | (uint32)0x00000000U
                          | (uint32)0x00000000U
-                         | (uint32)0x00000000U
-                         | (uint32)0x00000000U
-                         | (uint32)0x00000000U
-                         | (uint32)0x00000000U
-                         | (uint32)0x00000000U
-                         | (uint32)0x00000000U
-                         | (uint32)0x00000000U
-                         | (uint32)0x00000000U
-                         | (uint32)0x00000000U
-                         | (uint32)0x00000000U
-                         | (uint32)0x00000000U
-                         | (uint32)0x00000000U
-                         | (uint32)0x00000000U
-                         | (uint32)0x00000000U
                          | (uint32)0x00000000U;
 
     canREG1->INTMUXx[1U] = (uint32)0x00000000U
@@ -180,7 +180,7 @@
                          | (uint32)0x00000000U;
 
     /** - Setup auto bus on timer period */
-    canREG1->ABOTR = (uint32)103U;
+    canREG1->ABOTR = (uint32)1040000U;
 
     /** - Initialize message 1 
     *     - Wait until IF1 is ready for use 
@@ -197,8 +197,8 @@
 
 
     canREG1->IF1MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x000007FFU) << (uint32)18U);
-    canREG1->IF1ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)0x1U & (uint32)0x000007FFU) << (uint32)18U);
-    canREG1->IF1MCTL = 0x00001000U | (uint32)0x00000800U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
+    canREG1->IF1ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)0x1U & (uint32)0x000007FFU) << (uint32)18U);
+    canREG1->IF1MCTL = 0x00001000U | (uint32)0x00000400U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF1CMD  = (uint8) 0xF8U;
     canREG1->IF1NO   = 1U;
 
@@ -216,8 +216,8 @@
     } /* Wait */
 
     canREG1->IF2MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x000007FFU) << (uint32)18U);
-    canREG1->IF2ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)0x2U & (uint32)0x000007FFU) << (uint32)18U);
-    canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000400U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
+    canREG1->IF2ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)0x2U & (uint32)0x000007FFU) << (uint32)18U);
+    canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000800U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF2CMD  = (uint8) 0xF8U;
     canREG1->IF2NO   = 2U;
 
@@ -254,8 +254,8 @@
     } /* Wait */
 
     canREG1->IF2MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x000007FFU) << (uint32)18U);
-    canREG1->IF2ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)0x8U & (uint32)0x000007FFU) << (uint32)18U);
-    canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000800U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
+    canREG1->IF2ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)0x08U & (uint32)0x000007FFU) << (uint32)18U);
+    canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000400U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF2CMD  = (uint8) 0xF8U;
     canREG1->IF2NO   = 4U;
 
@@ -273,8 +273,8 @@
     } /* Wait */
 
     canREG1->IF1MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x000007FFU) << (uint32)18U);
-    canREG1->IF1ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)0x10U & (uint32)0x000007FFU) << (uint32)18U);
-    canREG1->IF1MCTL = 0x00001000U | (uint32)0x00000400U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
+    canREG1->IF1ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)0x10U & (uint32)0x000007FFU) << (uint32)18U);
+    canREG1->IF1MCTL = 0x00001000U | (uint32)0x00000800U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF1CMD  = (uint8) 0xF8U;
     canREG1->IF1NO   = 5U;
 
@@ -292,8 +292,8 @@
     } /* Wait */
 
     canREG1->IF2MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x000007FFU) << (uint32)18U);
-    canREG1->IF2ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)0x20U & (uint32)0x000007FFU) << (uint32)18U);
-    canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000800U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
+    canREG1->IF2ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)0x40U & (uint32)0x000007FFU) << (uint32)18U);
+    canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000400U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF2CMD  = (uint8) 0xF8U;
     canREG1->IF2NO   = 6U;
 
@@ -311,7 +311,7 @@
     } /* Wait */
 
     canREG1->IF1MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x000007FFU) << (uint32)18U);
-    canREG1->IF1ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)0x40U & (uint32)0x000007FFU) << (uint32)18U);
+    canREG1->IF1ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)0x70U & (uint32)0x000007FFU) << (uint32)18U);
     canREG1->IF1MCTL = 0x00001000U | (uint32)0x00000800U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF1CMD  = (uint8) 0xF8U;
     canREG1->IF1NO   = 7U;
@@ -330,8 +330,8 @@
     } /* Wait */
 
     canREG1->IF2MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x000007FFU) << (uint32)18U);
-    canREG1->IF2ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)0x80U & (uint32)0x000007FFU) << (uint32)18U);
-    canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000400U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
+    canREG1->IF2ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)0x80U & (uint32)0x000007FFU) << (uint32)18U);
+    canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000800U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF2CMD  = (uint8) 0xF8U;
     canREG1->IF2NO   = 8U;
 
@@ -349,7 +349,7 @@
     } /* Wait */
 
     canREG1->IF1MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x000007FFU) << (uint32)18U);
-    canREG1->IF1ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)0x100U & (uint32)0x000007FFU) << (uint32)18U);
+    canREG1->IF1ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)0x110U & (uint32)0x000007FFU) << (uint32)18U);
     canREG1->IF1MCTL = 0x00001000U | (uint32)0x00000400U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF1CMD  = (uint8) 0xF8U;
     canREG1->IF1NO   = 9U;
@@ -373,6 +373,44 @@
     canREG1->IF2CMD  = (uint8) 0xF8U;
     canREG1->IF2NO   = 10U;
 
+    /** - Initialize message 11 
+    *     - Wait until IF1 is ready for use 
+    *     - Set message mask
+    *     - Set message control word
+    *     - Set message arbitration
+    *     - Set IF1 control byte
+    *     - Set IF1 message number
+    */
+    /*SAFETYMCUSW 28 D MR:NA <APPROVED> "Potentially infinite loop found - Hardware Status check for execution sequence" */
+    while ((canREG1->IF1STAT & 0x80U) ==0x80U)
+    { 
+    } /* Wait */
+
+    canREG1->IF1MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x000007FFU) << (uint32)18U);
+    canREG1->IF1ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)0x402U & (uint32)0x000007FFU) << (uint32)18U);
+    canREG1->IF1MCTL = 0x00001000U | (uint32)0x00000400U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
+    canREG1->IF1CMD  = (uint8) 0xF8U;
+    canREG1->IF1NO   = 11U;
+
+    /** - Initialize message 12 
+    *     - Wait until IF2 is ready for use 
+    *     - Set message mask
+    *     - Set message control word
+    *     - Set message arbitration
+    *     - Set IF2 control byte
+    *     - Set IF2 message number
+    */
+    /*SAFETYMCUSW 28 D MR:NA <APPROVED> "Potentially infinite loop found - Hardware Status check for execution sequence" */
+    while ((canREG1->IF2STAT & 0x80U) ==0x80U)
+    { 
+    } /* Wait */
+
+    canREG1->IF2MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x000007FFU) << (uint32)18U);
+    canREG1->IF2ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)0x403U & (uint32)0x000007FFU) << (uint32)18U);
+    canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000800U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
+    canREG1->IF2CMD  = (uint8) 0xF8U;
+    canREG1->IF2NO   = 12U;
+
     /** - Setup IF1 for data transmission 
     *     - Wait until IF1 is ready for use 
     *     - Set IF1 control byte
@@ -401,10 +439,10 @@
     *     - Setup baud rate prescaler
     */
     canREG1->BTR = (uint32)((uint32)0U << 16U) |
-                   (uint32)((uint32)(3U - 1U) << 12U) |
-                   (uint32)((uint32)((2U + 3U) - 1U) << 8U) |
-                   (uint32)((uint32)(3U - 1U) << 6U) |
-                   (uint32)45U;
+                   (uint32)((uint32)(1U - 1U) << 12U) |
+                   (uint32)((uint32)((5U + 1U) - 1U) << 8U) |
+                   (uint32)((uint32)(1U - 1U) << 6U) |
+                   (uint32)51U;
 
 
      /** - CAN1 Port output values */
@@ -479,6 +517,10 @@
     */
 
 /* USER CODE BEGIN (5) */
+    // Enable EIE (error interrupts)  // Enable error interrupts for bus transmission issues.
+    canREG1->CTL |= (uint32)0x00000008U;
+//    // Enable SIE (error interrupts)  // Enable status interrupts for errors on received frames.  Not Needed except for some engineering testing.
+//    canREG1->CTL |= (uint32)0x00000004U;
 /* USER CODE END */
 }
 
@@ -1545,8 +1587,6 @@
 /** @fn void can1HighLevelInterrupt(void)
 *   @brief CAN1 Level 0 Interrupt Handler
 */
-#pragma CODE_STATE(can1HighLevelInterrupt, 32)
-#pragma INTERRUPT(can1HighLevelInterrupt, FIQ)
 
 /* SourceId : CAN_SourceId_020 */
 /* DesignId : CAN_DesignId_018 */
@@ -1601,8 +1641,47 @@
 
 }
 
+/* USER CODE BEGIN (43) */
+/* USER CODE END */
 
+/** @fn void can1LowLevelInterrupt(void)
+*   @brief CAN1 Level 1 Interrupt Handler
+*/
 
+/* SourceId : CAN_SourceId_021 */
+/* DesignId : CAN_DesignId_019 */
+/* Requirements : HL_SR221, HL_SR223 */
+void can1LowLevelInterrupt(void)
+{
+    uint32 messageBox = canREG1->INT >> 16U;
 
+/* USER CODE BEGIN (44) */
+/* USER CODE END */
 
+    /** - Setup IF1 for clear pending interrupt flag */
+    /*SAFETYMCUSW 28 D MR:NA <APPROVED> "Potentially infinite loop found - Hardware Status check for execution sequence" */
+    while ((canREG1->IF1STAT & 0x80U) ==0x80U)
+    { 
+    } /* Wait */
 
+    canREG1->IF1CMD = 0x08U;
+    /*SAFETYMCUSW 93 S MR: 6.1,6.2,10.1,10.2,10.3,10.4 <APPROVED> "LDRA Tool issue" */
+    canREG1->IF1NO  = (uint8) messageBox;
+    
+    /*SAFETYMCUSW 28 D MR:NA <APPROVED> "Potentially infinite loop found - Hardware Status check for execution sequence" */
+    while ((canREG1->IF1STAT & 0x80U) ==0x80U)
+    { 
+    } /* Wait */
+    canREG1->IF1CMD = 0x87U;
+
+    canMessageNotification(canREG1, messageBox);
+
+/* USER CODE BEGIN (45) */
+/* USER CODE END */
+
+}
+
+
+
+
+