Index: source/can.c
===================================================================
diff -u -r7de64c199413a3f74d69efbdd1424b37c6f607c9 -ree310a2e5262c05bf0dc0eb0d84da0ee50bac7fe
--- source/can.c	(.../can.c)	(revision 7de64c199413a3f74d69efbdd1424b37c6f607c9)
+++ source/can.c	(.../can.c)	(revision ee310a2e5262c05bf0dc0eb0d84da0ee50bac7fe)
@@ -182,6 +182,45 @@
     /** - Setup auto bus on timer period */
     canREG1->ABOTR = (uint32)0U;
 
+    /** - Initialize message 1 
+    *     - 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)0x00000004U & (uint32)0x000007FFU) << (uint32)18U);
+    canREG1->IF1ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)1U & (uint32)0x000007FFU) << (uint32)18U);
+    canREG1->IF1MCTL = 0x00001000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
+    canREG1->IF1CMD  = (uint8) 0xF8U;
+    canREG1->IF1NO   = 1U;
+
+    /** - Initialize message 2 
+    *     - 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)0x00000005U & (uint32)0x000007FFU) << (uint32)18U);
+    canREG1->IF2ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)2U & (uint32)0x000007FFU) << (uint32)18U);
+    canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
+    canREG1->IF2CMD  = (uint8) 0xF8U;
+    canREG1->IF2NO   = 2U;
+
     /** - Setup IF1 for data transmission 
     *     - Wait until IF1 is ready for use 
     *     - Set IF1 control byte
@@ -210,10 +249,10 @@
     *     - Setup baud rate prescaler
     */
     canREG1->BTR = (uint32)((uint32)0U << 16U) |
-                   (uint32)((uint32)(3U - 1U) << 12U) |
-                   (uint32)((uint32)((4U + 3U) - 1U) << 8U) |
-                   (uint32)((uint32)(3U - 1U) << 6U) |
-                   (uint32)19U;
+                   (uint32)((uint32)(4U - 1U) << 12U) |
+                   (uint32)((uint32)((2U + 4U) - 1U) << 8U) |
+                   (uint32)((uint32)(4U - 1U) << 6U) |
+                   (uint32)39U;
 
 
      /** - CAN1 Port output values */