Index: firmware/source/can.c
===================================================================
diff -u -r31f710004436c030e787c895980457e08577702d -r4a41a54d255afc5cef0599e2a832927ed2b0ee5d
--- firmware/source/can.c	(.../can.c)	(revision 31f710004436c030e787c895980457e08577702d)
+++ firmware/source/can.c	(.../can.c)	(revision 4a41a54d255afc5cef0599e2a832927ed2b0ee5d)
@@ -114,6 +114,20 @@
 
     /** - 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
@@ -517,6 +517,8 @@
     */
 
 /* USER CODE BEGIN (5) */
+    // Enable EIE (error interrupts)
+    canREG1->CTL |= (uint32)0x00000008U;
 /* USER CODE END */
 }
 
@@ -1639,8 +1641,49 @@
 
 }
 
+/* USER CODE BEGIN (43) */
+/* USER CODE END */
 
+/** @fn void can1LowLevelInterrupt(void)
+*   @brief CAN1 Level 1 Interrupt Handler
+*/
+#pragma CODE_STATE(can1LowLevelInterrupt, 32)
+#pragma INTERRUPT(can1LowLevelInterrupt, FIQ)
 
+/* 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 */
+
+}
+
+
+
+
+