Index: App/Common.h
===================================================================
diff -u -rbbd766eed69a6ae143a42731965848da85fd4500 -r29f1ba03faefd982327916590818a260a3e4aa48
--- App/Common.h	(.../Common.h)	(revision bbd766eed69a6ae143a42731965848da85fd4500)
+++ App/Common.h	(.../Common.h)	(revision 29f1ba03faefd982327916590818a260a3e4aa48)
@@ -19,6 +19,11 @@
 
 #include "hal_stdtypes.h"
 
+// ********** build switches **********
+
+#define RM46_EVAL_BOARD_TARGET      1
+#define SIMULATE_UI                 1
+
 // ********** public definitions **********
 
 // **** Types ****
Index: App/Contollers/Buttons.c
===================================================================
diff -u -r833095dbbe2b21a989b05f48bd7ddc390ad964cb -r29f1ba03faefd982327916590818a260a3e4aa48
--- App/Contollers/Buttons.c	(.../Buttons.c)	(revision 833095dbbe2b21a989b05f48bd7ddc390ad964cb)
+++ App/Contollers/Buttons.c	(.../Buttons.c)	(revision 29f1ba03faefd982327916590818a260a3e4aa48)
@@ -16,9 +16,10 @@
 
 #include "Common.h"
 #include "CPLD.h"
+#include "OperationModes.h"
+#include "SystemCommMessages.h"
 #include "TaskPriority.h"
 #include "Timers.h"
-#include "OperationModes.h"
 #include "Buttons.h"
 
 // ********** private definitions **********
@@ -302,12 +303,9 @@
             {
                 // send off button to UI for user confirmation
                 sendOffButtonMsgToUI();
-// ***************************** TEST CODE ******************************
-// TODO - remove later (just pretend user confirmed for now)
-#if 1
+#ifdef SIMULATE_UI
                 userConfirmOffButton( USER_CONFIRMED );
 #endif
-// ************************** END TEST CODE ******************************
             }
         }
         prevOffButtonState = offButtonState;
Index: App/Drivers/CPLD.c
===================================================================
diff -u -r833095dbbe2b21a989b05f48bd7ddc390ad964cb -r29f1ba03faefd982327916590818a260a3e4aa48
--- App/Drivers/CPLD.c	(.../CPLD.c)	(revision 833095dbbe2b21a989b05f48bd7ddc390ad964cb)
+++ App/Drivers/CPLD.c	(.../CPLD.c)	(revision 29f1ba03faefd982327916590818a260a3e4aa48)
@@ -57,32 +57,29 @@
 #define CLR_BLUE()         {mibspiREG5->PC3 &= ~BLUE_SPI5_PORT_MASK;}
 #define CLR_RED()          {mibspiREG5->PC3 &= ~RED_SPI5_PORT_MASK;}
 
-// ***************************** TEST CODE ******************************
-// TODO - remove later
-#if 1
-// for RM46 eval board, user button B uses the MIBSPI1_nCS[4] pin, so need to re-purpose that pin as GPIO to see the button
-#define USER_BUTTON_MASK            0x00000010  // (nCS[4]
-#define GET_USER_BUTTON()           (PIN_SIGNAL_STATE_T)(((mibspiREG1->PC2 & USER_BUTTON_MASK) == 0 ? PIN_SIGNAL_LOW : PIN_SIGNAL_HIGH))
-PIN_SIGNAL_STATE_T getUserButtonState( void )
-{
-    PIN_SIGNAL_STATE_T result = GET_USER_BUTTON();
-
-    return result;
-}
-// for RM46 eval board, user LED A uses the same GPIO pin that CPLD uses for watchdog pet. Had to disable watchdog pet to use as LED.
-void setUserLED( BOOL on )
-{
-    if ( on == TRUE )
+#ifdef RM46_EVAL_BOARD_TARGET
+    // for RM46 eval board, user button B uses the MIBSPI1_nCS[4] pin, so need to re-purpose that pin as GPIO to see the button
+    #define USER_BUTTON_MASK            0x00000010  // (nCS[4]
+    #define GET_USER_BUTTON()           (PIN_SIGNAL_STATE_T)(((mibspiREG1->PC2 & USER_BUTTON_MASK) == 0 ? PIN_SIGNAL_LOW : PIN_SIGNAL_HIGH))
+    PIN_SIGNAL_STATE_T getUserButtonState( void )
     {
-        SET_WD_PET();
+        PIN_SIGNAL_STATE_T result = GET_USER_BUTTON();
+
+        return result;
     }
-    else
+    // for RM46 eval board, user LED A uses the same GPIO pin that CPLD uses for watchdog pet. Had to disable watchdog pet to use as LED.
+    void setUserLED( BOOL on )
     {
-        CLR_WD_PET();
+        if ( on == TRUE )
+        {
+            SET_WD_PET();
+        }
+        else
+        {
+            CLR_WD_PET();
+        }
     }
-}
 #endif
-// ************************** END TEST CODE ******************************
 
 /*************************************************************************
  * @brief initCPLD
Index: App/Drivers/CPLD.h
===================================================================
diff -u -rc91e9da338d92432930d3589a4055ebbb404c6cb -r29f1ba03faefd982327916590818a260a3e4aa48
--- App/Drivers/CPLD.h	(.../CPLD.h)	(revision c91e9da338d92432930d3589a4055ebbb404c6cb)
+++ App/Drivers/CPLD.h	(.../CPLD.h)	(revision 29f1ba03faefd982327916590818a260a3e4aa48)
@@ -34,12 +34,9 @@
 PIN_SIGNAL_STATE_T getCPLDOffButton( void );
 PIN_SIGNAL_STATE_T getCPLDStopButton( void );
 
-// ***************************** TEST CODE ******************************
-// TODO - remove later
-#if 1
-PIN_SIGNAL_STATE_T getUserButtonState( void );
-void setUserLED( BOOL on );
+#ifdef RM46_EVAL_BOARD_TARGET
+    PIN_SIGNAL_STATE_T getUserButtonState( void );
+    void setUserLED( BOOL on );
 #endif
-// ************************** END TEST CODE ******************************
 
 #endif
Index: App/Services/SystemComm.c
===================================================================
diff -u -r83de6e3e3de4767fd50713e18b0bd75a06479fc7 -r29f1ba03faefd982327916590818a260a3e4aa48
--- App/Services/SystemComm.c	(.../SystemComm.c)	(revision 83de6e3e3de4767fd50713e18b0bd75a06479fc7)
+++ App/Services/SystemComm.c	(.../SystemComm.c)	(revision 29f1ba03faefd982327916590818a260a3e4aa48)
@@ -24,12 +24,9 @@
 #include "SystemCommMessages.h"
 #include "SystemComm.h"
 
-// ***************************** TEST CODE ******************************
-// TODO - remove later
-#if 1
-#include "CPLD.h"
+#ifdef RM46_EVAL_BOARD_TARGET
+    #include "CPLD.h"
 #endif
-// ************************** END TEST CODE ******************************
 
 // ********** private definitions **********
 
@@ -58,6 +55,11 @@
 
 // ********** private function prototypes **********
 
+static void handleCANPacketReceivedInt( CAN_MESSAGE_BOX_T srcCANBox );
+static void handleCANXmitCompleteInt( void );
+static BOOL isCANBoxForXmit( CAN_MESSAGE_BOX_T srcCANBox );
+static BOOL isCANBoxForRecv( CAN_MESSAGE_BOX_T srcCANBox );
+
 static COMM_BUFFER_T findNextHighestPriorityCANPacketToTransmit( void );
 static void transmitNextCANPacket( void );
 static void transmitPendingUARTData( void );
@@ -125,8 +127,92 @@
     }
 }
 
+/*************************************************************************
+ * @brief handleCANMsgInterrupt
+ * The handleCANMsgInterrupt function handles a CAN message interrupt. \n
+ * This may have occurred because a CAN packet transmission has completed \n
+ * or because a CAN packet has been received.  The appropriate handler is \n
+ * called.
+ * @details
+ * Inputs : none
+ * Outputs : message interrupt handled
+ * @param srcCANBox : which CAN message box triggered this interrupt
+ * @return none
+ *************************************************************************/
+void handleCANMsgInterrupt( CAN_MESSAGE_BOX_T srcCANBox )
+{
+    // message interrupt is for a transmit message box?
+    if ( TRUE == isCANBoxForXmit( srcCANBox ) )
+    {
+        handleCANXmitCompleteInt();
+    }
+    else if ( TRUE == isCANBoxForRecv( srcCANBox ) )
+    {
+        handleCANPacketReceivedInt( srcCANBox );
+    }
+    else
+    {
+        // shouldn't get here - not an active message box
+        // s/w fault?
+    }
+}
 
 /*************************************************************************
+ * @brief isCANBoxForXmit
+ * The isCANBoxForXmit function determines whether a given CAN message box \n
+ * is configured for transmit.
+ * @details
+ * Inputs : CAN_OUT_BUFFERS[]
+ * Outputs : none
+ * @param srcCANBox : which CAN message box to check
+ * @return TRUE if the given CAN message box is configured for transmit, FALSE if not.
+ *************************************************************************/
+static BOOL isCANBoxForXmit( CAN_MESSAGE_BOX_T srcCANBox )
+{
+    BOOL result = FALSE;
+    U32  i;
+
+    for ( i = 0; i < NUM_OF_CAN_OUT_BUFFERS; i++ )
+    {
+        if ( CAN_OUT_BUFFERS[i] == srcCANBox )
+        {
+            result = TRUE;
+            break;
+        }
+    }
+
+    return result;
+}
+
+/*************************************************************************
+ * @brief isCANBoxForRecv
+ * The isCANBoxForRecv function determines whether a given CAN message box \n
+ * is configured for receiving.
+ * @details
+ * Inputs : CAN_IN_BUFFERS[]
+ * Outputs : none
+ * @param srcCANBox : which CAN message box to check
+ * @return TRUE if the given CAN message box is configured for receiving, FALSE if not.
+ *************************************************************************/
+static BOOL isCANBoxForRecv( CAN_MESSAGE_BOX_T srcCANBox )
+{
+    BOOL result = FALSE;
+    U32  i;
+
+    for ( i = 0; i < NUM_OF_CAN_IN_BUFFERS; i++ )
+    {
+        if ( CAN_IN_BUFFERS[i] == srcCANBox )
+        {
+            result = TRUE;
+            break;
+        }
+    }
+
+    return result;
+}
+
+
+/*************************************************************************
 ********************** TRANSMIT SUPPORT FUNCTIONS ************************
 *************************************************************************/
 
@@ -143,7 +229,7 @@
  * @param none
  * @return none
  *************************************************************************/
-void handleCANXmitCompleteInt( void )
+static void handleCANXmitCompleteInt( void )
 {
     transmitNextCANPacket();
 }
@@ -237,15 +323,15 @@
  * @param srcCANBox : CAN message box that the packet arrived in
  * @return none
  *************************************************************************/
-void handleCANPacketReceivedInt( CAN_MESSAGE_BOX_T srcCANBox )
+static void handleCANPacketReceivedInt( CAN_MESSAGE_BOX_T srcCANBox )
 {
     U08 data[CAN_MESSAGE_CARGO_SIZE];
 
-    // TODO - get received packets from any/all CAN message boxes that have a new packet
-    if ( FALSE != canIsRxMessageArrived( canREG1, srcCANBox ) )  // TODO - is this even necessary? when interrupt is calling, don't we already know it's arrived?
+    // get CAN packet received on given CAN message box
+    if ( FALSE != canIsRxMessageArrived( canREG1, srcCANBox ) )
     {
         canGetData( canREG1, srcCANBox, data );
-        // TODO - select appropriate comm buffer based on the message box it came in on (s/b same #)
+        // add CAN packet to appropriate comm buffer based on the message box it came in on (s/b same #)
         addToCommBuffer( srcCANBox, data, CAN_MESSAGE_CARGO_SIZE );
     }
 }
@@ -266,7 +352,7 @@
     U32 i;
 
     // TODO - remove this later - this should be called by CAN receive interrupt handler when implemented
-    handleCANPacketReceivedInt( COMM_BUFFER_IN_CAN_UI_2_HD );
+//    handleCANPacketReceivedInt( COMM_BUFFER_IN_CAN_UI_2_HD );
 
     // queue any received CAN messages
     for ( i = 0; i < NUM_OF_CAN_IN_BUFFERS; i++ )
@@ -278,18 +364,19 @@
         // do we have enough bytes in buffer for smallest message?
         numOfBytesInBuffer = numberOfBytesInCommBuffer( CAN_IN_BUFFERS[i] );
         if ( numOfBytesInBuffer >= MESSAGE_OVERHEAD_SIZE )
-        {
-            U32 bytesPeeked = peekFromCommBuffer( CAN_IN_BUFFERS[i], data, MIN(numOfBytesInBuffer,(sizeof(MESSAGE_WRAPPER_T)+1)) );
+        {   // peek at minimum of all bytes available or max message size (+1 for sync byte)
+            U32 bytesPeeked = peekFromCommBuffer( CAN_IN_BUFFERS[i], data, MIN(numOfBytesInBuffer,sizeof(MESSAGE_WRAPPER_T)+1) );
             U32 msgSize = parseMessageFromBuffer( data, bytesPeeked );
 
             if ( msgSize > 0 )
-            {
-                msgSize = getFromCommBuffer( CAN_IN_BUFFERS[i], data, msgSize );
-                if ( msgSize > 0 )
+            {   // consume message (+sync byte)
+                msgSize = getFromCommBuffer( CAN_IN_BUFFERS[i], data, msgSize+1 );
+                if ( msgSize > MESSAGE_OVERHEAD_SIZE )
                 {
                     MESSAGE_WRAPPER_T rcvMsg;
-                    U08 *dataPtr = data;
+                    U08 *dataPtr = data+1; // skip over sync byte
 
+                    // convert received message data to a message and add to message queue
                     blankMessageInWrapper( &rcvMsg );
                     memcpy( &(rcvMsg.msg.hdr), dataPtr, sizeof(MESSAGE_HEADER_T) );
                     dataPtr += sizeof(MESSAGE_HEADER_T);
@@ -321,12 +408,16 @@
     // consume bytes out of buffer 1 at a time until we find the sync byte or it's empty
     while ( numOfBytesInBuffer > 0 )
     {
-        getFromCommBuffer( buffer, &data, 1 );
+        peekFromCommBuffer( buffer, &data, 1 );
         if ( MESSAGE_SYNC_BYTE == data )
         {
             break;  // we found a sync - we're done
         }
-        numOfBytesInBuffer = numberOfBytesInCommBuffer( buffer );
+        else // not a sync byte, so consume it
+        {
+            getFromCommBuffer( buffer, &data, 1 );
+            numOfBytesInBuffer = numberOfBytesInCommBuffer( buffer );
+        }
     }
 }
 
@@ -422,12 +513,9 @@
     {
         case MSG_ID_OFF_BUTTON_PRESS:
             handleOffButtonConfirmMsgFromUI( message );
-// ***************************** TEST CODE ******************************
-// TODO - remove later
-#if 1
+#ifdef RM46_EVAL_BOARD_TARGET
             setUserLED( TRUE );
 #endif
-// ************************** END TEST CODE ******************************
             break;
 
         default:
Index: App/Services/SystemComm.h
===================================================================
diff -u -r83de6e3e3de4767fd50713e18b0bd75a06479fc7 -r29f1ba03faefd982327916590818a260a3e4aa48
--- App/Services/SystemComm.h	(.../SystemComm.h)	(revision 83de6e3e3de4767fd50713e18b0bd75a06479fc7)
+++ App/Services/SystemComm.h	(.../SystemComm.h)	(revision 29f1ba03faefd982327916590818a260a3e4aa48)
@@ -33,7 +33,6 @@
 void initSystemComm( void );
 void execSystemCommRx( void );
 void execSystemCommTx( void );
-void handleCANPacketReceivedInt( CAN_MESSAGE_BOX_T srcCANBox );
-void handleCANXmitCompleteInt( void );
+void handleCANMsgInterrupt( CAN_MESSAGE_BOX_T srcCANBox );
 
 #endif
Index: App/Services/SystemCommMessages.h
===================================================================
diff -u -r83de6e3e3de4767fd50713e18b0bd75a06479fc7 -r29f1ba03faefd982327916590818a260a3e4aa48
--- App/Services/SystemCommMessages.h	(.../SystemCommMessages.h)	(revision 83de6e3e3de4767fd50713e18b0bd75a06479fc7)
+++ App/Services/SystemCommMessages.h	(.../SystemCommMessages.h)	(revision 29f1ba03faefd982327916590818a260a3e4aa48)
@@ -18,6 +18,7 @@
 #define __SYSTEM_COMM_MESSAGES_H__
 
 #include "Common.h"
+#include "MsgQueues.h"
 
 // ********** public definitions **********
 
Index: App/Services/WatchdogMgmt.c
===================================================================
diff -u -r833095dbbe2b21a989b05f48bd7ddc390ad964cb -r29f1ba03faefd982327916590818a260a3e4aa48
--- App/Services/WatchdogMgmt.c	(.../WatchdogMgmt.c)	(revision 833095dbbe2b21a989b05f48bd7ddc390ad964cb)
+++ App/Services/WatchdogMgmt.c	(.../WatchdogMgmt.c)	(revision 29f1ba03faefd982327916590818a260a3e4aa48)
@@ -245,13 +245,10 @@
  *************************************************************************/
 static void petWatchdog( void )
 {
-// ***************************** TEST CODE ******************************
-// TODO - remove disabling of watchdog pet later
-#if 0     // TODO - this is temporary test code - restore watchdog pet later
+#ifndef RM46_EVAL_BOARD_TARGET
     // pulse the watchdog signal
     toggleCPLDWatchdog();
 #endif
-// ************************** END TEST CODE ******************************
 
     // remember when we last pet the watchdog
     lastWatchdogPetTime = getMSTimerCount();
Index: App/Tasks/TaskGeneral.c
===================================================================
diff -u -rc91e9da338d92432930d3589a4055ebbb404c6cb -r29f1ba03faefd982327916590818a260a3e4aa48
--- App/Tasks/TaskGeneral.c	(.../TaskGeneral.c)	(revision c91e9da338d92432930d3589a4055ebbb404c6cb)
+++ App/Tasks/TaskGeneral.c	(.../TaskGeneral.c)	(revision 29f1ba03faefd982327916590818a260a3e4aa48)
@@ -24,13 +24,11 @@
 #include "WatchdogMgmt.h"
 #include "TaskGeneral.h"
 
-// ***************************** TEST CODE ******************************
-// TODO - remove later
-#if 1
-#include "CPLD.h"
-static BOOL lastUserPress = FALSE;
+#ifdef RM46_EVAL_BOARD_TARGET
+    #include "CPLD.h"
+    #include "SystemCommMessages.h"
+    static BOOL lastUserPress = FALSE;
 #endif
-// ************************** END TEST CODE ******************************
 
 /*************************************************************************
  * @brief taskGeneral
@@ -45,9 +43,7 @@
  *************************************************************************/
 void taskGeneral( void )
 {
-// ***************************** TEST CODE ******************************
-// TODO - remove later
-#if 1
+#ifdef RM46_EVAL_BOARD_TARGET
     if ( getUserButtonState() == PIN_SIGNAL_LOW )
     {
         if ( lastUserPress == FALSE )
@@ -62,7 +58,6 @@
         lastUserPress = FALSE;
     }
 #endif
-// ************************** END TEST CODE ******************************
 
     // manage data received from other sub-systems
     execSystemCommRx();
Index: HD.dil
===================================================================
diff -u -r833095dbbe2b21a989b05f48bd7ddc390ad964cb -r29f1ba03faefd982327916590818a260a3e4aa48
--- HD.dil	(.../HD.dil)	(revision 833095dbbe2b21a989b05f48bd7ddc390ad964cb)
+++ HD.dil	(.../HD.dil)	(revision 29f1ba03faefd982327916590818a260a3e4aa48)
@@ -1,4 +1,4 @@
-# RM46L852PGE 10/10/19 13:52:09
+# RM46L852PGE 10/11/19 10:03:13
 # 
 ARCH=RM46L852PGE
 # 
@@ -57,7 +57,7 @@
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_98_INT_ENABLE.VALUE=0
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_20_INT_PRAGMA_ENABLE.VALUE=0
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_12_INT_PRAGMA_ENABLE.VALUE=0
-DRIVER.SYSTEM.VAR.VIM_CHANNEL_2_INT_TYPE.VALUE=IRQ
+DRIVER.SYSTEM.VAR.VIM_CHANNEL_2_INT_TYPE.VALUE=FIQ
 DRIVER.SYSTEM.VAR.SAFETY_INIT_MIBSPI2_RAMPARITYCHECK_ENA.VALUE=0
 DRIVER.SYSTEM.VAR.CRC_ENABLE.VALUE=0
 DRIVER.SYSTEM.VAR.MIBSPI1_ENABLE.VALUE=0
@@ -211,7 +211,7 @@
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_40_INT_ENABLE.VALUE=0
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_32_INT_ENABLE.VALUE=0
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_24_INT_ENABLE.VALUE=0
-DRIVER.SYSTEM.VAR.VIM_CHANNEL_16_INT_ENABLE.VALUE=0
+DRIVER.SYSTEM.VAR.VIM_CHANNEL_16_INT_ENABLE.VALUE=1
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_5_INT_TYPE.VALUE=IRQ
 DRIVER.SYSTEM.VAR.VIM_PARITY_ENABLE.VALUE=TRUE
 DRIVER.SYSTEM.VAR.SAFETY_INIT_FRAY_DP_PBISTCHECK_ENA.VALUE=0x00000000
@@ -373,10 +373,10 @@
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_37_INT_ENABLE.VALUE=0
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_37_INT_TYPE.VALUE=IRQ
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_32_INT_PRAGMA_ENABLE.VALUE=0
-DRIVER.SYSTEM.VAR.VIM_CHANNEL_29_INT_ENABLE.VALUE=0
-DRIVER.SYSTEM.VAR.VIM_CHANNEL_29_INT_TYPE.VALUE=IRQ
+DRIVER.SYSTEM.VAR.VIM_CHANNEL_29_INT_ENABLE.VALUE=1
+DRIVER.SYSTEM.VAR.VIM_CHANNEL_29_INT_TYPE.VALUE=FIQ
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_24_INT_PRAGMA_ENABLE.VALUE=0
-DRIVER.SYSTEM.VAR.VIM_CHANNEL_16_INT_PRAGMA_ENABLE.VALUE=0
+DRIVER.SYSTEM.VAR.VIM_CHANNEL_16_INT_PRAGMA_ENABLE.VALUE=1
 DRIVER.SYSTEM.VAR.SAFETY_INIT_MIBSPI4_RAMPARITYCHECK_ENA.VALUE=0
 DRIVER.SYSTEM.VAR.SAFETY_INIT_EMAC_SP_PBISTCHECK_ENA.VALUE=0x00000000
 DRIVER.SYSTEM.VAR.MINIT_VALUE.VALUE=0x1E57F
@@ -457,7 +457,7 @@
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_53_INT_PRAGMA_ENABLE.VALUE=0
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_45_INT_PRAGMA_ENABLE.VALUE=0
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_37_INT_PRAGMA_ENABLE.VALUE=0
-DRIVER.SYSTEM.VAR.VIM_CHANNEL_29_INT_PRAGMA_ENABLE.VALUE=0
+DRIVER.SYSTEM.VAR.VIM_CHANNEL_29_INT_PRAGMA_ENABLE.VALUE=1
 DRIVER.SYSTEM.VAR.SAFETY_INIT_VIM1_RAMPARITYCHECK_ENA.VALUE=1
 DRIVER.SYSTEM.VAR.CLKT_AVCLK4_SOURCE.VALUE=VCLK
 DRIVER.SYSTEM.VAR.FLASH_ADDRESS_WAIT_STATES_FREQ.VALUE=165.0
@@ -552,7 +552,7 @@
 DRIVER.SYSTEM.VAR.RAM_STACK_IRQ_LENGTH.VALUE=0x00000100
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_11_SUB_6_DISABLE.VALUE=1
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_7_SUB_0_DISABLE.VALUE=0
-DRIVER.SYSTEM.VAR.VIM_CHANNEL_2_INT_PRAGMA_ENABLE.VALUE=0
+DRIVER.SYSTEM.VAR.VIM_CHANNEL_2_INT_PRAGMA_ENABLE.VALUE=1
 DRIVER.SYSTEM.VAR.CLKT_RTI2_POST_SOURCE.VALUE=VCLK
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_9_PERMISSION_VALUE.VALUE=0x1300
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_5_NAME.VALUE=rtiCompare3Interrupt
@@ -954,7 +954,7 @@
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_40_INT_TYPE.VALUE=IRQ
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_32_INT_TYPE.VALUE=IRQ
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_24_INT_TYPE.VALUE=IRQ
-DRIVER.SYSTEM.VAR.VIM_CHANNEL_16_INT_TYPE.VALUE=IRQ
+DRIVER.SYSTEM.VAR.VIM_CHANNEL_16_INT_TYPE.VALUE=FIQ
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_5_INT_ENABLE.VALUE=1
 DRIVER.SYSTEM.VAR.PMM_LOGIC_PD5_STATE.VALUE=1
 DRIVER.SYSTEM.VAR.SAFETY_INIT_CAN2_DP_PBISTCHECK_ENA.VALUE=0x00000008
@@ -3310,7 +3310,7 @@
 DRIVER.CAN.VAR.CAN_1_MESSAGE_45_BOOL_ENA.VALUE=0
 DRIVER.CAN.VAR.CAN_1_MESSAGE_37_BOOL_ENA.VALUE=0
 DRIVER.CAN.VAR.CAN_1_MESSAGE_29_BOOL_ENA.VALUE=0
-DRIVER.CAN.VAR.CAN_1_MESSAGE_6_INT_ENA.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_6_INT_ENA.VALUE=0x00000800
 DRIVER.CAN.VAR.CAN_1_RAM_PARITY_ENA.VALUE=0x00000005
 DRIVER.CAN.VAR.CAN_1_MESSAGE_59_RTR.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_64_DLC.VALUE=8
@@ -3355,7 +3355,7 @@
 DRIVER.CAN.VAR.CAN_3_MESSAGE_35_INT_ENA_REF.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_27_INT_ENA_REF.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_19_INT_ENA_REF.VALUE=0x00000000
-DRIVER.CAN.VAR.CAN_1_MESSAGE_9_INT_ENA_REF.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_9_INT_ENA_REF.VALUE=0x00000001
 DRIVER.CAN.VAR.CAN_3_MESSAGE_64_ENA.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_56_ENA.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_48_ENA.VALUE=0x00000000
@@ -3445,7 +3445,7 @@
 DRIVER.CAN.VAR.CAN_2_MESSAGE_10_DIR.VALUE=0x20000000
 DRIVER.CAN.VAR.CAN_2_MESSAGE_5_EOB.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_2_MESSAGE_5_DIR.VALUE=0x20000000
-DRIVER.CAN.VAR.CAN_1_MESSAGE_6_INT_ENA_REF.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_6_INT_ENA_REF.VALUE=0x00000001
 DRIVER.CAN.VAR.CAN_3_MESSAGE_8_MASK.VALUE=0x000007FF
 DRIVER.CAN.VAR.CAN_3_MESSAGE_3_INT_ENA.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_2_MESSAGE_3_BOOL_ENA.VALUE=0
@@ -3489,7 +3489,7 @@
 DRIVER.CAN.VAR.CAN_3_MESSAGE_49_DIR.VALUE=0x20000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_6_INT_ENA_REF.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_2_PORT_TX_DIN.VALUE=0
-DRIVER.CAN.VAR.CAN_1_MESSAGE_10_INT_ENA_REF.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_10_INT_ENA_REF.VALUE=0x00000001
 DRIVER.CAN.VAR.CAN_3_MESSAGE_59_INT_ENA.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_51_BOOL_ENA.VALUE=0
 DRIVER.CAN.VAR.CAN_3_MESSAGE_43_BOOL_ENA.VALUE=0
@@ -3517,7 +3517,7 @@
 DRIVER.CAN.VAR.CAN_1_MESSAGE_23_DIR.VALUE=0x20000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_15_EOB.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_15_DIR.VALUE=0x20000000
-DRIVER.CAN.VAR.CAN_1_MESSAGE_3_INT_ENA_REF.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_3_INT_ENA_REF.VALUE=0x00000001
 DRIVER.CAN.VAR.CAN_3_MESSAGE_5_BOOL_ENA.VALUE=0
 DRIVER.CAN.VAR.CAN_2_MESSAGE_11_ENA.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_2_MESSAGE_6_ENA.VALUE=0x00000000
@@ -3610,7 +3610,7 @@
 DRIVER.CAN.VAR.CAN_1_MESSAGE_32_ENA.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_24_ENA.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_16_ENA.VALUE=0x00000000
-DRIVER.CAN.VAR.CAN_1_MESSAGE_5_INT_ENA.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_5_INT_ENA.VALUE=0x00000400
 DRIVER.CAN.VAR.CAN_1_MESSAGE_4_BOOL_ENA.VALUE=1
 DRIVER.CAN.VAR.CAN_3_MESSAGE_9_RTR.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_2_MESSAGE_51_ID.VALUE=51
@@ -3910,7 +3910,7 @@
 DRIVER.CAN.VAR.CAN_1_MESSAGE_36_BOOL_ENA.VALUE=0
 DRIVER.CAN.VAR.CAN_1_MESSAGE_28_BOOL_ENA.VALUE=0
 DRIVER.CAN.VAR.CAN_1_MESSAGE_5_MASK.VALUE=0x000007FF
-DRIVER.CAN.VAR.CAN_1_MESSAGE_4_INT_ENA.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_4_INT_ENA.VALUE=0x00000800
 DRIVER.CAN.VAR.CAN_3_MESSAGE_64_RTR.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_56_RTR.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_48_RTR.VALUE=0x00000000
@@ -4001,7 +4001,7 @@
 DRIVER.CAN.VAR.CAN_3_MESSAGE_8_INT_ENA.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_ENABLE.VALUE=1
 DRIVER.CAN.VAR.CAN_2_MESSAGE_59_MASK.VALUE=0x000007FF
-DRIVER.CAN.VAR.CAN_1_MESSAGE_10_INT_ENA.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_10_INT_ENA.VALUE=0x00000400
 DRIVER.CAN.VAR.CAN_1_MESSAGE_3_ENA.VALUE=0x80000000
 DRIVER.CAN.VAR.CAN_1_PIN_MODE.VALUE=1
 DRIVER.CAN.VAR.CAN_2_MESSAGE_58_ID.VALUE=58
@@ -4085,7 +4085,7 @@
 DRIVER.CAN.VAR.CAN_1_MESSAGE_36_DIR.VALUE=0x20000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_28_EOB.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_28_DIR.VALUE=0x20000000
-DRIVER.CAN.VAR.CAN_1_MESSAGE_8_INT_ENA_REF.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_8_INT_ENA_REF.VALUE=0x00000001
 DRIVER.CAN.VAR.CAN_1_SHIFT.VALUE=18
 DRIVER.CAN.VAR.CAN_2_MESSAGE_64_BOOL_ENA.VALUE=0
 DRIVER.CAN.VAR.CAN_2_MESSAGE_56_BOOL_ENA.VALUE=0
@@ -4177,7 +4177,7 @@
 DRIVER.CAN.VAR.CAN_3_MESSAGE_31_INT_ENA_REF.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_23_INT_ENA_REF.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_15_INT_ENA_REF.VALUE=0x00000000
-DRIVER.CAN.VAR.CAN_1_MESSAGE_5_INT_ENA_REF.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_5_INT_ENA_REF.VALUE=0x00000001
 DRIVER.CAN.VAR.CAN_3_MESSAGE_50_INT_ENA.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_42_INT_ENA.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_34_INT_ENA.VALUE=0x00000000
@@ -4250,7 +4250,7 @@
 DRIVER.CAN.VAR.CAN_3_MESSAGE_11_INT_ENA.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_11_BOOL_ENA.VALUE=0
 DRIVER.CAN.VAR.CAN_1_MESSAGE_5_ENA.VALUE=0x80000000
-DRIVER.CAN.VAR.CAN_1_MESSAGE_3_INT_ENA.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_3_INT_ENA.VALUE=0x00000400
 DRIVER.CAN.VAR.CAN_1_MESSAGE_3_BOOL_ENA.VALUE=1
 DRIVER.CAN.VAR.CAN_3_MESSAGE_58_INT_LEVEL.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_1_PORT_RX_PSL.VALUE=1
@@ -4268,7 +4268,7 @@
 DRIVER.CAN.VAR.CAN_1_PORT_TX_DIR.VALUE=1
 DRIVER.CAN.VAR.CAN_1_MESSAGE_5_EOB.VALUE=0x00000080
 DRIVER.CAN.VAR.CAN_1_MESSAGE_5_DIR.VALUE=0x00000000
-DRIVER.CAN.VAR.CAN_1_MESSAGE_2_INT_ENA_REF.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_2_INT_ENA_REF.VALUE=0x00000001
 DRIVER.CAN.VAR.CAN_3_MESSAGE_1_ENA.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_RAM_PARITY_ENA.VALUE=0x00000005
 DRIVER.CAN.VAR.CAN_3_PHASE_SEG.VALUE=3
@@ -4536,7 +4536,7 @@
 DRIVER.CAN.VAR.CAN_1_MESSAGE_64_MASK.VALUE=0x000007FF
 DRIVER.CAN.VAR.CAN_1_MESSAGE_56_MASK.VALUE=0x000007FF
 DRIVER.CAN.VAR.CAN_1_MESSAGE_48_MASK.VALUE=0x000007FF
-DRIVER.CAN.VAR.CAN_1_MESSAGE_9_INT_ENA.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_9_INT_ENA.VALUE=0x00000400
 DRIVER.CAN.VAR.CAN_1_MESSAGE_6_BOOL_ENA.VALUE=1
 DRIVER.CAN.VAR.CAN_2_MESSAGE_21_INT_LEVEL.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_2_MESSAGE_13_INT_LEVEL.VALUE=0x00000000
@@ -4609,7 +4609,7 @@
 DRIVER.CAN.VAR.CAN_1_MESSAGE_35_BOOL_ENA.VALUE=0
 DRIVER.CAN.VAR.CAN_1_MESSAGE_27_BOOL_ENA.VALUE=0
 DRIVER.CAN.VAR.CAN_1_MESSAGE_19_BOOL_ENA.VALUE=0
-DRIVER.CAN.VAR.CAN_1_MESSAGE_2_INT_ENA.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_2_INT_ENA.VALUE=0x00000400
 DRIVER.CAN.VAR.CAN_2_PORT_TX_DOUT.VALUE=1
 DRIVER.CAN.VAR.CAN_2_MESSAGE_31_RTR.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_2_MESSAGE_23_RTR.VALUE=0x00000000
@@ -4917,7 +4917,7 @@
 DRIVER.CAN.VAR.CAN_1_MESSAGE_32_MASK.VALUE=0x000007FF
 DRIVER.CAN.VAR.CAN_1_MESSAGE_24_MASK.VALUE=0x000007FF
 DRIVER.CAN.VAR.CAN_1_MESSAGE_16_MASK.VALUE=0x000007FF
-DRIVER.CAN.VAR.CAN_1_MESSAGE_8_INT_ENA.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_8_INT_ENA.VALUE=0x00000400
 DRIVER.CAN.VAR.CAN_3_MESSAGE_41_ID.VALUE=41
 DRIVER.CAN.VAR.CAN_3_MESSAGE_33_ID.VALUE=33
 DRIVER.CAN.VAR.CAN_3_MESSAGE_25_ID.VALUE=25
@@ -4946,7 +4946,7 @@
 DRIVER.CAN.VAR.CAN_3_MESSAGE_18_EOB.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_18_DIR.VALUE=0x20000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_17_INT_ENA_REF.VALUE=0x00000000
-DRIVER.CAN.VAR.CAN_1_MESSAGE_7_INT_ENA_REF.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_7_INT_ENA_REF.VALUE=0x00000001
 DRIVER.CAN.VAR.CAN_3_MESSAGE_41_MASK.VALUE=0x000007FF
 DRIVER.CAN.VAR.CAN_3_MESSAGE_33_MASK.VALUE=0x000007FF
 DRIVER.CAN.VAR.CAN_3_MESSAGE_25_MASK.VALUE=0x000007FF
@@ -4988,7 +4988,7 @@
 DRIVER.CAN.VAR.CAN_2_MESSAGE_7_MASK.VALUE=0x000007FF
 DRIVER.CAN.VAR.CAN_1_MESSAGE_59_ENA.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_2_BOOL_ENA.VALUE=1
-DRIVER.CAN.VAR.CAN_1_MESSAGE_1_INT_ENA.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_1_INT_ENA.VALUE=0x00000800
 DRIVER.CAN.VAR.CAN_3_MESSAGE_50_ID.VALUE=50
 DRIVER.CAN.VAR.CAN_3_MESSAGE_42_ID.VALUE=42
 DRIVER.CAN.VAR.CAN_3_MESSAGE_34_ID.VALUE=34
@@ -5041,7 +5041,7 @@
 DRIVER.CAN.VAR.CAN_2_MESSAGE_47_DIR.VALUE=0x20000000
 DRIVER.CAN.VAR.CAN_2_MESSAGE_39_EOB.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_2_MESSAGE_39_DIR.VALUE=0x20000000
-DRIVER.CAN.VAR.CAN_1_MESSAGE_4_INT_ENA_REF.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_4_INT_ENA_REF.VALUE=0x00000001
 DRIVER.CAN.VAR.CAN_3_MESSAGE_51_ENA.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_43_ENA.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_35_ENA.VALUE=0x00000000
@@ -5119,7 +5119,7 @@
 DRIVER.CAN.VAR.CAN_1_SYNC.VALUE=1
 DRIVER.CAN.VAR.CAN_3_MESSAGE_11_INT_ENA_REF.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_SHIFT.VALUE=0
-DRIVER.CAN.VAR.CAN_1_MESSAGE_1_INT_ENA_REF.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_1_INT_ENA_REF.VALUE=0x00000001
 DRIVER.CAN.VAR.CAN_3_PORT_RX_PULDIS.VALUE=0
 DRIVER.CAN.VAR.CAN_3_MESSAGE_60_BOOL_ENA.VALUE=0
 DRIVER.CAN.VAR.CAN_3_MESSAGE_52_BOOL_ENA.VALUE=0
@@ -5249,7 +5249,7 @@
 DRIVER.CAN.VAR.CAN_3_MESSAGE_6_MASK.VALUE=0x000007FF
 DRIVER.CAN.VAR.CAN_2_MESSAGE_57_ENA.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_2_MESSAGE_49_ENA.VALUE=0x00000000
-DRIVER.CAN.VAR.CAN_1_MESSAGE_7_INT_ENA.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_7_INT_ENA.VALUE=0x00000800
 DRIVER.CAN.VAR.CAN_1_MESSAGE_5_BOOL_ENA.VALUE=1
 DRIVER.CAN.VAR.CAN_3_MESSAGE_59_INT_LEVEL.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_2_MESSAGE_60_RTR.VALUE=0x00000000
Index: include/sys_vim.h
===================================================================
diff -u -r765d2c35118e202444e737c66c77faf9678cc87e -r29f1ba03faefd982327916590818a260a3e4aa48
--- include/sys_vim.h	(.../sys_vim.h)	(revision 765d2c35118e202444e737c66c77faf9678cc87e)
+++ include/sys_vim.h	(.../sys_vim.h)	(revision 29f1ba03faefd982327916590818a260a3e4aa48)
@@ -93,6 +93,8 @@
 extern void rtiCompare0Interrupt(void);
 extern void rtiCompare1Interrupt(void);
 extern void rtiCompare3Interrupt(void);
+extern void can1HighLevelInterrupt(void);
+extern void can1LowLevelInterrupt(void);
 
 /* USER CODE BEGIN (3) */
 /* USER CODE END */
@@ -127,7 +129,7 @@
 /* Configuration registers initial value */
 #define VIM_FIRQPR0_CONFIGVALUE	( (uint32)((uint32)SYS_FIQ << 0U)\
                                 | (uint32)((uint32)SYS_FIQ << 1U)\
-                                | (uint32)((uint32)SYS_IRQ << 2U)\
+                                | (uint32)((uint32)SYS_FIQ << 2U)\
                                 | (uint32)((uint32)SYS_IRQ << 3U)\
                                 | (uint32)((uint32)SYS_IRQ << 4U)\
                                 | (uint32)((uint32)SYS_IRQ << 5U)\
@@ -141,7 +143,7 @@
                                 | (uint32)((uint32)SYS_IRQ << 13U)\
                                 | (uint32)((uint32)SYS_IRQ << 14U)\
                                 | (uint32)((uint32)SYS_IRQ << 15U)\
-                                | (uint32)((uint32)SYS_IRQ << 16U)\
+                                | (uint32)((uint32)SYS_FIQ << 16U)\
                                 | (uint32)((uint32)SYS_IRQ << 17U)\
                                 | (uint32)((uint32)SYS_IRQ << 18U)\
                                 | (uint32)((uint32)SYS_IRQ << 19U)\
@@ -154,7 +156,7 @@
                                 | (uint32)((uint32)SYS_IRQ << 26U)\
                                 | (uint32)((uint32)SYS_IRQ << 27U)\
                                 | (uint32)((uint32)SYS_IRQ << 28U)\
-                                | (uint32)((uint32)SYS_IRQ << 29U)\
+                                | (uint32)((uint32)SYS_FIQ << 29U)\
                                 | (uint32)((uint32)SYS_IRQ << 30U)\
                                 | (uint32)((uint32)SYS_IRQ << 31U))
 					
@@ -273,7 +275,7 @@
                                     | (uint32)((uint32)0U << 13U)\
                                     | (uint32)((uint32)0U << 14U)\
                                     | (uint32)((uint32)0U << 15U)\
-                                    | (uint32)((uint32)0U << 16U)\
+                                    | (uint32)((uint32)1U << 16U)\
                                     | (uint32)((uint32)0U << 17U)\
                                     | (uint32)((uint32)0U << 18U)\
                                     | (uint32)((uint32)0U << 19U)\
@@ -286,7 +288,7 @@
                                     | (uint32)((uint32)0U << 26U)\
                                     | (uint32)((uint32)0U << 27U)\
                                     | (uint32)((uint32)0U << 28U)\
-                                    | (uint32)((uint32)0U << 29U)\
+                                    | (uint32)((uint32)1U << 29U)\
                                     | (uint32)((uint32)0U << 30U)\
                                     | (uint32)((uint32)0U << 31U))
 						
Index: source/can.c
===================================================================
diff -u -r833095dbbe2b21a989b05f48bd7ddc390ad964cb -r29f1ba03faefd982327916590818a260a3e4aa48
--- source/can.c	(.../can.c)	(revision 833095dbbe2b21a989b05f48bd7ddc390ad964cb)
+++ source/can.c	(.../can.c)	(revision 29f1ba03faefd982327916590818a260a3e4aa48)
@@ -198,7 +198,7 @@
 
     canREG1->IF1MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (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->IF1MCTL = 0x00001000U | (uint32)0x00000800U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF1CMD  = (uint8) 0xF8U;
     canREG1->IF1NO   = 1U;
 
@@ -217,7 +217,7 @@
 
     canREG1->IF2MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (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->IF2MCTL = 0x00001000U | (uint32)0x00000400U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF2CMD  = (uint8) 0xF8U;
     canREG1->IF2NO   = 2U;
 
@@ -236,7 +236,7 @@
 
     canREG1->IF1MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x000007FFU) << (uint32)18U);
     canREG1->IF1ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)3U & (uint32)0x000007FFU) << (uint32)18U);
-    canREG1->IF1MCTL = 0x00001000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
+    canREG1->IF1MCTL = 0x00001000U | (uint32)0x00000400U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF1CMD  = (uint8) 0xF8U;
     canREG1->IF1NO   = 3U;
 
@@ -255,7 +255,7 @@
 
     canREG1->IF2MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x000007FFU) << (uint32)18U);
     canREG1->IF2ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)4U & (uint32)0x000007FFU) << (uint32)18U);
-    canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
+    canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000800U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF2CMD  = (uint8) 0xF8U;
     canREG1->IF2NO   = 4U;
 
@@ -274,7 +274,7 @@
 
     canREG1->IF1MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x000007FFU) << (uint32)18U);
     canREG1->IF1ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)5U & (uint32)0x000007FFU) << (uint32)18U);
-    canREG1->IF1MCTL = 0x00001000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
+    canREG1->IF1MCTL = 0x00001000U | (uint32)0x00000400U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF1CMD  = (uint8) 0xF8U;
     canREG1->IF1NO   = 5U;
 
@@ -293,7 +293,7 @@
 
     canREG1->IF2MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x000007FFU) << (uint32)18U);
     canREG1->IF2ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)6U & (uint32)0x000007FFU) << (uint32)18U);
-    canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
+    canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000800U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF2CMD  = (uint8) 0xF8U;
     canREG1->IF2NO   = 6U;
 
@@ -312,7 +312,7 @@
 
     canREG1->IF1MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x000007FFU) << (uint32)18U);
     canREG1->IF1ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)7U & (uint32)0x000007FFU) << (uint32)18U);
-    canREG1->IF1MCTL = 0x00001000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
+    canREG1->IF1MCTL = 0x00001000U | (uint32)0x00000800U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF1CMD  = (uint8) 0xF8U;
     canREG1->IF1NO   = 7U;
 
@@ -331,7 +331,7 @@
 
     canREG1->IF2MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x000007FFU) << (uint32)18U);
     canREG1->IF2ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)8U & (uint32)0x000007FFU) << (uint32)18U);
-    canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
+    canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000400U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF2CMD  = (uint8) 0xF8U;
     canREG1->IF2NO   = 8U;
 
@@ -350,7 +350,7 @@
 
     canREG1->IF1MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x000007FFU) << (uint32)18U);
     canREG1->IF1ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)9U & (uint32)0x000007FFU) << (uint32)18U);
-    canREG1->IF1MCTL = 0x00001000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
+    canREG1->IF1MCTL = 0x00001000U | (uint32)0x00000400U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF1CMD  = (uint8) 0xF8U;
     canREG1->IF1NO   = 9U;
 
@@ -369,7 +369,7 @@
 
     canREG1->IF2MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x000007FFU) << (uint32)18U);
     canREG1->IF2ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)10U & (uint32)0x000007FFU) << (uint32)18U);
-    canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
+    canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000400U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF2CMD  = (uint8) 0xF8U;
     canREG1->IF2NO   = 10U;
 
@@ -1540,9 +1540,110 @@
     }
 }
 
+/* USER CODE BEGIN (40) */
+/* USER CODE END */
+/** @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 */
+/* Requirements : HL_SR221, HL_SR222, HL_SR223 */
+void can1HighLevelInterrupt(void)
+{
+    uint32 value = canREG1->INT;
+	uint32 ES_value;
 
+/* USER CODE BEGIN (41) */
+/* USER CODE END */
 
+    if (value == 0x8000U)
+    {
+        /* Read Error and Status Register*/
+        ES_value = canREG1->ES;
+        
+        /* Check for Error (PES, Boff, EWarn & EPass) captured */
+        if((ES_value & 0x1E0U) != 0U)
+        {
+            canErrorNotification(canREG1, ES_value & 0x1E0U);
+        }
+        else
+        {   
+            /* Call General Can notification incase of RxOK, TxOK, PDA, WakeupPnd Interrupt */
+            canStatusChangeNotification(canREG1, ES_value & 0x618U);
+        }
+    }
+    else
+    {
+        /** - 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) value;
+        
+        /*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, value);
+    }
+	
+/* USER CODE BEGIN (42) */
+/* USER CODE END */
 
+}
+
+/* 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 */
+
+}
+
+
+
+
+
Index: source/notification.c
===================================================================
diff -u -rad8ad611c910747eef92336a30b6520a83409532 -r29f1ba03faefd982327916590818a260a3e4aa48
--- source/notification.c	(.../notification.c)	(revision ad8ad611c910747eef92336a30b6520a83409532)
+++ source/notification.c	(.../notification.c)	(revision 29f1ba03faefd982327916590818a260a3e4aa48)
@@ -59,6 +59,7 @@
 #include "sys_dma.h"
 
 /* USER CODE BEGIN (0) */
+#include "SystemComm.h"
 /* USER CODE END */
 #pragma WEAK(esmGroup1Notification)
 void esmGroup1Notification(uint32 channel)
@@ -131,6 +132,7 @@
 {
 /*  enter user code between the USER CODE BEGIN and USER CODE END. */
 /* USER CODE BEGIN (15) */
+    handleCANMsgInterrupt( (CAN_MESSAGE_BOX_T)messageBox );
 /* USER CODE END */
 }
 
Index: source/rti.c
===================================================================
diff -u -r879f01d26ef663cceccf14963c09f53e72c13cec -r29f1ba03faefd982327916590818a260a3e4aa48
--- source/rti.c	(.../rti.c)	(revision 879f01d26ef663cceccf14963c09f53e72c13cec)
+++ source/rti.c	(.../rti.c)	(revision 29f1ba03faefd982327916590818a260a3e4aa48)
@@ -856,6 +856,8 @@
 *   RTI1 Compare 0 interrupt handler 
 *
 */
+#pragma CODE_STATE(rtiCompare0Interrupt, 32)
+#pragma INTERRUPT(rtiCompare0Interrupt, FIQ)
 
 /* SourceId : RTI_SourceId_022 */
 /* DesignId : RTI_DesignId_022 */
Index: source/sys_main.c
===================================================================
diff -u -r833095dbbe2b21a989b05f48bd7ddc390ad964cb -r29f1ba03faefd982327916590818a260a3e4aa48
--- source/sys_main.c	(.../sys_main.c)	(revision 833095dbbe2b21a989b05f48bd7ddc390ad964cb)
+++ source/sys_main.c	(.../sys_main.c)	(revision 29f1ba03faefd982327916590818a260a3e4aa48)
@@ -124,6 +124,7 @@
     rtiInit();
     rtiEnableNotification( rtiNOTIFICATION_COMPARE0 | rtiNOTIFICATION_COMPARE1 | rtiNOTIFICATION_COMPARE3 );
     rtiStartCounter( rtiCOUNTER_BLOCK0 );
+    _enable_FIQ();
     _enable_IRQ();
 }
 
Index: source/sys_vim.c
===================================================================
diff -u -r765d2c35118e202444e737c66c77faf9678cc87e -r29f1ba03faefd982327916590818a260a3e4aa48
--- source/sys_vim.c	(.../sys_vim.c)	(revision 765d2c35118e202444e737c66c77faf9678cc87e)
+++ source/sys_vim.c	(.../sys_vim.c)	(revision 29f1ba03faefd982327916590818a260a3e4aa48)
@@ -85,7 +85,7 @@
     &phantomInterrupt,            /* Channel 13 */
     &phantomInterrupt,            /* Channel 14 */
     &phantomInterrupt,            /* Channel 15 */
-    &phantomInterrupt,            /* Channel 16 */
+    &can1HighLevelInterrupt,            /* Channel 16 */
     &phantomInterrupt,            /* Channel 17 */
     &phantomInterrupt,            /* Channel 18 */
     &phantomInterrupt,            /* Channel 19 */
@@ -98,7 +98,7 @@
     &phantomInterrupt,            /* Channel 26 */
     &phantomInterrupt,            /* Channel 27 */
     &phantomInterrupt,            /* Channel 28 */
-    &phantomInterrupt,            /* Channel 29 */
+    &can1LowLevelInterrupt,            /* Channel 29 */
     &phantomInterrupt,            /* Channel 30 */
     &phantomInterrupt,            /* Channel 31 */
     &phantomInterrupt,            /* Channel 32 */
@@ -229,7 +229,7 @@
     /* set IRQ/FIQ priorities */
     vimREG->FIRQPR0 = (uint32)((uint32)SYS_FIQ << 0U)
                     | (uint32)((uint32)SYS_FIQ << 1U)
-                    | (uint32)((uint32)SYS_IRQ << 2U)
+                    | (uint32)((uint32)SYS_FIQ << 2U)
                     | (uint32)((uint32)SYS_IRQ << 3U)
                     | (uint32)((uint32)SYS_IRQ << 4U)
                     | (uint32)((uint32)SYS_IRQ << 5U)
@@ -243,7 +243,7 @@
                     | (uint32)((uint32)SYS_IRQ << 13U)
                     | (uint32)((uint32)SYS_IRQ << 14U)
                     | (uint32)((uint32)SYS_IRQ << 15U)
-                    | (uint32)((uint32)SYS_IRQ << 16U)
+                    | (uint32)((uint32)SYS_FIQ << 16U)
                     | (uint32)((uint32)SYS_IRQ << 17U)
                     | (uint32)((uint32)SYS_IRQ << 18U)
                     | (uint32)((uint32)SYS_IRQ << 19U)
@@ -256,7 +256,7 @@
                     | (uint32)((uint32)SYS_IRQ << 26U)
                     | (uint32)((uint32)SYS_IRQ << 27U)
                     | (uint32)((uint32)SYS_IRQ << 28U)
-                    | (uint32)((uint32)SYS_IRQ << 29U)
+                    | (uint32)((uint32)SYS_FIQ << 29U)
                     | (uint32)((uint32)SYS_IRQ << 30U)
                     | (uint32)((uint32)SYS_IRQ << 31U);
 
@@ -378,7 +378,7 @@
                         | (uint32)((uint32)0U << 13U)
                         | (uint32)((uint32)0U << 14U)
                         | (uint32)((uint32)0U << 15U)
-                        | (uint32)((uint32)0U << 16U)
+                        | (uint32)((uint32)1U << 16U)
                         | (uint32)((uint32)0U << 17U)
                         | (uint32)((uint32)0U << 18U)
                         | (uint32)((uint32)0U << 19U)
@@ -391,7 +391,7 @@
                         | (uint32)((uint32)0U << 26U)
                         | (uint32)((uint32)0U << 27U)
                         | (uint32)((uint32)0U << 28U)
-                        | (uint32)((uint32)0U << 29U)
+                        | (uint32)((uint32)1U << 29U)
                         | (uint32)((uint32)0U << 30U)
                         | (uint32)((uint32)0U << 31U);