Index: firmware/App/Common.h
===================================================================
diff -u -ref0b3f0ec00fadc50f95e0db1a6477fb4b076ea1 -r6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1
--- firmware/App/Common.h	(.../Common.h)	(revision ef0b3f0ec00fadc50f95e0db1a6477fb4b076ea1)
+++ firmware/App/Common.h	(.../Common.h)	(revision 6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1)
@@ -88,6 +88,7 @@
 #define ML_PER_LITER                    1000
 #define MS_PER_SECOND                   1000
 #define SEC_PER_MIN                     60
+#define FRACTION_TO_PERCENT_FACTOR      100.0
 
 // **** Common Macros ****
 
Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -r85bfe5051e4d2bf67be39d394f96c075b4e52836 -r6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 85bfe5051e4d2bf67be39d394f96c075b4e52836)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1)
@@ -642,16 +642,15 @@
         F32 measSpd = getMeasuredBloodPumpSpeed();
         F32 measMCSpd = getMeasuredBloodPumpMCSpeed();
         F32 measMCCurr = getMeasuredBloodPumpMCCurrent();
+        F32 pumpPWMPctDutyCycle = bloodPumpPWMDutyCyclePctSet * FRACTION_TO_PERCENT_FACTOR;
 #ifdef DEBUG_ENABLED
         // TODO - temporary debug code - remove later
-        S32 pwm = (S32)( 100.0 * bloodPumpPWMDutyCyclePctSet );
         char debugFlowStr[ 256 ];
 
-        sprintf( debugFlowStr, "Target Flow:%5d, Meas. Flow:%5d, Speed:%5d RPM, Current:%5d mA, PWM:%5d \n", flowStPt, (S32)measFlow, (S32)measMCSpd, (S32)measMCCurr, pwm );
+        sprintf( debugFlowStr, "Target Flow:%5d, Meas. Flow:%5d, Speed:%5d RPM, Current:%5d mA, PWM:%5d \n", flowStPt, (S32)measFlow, (S32)measMCSpd, (S32)measMCCurr, (S32)pumpPWMPctDutyCycle );
         sendDebugData( (U08*)debugFlowStr, strlen(debugFlowStr) );
 #endif
-        broadcastBloodFlowData( flowStPt, measFlow, measRotSpd, measSpd, measMCSpd, measMCCurr );
-        //broadcastBloodFlowData( 500, 501.0, 100.0, 1000.0, -1001.25, 750.0 );
+        broadcastBloodFlowData( flowStPt, measFlow, measRotSpd, measSpd, measMCSpd, measMCCurr, pumpPWMPctDutyCycle );
         bloodFlowDataPublicationTimerCounter = 0;
     }
 }
Index: firmware/App/Services/AlarmMgmt.c
===================================================================
diff -u -r96bff7c1a8c755eb28a89e131a737dc1c4a7d9fc -r6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1
--- firmware/App/Services/AlarmMgmt.c	(.../AlarmMgmt.c)	(revision 96bff7c1a8c755eb28a89e131a737dc1c4a7d9fc)
+++ firmware/App/Services/AlarmMgmt.c	(.../AlarmMgmt.c)	(revision 6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1)
@@ -63,7 +63,8 @@
     { ALARM_PRIORITY_MEDIUM, 0, ALARM_ID_NO_ALARM, FALSE, TRUE , FALSE, FALSE, FALSE, FALSE, FALSE, FALSE }, // ALARM_ID_DIAL_OUT_PUMP_MC_CURRENT_CHECK
     { ALARM_PRIORITY_MEDIUM, 0, ALARM_ID_NO_ALARM, FALSE, TRUE , FALSE, FALSE, FALSE, FALSE, FALSE, FALSE }, // ALARM_ID_DIAL_OUT_PUMP_MC_SPEED_CHECK
     { ALARM_PRIORITY_MEDIUM, 0, ALARM_ID_NO_ALARM, FALSE, TRUE , FALSE, FALSE, FALSE, FALSE, FALSE, FALSE }, // ALARM_ID_DIAL_OUT_PUMP_MC_DIRECTION_CHECK
-    { ALARM_PRIORITY_HIGH,   0, ALARM_ID_NO_ALARM, FALSE, TRUE , FALSE, FALSE, FALSE, FALSE, FALSE, FALSE }  // ALARM_ID_DIAL_OUT_PUMP_ROTOR_SPEED_CHECK
+    { ALARM_PRIORITY_HIGH,   0, ALARM_ID_NO_ALARM, FALSE, TRUE , FALSE, FALSE, FALSE, FALSE, FALSE, FALSE }, // ALARM_ID_DIAL_OUT_PUMP_ROTOR_SPEED_CHECK
+    { ALARM_PRIORITY_HIGH,   0, ALARM_ID_NO_ALARM, TRUE,  TRUE , TRUE , TRUE , TRUE , TRUE , TRUE , FALSE }  // ALARM_ID_WATCHDOG_EXPIRED
 };
 
 const ALARM_DATA_T blankAlarmData = { ALARM_DATA_TYPE_NONE, 0 };
Index: firmware/App/Services/AlarmMgmt.h
===================================================================
diff -u -r96bff7c1a8c755eb28a89e131a737dc1c4a7d9fc -r6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1
--- firmware/App/Services/AlarmMgmt.h	(.../AlarmMgmt.h)	(revision 96bff7c1a8c755eb28a89e131a737dc1c4a7d9fc)
+++ firmware/App/Services/AlarmMgmt.h	(.../AlarmMgmt.h)	(revision 6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1)
@@ -39,6 +39,7 @@
     ALARM_ID_DIAL_OUT_PUMP_MC_SPEED_CHECK,              // 15
     ALARM_ID_DIAL_OUT_PUMP_MC_DIRECTION_CHECK,
     ALARM_ID_DIAL_OUT_PUMP_ROTOR_SPEED_CHECK,
+    ALARM_ID_WATCHDOG_EXPIRED,
     NUM_OF_ALARM_IDS
 } ALARM_ID_T;
 
Index: firmware/App/Services/Interrupts.c
===================================================================
diff -u -r31f710004436c030e787c895980457e08577702d -r6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1
--- firmware/App/Services/Interrupts.c	(.../Interrupts.c)	(revision 31f710004436c030e787c895980457e08577702d)
+++ firmware/App/Services/Interrupts.c	(.../Interrupts.c)	(revision 6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1)
@@ -19,6 +19,9 @@
 #include "sci.h"
 #include "sys_dma.h"
 
+#include "Common.h"
+
+#include "AlarmMgmt.h"
 #include "Comm.h"
 #include "Interrupts.h"
 #include "FPGA.h"
Index: firmware/App/Services/SystemComm.c
===================================================================
diff -u -r85bfe5051e4d2bf67be39d394f96c075b4e52836 -r6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1
--- firmware/App/Services/SystemComm.c	(.../SystemComm.c)	(revision 85bfe5051e4d2bf67be39d394f96c075b4e52836)
+++ firmware/App/Services/SystemComm.c	(.../SystemComm.c)	(revision 6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1)
@@ -78,7 +78,6 @@
 
 static U32 sentCANPacketsCount = 0;  // TODO - debug - remove these two flags later
 static U32 compCANPacketsCount = 0;
-static CAN_MESSAGE_BOX_T pendingXmitMsgBox = 0;
 
 // ********** private function prototypes **********
 
@@ -251,22 +250,24 @@
  *************************************************************************/
 void handleCANMsgInterrupt( CAN_MESSAGE_BOX_T srcCANBox )
 {
-    if ( ( TRUE == isCANBoxForXmit( srcCANBox ) ) && ( srcCANBox != pendingXmitMsgBox ) )
-    {
-        srcCANBox = (CAN_MESSAGE_BOX_T)0;
-    }
-
     // message interrupt is for a transmit message box?
     if ( TRUE == isCANBoxForXmit( srcCANBox ) )
     {
         U32 bytesXmitted;
 
         compCANPacketsCount++;
-        bytesXmitted = transmitNextCANPacket();
-        if ( 0 == bytesXmitted )
+        if ( FALSE == canIsTxMessagePending( canREG1, srcCANBox ) )
         {
-            signalCANXmitsCompleted();
+            bytesXmitted = transmitNextCANPacket();
+            if ( 0 == bytesXmitted )
+            {
+                signalCANXmitsCompleted();
+            }
         }
+        else
+        {
+            compCANPacketsCount--;
+        }
     }
     else if ( TRUE == isCANBoxForRecv( srcCANBox ) )
     {
@@ -506,8 +507,7 @@
         if ( dataSize == CAN_MESSAGE_PAYLOAD_SIZE )
         {
             signalCANXmitsInitiated();
-            pendingXmitMsgBox = mBox;
-            if ( canTransmit( canREG1, mBox, data ) == 0 )
+            if ( 0 == canTransmit( canREG1, mBox, data ) )
             {
                 signalCANXmitsCompleted();
                 // TODO - shouldn't get here, but let's see if we do
@@ -516,8 +516,8 @@
             else
             {
                 sentCANPacketsCount++;
+                result = CAN_MESSAGE_PAYLOAD_SIZE;
             }
-            result = CAN_MESSAGE_PAYLOAD_SIZE;
         }
         else
         {   // TODO - shouldn't get here - just testing - set first data to new s/w fault enum later
Index: firmware/App/Services/SystemCommMessages.c
===================================================================
diff -u -ref0b3f0ec00fadc50f95e0db1a6477fb4b076ea1 -r6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1
--- firmware/App/Services/SystemCommMessages.c	(.../SystemCommMessages.c)	(revision ef0b3f0ec00fadc50f95e0db1a6477fb4b076ea1)
+++ firmware/App/Services/SystemCommMessages.c	(.../SystemCommMessages.c)	(revision 6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1)
@@ -45,6 +45,17 @@
     U08 alarmsFlags;                            // bit flags: 1 = true, 0 = false for each bit
 } ALARM_COMP_STATUS_PAYLOAD_T;
 
+typedef struct
+{
+    U32 setPoint;
+    F32 measFlow;
+    F32 measRotorSpd;
+    F32 measPumpSpd;
+    F32 measMCSpd;
+    F32 measMCCurr;
+    F32 pwmDC;
+} PERISTALTIC_PUMP_STATUS_PAYLOAD_T;
+
 #pragma pack(pop)
 
 // ********** private data **********
@@ -291,33 +302,33 @@
  * @param measSpd : Latest measured blood pump speed
  * @param measMCspd : Latest measured blood pump motor controller speed
  * @param measSpd : Latest measured blood pump motor controller current
+ * @param pwmDC : Latest PWM duty cycle %
  * @return TRUE if msg successfully queued for transmit, FALSE if not
  *************************************************************************/
-BOOL broadcastBloodFlowData( U32 flowStPt, F32 measFlow, F32 measRotorSpd, F32 measSpd, F32 measMCSpd, F32 measMCCurr )
+BOOL broadcastBloodFlowData( U32 flowStPt, F32 measFlow, F32 measRotorSpd, F32 measSpd, F32 measMCSpd, F32 measMCCurr, F32 pwmDC )
 {
     BOOL result;
     MESSAGE_T msg;
     U32 msgSize;
     U08 data[ sizeof( MESSAGE_WRAPPER_T ) + 1 + CAN_MESSAGE_PAYLOAD_SIZE ];  // must hold full (wrapped) message + sync + any CAN padding
     U08 *payloadPtr = msg.payload;
+    PERISTALTIC_PUMP_STATUS_PAYLOAD_T payload;
 
     // create a message record
     blankMessage( &msg );
     msg.hdr.msgID = MSG_ID_BLOOD_FLOW_DATA;
-    msg.hdr.payloadLen = sizeof( U32 ) + sizeof( F32 ) + sizeof( F32 ) + sizeof( F32 ) + sizeof( F32 ) + sizeof( F32 );
+    msg.hdr.payloadLen = sizeof( PERISTALTIC_PUMP_STATUS_PAYLOAD_T );
 
-    memcpy( payloadPtr, &flowStPt, sizeof( U32 ) );
-    payloadPtr += sizeof( U32 );
-    memcpy( payloadPtr, &measFlow, sizeof( F32 ) );
-    payloadPtr += sizeof( F32 );
-    memcpy( payloadPtr, &measRotorSpd, sizeof( F32 ) );
-    payloadPtr += sizeof( F32 );
-    memcpy( payloadPtr, &measSpd, sizeof( F32 ) );
-    payloadPtr += sizeof( F32 );
-    memcpy( payloadPtr, &measMCSpd, sizeof( F32 ) );
-    payloadPtr += sizeof( F32 );
-    memcpy( payloadPtr, &measMCCurr, sizeof( F32 ) );
+    payload.setPoint = flowStPt;
+    payload.measFlow = measFlow;
+    payload.measRotorSpd = measRotorSpd;
+    payload.measPumpSpd = measSpd;
+    payload.measMCSpd = measMCSpd;
+    payload.measMCCurr = measMCCurr;
+    payload.pwmDC = pwmDC;
 
+    memcpy( payloadPtr, &payload, sizeof( PERISTALTIC_PUMP_STATUS_PAYLOAD_T ) );
+
     // serialize the message (w/ sync, CRC, and appropriate CAN padding)
     msgSize = serializeMessage( msg, data );
 
Index: firmware/App/Services/SystemCommMessages.h
===================================================================
diff -u -ref0b3f0ec00fadc50f95e0db1a6477fb4b076ea1 -r6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1
--- firmware/App/Services/SystemCommMessages.h	(.../SystemCommMessages.h)	(revision ef0b3f0ec00fadc50f95e0db1a6477fb4b076ea1)
+++ firmware/App/Services/SystemCommMessages.h	(.../SystemCommMessages.h)	(revision 6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1)
@@ -69,7 +69,7 @@
 BOOL broadcastAlarmCleared( U16 alarm );
 
 // MSG_ID_BLOOD_FLOW_DATA
-BOOL broadcastBloodFlowData( U32 flowStPt, F32 measFlow, F32 measRotorSpd, F32 measSpd, F32 measMCSpd, F32 measMCCurr );
+BOOL broadcastBloodFlowData( U32 flowStPt, F32 measFlow, F32 measRotorSpd, F32 measSpd, F32 measMCSpd, F32 measMCCurr, F32 pwmDC );
 
 // MSG_ID_DG_CHECK_IN
 void handleDGCheckIn( MESSAGE_T *message );
Index: firmware/App/Services/WatchdogMgmt.c
===================================================================
diff -u -r1bbf9da32e622975efed00b1a7589387a9829440 -r6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1
--- firmware/App/Services/WatchdogMgmt.c	(.../WatchdogMgmt.c)	(revision 1bbf9da32e622975efed00b1a7589387a9829440)
+++ firmware/App/Services/WatchdogMgmt.c	(.../WatchdogMgmt.c)	(revision 6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1)
@@ -16,6 +16,7 @@
 
 #include "Common.h"
 #include "CPLD.h"
+#include "SafetyShutdown.h"
 #include "SystemCommMessages.h"
 #include "Timers.h"
 #include "WatchdogMgmt.h"
@@ -105,7 +106,8 @@
     // check to see if watchdog has expired
     if ( getCPLDWatchdogExpired() == PIN_SIGNAL_HIGH )
     {
-        // TODO - watchdog expired fault
+//        activateSafetyShutdown();
+//        activateAlarmNoData( ALARM_ID_WATCHDOG_EXPIRED );
     }
 }
 
Index: firmware/HD.dil
===================================================================
diff -u -r2bb447181c2519690441d81f83563d17e0882ef2 -r6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1
--- firmware/HD.dil	(.../HD.dil)	(revision 2bb447181c2519690441d81f83563d17e0882ef2)
+++ firmware/HD.dil	(.../HD.dil)	(revision 6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1)
@@ -1,4 +1,4 @@
-# RM46L852PGE 12/17/19 11:10:24
+# RM46L852PGE 12/18/19 16:45:53
 # 
 ARCH=RM46L852PGE
 # 
@@ -139,7 +139,7 @@
 DRIVER.SYSTEM.VAR.ECAP6_ENABLE.VALUE=1
 DRIVER.SYSTEM.VAR.SCI_ENABLE.VALUE=1
 DRIVER.SYSTEM.VAR.FLASH_DATA_1_WAIT_STATE_FREQ.VALUE=110.0
-DRIVER.SYSTEM.VAR.RAM_STACK_IRQ_BASE.VALUE=0x08001200
+DRIVER.SYSTEM.VAR.RAM_STACK_IRQ_BASE.VALUE=0x08002400
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_125_MAPPING.VALUE=125
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_117_MAPPING.VALUE=117
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_109_MAPPING.VALUE=109
@@ -358,7 +358,7 @@
 DRIVER.SYSTEM.VAR.VIM_CONFIG.VALUE=TRUE
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_101_MAPPING.VALUE=101
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_101_NAME.VALUE=etpwm6TripZoneInterrupt
-DRIVER.SYSTEM.VAR.RAM_STACK_ABORT_LENGTH.VALUE=0x00000100
+DRIVER.SYSTEM.VAR.RAM_STACK_ABORT_LENGTH.VALUE=0x00000200
 DRIVER.SYSTEM.VAR.FLASH_DATA_MAX_WAIT_STATES.VALUE=3
 DRIVER.SYSTEM.VAR.FLASH_MODE.VALUE=PIPELINE
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_11_SUB_7_DISABLE.VALUE=0
@@ -373,7 +373,7 @@
 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_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=1
@@ -407,7 +407,7 @@
 DRIVER.SYSTEM.VAR.CORE_HANDLER_TABLE_UNDEF_ENABLE.VALUE=0
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_8_INT_PRAGMA_ENABLE.VALUE=0
 DRIVER.SYSTEM.VAR.SAFETY_INIT_PBIST_SP_SELECTED.VALUE=0
-DRIVER.SYSTEM.VAR.RAM_STACK_ABORT_BASE.VALUE=0x08001300
+DRIVER.SYSTEM.VAR.RAM_STACK_ABORT_BASE.VALUE=0x08003400
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_92_NAME.VALUE=etpwm2Interrupt
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_84_NAME.VALUE=phantomInterrupt
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_76_NAME.VALUE=phantomInterrupt
@@ -435,7 +435,7 @@
 DRIVER.SYSTEM.VAR.CORE_PMU_COUNTER1_EVENT.VALUE=0x11
 DRIVER.SYSTEM.VAR.EFUSE_SELFTEST_ENA.VALUE=0
 DRIVER.SYSTEM.VAR.CLKT_AVCLK4_DOMAIN_DISABLE.VALUE=0
-DRIVER.SYSTEM.VAR.RAM_LINK_BASE_ADDRESS.VALUE=0x08001500
+DRIVER.SYSTEM.VAR.RAM_LINK_BASE_ADDRESS.VALUE=0x08003800
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_12_SUB_4_DISABLE.VALUE=0
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_2_SUB_7_DISABLE.VALUE=0
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_120_INT_ENABLE.VALUE=0
@@ -549,14 +549,14 @@
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_85_NAME.VALUE=phantomInterrupt
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_77_NAME.VALUE=EMACTxIntISR
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_69_NAME.VALUE=phantomInterrupt
-DRIVER.SYSTEM.VAR.RAM_STACK_IRQ_LENGTH.VALUE=0x00000100
+DRIVER.SYSTEM.VAR.RAM_STACK_IRQ_LENGTH.VALUE=0x00001000
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_11_SUB_6_DISABLE.VALUE=0
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_7_SUB_0_DISABLE.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
-DRIVER.SYSTEM.VAR.RAM_STACK_LENGTH.VALUE=0x00001500
+DRIVER.SYSTEM.VAR.RAM_STACK_LENGTH.VALUE=0x00003800
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_2_PERMISSION.VALUE=PRIV_RO_USER_RO_EXEC
 DRIVER.SYSTEM.VAR.CLKT_LPO_BIAS.VALUE=true
 DRIVER.SYSTEM.VAR.CLKT_AVCLK3_DIVIDER1.VALUE=4
@@ -628,7 +628,7 @@
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_103_NAME.VALUE=etpwm7TripZoneInterrupt
 DRIVER.SYSTEM.VAR.PBIST_ALGO_16.VALUE=0
 DRIVER.SYSTEM.VAR.CLKT_VCLK2_DIVIDER.VALUE=1
-DRIVER.SYSTEM.VAR.RAM_LINK_LENGTH.VALUE=0x0002eb00
+DRIVER.SYSTEM.VAR.RAM_LINK_LENGTH.VALUE=0x0002c800
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_11_END_ADDRESS.VALUE=0x0802ffff
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_30_INT_ENABLE.VALUE=0
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_22_INT_ENABLE.VALUE=0
@@ -793,7 +793,7 @@
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_29_MAPPING.VALUE=29
 DRIVER.SYSTEM.VAR.ECLK_PORT_BIT0_DIR.VALUE=1
 DRIVER.SYSTEM.VAR.FLASH_LENGTH.VALUE=0x00140000
-DRIVER.SYSTEM.VAR.RAM_STACK_FIQ_LENGTH.VALUE=0x00000100
+DRIVER.SYSTEM.VAR.RAM_STACK_FIQ_LENGTH.VALUE=0x00001000
 DRIVER.SYSTEM.VAR.CLKT_EXT1_ENABLE.VALUE=FALSE
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_12_SUB_2_DISABLE.VALUE=0
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_9_SUB_7_DISABLE.VALUE=0
@@ -925,7 +925,7 @@
 DRIVER.SYSTEM.VAR.SAFETY_INIT_DMA_DP_PBISTCHECK_ENA.VALUE=0x00000800
 DRIVER.SYSTEM.VAR.HET_ENABLE.VALUE=0
 DRIVER.SYSTEM.VAR.PBIST_ALGO_13_14.VALUE=0
-DRIVER.SYSTEM.VAR.RAM_STACK_UNDEF_BASE.VALUE=0x08001400
+DRIVER.SYSTEM.VAR.RAM_STACK_UNDEF_BASE.VALUE=0x08003600
 DRIVER.SYSTEM.VAR.RAM_STACK_SVC_BASE.VALUE=0x08001000
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_9_TYPE.VALUE=DEVICE_NONSHAREABLE
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_99_INT_PRAGMA_ENABLE.VALUE=0
@@ -1134,7 +1134,7 @@
 DRIVER.SYSTEM.VAR.RTI_ENABLE.VALUE=1
 DRIVER.SYSTEM.VAR.STC_MAX_TIMEOUT.VALUE=0xFFFFFFFF
 DRIVER.SYSTEM.VAR.CLKT_LPO_LOW_TRIM.VALUE=100.00
-DRIVER.SYSTEM.VAR.RAM_STACK_FIQ_BASE.VALUE=0x08001100
+DRIVER.SYSTEM.VAR.RAM_STACK_FIQ_BASE.VALUE=0x08001400
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_4_PERMISSION_VALUE.VALUE=0x0300
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_0_NAME.VALUE=esmHighInterrupt
 DRIVER.SYSTEM.VAR.FLASH_BANK_LINK_LENGTH_7.VALUE=0x000010000
@@ -1183,8 +1183,8 @@
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_23_NAME.VALUE=gioLowLevelInterrupt
 DRIVER.SYSTEM.VAR.VIM_CHANNEL_15_NAME.VALUE=adc1Group1Interrupt
 DRIVER.SYSTEM.VAR.ERRATA_WORKAROUND_15.VALUE=1
-DRIVER.SYSTEM.VAR.RAM_STACK_UNDEF_LENGTH.VALUE=0x00000100
-DRIVER.SYSTEM.VAR.RAM_STACK_SVC_LENGTH.VALUE=0x00000100
+DRIVER.SYSTEM.VAR.RAM_STACK_UNDEF_LENGTH.VALUE=0x00000200
+DRIVER.SYSTEM.VAR.RAM_STACK_SVC_LENGTH.VALUE=0x00000400
 DRIVER.SYSTEM.VAR.CLKT_LPO_TRIM_OTP_LOC.VALUE=0xF00801B4
 DRIVER.SYSTEM.VAR.CORE_MPU_REGION_6_SUB_6_DISABLE.VALUE=0
 DRIVER.SYSTEM.VAR.CORE_HANDLER_TABLE_UNDEF_ENTRY.VALUE=_undef
@@ -3433,7 +3433,7 @@
 DRIVER.CAN.VAR.CAN_1_MESSAGE_14_BOOL_ENA.VALUE=0
 DRIVER.CAN.VAR.CAN_3_MESSAGE_7_INT_LEVEL.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_21_INT_LEVEL.VALUE=0x00000000
-DRIVER.CAN.VAR.CAN_1_MESSAGE_13_INT_LEVEL.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_13_INT_LEVEL.VALUE=0x00002000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_57_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_3_MESSAGE_49_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_1_BASE.VALUE=0xFFF7DC00
@@ -3459,7 +3459,7 @@
 DRIVER.CAN.VAR.CAN_2_MESSAGE_32_ID.VALUE=32
 DRIVER.CAN.VAR.CAN_2_MESSAGE_24_ID.VALUE=24
 DRIVER.CAN.VAR.CAN_2_MESSAGE_16_ID.VALUE=16
-DRIVER.CAN.VAR.CAN_1_MESSAGE_1_INT_LEVEL.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_1_INT_LEVEL.VALUE=0x00000002
 DRIVER.CAN.VAR.CAN_1_MESSAGE_31_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_1_MESSAGE_23_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_1_MESSAGE_15_DLC.VALUE=8
@@ -3588,7 +3588,7 @@
 DRIVER.CAN.VAR.CAN_3_MESSAGE_26_INT_LEVEL.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_18_INT_LEVEL.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_2_ID.VALUE=2
-DRIVER.CAN.VAR.CAN_1_MESSAGE_6_INT_LEVEL.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_6_INT_LEVEL.VALUE=0x00000040
 DRIVER.CAN.VAR.CAN_3_NOMINAL_BIT_TIME.VALUE=9
 DRIVER.CAN.VAR.CAN_2_MESSAGE_20_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_2_MESSAGE_12_DLC.VALUE=8
@@ -3767,7 +3767,7 @@
 DRIVER.CAN.VAR.CAN_2_MESSAGE_54_ID.VALUE=54
 DRIVER.CAN.VAR.CAN_2_MESSAGE_46_ID.VALUE=46
 DRIVER.CAN.VAR.CAN_2_MESSAGE_38_ID.VALUE=38
-DRIVER.CAN.VAR.CAN_1_MESSAGE_11_INT_LEVEL.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_11_INT_LEVEL.VALUE=0x00000800
 DRIVER.CAN.VAR.CAN_2_NOMINAL_BIT_TIME.VALUE=9
 DRIVER.CAN.VAR.CAN_1_MESSAGE_50_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_1_MESSAGE_42_DLC.VALUE=8
@@ -3952,7 +3952,7 @@
 DRIVER.CAN.VAR.CAN_1_MESSAGE_30_RTR.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_22_RTR.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_14_RTR.VALUE=0x00000000
-DRIVER.CAN.VAR.CAN_1_MESSAGE_4_INT_LEVEL.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_4_INT_LEVEL.VALUE=0x00000010
 DRIVER.CAN.VAR.CAN_3_MESSAGE_11_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_1_MESSAGE_3_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_1_SAMPLE_POINT_REFERENCE.VALUE=75
@@ -4114,7 +4114,7 @@
 DRIVER.CAN.VAR.CAN_2_MESSAGE_6_RTR.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_21_ID.VALUE=21
 DRIVER.CAN.VAR.CAN_1_MESSAGE_13_ID.VALUE=0x402
-DRIVER.CAN.VAR.CAN_1_MESSAGE_9_INT_LEVEL.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_9_INT_LEVEL.VALUE=0x00000200
 DRIVER.CAN.VAR.CAN_2_MESSAGE_40_EOB.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_2_MESSAGE_40_DIR.VALUE=0x20000000
 DRIVER.CAN.VAR.CAN_2_MESSAGE_32_EOB.VALUE=0x00000000
@@ -4318,7 +4318,7 @@
 DRIVER.CAN.VAR.CAN_1_MESSAGE_25_RTR.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_22_INT_LEVEL.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_17_RTR.VALUE=0x00000000
-DRIVER.CAN.VAR.CAN_1_MESSAGE_14_INT_LEVEL.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_14_INT_LEVEL.VALUE=0x00004000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_30_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_3_MESSAGE_22_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_3_MESSAGE_14_DLC.VALUE=8
@@ -4358,7 +4358,7 @@
 DRIVER.CAN.VAR.CAN_1_MESSAGE_33_ID.VALUE=33
 DRIVER.CAN.VAR.CAN_1_MESSAGE_25_ID.VALUE=25
 DRIVER.CAN.VAR.CAN_1_MESSAGE_17_ID.VALUE=17
-DRIVER.CAN.VAR.CAN_1_MESSAGE_2_INT_LEVEL.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_2_INT_LEVEL.VALUE=0x00000004
 DRIVER.CAN.VAR.CAN_3_MESSAGE_2_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_2_MESSAGE_50_EOB.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_2_MESSAGE_50_DIR.VALUE=0x20000000
@@ -4511,7 +4511,7 @@
 DRIVER.CAN.VAR.CAN_3_MESSAGE_19_INT_LEVEL.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_11_ID.VALUE=11
 DRIVER.CAN.VAR.CAN_3_MESSAGE_10_RTR.VALUE=0x00000000
-DRIVER.CAN.VAR.CAN_1_MESSAGE_7_INT_LEVEL.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_7_INT_LEVEL.VALUE=0x00000080
 DRIVER.CAN.VAR.CAN_1_MESSAGE_3_ID.VALUE=0x4
 DRIVER.CAN.VAR.CAN_1_MESSAGE_2_RTR.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_64_DLC.VALUE=8
@@ -4760,7 +4760,7 @@
 DRIVER.CAN.VAR.CAN_1_MESSAGE_47_ID.VALUE=47
 DRIVER.CAN.VAR.CAN_1_MESSAGE_39_ID.VALUE=39
 DRIVER.CAN.VAR.CAN_1_MESSAGE_20_INT_LEVEL.VALUE=0x00000000
-DRIVER.CAN.VAR.CAN_1_MESSAGE_12_INT_LEVEL.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_12_INT_LEVEL.VALUE=0x00001000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_5_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_2_MESSAGE_61_EOB.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_2_MESSAGE_61_DIR.VALUE=0x20000000
@@ -4970,7 +4970,7 @@
 DRIVER.CAN.VAR.CAN_3_MESSAGE_17_INT_LEVEL.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_1_RTR.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_58_ID.VALUE=58
-DRIVER.CAN.VAR.CAN_1_MESSAGE_5_INT_LEVEL.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_5_INT_LEVEL.VALUE=0x00000020
 DRIVER.CAN.VAR.CAN_2_MESSAGE_63_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_2_MESSAGE_55_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_2_MESSAGE_47_DLC.VALUE=8
@@ -5177,7 +5177,7 @@
 DRIVER.CAN.VAR.CAN_3_MESSAGE_23_RTR.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_15_RTR.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_4_INT_LEVEL.VALUE=0x00000000
-DRIVER.CAN.VAR.CAN_1_MESSAGE_10_INT_LEVEL.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_10_INT_LEVEL.VALUE=0x00000400
 DRIVER.CAN.VAR.CAN_1_MESSAGE_7_RTR.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_SJW.VALUE=2
 DRIVER.CAN.VAR.CAN_2_MESSAGE_1_DLC.VALUE=8
@@ -5341,7 +5341,7 @@
 DRIVER.CAN.VAR.CAN_3_MESSAGE_15_INT_LEVEL.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_57_RTR.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_49_RTR.VALUE=0x00000000
-DRIVER.CAN.VAR.CAN_1_MESSAGE_3_INT_LEVEL.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_3_INT_LEVEL.VALUE=0x00000008
 DRIVER.CAN.VAR.CAN_3_MESSAGE_62_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_3_MESSAGE_54_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_3_MESSAGE_46_DLC.VALUE=8
@@ -5474,7 +5474,7 @@
 DRIVER.CAN.VAR.CAN_2_MESSAGE_20_ID.VALUE=20
 DRIVER.CAN.VAR.CAN_2_MESSAGE_12_ID.VALUE=12
 DRIVER.CAN.VAR.CAN_2_MESSAGE_7_ID.VALUE=7
-DRIVER.CAN.VAR.CAN_1_MESSAGE_8_INT_LEVEL.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_8_INT_LEVEL.VALUE=0x00000100
 DRIVER.CAN.VAR.CAN_1_MESSAGE_21_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_1_MESSAGE_13_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_2_MESSAGE_59_EOB.VALUE=0x00000000
Index: firmware/HD.hcg
===================================================================
diff -u -r40bcef6aa65af6c93ce937c6c4aa2de13e8a78d3 -r6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1
--- firmware/HD.hcg	(.../HD.hcg)	(revision 40bcef6aa65af6c93ce937c6c4aa2de13e8a78d3)
+++ firmware/HD.hcg	(.../HD.hcg)	(revision 6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1)
@@ -253,7 +253,9 @@
       <HDRSPI>
         <NAME>spi.h</NAME>
       </HDRSPI>
-      <SRCSPI/>
+      <SRCSPI>
+        <NAME>spi.c</NAME>
+      </SRCSPI>
       <HDRCAN_R>
         <NAME>reg_can.h</NAME>
       </HDRCAN_R>
@@ -549,7 +551,7 @@
         <PATH>include\spi.h</PATH>
       </HDRSPI>
       <SRCSPI>
-        <PATH/>
+        <PATH>source\spi.c</PATH>
       </SRCSPI>
     </FILENAMES>
   </SPI>
Index: firmware/include/can.h
===================================================================
diff -u -r31f710004436c030e787c895980457e08577702d -r6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1
--- firmware/include/can.h	(.../can.h)	(revision 31f710004436c030e787c895980457e08577702d)
+++ firmware/include/can.h	(.../can.h)	(revision 6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1)
@@ -641,6 +641,20 @@
 #define CAN1_TEST_CONFIGVALUE       0x00000080U 
 #define CAN1_ABOTR_CONFIGVALUE    ((uint32)(1033350U))
 #define CAN1_INTMUX0_CONFIGVALUE  ((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 \
@@ -657,20 +671,6 @@
                                  | (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)
 
 #define CAN1_INTMUX1_CONFIGVALUE  ((uint32)0x00000000U \
Index: firmware/include/sys_core.h
===================================================================
diff -u -reff7b1575f008f81b29ef906f6346fac6012d3ab -r6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1
--- firmware/include/sys_core.h	(.../sys_core.h)	(revision eff7b1575f008f81b29ef906f6346fac6012d3ab)
+++ firmware/include/sys_core.h	(.../sys_core.h)	(revision 6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1)
@@ -72,7 +72,7 @@
 *
 *	@note: Use this macro for SVC Mode Stack length (in bytes)
 */
-#define SVC_STACK_LENGTH    0x00000100U
+#define SVC_STACK_LENGTH    0x00000400U
 
 /** @def FIQ_STACK_LENGTH
 *   @brief FIQ Mode Stack length (in bytes)
@@ -81,7 +81,7 @@
 *
 *	@note: Use this macro for FIQ Mode Stack length (in bytes)
 */
-#define FIQ_STACK_LENGTH    0x00000100U
+#define FIQ_STACK_LENGTH    0x00001000U
 
 /** @def IRQ_STACK_LENGTH
 *   @brief IRQ Mode Stack length (in bytes)
@@ -90,7 +90,7 @@
 *
 *	@note: Use this macro for IRQ Mode Stack length (in bytes)
 */
-#define IRQ_STACK_LENGTH    0x00000100U
+#define IRQ_STACK_LENGTH    0x00001000U
 
 /** @def ABORT_STACK_LENGTH
 *   @brief ABORT Mode Stack length (in bytes)
@@ -99,7 +99,7 @@
 *
 *	@note: Use this macro for ABORT Mode Stack length (in bytes)
 */
-#define ABORT_STACK_LENGTH  0x00000100U
+#define ABORT_STACK_LENGTH  0x00000200U
 
 /** @def UNDEF_STACK_LENGTH
 *   @brief UNDEF Mode Stack length (in bytes)
@@ -108,7 +108,7 @@
 *
 *	@note: Use this macro for UNDEF Mode Stack length (in bytes)
 */
-#define UNDEF_STACK_LENGTH  0x00000100U
+#define UNDEF_STACK_LENGTH  0x00000200U
 
 /* System Core Interface Functions */
 
Index: firmware/include/sys_vim.h
===================================================================
diff -u -rcb5c7321fae3036d7a3641ae49097b4b361270f5 -r6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1
--- firmware/include/sys_vim.h	(.../sys_vim.h)	(revision cb5c7321fae3036d7a3641ae49097b4b361270f5)
+++ firmware/include/sys_vim.h	(.../sys_vim.h)	(revision 6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1)
@@ -96,6 +96,7 @@
 extern void linHighLevelInterrupt(void);
 extern void adc1Group1Interrupt(void);
 extern void can1HighLevelInterrupt(void);
+extern void can1LowLevelInterrupt(void);
 extern void dmaBTCAInterrupt(void);
 extern void sciHighLevelInterrupt(void);
 
@@ -291,7 +292,7 @@
                                     | (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: firmware/source/can.c
===================================================================
diff -u -r31f710004436c030e787c895980457e08577702d -r6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1
--- firmware/source/can.c	(.../can.c)	(revision 31f710004436c030e787c895980457e08577702d)
+++ firmware/source/can.c	(.../can.c)	(revision 6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1)
@@ -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
@@ -1639,8 +1639,49 @@
 
 }
 
+/* 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 */
+
+}
+
+
+
+
+
Index: firmware/source/sys_core.asm
===================================================================
diff -u -reff7b1575f008f81b29ef906f6346fac6012d3ab -r6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1
--- firmware/source/sys_core.asm	(.../sys_core.asm)	(revision eff7b1575f008f81b29ef906f6346fac6012d3ab)
+++ firmware/source/sys_core.asm	(.../sys_core.asm)	(revision 6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1)
@@ -161,11 +161,11 @@
         bx    lr
 
 userSp  .word 0x08000000+0x00001000
-svcSp   .word 0x08000000+0x00001000+0x00000100
-fiqSp   .word 0x08000000+0x00001000+0x00000100+0x00000100
-irqSp   .word 0x08000000+0x00001000+0x00000100+0x00000100+0x00000100
-abortSp .word 0x08000000+0x00001000+0x00000100+0x00000100+0x00000100+0x00000100
-undefSp .word 0x08000000+0x00001000+0x00000100+0x00000100+0x00000100+0x00000100+0x00000100
+svcSp   .word 0x08000000+0x00001000+0x00000400
+fiqSp   .word 0x08000000+0x00001000+0x00000400+0x00001000
+irqSp   .word 0x08000000+0x00001000+0x00000400+0x00001000+0x00001000
+abortSp .word 0x08000000+0x00001000+0x00000400+0x00001000+0x00001000+0x00000200
+undefSp .word 0x08000000+0x00001000+0x00000400+0x00001000+0x00001000+0x00000200+0x00000200
 
     .endasmfunc
 
Index: firmware/source/sys_link.cmd
===================================================================
diff -u -reff7b1575f008f81b29ef906f6346fac6012d3ab -r6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1
--- firmware/source/sys_link.cmd	(.../sys_link.cmd)	(revision eff7b1575f008f81b29ef906f6346fac6012d3ab)
+++ firmware/source/sys_link.cmd	(.../sys_link.cmd)	(revision 6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1)
@@ -56,8 +56,8 @@
 {
     VECTORS (X)  : origin=0x00000000 length=0x00000020
     FLASH0  (RX) : origin=0x00000020 length=0x0013FFE0
-    STACKS  (RW) : origin=0x08000000 length=0x00001500
-    RAM     (RW) : origin=0x08001500 length=0x0002eb00
+    STACKS  (RW) : origin=0x08000000 length=0x00003800
+    RAM     (RW) : origin=0x08003800 length=0x0002c800
 
 /* USER CODE BEGIN (2) */
 /* USER CODE END */
Index: firmware/source/sys_main.c
===================================================================
diff -u -r2bb447181c2519690441d81f83563d17e0882ef2 -r6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1
--- firmware/source/sys_main.c	(.../sys_main.c)	(revision 2bb447181c2519690441d81f83563d17e0882ef2)
+++ firmware/source/sys_main.c	(.../sys_main.c)	(revision 6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1)
@@ -133,6 +133,7 @@
     mibspiInit();   // re-purposing MIBSPI5 I/O/C pins as GPIO
     etpwmInit();    // configure PWMs
     canInit();      // CAN1 = CAN, re-purposing CAN2 and CAN3 Rx and Tx pins as GPIO
+        //canEnableloopback( canREG1, External_Lbk );  // TODO - debug code
     sciInit();      // SCI1 used for PC serial interface, SCI2 used for FPGA serial interface
     dmaEnable();    // enable DMA
 }
Index: firmware/source/sys_vim.c
===================================================================
diff -u -rcb5c7321fae3036d7a3641ae49097b4b361270f5 -r6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1
--- firmware/source/sys_vim.c	(.../sys_vim.c)	(revision cb5c7321fae3036d7a3641ae49097b4b361270f5)
+++ firmware/source/sys_vim.c	(.../sys_vim.c)	(revision 6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1)
@@ -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 */
@@ -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);