int main(void)
{
    _disable_interrupts();

    SysCtlClockSet(SYSCTL_SYSDIV_2_5 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);

    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
    while(!SysCtlPeripheralReady(SYSCTL_PERIPH_GPIOF));
    HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY; //Unlock GPIO_CR register with this magic value
    HWREG(GPIO_PORTF_BASE + GPIO_O_CR) = 0xFF;

    GPIOPinConfigure(GPIO_PF0_CAN0RX);
    GPIOPinConfigure(GPIO_PF3_CAN0TX);
    GPIOPinTypeCAN(GPIO_PORTF_BASE, GPIO_PIN_0 | GPIO_PIN_3);

    SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
    while(!SysCtlPeripheralReady(SYSCTL_PERIPH_CAN0));
    CANInit(CAN0_BASE);
    CANBitRateSet(CAN0_BASE, SysCtlClockGet(), 500000);
    CANEnable(CAN0_BASE);
    CANRetrySet(CAN0_BASE, false);

    tCANMsgObject sCANMessage;
    uint8_t can_msg_contents[8];
    can_msg_contents[0] = 0U;

    sCANMessage.ui32MsgIDMask = 0xF; // Do we need this for TX objects?? We'll find out :)
    sCANMessage.ui32Flags = MSG_OBJ_TX_INT_ENABLE;
    sCANMessage.ui32MsgLen = 1;
    sCANMessage.pui8MsgData = can_msg_contents;
    sCANMessage.ui32MsgID = 0x60000003;

    CANMessageSet(CAN0_BASE, 2, &sCANMessage, MSG_OBJ_TYPE_TX);
    // while ((CANStatusGet(CAN0_BASE, CAN_STS_CONTROL)&CAN_STS_TXOK)==0);
    uint32_t stat = HWREG(CAN0_BASE + CAN_O_STS);
    while(stat & CAN_STS_TXOK == 0)
    {
        stat = HWREG(CAN0_BASE + CAN_O_STS);
    }
    HWREG(CAN0_BASE + CAN_O_STS) = ~(CAN_STS_RXOK | CAN_STS_TXOK |
                                            CAN_STS_LEC_M);

    while(1)
    {
        ++can_msg_contents[0];
        CANMessageSet(CAN0_BASE, 2, &sCANMessage, MSG_OBJ_TYPE_TX);
        // while ((CANStatusGet(CAN0_BASE, CAN_STS_CONTROL)&CAN_STS_TXOK)==0);
        stat = HWREG(CAN0_BASE + CAN_O_STS);
        while(stat & CAN_STS_TXOK == 0)
        {
            stat = HWREG(CAN0_BASE + CAN_O_STS);
        }
        HWREG(CAN0_BASE + CAN_O_STS) = ~(CAN_STS_RXOK | CAN_STS_TXOK |
                                            CAN_STS_LEC_M);
    }
}