static void can0_init(void)
{
    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(), 1000000);

    CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
    IntEnable(INT_CAN0);

    CANEnable(CAN0_BASE);

    tCANMsgObject sMsgObjectRx_uart5;
    sMsgObjectRx_uart5.ui32MsgID = 0xC0000002;
    sMsgObjectRx_uart5.ui32MsgIDMask = 0xFFFF;
    sMsgObjectRx_uart5.ui32Flags = MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER;
    sMsgObjectRx_uart5.ui32MsgLen = 1;
    CANMessageSet(CAN0_BASE, 4, &sMsgObjectRx_uart5, MSG_OBJ_TYPE_RX);

    tCANMsgObject sMsgObjectRx_uart6;
    sMsgObjectRx_uart6.ui32MsgID = 0xC0000004;
    sMsgObjectRx_uart6.ui32MsgIDMask = 0xFFFF;
    sMsgObjectRx_uart6.ui32Flags = MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER;
    sMsgObjectRx_uart6.ui32MsgLen = 1;
    CANMessageSet(CAN0_BASE, 5, &sMsgObjectRx_uart6, MSG_OBJ_TYPE_RX);

    tCANMsgObject sMsgObjectRx_uart7;
    sMsgObjectRx_uart7.ui32MsgID = 0xC0000006;
    sMsgObjectRx_uart7.ui32MsgIDMask = 0xFFFF;
    sMsgObjectRx_uart7.ui32Flags = MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER;
    sMsgObjectRx_uart7.ui32MsgLen = 1;
    CANMessageSet(CAN0_BASE, 6, &sMsgObjectRx_uart7, MSG_OBJ_TYPE_RX);

    CANRetrySet(CAN0_BASE, true);
}