void CANIntHandler(void)
{
    uint32_t ui32Status;
    tCANMsgObject sMsgObjectRx;
    uint8_t msg_data[8];
    sMsgObjectRx.pui8MsgData = msg_data;

    //
    // Read the CAN interrupt status to find the cause of the interrupt
    //
    ui32Status = CANIntStatus(CAN0_BASE, CAN_INT_STS_CAUSE);

    //
    // If the cause is a controller status interrupt, then get the status
    //
    if(ui32Status == CAN_INT_INTID_STATUS)
    {
        ui32Status = CANStatusGet(CAN0_BASE, CAN_STS_CONTROL);
        if(ui32Status & CAN_STATUS_TXOK)
        {
            ++can_tx_ok_counter;
        }
        else if(ui32Status == CAN_STATUS_RXOK)
        {
            ++can_rx_ok_counter;
        }
        else
        {
            can_err_flag = 1U;
            ++can_err_counter;
        }
    }
    else
    { // Service interrupts due to the various configured CAN message objects...
        switch(ui32Status)
        {
            case 1:
                CANMessageGet(CAN0_BASE, 1, &sMsgObjectRx, 1); // Clear TX interrupt
                serialport_highlevel_tx_isr(uart5_can_port_ptr); // Service the rest of the buffer on this comm channel
                break;
            case 2:
                CANMessageGet(CAN0_BASE, 2, &sMsgObjectRx, 1);

				// CANMessageSet() is called from here to service circular buffer
				// Debug note: Printing out the "sent" characters from this routine shows
				// conclusively that the bytes are actually "sent" as in CANMessageSet() is in fact
				// called for each of the desired bytes. However, it appears that some bytes don't actually end up on
				// the bus...
                serialport_highlevel_tx_isr(uart6_can_port_ptr);

				SysCtlDelay(5000); // WTF?? Without this, we miss bytes on CAN bus...
                break;
            case 3:
                CANMessageGet(CAN0_BASE, 3, &sMsgObjectRx, 1);
                serialport_highlevel_tx_isr(uart7_can_port_ptr);
                break;
            case 4:
                serialport_highlevel_rx_isr(uart5_can_port_ptr);
                break;
            case 5:
                serialport_highlevel_rx_isr(uart6_can_port_ptr);
                break;
            case 6:
                serialport_highlevel_rx_isr(uart7_can_port_ptr);
                break;
            default:
                can_err_flag = 2U;
                ++can_err_counter;
                CANMessageGet(CAN0_BASE, ui32Status, &sMsgObjectRx, 1);
                break;
        }
    }
}