void InitCAN_0(uint8_t bootloadMessageID) {              /* General init. No MB IDs initialized */
    uint8_t i;

    CAN_0.MCR.B.MDIS = 1;       /* Disable module before selecting clock source*/
    //0-FXOSR 1-BUS CLOCK
//    CAN_0.CTRL1.B.CLKSRC=0;     /* Clock Source = oscillator clock (40 MHz) */

    CAN_0.MCR.B.FRZ = 1;

    CAN_0.MCR.B.MDIS = 0;       /* Enable module for config. (Sets FRZ, HALT)*/

    while (!CAN_0.MCR.B.FRZACK) {} /* Wait for freeze acknowledge to set */

    //CAN_0.CTRL1.R = 0x04DB0086;  /* CAN bus: 40 MHz clksrc, 500K bps with 16 tq */
                              /* PRESDIV+1 = Fclksrc/Ftq = 40 MHz/8MHz = 5 */
                              /*    so PRESDIV = 4 */
                              /* PSEG2 = Phase_Seg2 - 1 = 4 - 1 = 3 */
                              /* PSEG1 = PSEG2 = 3 */
                              /* PROPSEG= Prop_Seg - 1 = 7 - 1 = 6 */
                              /* RJW = Resync Jump Width - 1 = 4 = 1 */
                              /* SMP = 1: use 3 bits per CAN sample */
                              /* CLKSRC=0 (unchanged): Fcanclk= Fxtal= 40 MHz*/

    for (i=0; i<64; i++) {
    CAN_0.MB[i].CS.B.CODE = 0;   /* Inactivate all message buffers */
    }
    CAN_0.MB[1].CS.B.CODE = 8;     /* Message Buffer 0 set to TX INACTIVE */

    CAN_0.MB[0].CS.B.IDE = 0;      /* MB 4 will look for a standard ID */
    CAN_0.MB[0].ID.B.ID_STD = bootloadMessageID; /* MB 4 will look for ID */
    CAN_0.MB[0].CS.B.CODE = 4;     /* MB 4 set to RX EMPTY */
    CAN_0.RXMGMASK.R = 0x1FFFFFFF; /* Global acceptance mask */

    CAN_0.CTRL1.B.CLKSRC=0;     /* Clock Source = oscillator clock (40 MHz) */

    // Set for baud rate to 1000 1Mbit
    //Prescaler Division Factor: 5
    CAN_0.CTRL1.B.PRESDIV = 4;
    //Re-synchronization Jump Width: 1
    CAN_0.CTRL1.B.RJW = 0;
    //Phase Segment1: 3
    CAN_0.CTRL1.B.PSEG1 = 2;
    //Phase Segment2: 2
    CAN_0.CTRL1.B.PSEG2 = 1;
    //Propagation Segment: 2
    CAN_0.CTRL1.B.PROPSEG = 1;
    //Use 3 bits per CAN sample
    CAN_0.CTRL1.B.SMP=1;

    /* Configure the CAN0_TX pin to transmit. */
    SIUL2.MSCR[16].B.SSS = 1;    /* Pad PB0: Source signal is CAN0_TX  */
    SIUL2.MSCR[16].B.OBE = 1;    /* Pad PB0: Output Buffer Enable */
    SIUL2.MSCR[16].B.SRC = 3;    /* Pad PB0: Maximum slew rate */

    /* Configure the CAN0_RX pin. */
    SIUL2.MSCR[17].B.IBE = 1;    /* Pad PB1: Enable pad for input - CAN0_RX */
    SIUL2.IMCR[32].B.SSS = 2;   /* CAN0_RX: connected to pad PB1 */

    CAN_0.MCR.R = 0x0000003F;       /* Negate FlexCAN 0 halt state for 64 MB */

    while (CAN_0.MCR.B.FRZACK & CAN_0.MCR.B.NOTRDY) {} /* Wait to clear */
                 /* Good practice: wait for FRZACK on freeze mode entry/exit */
}