void main(void)
{
    Uint16  j;

   struct ECAN_REGS ECanaShadow;

   InitSysCtrl();

   InitECanGpio();

   DINT;

   InitPieCtrl();

   IER = 0x0000;
   IFR = 0x0000;

   InitPieVectTable();

    MessageReceivedCount = 0;
    ErrorCount = 0;
    PassCount = 0;

    InitECana();                                  // Initialize eCAN-A module

   
    // Write to the MSGID field of RECEIVE mailboxe MBOX16


    ECanaMboxes.MBOX16.MSGID.all = 0x9555AAA0;
   

    // Configure Mailboxes 0 as Tx, 16 as Rx
    // Since this write is to the entire register (instead of a bit
    // field) a shadow register is not required.
    ECanaRegs.CANMD.all = 0xFFFF0000;

    // Enable all Mailboxes */
    // Since this write is to the entire register (instead of a bit
    // field) a shadow register is not required.
    ECanaRegs.CANME.all = 0xFFFFFFFF;

    // Specify that 8 bits will be sent/received
    ECanaMboxes.MBOX0.MSGCTRL.bit.DLC = 8;
  
    // Since this write is to the entire register (instead of a bit
    // field) a shadow register is not required.
    EALLOW;
    ECanaRegs.CANMIM.all = 0xFFFFFFFF;

    // Configure the eCAN for self test mode
    // Enable the enhanced features of the eCAN.
    EALLOW;
    ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
    ECanaShadow.CANMC.bit.STM = 0;    // Configure CAN for self-test mode
    ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
    EDIS;

    // Begin receiving
    for(;;)
    {
       //Read from Receive mailboxes and begin checking for data */
       for(j=16; j<17; j++)         // Read & check 16 mailboxes
       {
          mailbox_read(j);         // This func reads the indicated mailbox data
          mailbox_check(TestMbox1,TestMbox2,TestMbox3); // Checks the received data
       }

       Delay_us(900000)  ;

  }
}
// This function reads out the contents of the indicated
// by the Mailbox number (MBXnbr).
void mailbox_read(int16 MBXnbr)
{
   volatile struct MBOX *Mailbox;
   Mailbox = &ECanaMboxes.MBOX0 + MBXnbr;
   TestMbox1 = Mailbox->MDL.all; // = 0x9555AAAn (n is the MBX number)
   TestMbox2 = Mailbox->MDH.all; // = 0x89ABCDEF (a constant)
   TestMbox3 = Mailbox->MSGID.all;// = 0x9555AAAn (n is the MBX number)
} // MSGID of a rcv MBX is transmitted as the MDL data.

void mailbox_check(int32 T1, int32 T2, int32 T3)
{
    if((T1 != T3) || ( T2 != 0x89ABCDEF))
    {
       ErrorCount++;
    }
    else
    {
       PassCount++;
    }
}