SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0); 
	(there’s delay in here)
    GPIOPinTypeCAN  (GPIO_PORTB_BASE, PB_Can2Rx_BIT | PB_Can2Tx_BIT );
    GPIOPinConfigure(GPIO_PB4_CAN0RX);
    GPIOPinConfigure(GPIO_PB5_CAN0TX);

    CANInit(CAN0_BASE);
    CANBitRateSet(CAN0_BASE, GetClkSpeed(), 500000);
    CANIntRegister(CAN0_BASE, Can0_Isr);
    CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
    IntEnable(INT_CAN0);
    CANEnable(CAN0_BASE);

    Can0MsgObj17.ui32MsgID     = 0x100;
    Can0MsgObj17.ui32MsgIDMask = 0x0;
    Can0MsgObj17.ui32Flags     = MSG_OBJ_TX_INT_ENABLE;
    Can0MsgObj17.ui32MsgLen    = 8;
    Can0MsgObj17.pui8MsgData   = Can0Data17;
    CANMessageSet(CAN0_BASE, MsgObj17, &Can0MsgObj17, MSG_OBJ_TYPE_TX);