int CANTiva_read(CAN_Handle handle,uint8_t *readdata)
{
    unsigned int        key;
    CANTiva_Object    *object = handle->object;
    CANTiva_HWAttrs const    *hwAttrs = handle->hwAttrs;


	 tCANMsgObject sCANMessage;
	 uint32_t ui32MsgData;
	 uint8_t *pui8MsgData;
	 pui8MsgData = (uint8_t *)&ui32MsgData;
	 unsigned int uIdx,i;


	 object->readBuf = readdata;
	 *((unsigned char *)object->readBuf) = 0xaa;
//	 *readdata = 0xaa;
     //
     // Initialize a message object to be used for receiving CAN messages with
     // any CAN ID.  In order to receive any CAN ID, the ID and mask must both
     // be set to 0, and the ID filter enabled.
     //
	 ui32MsgData = 0;
     sCANMessage.ui32MsgID = 0;
     sCANMessage.ui32MsgIDMask = 0;
     sCANMessage.ui32Flags = MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER;
     sCANMessage.ui32MsgLen = 8;


     // Now load the message object into the CAN peripheral.  Once loaded the
     // CAN will receive any message on the bus, and an interrupt will occur.
     // Use message object 1 for receiving messages (this is not the same as
     // the CAN ID which can be any value in this example).
     //
     CANMessageSet(hwAttrs->baseAddr, 1, &sCANMessage, MSG_OBJ_TYPE_RX);
 
    return (0);
}



static void CANTiva_hwiIntFxn(UArg arg)
{

    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);            //TO CHECK TIME PERIOD OF WAVEFORM

    // Enable the GPIO pins for the LEDs (PN0 & PN1).
    GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_0 | GPIO_PIN_4);

    uint32_t                   status,i;
    CANTiva_Object           *object = ((CAN_Handle)arg)->object;
    CANTiva_HWAttrs const    *hwAttrs = ((CAN_Handle)arg)->hwAttrs;

    uint32_t ui32Status;
   

    // Read the CAN interrupt status to find the cause of the interrupt
    ui32Status = CANIntStatus(hwAttrs->baseAddr, CAN_INT_STS_CAUSE);


   *((unsigned char *)object->readBuf) = 0xbb;
    GPIO_write(0, ~0);

  

  // If the cause is a controller status interrupt, then get the status
     if(ui32Status == CAN_INT_INTID_STATUS)
    {

    	 GPIO_write(1, 1);
        // Read the controller status.  This will return a field of status
        // error bits that can indicate various errors.  Error processing
        // is not done in this example for simplicity.  Refer to the
        // API documentation for details about the error status bits.
        // The act of reading this status will clear the interrupt.  If the
        // CAN peripheral is not connected to a CAN bus with other CAN devices
        // present, then errors will occur and will be indicated in the
        // controller status.
         ui32Status = CANStatusGet(hwAttrs->baseAddr, CAN_STS_CONTROL);

         *((unsigned char *)object->readBuf) = 0x11;

         // Set a flag to indicate some errors may have occurred.
         object->g_bErrFlag = 1;
    }



     // Check if the cause is message object 1, which what we are using for
    // receiving messages.

     else if(ui32Status == 1)
    {

        // Getting to this point means that the TX interrupt occurred on
        // message object 1, and the message TX is complete.  Clear the
        // message object interrupt.
        CANIntClear(hwAttrs->baseAddr, 1);
        //
        // Set flag to indicate received message is pending.
        //
        object->g_bRXFlag = 1;
        *((unsigned char *)object->readBuf) = 0xcc;



        CANread(object , hwAttrs);



        
        object->g_bErrFlag = 0;
    }

     else if(ui32Status == 2)
     {
    	 GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_0, 1);

    	 CANIntClear(hwAttrs->baseAddr, 2);
    	 // Increment a counter to keep track of how many messages have been
    	        // sent.  In a real application this could be used to set flags to
    	        // indicate when a message is sent.
    	       // g_ui32MsgCount++;
     }

    // Otherwise, something unexpected caused the interrupt.  This should
    // never happen.
     else
    {
          // Spurious interrupt handling can go here.
    }

     GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_4, 16);
}







FSR = 0x0000
HFSR = 0x40000000
DFSR = 0x0000000b
MMAR = 0xe000ed34
BFAR = 0xe000ed38
AFSR = 0x00000000