OLD Code without canupdateid function
Can_ReturnType Can_Write (uint8 Hth, Can_PduType *PduInfo )
{
#if CAN_TX_MO_DATAOVERWRITE == STD_OFF
    uint32      msgObjNr   = 0;
#endif

    uint8  PduData[8];
    uint32 PduDataA;
    uint32 PduDataB;
    uint8_least txIndex;

    /* Module Base Address Initialization */
    CAN_RegMapType *canCore;
    /* Message Details structure */
    const Can_HardwareHandleType * msgDetails;
    Can_ReturnType Status = CAN_BUSY;

    /* Target address PduData          */
    /* Source address &PduInfo->sdu[0] */
    /* Length 8                        */
    (void)memcpy( PduData, &PduInfo->sdu[0], 8);
    PduDataA = *((uint32*)&PduData[0]);
    PduDataB = *((uint32*)&PduData[4]);

    /* Start of Hardware independent code part */

    CAN_DET_REPORT_ERROR_NOTOK(Can_DriverState != CAN_READY,CAN_INSTANCE_ID,CAN_APIID_WRITE,
                               CAN_E_UNINIT);
    /* Check for Max Controllers */
    CAN_DET_REPORT_ERROR_NOTOK(Hth>=CAN_MAX_HANDLES,CAN_INSTANCE_ID,CAN_APIID_WRITE,
                               CAN_E_PARAM_HANDLE);

    CAN_DET_REPORT_ERROR_NOTOK((PduInfo->length)>8,CAN_INSTANCE_ID,CAN_APIID_WRITE,
                                CAN_E_PARAM_DLC);

    CAN_DET_REPORT_ERROR_NOTOK(PduInfo==NULL_PTR,CAN_INSTANCE_ID,CAN_APIID_WRITE,
                               CAN_E_PARAM_POINTER);

    CAN_DET_REPORT_ERROR_NOTOK(PduInfo->sdu ==NULL_PTR,CAN_INSTANCE_ID,CAN_APIID_WRITE,
                               CAN_E_PARAM_POINTER);

    /* End of hardware independent code part */
    /* Address of Msg structure */
    msgDetails = (&Can_HrdHndlTable[Hth]);

    canCore = (Can_DriverConfig[msgDetails->Node].BaseAddress);

    /* Start of hardware dependent code part. This code part is executed only if conditions in the
    hardware independent part are satisfied */

#if CAN_TX_MO_DATAOVERWRITE == STD_OFF
    msgObjNr  = msgDetails->Buffer;
    /* Check whether the MsgObj is tranmsitted on the bus */
    if (      ((msgObjNr <= 32) && (!IS_REGISTER_BIT_SET(canCore->MsgObj.TxRq1,(1<<msgObjNr- 1))))
          ||  ((msgObjNr >  32) && (!IS_REGISTER_BIT_SET(canCore->MsgObj.TxRq3,(1<<msgObjNr-33))))
       )
#endif
    {
        //FUN_SYSSuspendIRQs_V();

        /* Check the busy bit in cmd register */
        Can_FindIfxCmdBusy(&canCore->Transmit.If1Cmd);

        /* calculate the txIndex */
        txIndex = (msgDetails->Handle);

        /* Copy Txpduid to Global Variable */
        Can_TxPduId[txIndex] = PduInfo->swPduHandle;
        /* Check if ID is extended Identifier */ //
        if(msgDetails->Idtype == CAN_STD)
        {
            // Build complete arbitration register value at once
            canCore->Transmit.If1Arb = ((uint32)PduInfo->id << CAN_STD_ID_ALIGNMENT) |
                                    CAN_IF1ARB_DIR |      // TX direction
                                    CAN_IF1ARB_MSGVAL;    // Message valid
            
            canCore->Transmit.If1Mask = msgDetails->AcceptanceMask << CAN_STD_ID_ALIGNMENT;
        }
        else
        {
            // Extended ID: Build complete arbitration register value at once
            canCore->Transmit.If1Arb = CAN_IF1ARB_XTD |      // Extended ID
                                    (PduInfo->id) |       // CAN ID
                                    CAN_IF1ARB_DIR |      // TX direction
                                    CAN_IF1ARB_MSGVAL;    // Message valid
            
            canCore->Transmit.If1Mask = msgDetails->AcceptanceMask;
        }
                /* Check if ID is extended Identifier */
       /* if (msgDetails->Idtype == CAN_STD)
        {
            canCore->Transmit.If1Arb = (uint32)PduInfo->id << CAN_STD_ID_ALIGNMENT;
            canCore->Transmit.If1Mask = msgDetails->AcceptanceMask << CAN_STD_ID_ALIGNMENT;
        }
        else
        {
            // Write the acceptance mask to register 
            canCore->Transmit.If1Arb = CAN_IF1ARB_XTD | (PduInfo->id);
            canCore->Transmit.If1Mask = msgDetails->AcceptanceMask;
        }

        SET_REGISTER_BIT(canCore->Transmit.If1Arb, (
                                                       CAN_IF1ARB_DIR |
                                                       //Set message valid bit
                                                       CAN_IF1ARB_MSGVAL));*/

        /* Copy  DLC to the Buffer */
        canCore->Transmit.If1MsgCtrl = PduInfo->length;

        /* Check if ID is configired for Interrupts */
        if(msgDetails->Interrupt==(boolean)TRUE)
        {
            /* Write the acceptance mask to register */
            SET_REGISTER_BIT(canCore->Transmit.If1MsgCtrl ,CAN_IF1MSGCNT_TXIE);
        }

        /* Set respective bits in Msg Ctrl Register */
        SET_REGISTER_BIT(canCore->Transmit.If1MsgCtrl, (
                                                        CAN_IF1MSGCNT_NEWDAT |
            #if (CAN_TRIGGER_TRANSMIT != STD_ON)
                                                            CAN_IF1MSGCNT_TXRQST |
            #endif
                                                        CAN_IF1MSGCNT_EOB
                                                       ));
        #if (CAN_TRIGGER_TRANSMIT == STD_ON)
        /* Toyota: Store the TX information inorder of the calls mades to this function */
        /* the Can_MsgTXStatus array holds the Hth information. this will be used in the 1ms */

        /* Update the Global variable as configured */
        Can_MsgTXStatus[Can_NumOfFrmScheduled] = Hth;

        /*Increment the count */
        Can_NumOfFrmScheduled++;

        /* if the frames are not transmitted due to error conditions */
        /* then the number of frame scheduled will not decrese. this */
        /* check is introduced inorder to avoid overflow (exceeding the range) */
        /* and accessing undesired location in the can_mainfunction_triggertransmit */
        if(Can_NumOfFrmScheduled > CAN_NUM_TX_HANDLES)
        {
            Can_NumOfFrmScheduled = 0;
        }
        #endif
        /* Get the address of Data pointer 0 */
        /* MISRA RULE 45 VIOLATION: The cast must take place here. */
        canCore->Transmit.If1DataA = SWAP_HOST_TO_DCAN(PduDataA);
        canCore->Transmit.If1DataB = SWAP_HOST_TO_DCAN(PduDataB);

        canCore->Transmit.If1Cmd =    CAN_IF1CMDMASK_DATAB |
                                      CAN_IF1CMDMASK_DATAA |
                                      CAN_IF1CMDMASK_CTRL  |
                                      CAN_IF1CMDMASK_ARB   |
                                      CAN_IF1CMDMASK_MASK  |
                                      CAN_IF1CMDMASK_RDWR  |
        /* Write the Message number */
                                      msgDetails->Buffer;

 Can_FindIfxCmdBusy(&canCore->Transmit.If1Cmd); //
 
        /* Update the Global variable as configured */
        Can_MsgStatus[txIndex] = CAN_TX_CONFIGURED;
   
        /* Update the Status Variable */
        Status = CAN_OK;

        /* Return the status of the function */
        //FUN_SYSResumeIRQs_V();
    }
    return Status;
}


NEW Code with canupdateid function

Can_ReturnType Can_Write (uint8 Hth, Can_PduType *PduInfo )
{
#if CAN_TX_MO_DATAOVERWRITE == STD_OFF
    uint32      msgObjNr   = 0;
#endif

    uint8  PduData[8];
    uint32 PduDataA;
    uint32 PduDataB;
    uint8_least txIndex;

    /* Module Base Address Initialization */
    CAN_RegMapType *canCore;
    /* Message Details structure */
    const Can_HardwareHandleType * msgDetails;
    Can_ReturnType Status = CAN_BUSY;

    /* Target address PduData          */
    /* Source address &PduInfo->sdu[0] */
    /* Length 8                        */
    (void)memcpy( PduData, &PduInfo->sdu[0], 8);
    PduDataA = *((uint32*)&PduData[0]);
    PduDataB = *((uint32*)&PduData[4]);

    /* Start of Hardware independent code part */

    CAN_DET_REPORT_ERROR_NOTOK(Can_DriverState != CAN_READY,CAN_INSTANCE_ID,CAN_APIID_WRITE,
                               CAN_E_UNINIT);
    /* Check for Max Controllers */
    CAN_DET_REPORT_ERROR_NOTOK(Hth>=CAN_MAX_HANDLES,CAN_INSTANCE_ID,CAN_APIID_WRITE,
                               CAN_E_PARAM_HANDLE);

    CAN_DET_REPORT_ERROR_NOTOK((PduInfo->length)>8,CAN_INSTANCE_ID,CAN_APIID_WRITE,
                                CAN_E_PARAM_DLC);

    CAN_DET_REPORT_ERROR_NOTOK(PduInfo==NULL_PTR,CAN_INSTANCE_ID,CAN_APIID_WRITE,
                               CAN_E_PARAM_POINTER);

    CAN_DET_REPORT_ERROR_NOTOK(PduInfo->sdu ==NULL_PTR,CAN_INSTANCE_ID,CAN_APIID_WRITE,
                               CAN_E_PARAM_POINTER);

    /* End of hardware independent code part */
    /* Address of Msg structure */
    msgDetails = (&Can_HrdHndlTable[Hth]);

    canCore = (Can_DriverConfig[msgDetails->Node].BaseAddress);

    /* Start of hardware dependent code part. This code part is executed only if conditions in the
    hardware independent part are satisfied */
//
//#if CAN_TX_MO_DATAOVERWRITE == STD_OFF
//    msgObjNr  = msgDetails->Buffer;
//    /* Check whether the MsgObj is tranmsitted on the bus */
//    if (      ((msgObjNr <= 32) && (!IS_REGISTER_BIT_SET(canCore->MsgObj.TxRq1,(1<<msgObjNr- 1))))
//          ||  ((msgObjNr >  32) && (!IS_REGISTER_BIT_SET(canCore->MsgObj.TxRq3,(1<<msgObjNr-33))))
//       )
//#endif
    
        //FUN_SYSSuspendIRQs_V();

        /* Check the busy bit in cmd register */
        Can_FindIfxCmdBusy(&canCore->Transmit.If1Cmd);

        /* calculate the txIndex */
        txIndex = (msgDetails->Handle);

        /* Copy Txpduid to Global Variable */
        Can_TxPduId[txIndex] = PduInfo->swPduHandle;

        /* ============================================================ */ //
            /* DYNAMIC CAN ID UPDATE - Single Mailbox Multiple Messages    */
            /* ============================================================ */
            {
                uint32 newArbValue;
                uint32 mailboxNum = msgDetails->Buffer;

                /* Build complete arbitration register value */
                if(msgDetails->Idtype == CAN_STD)
                {
                    /* Standard 11-bit ID */
                    newArbValue = ((uint32)PduInfo->id << 18U) |  /* ID in bits 28-18 */
                                  (0x1U << 29U) |                  /* MSGVAL - message valid */
                                  (0x1U << 13U);                   /* DIR - transmit direction */
                }
                else  /* CAN_XTD */
                {
                    /* Extended 29-bit ID */
                    newArbValue = (PduInfo->id & 0x1FFFFFFFU) |    /* ID in bits 28-0 */
                                  (0x1U << 29U) |                   /* MSGVAL - message valid */
                                  (0x1U << 30U) |                   /* XTD - extended ID flag */
                                  (0x1U << 13U);                    /* DIR - transmit direction */
                }
 canUpdateID((canBASE_t*)canCore, mailboxNum, newArbValue);
//                /* Wait for interface to be ready */
//                Can_FindIfxCmdBusy(&canCore->Transmit.If1Cmd);
//
//                /* Write the new arbitration value */
//                canCore->Transmit.If1Arb = newArbValue;
//
//                /* Write the acceptance mask */
//                if(msgDetails->Idtype == CAN_STD)
//                {
//                    canCore->Transmit.If1Mask = msgDetails->AcceptanceMask << CAN_STD_ID_ALIGNMENT;
//                }
//                else
//                {
//                    canCore->Transmit.If1Mask = msgDetails->AcceptanceMask;
//                }
//
//                /* Set mask bits */
//                SET_REGISTER_BIT(canCore->Transmit.If1Mask, (CAN_IF1MASK_MDIR | CAN_IF1MASK_MXTD));
//
//                /* Write arbitration and mask to message object */
//                canCore->Transmit.If1Cmd = CAN_IF1CMDMASK_ARB |
//                                           CAN_IF1CMDMASK_MASK |
//                                           CAN_IF1CMDMASK_RDWR |
//                                           mailboxNum;
//
//                /* Wait for command to complete */
//                Can_FindIfxCmdBusy(&canCore->Transmit.If1Cmd);
            }
            /* ============================================================ */
            /* END DYNAMIC ID UPDATE                                        */
            /* ============================================================ */

//        /* Check if ID is extended Identifier */ //
//        if(msgDetails->Idtype == CAN_STD)
//        {
//            // Build complete arbitration register value at once
//            canCore->Transmit.If1Arb = ((uint32)PduInfo->id << CAN_STD_ID_ALIGNMENT) |
//                                    CAN_IF1ARB_DIR |      // TX direction
//                                    CAN_IF1ARB_MSGVAL;    // Message valid
//
//            canCore->Transmit.If1Mask = msgDetails->AcceptanceMask << CAN_STD_ID_ALIGNMENT;
//        }
//        else
//        {
//            // Extended ID: Build complete arbitration register value at once
//            canCore->Transmit.If1Arb = CAN_IF1ARB_XTD |      // Extended ID
//                                    (PduInfo->id) |       // CAN ID
//                                    CAN_IF1ARB_DIR |      // TX direction
//                                    CAN_IF1ARB_MSGVAL;    // Message valid
//
//            canCore->Transmit.If1Mask = msgDetails->AcceptanceMask;
//        }
                /* Check if ID is extended Identifier */
       /* if (msgDetails->Idtype == CAN_STD)
        {
            canCore->Transmit.If1Arb = (uint32)PduInfo->id << CAN_STD_ID_ALIGNMENT;
            canCore->Transmit.If1Mask = msgDetails->AcceptanceMask << CAN_STD_ID_ALIGNMENT;
        }
        else
        {
            // Write the acceptance mask to register 
            canCore->Transmit.If1Arb = CAN_IF1ARB_XTD | (PduInfo->id);
            canCore->Transmit.If1Mask = msgDetails->AcceptanceMask;
        }

        SET_REGISTER_BIT(canCore->Transmit.If1Arb, (
                                                       CAN_IF1ARB_DIR |
                                                       //Set message valid bit
                                                       CAN_IF1ARB_MSGVAL));*/

        /* Copy  DLC to the Buffer */
        canCore->Transmit.If1MsgCtrl = PduInfo->length;

        /* Check if ID is configired for Interrupts */
        if(msgDetails->Interrupt==(boolean)TRUE)
        {
            /* Write the acceptance mask to register */
            SET_REGISTER_BIT(canCore->Transmit.If1MsgCtrl ,CAN_IF1MSGCNT_TXIE);
        }

        /* Set respective bits in Msg Ctrl Register */
        SET_REGISTER_BIT(canCore->Transmit.If1MsgCtrl, (
                                                        CAN_IF1MSGCNT_NEWDAT |
            #if (CAN_TRIGGER_TRANSMIT != STD_ON)
                                                            CAN_IF1MSGCNT_TXRQST |
            #endif
                                                        CAN_IF1MSGCNT_EOB
                                                       ));
        #if (CAN_TRIGGER_TRANSMIT == STD_ON)
        /* Toyota: Store the TX information inorder of the calls mades to this function */
        /* the Can_MsgTXStatus array holds the Hth information. this will be used in the 1ms */

        /* Update the Global variable as configured */
        Can_MsgTXStatus[Can_NumOfFrmScheduled] = Hth;

        /*Increment the count */
        Can_NumOfFrmScheduled++;

        /* if the frames are not transmitted due to error conditions */
        /* then the number of frame scheduled will not decrese. this */
        /* check is introduced inorder to avoid overflow (exceeding the range) */
        /* and accessing undesired location in the can_mainfunction_triggertransmit */
        if(Can_NumOfFrmScheduled > CAN_NUM_TX_HANDLES)
        {
            Can_NumOfFrmScheduled = 0;
        }
        #endif
        /* Get the address of Data pointer 0 */
        /* MISRA RULE 45 VIOLATION: The cast must take place here. */
        canCore->Transmit.If1DataA = SWAP_HOST_TO_DCAN(PduDataA);
        canCore->Transmit.If1DataB = SWAP_HOST_TO_DCAN(PduDataB);

        canCore->Transmit.If1Cmd =    CAN_IF1CMDMASK_DATAB |
                                      CAN_IF1CMDMASK_DATAA |
                                      CAN_IF1CMDMASK_CTRL  |
                                      CAN_IF1CMDMASK_ARB   |
                                      CAN_IF1CMDMASK_MASK  |
                                      CAN_IF1CMDMASK_RDWR  |
        /* Write the Message number */
                                      msgDetails->Buffer;

 Can_FindIfxCmdBusy(&canCore->Transmit.If1Cmd); //
 
        /* Update the Global variable as configured */
        Can_MsgStatus[txIndex] = CAN_TX_CONFIGURED;
   
        /* Update the Status Variable */
        Status = CAN_OK;

        /* Return the status of the function */
        //FUN_SYSResumeIRQs_V();
    
    return Status;
}