void
CAN_clearMessage(uint32_t base, uint32_t objID)
{
    //
    // Check the arguments.
    //
    ASSERT(CAN_isBaseValid(base));
    ASSERT((objID >= 1U) && (objID <= 32U));
 
    //
    // Wait for busy bit to clear
    //
    while((HWREGH(base + CAN_O_IF1CMD) & CAN_IF1CMD_BUSY) == CAN_IF1CMD_BUSY)
    {
    }
 
    //
    // Clear the message valid bit in the arbitration register. This indicates
    // the message is not valid.
    //
    HWREG_BP(base + CAN_O_IF1ARB) = 0U;
    HWREG_BP(base + CAN_O_IF1CMD) = (CAN_IF1CMD_DIR | CAN_IF1CMD_ARB);
 
    //
    // Initiate programming the message object
    //
    HWREGH(base + CAN_O_IF1CMD) = objID & CAN_IF1CMD_MSG_NUM_M;
}