{
    /* FIFO 1 assignation for the filter */
    CAN->FFA0R |= (u32)FilterNumber_BitPos;
  }
  
  /* Filter activation */
  if (CAN_FilterInitStruct->CAN_FilterActivation == ENABLE)
  {
    CAN->FA0R |= FilterNumber_BitPos;
  }

  /* Leave the initialisation mode for the filter */
  CAN->FMR &= ~CAN_FMR_FINIT;
}

/*******************************************************************************
* Function Name  : CAN_StructInit
* Description    : Fills each CAN_InitStruct member with its default value.
* Input          : CAN_InitStruct: pointer to a CAN_InitTypeDef structure which
*                  will be initialized.
* Output         : None.
* Return         : None.
*******************************************************************************/
void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct)
{
  /* Reset CAN init structure parameters values */

  /* Initialize the time triggered communication mode */
  CAN_InitStruct->CAN_TTCM = DISABLE;

  /* Initialize the automatic bus-off management */
  CAN_InitStruct->CAN_ABOM = DISABLE;

  /* Initialize the automatic wake-up mode */
  CAN_InitStruct->CAN_AWUM = DISABLE;

  /* Initialize the no automatic retransmission */
  CAN_InitStruct->CAN_NART = DISABLE;

  /* Initialize the receive FIFO locked mode */
  CAN_InitStruct->CAN_RFLM = DISABLE;

  /* Initialize the transmit FIFO priority */
  CAN_InitStruct->CAN_TXFP = DISABLE;

  /* Initialize the CAN_Mode member */
  CAN_InitStruct->CAN_Mode = CAN_Mode_Normal;

  /* Initialize the CAN_SJW member */
  CAN_InitStruct->CAN_SJW = CAN_SJW_0tq;

  /* Initialize the CAN_BS1 member */
  CAN_InitStruct->CAN_BS1 = CAN_BS1_4tq;

  /* Initialize the CAN_BS2 member */
  CAN_InitStruct->CAN_BS2 = CAN_BS2_3tq;

  /* Initialize the CAN_Prescaler member */
  CAN_InitStruct->CAN_Prescaler = 1;
}

/*******************************************************************************
* Function Name  : CAN_ITConfig
* Description    : Enables or disables the specified CAN interrupts.
* Input          : - CAN_IT: specifies the CAN interrupt sources to be enabled or
*                    disabled.
*                    This parameter can be: CAN_IT_TME, CAN_IT_FMP0, CAN_IT_FF0,
*                                           CAN_IT_FOV0, CAN_IT_FMP1, CAN_IT_FF1,
*                                           CAN_IT_FOV1, CAN_IT_EWG, CAN_IT_EPV,
*                                           CAN_IT_LEC, CAN_IT_ERR, CAN_IT_WKU or
*                                           CAN_IT_SLK.
*                  - NewState: new state of the CAN interrupts.
*                    This parameter can be: ENABLE or DISABLE.
* Output         : None.
* Return         : None.
*******************************************************************************/
void CAN_ITConfig(u32 CAN_IT, FunctionalState NewState)
{
  /* Check the parameters */
  assert(IS_CAN_ITConfig(CAN_IT));
  assert(IS_FUNCTIONAL_STATE(NewState));

  if (NewState != DISABLE)
  {
    /* Enable the selected CAN interrupt */
    CAN->IER |= CAN_IT;
  }
  else
  {
    /* Disable the selected CAN interrupt */
    CAN->IER &= ~CAN_IT;
  }
}

/*******************************************************************************
* Function Name  : CAN_Transmit
* Description    : Initiates the transmission of a message.
* Input          : TxMessage: pointer to a structure which contains CAN Id, CAN
*                  DLC and CAN datas.
* Output         : None.
* Return         : The number of the mailbox that is used for transmission
*                  or CAN_NO_MB if there is no empty mailbox.
*******************************************************************************/
u8 CAN_Transmit(CanTxMsg* TxMessage)
{
  u8 TransmitMailbox = 0;

  /* Check the parameters */
  assert(IS_CAN_STDID(TxMessage->StdId));
  assert(IS_CAN_EXTID(TxMessage->StdId));
  assert(IS_CAN_IDTYPE(TxMessage->IDE));
  assert(IS_CAN_RTR(TxMessage->RTR));
  assert(IS_CAN_DLC(TxMessage->DLC));

  /* Select one empty transmit mailbox */
  if ((CAN->TSR&CAN_TSR_TME0) == CAN_TSR_TME0)
  {
    TransmitMailbox = 0;
  }
  else if ((CAN->TSR&CAN_TSR_TME1) == CAN_TSR_TME1)
  {
    TransmitMailbox = 1;
  }
  else if ((CAN->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)
  {
    TransmitMailbox = 2;
  }
  else
  {
    TransmitMailbox = CAN_NO_MB;
  }

  if (TransmitMailbox != CAN_NO_MB)
  {
    /* Set up the Id */
    TxMessage->StdId &= (u32)0x000007FF;
    TxMessage->StdId = TxMessage->StdId << 21;
    TxMessage->ExtId &= (u32)0x0003FFFF;
    TxMessage->ExtId <<= 3;

    CAN->sTxMailBox[TransmitMailbox].TIR &= CAN_TMIDxR_TXRQ;
    CAN->sTxMailBox[TransmitMailbox].TIR |= (TxMessage->StdId | TxMessage->ExtId |
                                            TxMessage->IDE | TxMessage->RTR);

    /* Set up the DLC */
   // TxMessage->DLC &= (u32)0x0000000F;
    TxMessage->DLC &= (u8)0x0000000F;
    CAN->sTxMailBox[TransmitMailbox].TDTR &= (u32)0xFFFFFFF0;
    CAN->sTxMailBox[TransmitMailbox].TDTR |= TxMessage->DLC;

    /* Set up the data field */
    CAN->sTxMailBox[TransmitMailbox].TDLR = (((u32)TxMessage->Data[3] << 24) | 
                                             ((u32)TxMessage->Data[2] << 16) |
                                             ((u32)TxMessage->Data[1] << 8) | 
                                             ((u32)TxMessage->Data[0]));
    CAN->sTxMailBox[TransmitMailbox].TDHR = (((u32)TxMessage->Data[7] << 24) | 
                                             ((u32)TxMessage->Data[6] << 16) |
                                             ((u32)TxMessage->Data[5] << 8) |
                                             ((u32)TxMessage->Data[4]));

  /* CAN->sTxMailBox[TransmitMailbox].TDLR = (((u32)TxMessage->Data[3] << 24) | 
                                             ((u32)TxMessage->Data[2] << 16) |
                                             ((u32)TxMessage->Data[1] << 8) | 
                                             ((u32)TxMessage->Data[0]));
    CAN->sTxMailBox[TransmitMailbox].TDHR = (((u32)TxMessage->Data[7] << 24) | 
                                             ((u32)TxMessage->Data[6] << 16) |
                                             ((u32)TxMessage->Data[5] << 8) |
                                             ((u32)TxMessage->Data[4]));   */


    /* Request transmission */
  CAN->sTxMailBox[TransmitMailbox].TIR |= CAN_TMIDxR_TXRQ;
  }

  return TransmitMailbox;
}

/*******************************************************************************
* Function Name  : CAN_TransmitStatus
* Description    : Checks the transmission of a message.
* Input          : TransmitMailbox: the number of the mailbox that is used for
*                  transmission.
* Output         : None.
* Return         : CANTXOK if the CAN driver transmits the message, CANTXFAILED
*                  in an other case.
*******************************************************************************/
u8 CAN_TransmitStatus(u8 TransmitMailbox)
{
  /* RQCP, TXOK and TME bits */
  u32 State = 0;

  /* Check the parameters */
  assert(IS_CAN_TRANSMITMAILBOX(TransmitMailbox));

  switch (TransmitMailbox)
  {
    case (0): State |= ((CAN->TSR & CAN_TSR_RQCP0) << 2);
      State |= ((CAN->TSR & CAN_TSR_TXOK0) >> 0);
      State |= ((CAN->TSR & CAN_TSR_TME0) >> 26);
      break;
    case (1): State |= ((CAN->TSR & CAN_TSR_RQCP1) >> 6);
      State |= ((CAN->TSR & CAN_TSR_TXOK1) >> 8);
      State |= ((CAN->TSR & CAN_TSR_TME1) >> 27);
      break;
    case (2): State |= ((CAN->TSR & CAN_TSR_RQCP2) >> 14);
      State |= ((CAN->TSR & CAN_TSR_TXOK2) >> 16);
      State |= ((CAN->TSR & CAN_TSR_TME2) >> 28);
      break;
    default:
      State = CANTXFAILED;
      break;
  }

  switch (State)
  {
      /* transmit pending  */
    case (0x0): State = CANTXPENDING;
      break;
      /* transmit failed  */
    case (0x5): State = CANTXFAILED;
      break;
      /* transmit succedeed  */
    case (0x7): State = CANTXOK;
      break;
    default:
      State = CANTXFAILED;
      break;
  }

  return State;
}

/*******************************************************************************
* Function Name  : CAN_CancelTransmit
* Description    : Cancels a transmit request.
* Input          : Mailbox number.
* Output         : None.
* Return         : None.
*******************************************************************************/
void CAN_CancelTransmit(u8 Mailbox)
{
  /* Check the parameters */
  assert(IS_CAN_TRANSMITMAILBOX(Mailbox));

  /* abort transmission */
  switch (Mailbox)
  {
    case (0): CAN->TSR |= CAN_TSR_ABRQ0;
      break;
    case (1): CAN->TSR |= CAN_TSR_ABRQ1;
      break;
    case (2): CAN->TSR |= CAN_TSR_ABRQ2;
      break;
    default:
      break;
  }
}

/*******************************************************************************
* Function Name  : CAN_FIFORelease
* Description    : Releases a FIFO.
* Input          : FIFONumber: FIFO to release, CAN_FIFO0 or CAN_FIFO1.
* Output         : None.
* Return         : None.
*******************************************************************************/
void CAN_FIFORelease(u8 FIFONumber)
{
  /* Check the parameters */
  assert(IS_CAN_FIFO(FIFONumber));

  /* Release FIFO0 */
  if (FIFONumber == CAN_FIFO0)
  {
    CAN->RF0R = CAN_RF0R_RFOM0;
  }
  /* Release FIFO1 */
  else /* FIFONumber == CAN_FIFO1 */
  {
    CAN->RF1R = CAN_RF1R_RFOM1;
  }
}

/*******************************************************************************
* Function Name  : CAN_MessagePending
* Description    : Returns the number of pending messages.
* Input          : FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1.
* Output         : None.
* Return         : NbMessage which is the number of pending message.
*******************************************************************************/
u8 CAN_MessagePending(u8 FIFONumber)
{
  u8 MessagePending=0;

  /* Check the parameters */
  assert(IS_CAN_FIFO(FIFONumber));

  if (FIFONumber == CAN_FIFO0)
  {
    MessagePending = (u8)(CAN->RF0R&(u32)0x03); /*Store how many messages are pending in the receive FIFO*/ 
  }
  else if (FIFONumber == CAN_FIFO1)
  {