Index: firmware/App/BLCommon.h
===================================================================
diff -u -rabb9687e52d9db5df1abe7626ba04a6d431ba823 -r850f8042a02fd17ee53b8db24bc2e3d17bbb9c7f
--- firmware/App/BLCommon.h	(.../BLCommon.h)	(revision abb9687e52d9db5df1abe7626ba04a6d431ba823)
+++ firmware/App/BLCommon.h	(.../BLCommon.h)	(revision 850f8042a02fd17ee53b8db24bc2e3d17bbb9c7f)
@@ -12,12 +12,18 @@
 
 // ********** version **********
 
+/*
+ * TD = 0
+ * DD = 1
+ * RO = 2
+ */
+#define BL_STACK_ID         0  // TODO de we need to check the value to make sure it is range (e.g. it is not set to 20?)
+
 #define BL_VERSION_MAJOR    0
 #define BL_VERSION_MINOR    0
 #define BL_VERSION_MICRO    0
 #define BL_VERIOSN_BUILD    0
 
-
 // **** Types ****
 
 typedef float                    F32;               ///< 32-bit floating point type
Index: firmware/App/Services/CommBuffers.c
===================================================================
diff -u
--- firmware/App/Services/CommBuffers.c	(revision 0)
+++ firmware/App/Services/CommBuffers.c	(revision 850f8042a02fd17ee53b8db24bc2e3d17bbb9c7f)
@@ -0,0 +1,111 @@
+/*
+ * CommBuffers.c
+ *
+ *  Created on: Aug 2, 2024
+ *      Author: fw
+ */
+
+#include "string.h"  // For memset
+#include "can.h"
+
+#include "CommBuffers.h"
+
+#define NUM_OF_FW_STACKS           3
+#define CAN_MESSAGE_PAYLOAD_SIZE   8
+
+typedef struct
+{
+    U32 SWUpdateFrameCount;
+    BOOL isUpdateBufferReady;
+    U08 SWUpdateBuffer[ SW_UPDATE_BUFFER_SIZE ];
+} SW_UPDATE_STATUS_T;
+
+static const SW_UPDATE_CAN_MAIL_BOXES_T RECEIVE_MSG_ID[ NUM_OF_FW_STACKS ] =
+{
+     SW_UPDATE_TD_UPDATE,
+     SW_UPDATE_DD_UPDATE,
+     SW_UPDATE_RO_UPDATE
+};
+
+static const U32 NUM_OF_CAN_FRAMES_TO_UPDATE = SW_UPDATE_BUFFER_SIZE / CAN_MESSAGE_PAYLOAD_SIZE;
+
+
+static SW_UPDATE_STATUS_T SWUpdateStatus;
+
+static void resetSWUpdateVariables( void );
+static void consumeReceivedCANFrame( U08* data );
+
+void initCommBuffers( void )
+{
+    resetSWUpdateVariables();
+}
+
+BOOL isSWUpdateBufferReady( void )
+{
+    return SWUpdateStatus.isUpdateBufferReady;
+}
+
+
+void handleCANMsgInterrupt( SW_UPDATE_CAN_MAIL_BOXES_T MailBox )
+{
+    // TODO do we need check the range of the messages?
+
+    if ( SW_UPDATE_RESP == MailBox )
+    {
+        // transmit
+    }
+    else if ( SW_UPDATE_COMMAD == MailBox )
+    {
+
+    }
+    else
+    {
+        SW_UPDATE_CAN_MAIL_BOXES_T thisStackMailBox = RECEIVE_MSG_ID[ BL_STACK_ID ];
+
+        if ( thisStackMailBox == MailBox )
+        {
+            U08 data[ CAN_MESSAGE_PAYLOAD_SIZE ];
+
+            if ( FALSE != canIsRxMessageArrived( canREG1, MailBox ) )
+            {
+                U32 result = canGetData( canREG1, MailBox, data );
+
+                if ( result != 0 )
+                {
+                    consumeReceivedCANFrame( data );
+                }
+            }
+        }
+    }
+}
+
+static void resetSWUpdateVariables( void )
+{
+    SWUpdateStatus.SWUpdateFrameCount = 0;
+    SWUpdateStatus.SWUpdateFrameCount = FALSE;
+
+    memcpy( SWUpdateStatus.SWUpdateBuffer, 0x0, SW_UPDATE_BUFFER_SIZE );
+}
+
+static void consumeReceivedCANFrame( U08* data )
+{
+    if ( SWUpdateStatus.SWUpdateFrameCount <= NUM_OF_CAN_FRAMES_TO_UPDATE )
+    {
+        U32 currentBufferIndex = SWUpdateStatus.SWUpdateFrameCount * CAN_MESSAGE_PAYLOAD_SIZE;
+
+        memcpy( SWUpdateStatus.SWUpdateBuffer + currentBufferIndex, data, CAN_MESSAGE_PAYLOAD_SIZE );
+
+        SWUpdateStatus.isUpdateBufferReady = ( NUM_OF_CAN_FRAMES_TO_UPDATE == SWUpdateStatus.SWUpdateFrameCount ? TRUE : FALSE );
+
+        // TODO test code remove
+        //if (TRUE == SWUpdateStatus.isUpdateBufferReady)
+        if ( NUM_OF_CAN_FRAMES_TO_UPDATE == SWUpdateStatus.SWUpdateFrameCount )
+        {
+            BOOL test = FALSE;
+        }
+        // TODO remove
+
+        SWUpdateStatus.SWUpdateFrameCount++;
+    }
+}
+
Index: firmware/App/Services/CommBuffers.h
===================================================================
diff -u
--- firmware/App/Services/CommBuffers.h	(revision 0)
+++ firmware/App/Services/CommBuffers.h	(revision 850f8042a02fd17ee53b8db24bc2e3d17bbb9c7f)
@@ -0,0 +1,33 @@
+/*
+ * CommBuffers.h
+ *
+ *  Created on: Aug 2, 2024
+ *      Author: fw
+ */
+
+#ifndef __COMMBUFFERS_H__
+#define __COMMBUFFERS_H__
+
+#include "BLCommon.h"
+
+#define SW_UPDATE_BUFFER_SIZE  136
+
+typedef enum SW_Update_CAN_Mail_Boxes
+{
+    SW_UPDATE_NOT_USED = 0,
+    SW_UPDATE_COMMAD ,
+    SW_UPDATE_TD_UPDATE ,
+    SW_UPDATE_DD_UPDATE ,
+    SW_UPDATE_RO_UPDATE ,
+    SW_UPDATE_RESP      ,
+    NUM_OF_SW_UPDATE_MBOXES,
+} SW_UPDATE_CAN_MAIL_BOXES_T;
+
+
+void initCommBuffers( void );
+
+void handleCANMsgInterrupt( SW_UPDATE_CAN_MAIL_BOXES_T MailBox );
+
+BOOL isSWUpdateBufferReady( void );
+
+#endif
Index: firmware/App/Services/Interrupts.c
===================================================================
diff -u -rabb9687e52d9db5df1abe7626ba04a6d431ba823 -r850f8042a02fd17ee53b8db24bc2e3d17bbb9c7f
--- firmware/App/Services/Interrupts.c	(.../Interrupts.c)	(revision abb9687e52d9db5df1abe7626ba04a6d431ba823)
+++ firmware/App/Services/Interrupts.c	(.../Interrupts.c)	(revision 850f8042a02fd17ee53b8db24bc2e3d17bbb9c7f)
@@ -10,6 +10,8 @@
 #include "sci.h"
 #include "sys_dma.h"
 
+#include "BLCommon.h"
+#include "CommBuffers.h"
 #include "TaskGeneral.h"
 #include "TaskPriority.h"
 #include "TaskTimer.h"
@@ -48,6 +50,6 @@
 {
     if ( node == canREG1 )
     {
-        // TODO receive CAN and put it in a queue
+        handleCANMsgInterrupt( (SW_UPDATE_CAN_MAIL_BOXES_T)messageBox );
     }
 }
Index: firmware/App/Tasks/TaskGeneral.c
===================================================================
diff -u -rabb9687e52d9db5df1abe7626ba04a6d431ba823 -r850f8042a02fd17ee53b8db24bc2e3d17bbb9c7f
--- firmware/App/Tasks/TaskGeneral.c	(.../TaskGeneral.c)	(revision abb9687e52d9db5df1abe7626ba04a6d431ba823)
+++ firmware/App/Tasks/TaskGeneral.c	(.../TaskGeneral.c)	(revision 850f8042a02fd17ee53b8db24bc2e3d17bbb9c7f)
@@ -5,9 +5,10 @@
  *      Author: fw
  */
 
+#include "BLCommon.h"
 #include "TaskGeneral.h"
 
 void taskGeneral( void )
 {
-
+    BOOL test;
 }
Index: firmware/App/Tasks/TaskPriority.c
===================================================================
diff -u -rabb9687e52d9db5df1abe7626ba04a6d431ba823 -r850f8042a02fd17ee53b8db24bc2e3d17bbb9c7f
--- firmware/App/Tasks/TaskPriority.c	(.../TaskPriority.c)	(revision abb9687e52d9db5df1abe7626ba04a6d431ba823)
+++ firmware/App/Tasks/TaskPriority.c	(.../TaskPriority.c)	(revision 850f8042a02fd17ee53b8db24bc2e3d17bbb9c7f)
@@ -5,10 +5,11 @@
  *      Author: fw
  */
 
+#include "BLCommon.h"
 #include "TaskPriority.h"
 
 void taskPriority( void )
 {
-
+    BOOL test;
 }
 
Index: firmware/App/Tasks/TaskTimer.c
===================================================================
diff -u -rabb9687e52d9db5df1abe7626ba04a6d431ba823 -r850f8042a02fd17ee53b8db24bc2e3d17bbb9c7f
--- firmware/App/Tasks/TaskTimer.c	(.../TaskTimer.c)	(revision abb9687e52d9db5df1abe7626ba04a6d431ba823)
+++ firmware/App/Tasks/TaskTimer.c	(.../TaskTimer.c)	(revision 850f8042a02fd17ee53b8db24bc2e3d17bbb9c7f)
@@ -5,11 +5,12 @@
  *      Author: fw
  */
 
+#include "BLCommon.h"
 #include "TaskTimer.h"
 
 void taskTimer( void )
 {
-
+    BOOL tst;
 }
 
 
Index: firmware/BL.dil
===================================================================
diff -u -rabb9687e52d9db5df1abe7626ba04a6d431ba823 -r850f8042a02fd17ee53b8db24bc2e3d17bbb9c7f
--- firmware/BL.dil	(.../BL.dil)	(revision abb9687e52d9db5df1abe7626ba04a6d431ba823)
+++ firmware/BL.dil	(.../BL.dil)	(revision 850f8042a02fd17ee53b8db24bc2e3d17bbb9c7f)
@@ -1,4 +1,4 @@
-# RM46L852PGE 08/01/24 15:58:42
+# RM46L852PGE 08/02/24 13:47:04
 # 
 ARCH=RM46L852PGE
 # 
@@ -3311,7 +3311,7 @@
 DRIVER.CAN.VAR.CAN_1_MESSAGE_37_BOOL_ENA.VALUE=0
 DRIVER.CAN.VAR.CAN_1_MESSAGE_29_BOOL_ENA.VALUE=0
 DRIVER.CAN.VAR.CAN_1_MESSAGE_6_INT_ENA.VALUE=0x00000000
-DRIVER.CAN.VAR.CAN_1_RAM_PARITY_ENA.VALUE=0x00000005
+DRIVER.CAN.VAR.CAN_1_RAM_PARITY_ENA.VALUE=0x0000000A
 DRIVER.CAN.VAR.CAN_1_MESSAGE_59_RTR.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_64_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_3_MESSAGE_56_DLC.VALUE=8
@@ -3787,7 +3787,7 @@
 DRIVER.CAN.VAR.CAN_1_MESSAGE_45_MASK.VALUE=0x000007FF
 DRIVER.CAN.VAR.CAN_1_MESSAGE_37_MASK.VALUE=0x000007FF
 DRIVER.CAN.VAR.CAN_1_MESSAGE_29_MASK.VALUE=0x000007FF
-DRIVER.CAN.VAR.CAN_1_TQ.VALUE=250.000
+DRIVER.CAN.VAR.CAN_1_TQ.VALUE=500.000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_63_RTR.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_55_RTR.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_47_RTR.VALUE=0x00000000
@@ -3956,7 +3956,7 @@
 DRIVER.CAN.VAR.CAN_3_MESSAGE_11_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_1_MESSAGE_3_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_1_SAMPLE_POINT_REFERENCE.VALUE=75
-DRIVER.CAN.VAR.CAN_1_PROPAGATION_DELAY.VALUE=700
+DRIVER.CAN.VAR.CAN_1_PROPAGATION_DELAY.VALUE=1050
 DRIVER.CAN.VAR.CAN_1_MESSAGE_51_EOB.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_51_DIR.VALUE=0x20000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_50_INT_ENA_REF.VALUE=0x00000000
@@ -3982,7 +3982,7 @@
 DRIVER.CAN.VAR.CAN_2_MESSAGE_5_RTR.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_2_MESSAGE_1_INT_LEVEL.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_11_ID.VALUE=11
-DRIVER.CAN.VAR.CAN_1_NOMINAL_BIT_TIME.VALUE=16
+DRIVER.CAN.VAR.CAN_1_NOMINAL_BIT_TIME.VALUE=8
 DRIVER.CAN.VAR.CAN_3_MESSAGE_61_INT_ENA_REF.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_53_INT_ENA_REF.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_45_INT_ENA_REF.VALUE=0x00000000
@@ -4086,7 +4086,7 @@
 DRIVER.CAN.VAR.CAN_1_MESSAGE_28_EOB.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_28_DIR.VALUE=0x20000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_8_INT_ENA_REF.VALUE=0x00000000
-DRIVER.CAN.VAR.CAN_1_SHIFT.VALUE=0
+DRIVER.CAN.VAR.CAN_1_SHIFT.VALUE=18
 DRIVER.CAN.VAR.CAN_2_MESSAGE_64_BOOL_ENA.VALUE=0
 DRIVER.CAN.VAR.CAN_2_MESSAGE_56_BOOL_ENA.VALUE=0
 DRIVER.CAN.VAR.CAN_2_MESSAGE_50_MASK.VALUE=0x000007FF
@@ -4104,7 +4104,7 @@
 DRIVER.CAN.VAR.CAN_2_MESSAGE_14_INT_ENA.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_2_MESSAGE_9_INT_ENA.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_2_BRPE.VALUE=0
-DRIVER.CAN.VAR.CAN_1_MASK.VALUE=0x1FFFFFFF
+DRIVER.CAN.VAR.CAN_1_MASK.VALUE=0x000007FF
 DRIVER.CAN.VAR.CAN_3_MESSAGE_61_INT_LEVEL.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_53_INT_LEVEL.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_45_INT_LEVEL.VALUE=0x00000000
@@ -4148,8 +4148,8 @@
 DRIVER.CAN.VAR.CAN_1_MESSAGE_45_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_1_MESSAGE_37_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_1_MESSAGE_29_DLC.VALUE=8
-DRIVER.CAN.VAR.CAN_1_BRPE_FREQ.VALUE=4.000
-DRIVER.CAN.VAR.CAN_1_BRP_FREQ.VALUE=4.000
+DRIVER.CAN.VAR.CAN_1_BRPE_FREQ.VALUE=2.000
+DRIVER.CAN.VAR.CAN_1_BRP_FREQ.VALUE=2.000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_20_EOB.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_20_DIR.VALUE=0x20000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_12_EOB.VALUE=0x00000000
@@ -4268,7 +4268,7 @@
 DRIVER.CAN.VAR.CAN_1_PORT_TX_DIR.VALUE=1
 DRIVER.CAN.VAR.CAN_1_MESSAGE_5_EOB.VALUE=0x00000080
 DRIVER.CAN.VAR.CAN_1_MESSAGE_5_DIR.VALUE=0x00000000
-DRIVER.CAN.VAR.CAN_1_MESSAGE_2_INT_ENA_REF.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_2_INT_ENA_REF.VALUE=0x00000001
 DRIVER.CAN.VAR.CAN_3_MESSAGE_1_ENA.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_RAM_PARITY_ENA.VALUE=0x00000005
 DRIVER.CAN.VAR.CAN_3_PHASE_SEG.VALUE=2
@@ -4420,7 +4420,7 @@
 DRIVER.CAN.VAR.CAN_2_MESSAGE_19_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_3_MESSAGE_2_EOB.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_2_DIR.VALUE=0x20000000
-DRIVER.CAN.VAR.CAN_1_BRP.VALUE=25
+DRIVER.CAN.VAR.CAN_1_BRP.VALUE=51
 DRIVER.CAN.VAR.CAN_3_MESSAGE_7_BOOL_ENA.VALUE=0
 DRIVER.CAN.VAR.CAN_3_PROP_SEG.VALUE=3
 DRIVER.CAN.VAR.CAN_2_MESSAGE_21_INT_ENA.VALUE=0x00000000
@@ -4609,7 +4609,7 @@
 DRIVER.CAN.VAR.CAN_1_MESSAGE_35_BOOL_ENA.VALUE=0
 DRIVER.CAN.VAR.CAN_1_MESSAGE_27_BOOL_ENA.VALUE=0
 DRIVER.CAN.VAR.CAN_1_MESSAGE_19_BOOL_ENA.VALUE=0
-DRIVER.CAN.VAR.CAN_1_MESSAGE_2_INT_ENA.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_2_INT_ENA.VALUE=0x00000400
 DRIVER.CAN.VAR.CAN_2_PORT_TX_DOUT.VALUE=1
 DRIVER.CAN.VAR.CAN_2_MESSAGE_31_RTR.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_2_MESSAGE_23_RTR.VALUE=0x00000000
@@ -4706,7 +4706,7 @@
 DRIVER.CAN.VAR.CAN_2_MESSAGE_6_MASK.VALUE=0x000007FF
 DRIVER.CAN.VAR.CAN_1_MESSAGE_57_ENA.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_49_ENA.VALUE=0x00000000
-DRIVER.CAN.VAR.CAN_1_PHASE_SEG.VALUE=6
+DRIVER.CAN.VAR.CAN_1_PHASE_SEG.VALUE=2
 DRIVER.CAN.VAR.CAN_3_MESSAGE_30_ID.VALUE=30
 DRIVER.CAN.VAR.CAN_3_MESSAGE_22_ID.VALUE=22
 DRIVER.CAN.VAR.CAN_3_MESSAGE_14_ID.VALUE=14
@@ -4931,7 +4931,7 @@
 DRIVER.CAN.VAR.CAN_1_MESSAGE_9_ID.VALUE=9
 DRIVER.CAN.VAR.CAN_1_MESSAGE_5_RTR.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_59_DLC.VALUE=8
-DRIVER.CAN.VAR.CAN_1_SJW.VALUE=4
+DRIVER.CAN.VAR.CAN_1_SJW.VALUE=2
 DRIVER.CAN.VAR.CAN_3_MESSAGE_50_EOB.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_50_DIR.VALUE=0x20000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_42_EOB.VALUE=0x00000000
@@ -4963,7 +4963,7 @@
 DRIVER.CAN.VAR.CAN_1_MESSAGE_37_INT_ENA.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_29_INT_ENA.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_9_MASK.VALUE=0x000007FF
-DRIVER.CAN.VAR.CAN_1_IDENTIFIER_MODE.VALUE=0x40000000
+DRIVER.CAN.VAR.CAN_1_IDENTIFIER_MODE.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_41_INT_LEVEL.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_33_INT_LEVEL.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_25_INT_LEVEL.VALUE=0x00000000
@@ -4988,7 +4988,7 @@
 DRIVER.CAN.VAR.CAN_2_MESSAGE_7_MASK.VALUE=0x000007FF
 DRIVER.CAN.VAR.CAN_1_MESSAGE_59_ENA.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_2_BOOL_ENA.VALUE=1
-DRIVER.CAN.VAR.CAN_1_MESSAGE_1_INT_ENA.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_1_INT_ENA.VALUE=0x00000400
 DRIVER.CAN.VAR.CAN_3_MESSAGE_50_ID.VALUE=50
 DRIVER.CAN.VAR.CAN_3_MESSAGE_42_ID.VALUE=42
 DRIVER.CAN.VAR.CAN_3_MESSAGE_34_ID.VALUE=34
@@ -5119,7 +5119,7 @@
 DRIVER.CAN.VAR.CAN_1_SYNC.VALUE=1
 DRIVER.CAN.VAR.CAN_3_MESSAGE_11_INT_ENA_REF.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_SHIFT.VALUE=0
-DRIVER.CAN.VAR.CAN_1_MESSAGE_1_INT_ENA_REF.VALUE=0x00000000
+DRIVER.CAN.VAR.CAN_1_MESSAGE_1_INT_ENA_REF.VALUE=0x00000001
 DRIVER.CAN.VAR.CAN_3_PORT_RX_PULDIS.VALUE=0
 DRIVER.CAN.VAR.CAN_3_MESSAGE_60_BOOL_ENA.VALUE=0
 DRIVER.CAN.VAR.CAN_3_MESSAGE_52_BOOL_ENA.VALUE=0
@@ -5214,7 +5214,7 @@
 DRIVER.CAN.VAR.CAN_3_MESSAGE_8_DIR.VALUE=0x20000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_10_EOB.VALUE=0x00000080
 DRIVER.CAN.VAR.CAN_1_MESSAGE_10_DIR.VALUE=0x00000000
-DRIVER.CAN.VAR.CAN_1_SAMPLE_POINT.VALUE=62.500
+DRIVER.CAN.VAR.CAN_1_SAMPLE_POINT.VALUE=75.000
 DRIVER.CAN.VAR.CAN_2_MESSAGE_51_BOOL_ENA.VALUE=0
 DRIVER.CAN.VAR.CAN_2_MESSAGE_43_BOOL_ENA.VALUE=0
 DRIVER.CAN.VAR.CAN_2_MESSAGE_35_BOOL_ENA.VALUE=0
Index: firmware/include/can.h
===================================================================
diff -u -rabb9687e52d9db5df1abe7626ba04a6d431ba823 -r850f8042a02fd17ee53b8db24bc2e3d17bbb9c7f
--- firmware/include/can.h	(.../can.h)	(revision abb9687e52d9db5df1abe7626ba04a6d431ba823)
+++ firmware/include/can.h	(.../can.h)	(revision 850f8042a02fd17ee53b8db24bc2e3d17bbb9c7f)
@@ -632,12 +632,12 @@
 /* Configuration registers initial value for CAN1*/
 #define CAN1_CTL_CONFIGVALUE      ((uint32)0x00000000U \
                                  | (uint32)0x00000000U \
-                                 | (uint32)((uint32)0x00000005U  << 10U) | 0x00020002U)
+                                 | (uint32)((uint32)0x0000000AU  << 10U) | 0x00020002U)
 #define CAN1_ES_CONFIGVALUE         0x00000007U 
 #define CAN1_BTR_CONFIGVALUE      ((uint32)((uint32)0U << 16U) \
-                                 | (uint32)((uint32)(6U - 1U) << 12U) \
-                                 | (uint32)((uint32)((3U + 6U) - 1U) << 8U) \
-                                 | (uint32)((uint32)(4U - 1U) << 6U) | (uint32)25U)
+                                 | (uint32)((uint32)(2U - 1U) << 12U) \
+                                 | (uint32)((uint32)((3U + 2U) - 1U) << 8U) \
+                                 | (uint32)((uint32)(2U - 1U) << 6U) | (uint32)51U)
 #define CAN1_TEST_CONFIGVALUE       0x00000080U 
 #define CAN1_ABOTR_CONFIGVALUE    ((uint32)(0U))
 #define CAN1_INTMUX0_CONFIGVALUE  ((uint32)0x00000000U \
Index: firmware/source/can.c
===================================================================
diff -u -rabb9687e52d9db5df1abe7626ba04a6d431ba823 -r850f8042a02fd17ee53b8db24bc2e3d17bbb9c7f
--- firmware/source/can.c	(.../can.c)	(revision abb9687e52d9db5df1abe7626ba04a6d431ba823)
+++ firmware/source/can.c	(.../can.c)	(revision 850f8042a02fd17ee53b8db24bc2e3d17bbb9c7f)
@@ -106,7 +106,7 @@
     */
     canREG1->CTL = (uint32)0x00000000U 
                  | (uint32)0x00000000U 
-                 | (uint32)((uint32)0x00000005U  << 10U)
+                 | (uint32)((uint32)0x0000000AU  << 10U)
                  | (uint32)0x00020043U;
 
     /** - Clear all pending error flags and reset current status */
@@ -196,9 +196,9 @@
     } /* Wait */
 
 
-    canREG1->IF1MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x1FFFFFFFU) << (uint32)0U);
-    canREG1->IF1ARB  = (uint32)0x80000000U | (uint32)0x40000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)0x601U & (uint32)0x1FFFFFFFU) << (uint32)0U);
-    canREG1->IF1MCTL = 0x00001000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
+    canREG1->IF1MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x000007FFU) << (uint32)18U);
+    canREG1->IF1ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)0x601U & (uint32)0x000007FFU) << (uint32)18U);
+    canREG1->IF1MCTL = 0x00001000U | (uint32)0x00000400U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF1CMD  = (uint8) 0xF8U;
     canREG1->IF1NO   = 1U;
 
@@ -215,9 +215,9 @@
     { 
     } /* Wait */
 
-    canREG1->IF2MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x1FFFFFFFU) << (uint32)0U);
-    canREG1->IF2ARB  = (uint32)0x80000000U | (uint32)0x40000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)0x602U & (uint32)0x1FFFFFFFU) << (uint32)0U);
-    canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
+    canREG1->IF2MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x000007FFU) << (uint32)18U);
+    canREG1->IF2ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)0x602U & (uint32)0x000007FFU) << (uint32)18U);
+    canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000400U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF2CMD  = (uint8) 0xF8U;
     canREG1->IF2NO   = 2U;
 
@@ -234,8 +234,8 @@
     { 
     } /* Wait */
 
-    canREG1->IF1MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x1FFFFFFFU) << (uint32)0U);
-    canREG1->IF1ARB  = (uint32)0x80000000U | (uint32)0x40000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)0x603U & (uint32)0x1FFFFFFFU) << (uint32)0U);
+    canREG1->IF1MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x000007FFU) << (uint32)18U);
+    canREG1->IF1ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)0x603U & (uint32)0x000007FFU) << (uint32)18U);
     canREG1->IF1MCTL = 0x00001000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF1CMD  = (uint8) 0xF8U;
     canREG1->IF1NO   = 3U;
@@ -253,8 +253,8 @@
     { 
     } /* Wait */
 
-    canREG1->IF2MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x1FFFFFFFU) << (uint32)0U);
-    canREG1->IF2ARB  = (uint32)0x80000000U | (uint32)0x40000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)0x604U & (uint32)0x1FFFFFFFU) << (uint32)0U);
+    canREG1->IF2MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x000007FFU) << (uint32)18U);
+    canREG1->IF2ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)0x604U & (uint32)0x000007FFU) << (uint32)18U);
     canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF2CMD  = (uint8) 0xF8U;
     canREG1->IF2NO   = 4U;
@@ -272,8 +272,8 @@
     { 
     } /* Wait */
 
-    canREG1->IF1MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x1FFFFFFFU) << (uint32)0U);
-    canREG1->IF1ARB  = (uint32)0x80000000U | (uint32)0x40000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)0x605U & (uint32)0x1FFFFFFFU) << (uint32)0U);
+    canREG1->IF1MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x000007FFU) << (uint32)18U);
+    canREG1->IF1ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)0x605U & (uint32)0x000007FFU) << (uint32)18U);
     canREG1->IF1MCTL = 0x00001000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF1CMD  = (uint8) 0xF8U;
     canREG1->IF1NO   = 5U;
@@ -291,8 +291,8 @@
     { 
     } /* Wait */
 
-    canREG1->IF2MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x1FFFFFFFU) << (uint32)0U);
-    canREG1->IF2ARB  = (uint32)0x80000000U | (uint32)0x40000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)8U & (uint32)0x1FFFFFFFU) << (uint32)0U);
+    canREG1->IF2MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x000007FFU) << (uint32)18U);
+    canREG1->IF2ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)8U & (uint32)0x000007FFU) << (uint32)18U);
     canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF2CMD  = (uint8) 0xF8U;
     canREG1->IF2NO   = 8U;
@@ -325,10 +325,10 @@
     *     - Setup baud rate prescaler
     */
     canREG1->BTR = (uint32)((uint32)0U << 16U) |
-                   (uint32)((uint32)(6U - 1U) << 12U) |
-                   (uint32)((uint32)((3U + 6U) - 1U) << 8U) |
-                   (uint32)((uint32)(4U - 1U) << 6U) |
-                   (uint32)25U;
+                   (uint32)((uint32)(2U - 1U) << 12U) |
+                   (uint32)((uint32)((3U + 2U) - 1U) << 8U) |
+                   (uint32)((uint32)(2U - 1U) << 6U) |
+                   (uint32)51U;
 
 
      /** - CAN1 Port output values */
Index: firmware/source/sys_link.cmd
===================================================================
diff -u -rabb9687e52d9db5df1abe7626ba04a6d431ba823 -r850f8042a02fd17ee53b8db24bc2e3d17bbb9c7f
--- firmware/source/sys_link.cmd	(.../sys_link.cmd)	(revision abb9687e52d9db5df1abe7626ba04a6d431ba823)
+++ firmware/source/sys_link.cmd	(.../sys_link.cmd)	(revision 850f8042a02fd17ee53b8db24bc2e3d17bbb9c7f)
@@ -64,6 +64,14 @@
 }
 
 /* USER CODE BEGIN (3) */
+/* IGNORE the generated Sections code, overridden below */
+ECC
+{
+    algoL2R4F021 : address_mask = 0xfffffff8 /* Address Bits 31:3 */
+                   hamming_mask = R4         /* Use R4/R5 build in Mask */
+                   parity_mask  = 0x0c       /* Set which ECC bits are Even and Odd parity */
+                   mirroring    = F021       /* RM57Lx and TMS570LCx are build in F021 */
+}
 /* USER CODE END */
 
 /*----------------------------------------------------------------------------*/
Index: firmware/source/sys_main.c
===================================================================
diff -u -rabb9687e52d9db5df1abe7626ba04a6d431ba823 -r850f8042a02fd17ee53b8db24bc2e3d17bbb9c7f
--- firmware/source/sys_main.c	(.../sys_main.c)	(revision abb9687e52d9db5df1abe7626ba04a6d431ba823)
+++ firmware/source/sys_main.c	(.../sys_main.c)	(revision 850f8042a02fd17ee53b8db24bc2e3d17bbb9c7f)
@@ -61,6 +61,7 @@
 #include "rti.h"
 
 #include "BLCommon.h"
+#include "CommBuffers.h"
 #include "Interrupts.h"
 #include "TaskBG.h"
 #include "Timers.h"
@@ -101,6 +102,7 @@
 
 static void initSoftware( void )
 {
+    initCommBuffers();
     initInterrupts();
     initTimers();
 }
Index: firmware/source/sys_startup.c
===================================================================
diff -u -rabb9687e52d9db5df1abe7626ba04a6d431ba823 -r850f8042a02fd17ee53b8db24bc2e3d17bbb9c7f
--- firmware/source/sys_startup.c	(.../sys_startup.c)	(revision abb9687e52d9db5df1abe7626ba04a6d431ba823)
+++ firmware/source/sys_startup.c	(.../sys_startup.c)	(revision 850f8042a02fd17ee53b8db24bc2e3d17bbb9c7f)
@@ -616,11 +616,11 @@
     // Shuffle IRQ priorities per design requirements
     vimChannelMap( 3, 40, &rtiCompare1Interrupt );
     vimChannelMap( 5, 64, &rtiCompare3Interrupt );
-    vimChannelMap( 13, 5, &linHighLevelInterrupt );
-    vimChannelMap( 16, 15, &can1HighLevelInterrupt );
+    vimChannelMap( 13, 3, &linHighLevelInterrupt );
+    vimChannelMap( 16, 16, &can1HighLevelInterrupt );
     vimChannelMap( 29, 13, &can1LowLevelInterrupt );
-    vimChannelMap( 40, 10, &dmaBTCAInterrupt );
-    vimChannelMap( 64, 16, &sciHighLevelInterrupt );
+    vimChannelMap( 40, 5, &dmaBTCAInterrupt );
+    vimChannelMap( 64, 29, &sciHighLevelInterrupt );
 /* USER CODE END */
 
     /* Configure system response to error conditions signaled to the ESM group1 */