Index: firmware/include/can.h
===================================================================
diff -u -reb877ae36c28eb83553ee11ccccf42e2c4a5b4d2 -r3ae0b1ecc324220e3f82106a09384ae2826e012e
--- firmware/include/can.h	(.../can.h)	(revision eb877ae36c28eb83553ee11ccccf42e2c4a5b4d2)
+++ firmware/include/can.h	(.../can.h)	(revision 3ae0b1ecc324220e3f82106a09384ae2826e012e)
@@ -632,15 +632,29 @@
 /* Configuration registers initial value for CAN1*/
 #define CAN1_CTL_CONFIGVALUE      ((uint32)0x00000200U \
                                  | (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)(3U - 1U) << 12U) \
-                                 | (uint32)((uint32)((2U + 3U) - 1U) << 8U) \
-                                 | (uint32)((uint32)(3U - 1U) << 6U) | (uint32)45U)
+                                 | (uint32)((uint32)(1U - 1U) << 12U) \
+                                 | (uint32)((uint32)((5U + 1U) - 1U) << 8U) \
+                                 | (uint32)((uint32)(1U - 1U) << 6U) | (uint32)51U)
 #define CAN1_TEST_CONFIGVALUE       0x00000080U 
-#define CAN1_ABOTR_CONFIGVALUE    ((uint32)(103U))
+#define CAN1_ABOTR_CONFIGVALUE    ((uint32)(1040000U))
 #define CAN1_INTMUX0_CONFIGVALUE  ((uint32)0x00000000U \
+                                 | (uint32)0x00000002U \
+                                 | (uint32)0x00000004U \
+                                 | (uint32)0x00000008U \
+                                 | (uint32)0x00000010U \
+                                 | (uint32)0x00000020U \
+                                 | (uint32)0x00000040U \
+                                 | (uint32)0x00000080U \
+                                 | (uint32)0x00000100U \
+                                 | (uint32)0x00000200U \
+                                 | (uint32)0x00000400U \
+                                 | (uint32)0x00000800U \
+                                 | (uint32)0x00001000U \
+                                 | (uint32)0x00002000U \
+                                 | (uint32)0x00004000U \
                                  | (uint32)0x00000000U \
                                  | (uint32)0x00000000U \
                                  | (uint32)0x00000000U \
@@ -657,20 +671,6 @@
                                  | (uint32)0x00000000U \
                                  | (uint32)0x00000000U \
                                  | (uint32)0x00000000U \
-                                 | (uint32)0x00000000U \
-                                 | (uint32)0x00000000U \
-                                 | (uint32)0x00000000U \
-                                 | (uint32)0x00000000U \
-                                 | (uint32)0x00000000U \
-                                 | (uint32)0x00000000U \
-                                 | (uint32)0x00000000U \
-                                 | (uint32)0x00000000U \
-                                 | (uint32)0x00000000U \
-                                 | (uint32)0x00000000U \
-                                 | (uint32)0x00000000U \
-                                 | (uint32)0x00000000U \
-                                 | (uint32)0x00000000U \
-                                 | (uint32)0x00000000U \
                                  | (uint32)0x00000000U)
 
 #define CAN1_INTMUX1_CONFIGVALUE  ((uint32)0x00000000U \
@@ -729,8 +729,8 @@
 #define CAN2_ES_CONFIGVALUE      0x00000007U 
 #define CAN2_BTR_CONFIGVALUE      ((uint32)((uint32)0U << 16U) \
                                  | (uint32)((uint32)(2U - 1U) << 12U) \
-                                 | (uint32)((uint32)((4U + 2U) - 1U) << 8U) \
-                                 | (uint32)((uint32)(2U - 1U) << 6U) | (uint32)22U)
+                                 | (uint32)((uint32)((3U + 2U) - 1U) << 8U) \
+                                 | (uint32)((uint32)(2U - 1U) << 6U) | (uint32)25U)
 #define CAN2_TEST_CONFIGVALUE    0x00000080U 
 #define CAN2_ABOTR_CONFIGVALUE    ((uint32)(0U))
 #define CAN2_INTMUX0_CONFIGVALUE  ((uint32)0x00000000U \
@@ -821,8 +821,8 @@
 #define CAN3_ES_CONFIGVALUE      0x00000007U 
 #define CAN3_BTR_CONFIGVALUE      ((uint32)((uint32)0U << 16U) \
                                  | (uint32)((uint32)(2U - 1U) << 12U) \
-                                 | (uint32)((uint32)((4U + 2U) - 1U) << 8U) \
-                                 | (uint32)((uint32)(2U - 1U) << 6U) | (uint32)22U)
+                                 | (uint32)((uint32)((3U + 2U) - 1U) << 8U) \
+                                 | (uint32)((uint32)(2U - 1U) << 6U) | (uint32)25U)
 #define CAN3_TEST_CONFIGVALUE    0x00000080U 
 #define CAN3_ABOTR_CONFIGVALUE    ((uint32)(0U))
 #define CAN3_INTMUX0_CONFIGVALUE  ((uint32)0x00000000U \