Index: firmware/include/can.h
===================================================================
diff -u -reff7b1575f008f81b29ef906f6346fac6012d3ab -r36a2fa774e2f5721c30261a40360d706bb4ea4bb
--- firmware/include/can.h	(.../can.h)	(revision eff7b1575f008f81b29ef906f6346fac6012d3ab)
+++ firmware/include/can.h	(.../can.h)	(revision 36a2fa774e2f5721c30261a40360d706bb4ea4bb)
@@ -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)
 #define CAN1_TEST_CONFIGVALUE       0x00000080U 
-#define CAN1_ABOTR_CONFIGVALUE    ((uint32)(103U))
+#define CAN1_ABOTR_CONFIGVALUE    ((uint32)(1033350U))
 #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 \