Index: firmware/source/can.c
===================================================================
diff -u -rf068446fdb7889d320ddb6ffbd58f347ce0501e7 -r36a2fa774e2f5721c30261a40360d706bb4ea4bb
--- firmware/source/can.c	(.../can.c)	(revision f068446fdb7889d320ddb6ffbd58f347ce0501e7)
+++ firmware/source/can.c	(.../can.c)	(revision 36a2fa774e2f5721c30261a40360d706bb4ea4bb)
@@ -104,9 +104,9 @@
     *     - Disable status interrupts
     *     - Enter initialization mode
     */
-    canREG1->CTL = (uint32)0x00000000U 
+    canREG1->CTL = (uint32)0x00000200U 
                  | (uint32)0x00000000U 
-                 | (uint32)((uint32)0x00000005U  << 10U)
+                 | (uint32)((uint32)0x0000000AU  << 10U)
                  | (uint32)0x00020043U;
 
     /** - Clear all pending error flags and reset current status */
@@ -180,7 +180,7 @@
                          | (uint32)0x00000000U;
 
     /** - Setup auto bus on timer period */
-    canREG1->ABOTR = (uint32)0U;
+    canREG1->ABOTR = (uint32)1033350U;
 
     /** - Initialize message 1 
     *     - Wait until IF1 is ready for use 
@@ -196,8 +196,8 @@
     } /* Wait */
 
 
-    canREG1->IF1MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x1FFFFFFFU) << (uint32)0U);
-    canREG1->IF1ARB  = (uint32)0x80000000U | (uint32)0x40000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)0x1U & (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)0x1U & (uint32)0x000007FFU) << (uint32)18U);
     canREG1->IF1MCTL = 0x00001000U | (uint32)0x00000400U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF1CMD  = (uint8) 0xF8U;
     canREG1->IF1NO   = 1U;
@@ -215,8 +215,8 @@
     { 
     } /* Wait */
 
-    canREG1->IF2MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x1FFFFFFFU) << (uint32)0U);
-    canREG1->IF2ARB  = (uint32)0x80000000U | (uint32)0x40000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)0x2U & (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)0x2U & (uint32)0x000007FFU) << (uint32)18U);
     canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000800U | (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)0x4U & (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)0x4U & (uint32)0x000007FFU) << (uint32)18U);
     canREG1->IF1MCTL = 0x00001000U | (uint32)0x00000400U | (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)0x8U & (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)0x8U & (uint32)0x000007FFU) << (uint32)18U);
     canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000400U | (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)0x20000000U | (uint32)((uint32)((uint32)0x10U & (uint32)0x1FFFFFFFU) << (uint32)0U);
+    canREG1->IF1MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x000007FFU) << (uint32)18U);
+    canREG1->IF1ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)0x10U & (uint32)0x000007FFU) << (uint32)18U);
     canREG1->IF1MCTL = 0x00001000U | (uint32)0x00000800U | (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)0x00000000U | (uint32)((uint32)((uint32)0x40U & (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)0x40U & (uint32)0x000007FFU) << (uint32)18U);
     canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000400U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF2CMD  = (uint8) 0xF8U;
     canREG1->IF2NO   = 6U;
@@ -310,8 +310,8 @@
     { 
     } /* Wait */
 
-    canREG1->IF1MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x1FFFFFFFU) << (uint32)0U);
-    canREG1->IF1ARB  = (uint32)0x80000000U | (uint32)0x40000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)0x80U & (uint32)0x1FFFFFFFU) << (uint32)0U);
+    canREG1->IF1MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x000007FFU) << (uint32)18U);
+    canREG1->IF1ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)0x80U & (uint32)0x000007FFU) << (uint32)18U);
     canREG1->IF1MCTL = 0x00001000U | (uint32)0x00000800U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF1CMD  = (uint8) 0xF8U;
     canREG1->IF1NO   = 7U;
@@ -329,8 +329,8 @@
     { 
     } /* Wait */
 
-    canREG1->IF2MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x1FFFFFFFU) << (uint32)0U);
-    canREG1->IF2ARB  = (uint32)0x80000000U | (uint32)0x40000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)0x200U & (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)0x100U & (uint32)0x000007FFU) << (uint32)18U);
     canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000400U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF2CMD  = (uint8) 0xF8U;
     canREG1->IF2NO   = 8U;
@@ -348,8 +348,8 @@
     { 
     } /* Wait */
 
-    canREG1->IF1MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x1FFFFFFFU) << (uint32)0U);
-    canREG1->IF1ARB  = (uint32)0x80000000U | (uint32)0x40000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)0x402U & (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)0x402U & (uint32)0x000007FFU) << (uint32)18U);
     canREG1->IF1MCTL = 0x00001000U | (uint32)0x00000400U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF1CMD  = (uint8) 0xF8U;
     canREG1->IF1NO   = 9U;
@@ -367,9 +367,9 @@
     { 
     } /* Wait */
 
-    canREG1->IF2MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x000007FFU & (uint32)0x1FFFFFFFU) << (uint32)0U);
-    canREG1->IF2ARB  = (uint32)0x80000000U | (uint32)0x40000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)0x403U & (uint32)0x1FFFFFFFU) << (uint32)0U);
-    canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000800U | (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)0x403U & (uint32)0x000007FFU) << (uint32)18U);
+    canREG1->IF2MCTL = 0x00001000U | (uint32)0x00000400U | (uint32)0x00000000U | (uint32)0x00000080U | (uint32)8U;
     canREG1->IF2CMD  = (uint8) 0xF8U;
     canREG1->IF2NO   = 10U;