Index: firmware/DG.dil
===================================================================
diff -u -rf3aae110ab3efde68897d0224f799dc039ac84f5 -r3ae0b1ecc324220e3f82106a09384ae2826e012e
--- firmware/DG.dil	(.../DG.dil)	(revision f3aae110ab3efde68897d0224f799dc039ac84f5)
+++ firmware/DG.dil	(.../DG.dil)	(revision 3ae0b1ecc324220e3f82106a09384ae2826e012e)
@@ -1,4 +1,4 @@
-# RM46L852PGE 06/29/21 17:43:24
+# RM46L852PGE 07/01/21 16:57:51
 # 
 ARCH=RM46L852PGE
 # 
@@ -1354,7 +1354,7 @@
 DRIVER.ESM.VAR.ESM_GROUP0_CHANNEL37_ENABLE.VALUE=0
 DRIVER.ESM.VAR.ESM_GROUP0_CHANNEL29_ENABLE.VALUE=0
 DRIVER.ESM.VAR.ESM_GROUP0_CHANNEL58_INT_LEVEL.VALUE=0
-DRIVER.ESM.VAR.ESM_LOW_TIME.VALUE=158.552
+DRIVER.ESM.VAR.ESM_LOW_TIME.VALUE=157.538
 DRIVER.ESM.VAR.ESM_GROUP0_CHANNEL30_ENABLE.VALUE=0
 DRIVER.ESM.VAR.ESM_GROUP0_CHANNEL22_ENABLE.VALUE=0
 DRIVER.ESM.VAR.ESM_GROUP0_CHANNEL14_ENABLE.VALUE=0
@@ -1390,7 +1390,7 @@
 DRIVER.ESM.VAR.ESM_GROUP0_CHANNEL12_ENABLE.VALUE=0
 DRIVER.ESM.VAR.ESM_GROUP0_CHANNEL56_INT_LEVEL.VALUE=0
 DRIVER.ESM.VAR.ESM_GROUP0_CHANNEL48_INT_LEVEL.VALUE=0
-DRIVER.ESM.VAR.ESM_VCLK_FREQ.VALUE=103.335
+DRIVER.ESM.VAR.ESM_VCLK_FREQ.VALUE=104
 DRIVER.ESM.VAR.ESM_GROUP0_CHANNEL30_INT_ENABLE.VALUE=0
 DRIVER.ESM.VAR.ESM_GROUP0_CHANNEL22_INT_ENABLE.VALUE=0
 DRIVER.ESM.VAR.ESM_GROUP0_CHANNEL14_INT_ENABLE.VALUE=0
@@ -3522,7 +3522,7 @@
 DRIVER.CAN.VAR.CAN_2_MESSAGE_11_ENA.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_2_MESSAGE_6_ENA.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_2_MESSAGE_4_INT_ENA.VALUE=0x00000000
-DRIVER.CAN.VAR.CAN_1_PROP_SEG.VALUE=3
+DRIVER.CAN.VAR.CAN_1_PROP_SEG.VALUE=5
 DRIVER.CAN.VAR.CAN_3_MESSAGE_1_ID.VALUE=1
 DRIVER.CAN.VAR.CAN_2_MESSAGE_64_INT_LEVEL.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_2_MESSAGE_56_INT_LEVEL.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=1400
+DRIVER.CAN.VAR.CAN_1_PROPAGATION_DELAY.VALUE=2100
 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
@@ -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=2
+DRIVER.CAN.VAR.CAN_1_PHASE_SEG.VALUE=1
 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=0x110
 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=2
+DRIVER.CAN.VAR.CAN_1_SJW.VALUE=1
 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
@@ -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=75.000
+DRIVER.CAN.VAR.CAN_1_SAMPLE_POINT.VALUE=87.500
 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
@@ -7090,7 +7090,7 @@
 DRIVER.DCC.VAR.DCC1_VALID0_SEED.VALUE=792
 DRIVER.DCC.VAR.DCC1_BASE.VALUE=0xFFFFEC00
 DRIVER.DCC.VAR.DCC2_COUNT1_SEED.VALUE=0
-DRIVER.DCC.VAR.DCC1_CLOCK_SOURCE1_FREQ.VALUE=206.67
+DRIVER.DCC.VAR.DCC1_CLOCK_SOURCE1_FREQ.VALUE=208.00
 DRIVER.DCC.VAR.DCC1_CLOCK_DRIFT.VALUE=1.0
 DRIVER.DCC.VAR.DCC1_ENABLE.VALUE=0xA
 DRIVER.DCC.VAR.DCC1_ENABLE_SINGLESHOT_MODE.VALUE=0x5
@@ -7104,7 +7104,7 @@
 DRIVER.DCC.VAR.DCC1_CLOCK_SOURCE0.VALUE=OSCIN
 DRIVER.DCC.VAR.DCC1_CLOCK_SOURCE1.VALUE=PLL1
 DRIVER.DCC.VAR.CLKT_TCK_FREQ.VALUE=12.0
-DRIVER.DCC.VAR.DCC1_COUNT1_SEED.VALUE=511508
+DRIVER.DCC.VAR.DCC1_COUNT1_SEED.VALUE=514800
 DRIVER.PINMUX.VAR.DMA_EIDXS_28.VALUE=0
 DRIVER.PINMUX.VAR.DMA_FIDXD_20.VALUE=0
 DRIVER.PINMUX.VAR.DMA_FIDXD_12.VALUE=0
Index: firmware/include/can.h
===================================================================
diff -u -rf3aae110ab3efde68897d0224f799dc039ac84f5 -r3ae0b1ecc324220e3f82106a09384ae2826e012e
--- firmware/include/can.h	(.../can.h)	(revision f3aae110ab3efde68897d0224f799dc039ac84f5)
+++ firmware/include/can.h	(.../can.h)	(revision 3ae0b1ecc324220e3f82106a09384ae2826e012e)
@@ -635,9 +635,9 @@
                                  | (uint32)((uint32)0x0000000AU  << 10U) | 0x00020002U)
 #define CAN1_ES_CONFIGVALUE         0x00000007U 
 #define CAN1_BTR_CONFIGVALUE      ((uint32)((uint32)0U << 16U) \
-                                 | (uint32)((uint32)(2U - 1U) << 12U) \
-                                 | (uint32)((uint32)((3U + 2U) - 1U) << 8U) \
-                                 | (uint32)((uint32)(2U - 1U) << 6U) | (uint32)51U)
+                                 | (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)(1040000U))
 #define CAN1_INTMUX0_CONFIGVALUE  ((uint32)0x00000000U \
Index: firmware/source/can.c
===================================================================
diff -u -rf3aae110ab3efde68897d0224f799dc039ac84f5 -r3ae0b1ecc324220e3f82106a09384ae2826e012e
--- firmware/source/can.c	(.../can.c)	(revision f3aae110ab3efde68897d0224f799dc039ac84f5)
+++ firmware/source/can.c	(.../can.c)	(revision 3ae0b1ecc324220e3f82106a09384ae2826e012e)
@@ -439,9 +439,9 @@
     *     - Setup baud rate prescaler
     */
     canREG1->BTR = (uint32)((uint32)0U << 16U) |
-                   (uint32)((uint32)(2U - 1U) << 12U) |
-                   (uint32)((uint32)((3U + 2U) - 1U) << 8U) |
-                   (uint32)((uint32)(2U - 1U) << 6U) |
+                   (uint32)((uint32)(1U - 1U) << 12U) |
+                   (uint32)((uint32)((5U + 1U) - 1U) << 8U) |
+                   (uint32)((uint32)(1U - 1U) << 6U) |
                    (uint32)51U;