Index: DialityCoreCanProtocol.py
===================================================================
diff -u -r6f07015d84f80bbaca2960ea8e5ef8dd4b4541c6 -r64f191141f9df20af78d559dc654ec0ad2aeda43
--- DialityCoreCanProtocol.py	(.../DialityCoreCanProtocol.py)	(revision 6f07015d84f80bbaca2960ea8e5ef8dd4b4541c6)
+++ DialityCoreCanProtocol.py	(.../DialityCoreCanProtocol.py)	(revision 64f191141f9df20af78d559dc654ec0ad2aeda43)
@@ -33,6 +33,7 @@
     hd_sync_broadcast_ch_id = 0x040
     dg_sync_broadcast_ch_id = 0x080
     ui_to_hd_ch_id = 0x100
+    ui_sync_broadcast_ch_id = 0x200
     dialin_to_hd_ch_id = 0x400
     hd_to_dialin_ch_id = 0x401
     dialin_to_dg_ch_id = 0x402
@@ -103,7 +104,9 @@
         :returns DialityCanMessenger object
 
         """
-        self.__canConnection = can.interface.Bus(channel=can_interface, bustype='socketcan')
+        self.__bus = can.interfaces.socketcan.SocketcanBus(channel=can_interface)
+        self.__listener_buffer = can.BufferedReader()
+        self.__notifier = can.Notifier(self.__bus, [self.__listener_buffer])
 
         self.__sendPacketRequestID = -1
         self.__sendEvent = threading.Event()
@@ -119,8 +122,8 @@
 
         self.__sync_response_dictionary = {}
 
-        if self.__canConnection is not None:
-            self.__serialListenerThread = threading.Thread(target=self.__listener)
+        if self.__bus is not None:
+            self.__serialListenerThread = threading.Thread(target=self.__listener, daemon=True)
         else:
             self.__serialListenerThread = None
             print("Can connection is not valid")
@@ -131,7 +134,7 @@
 
         """
 
-        if self.__canConnection is None:
+        if self.__bus is None:
             print("Cannot start can listener.")
             return
         else:
@@ -155,7 +158,8 @@
 
         while self.__run:
 
-            message = self.__canConnection.recv(0.0)
+            # message = self.__canConnection.recv(0.0)
+            message = self.__listener_buffer.get_message(0.0)
 
             if message is not None and message.dlc == 8:
 
@@ -279,7 +283,7 @@
                                data=packet,
                                is_extended_id=False)
 
-            self.__canConnection.send(pckt)
+            self.__bus.send(pckt)
 
         # Sending
         self.__dialinCommandResponseMessage = None
@@ -478,7 +482,6 @@
 
     test_messenger.start()
 
-    # test_packet = DialityPacket.buildPacket(0x01, [1])
     test_msg = DenaliMessage.buildMessage(channel_id=1000,
                                           message_id=0x01,
                                           payload=[1])