Index: firmware/source/can.c
===================================================================
diff -u -r421ffbd3887d136b66da26ee3eeb17dcd9a773b8 -r172b320a1007769c7452fe3f1cc7ac85b016f89a
--- firmware/source/can.c	(.../can.c)	(revision 421ffbd3887d136b66da26ee3eeb17dcd9a773b8)
+++ firmware/source/can.c	(.../can.c)	(revision 172b320a1007769c7452fe3f1cc7ac85b016f89a)
@@ -180,7 +180,7 @@
                          | (uint32)0x00000000U;
 
     /** - Setup auto bus on timer period */
-    canREG1->ABOTR = (uint32)1033350U;
+    canREG1->ABOTR = (uint32)1040000U;
 
     /** - Initialize message 1 
     *     - Wait until IF1 is ready for use 
@@ -439,10 +439,10 @@
     *     - Setup baud rate prescaler
     */
     canREG1->BTR = (uint32)((uint32)0U << 16U) |
-                   (uint32)((uint32)(3U - 1U) << 12U) |
-                   (uint32)((uint32)((2U + 3U) - 1U) << 8U) |
-                   (uint32)((uint32)(3U - 1U) << 6U) |
-                   (uint32)45U;
+                   (uint32)((uint32)(2U - 1U) << 12U) |
+                   (uint32)((uint32)((3U + 2U) - 1U) << 8U) |
+                   (uint32)((uint32)(2U - 1U) << 6U) |
+                   (uint32)51U;
 
 
      /** - CAN1 Port output values */