Index: firmware/source/can.c
===================================================================
diff -u -r4a41a54d255afc5cef0599e2a832927ed2b0ee5d -rd7a56c36bbc9b5c66585b0ef39e75bb7766d544f
--- firmware/source/can.c	(.../can.c)	(revision 4a41a54d255afc5cef0599e2a832927ed2b0ee5d)
+++ firmware/source/can.c	(.../can.c)	(revision d7a56c36bbc9b5c66585b0ef39e75bb7766d544f)
@@ -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 */
@@ -517,8 +517,10 @@
     */
 
 /* USER CODE BEGIN (5) */
-    // Enable EIE (error interrupts)
+    // Enable EIE (error interrupts)  // Enable error interrupts for bus transmission issues.
     canREG1->CTL |= (uint32)0x00000008U;
+//    // Enable SIE (error interrupts)  // Enable status interrupts for errors on received frames.  Not Needed except for some engineering testing.
+//    canREG1->CTL |= (uint32)0x00000004U;
 /* USER CODE END */
 }
 
@@ -1585,8 +1587,6 @@
 /** @fn void can1HighLevelInterrupt(void)
 *   @brief CAN1 Level 0 Interrupt Handler
 */
-#pragma CODE_STATE(can1HighLevelInterrupt, 32)
-#pragma INTERRUPT(can1HighLevelInterrupt, FIQ)
 
 /* SourceId : CAN_SourceId_020 */
 /* DesignId : CAN_DesignId_018 */
@@ -1647,8 +1647,6 @@
 /** @fn void can1LowLevelInterrupt(void)
 *   @brief CAN1 Level 1 Interrupt Handler
 */
-#pragma CODE_STATE(can1LowLevelInterrupt, 32)
-#pragma INTERRUPT(can1LowLevelInterrupt, FIQ)
 
 /* SourceId : CAN_SourceId_021 */
 /* DesignId : CAN_DesignId_019 */