Index: firmware/App/Drivers/Comm.c
===================================================================
diff -u -r1bbf9da32e622975efed00b1a7589387a9829440 -r31f710004436c030e787c895980457e08577702d
--- firmware/App/Drivers/Comm.c	(.../Comm.c)	(revision 1bbf9da32e622975efed00b1a7589387a9829440)
+++ firmware/App/Drivers/Comm.c	(.../Comm.c)	(revision 31f710004436c030e787c895980457e08577702d)
@@ -210,6 +210,38 @@
 }
 
 /*************************************************************************
+ * @brief clearSCI1CommErrors
+ * The clearSCI1CommErrors function clears framing and/or overrun error flags \
+ * for the SCI1 peripheral.
+ * @details
+ * Inputs : none
+ * Outputs : SCI1 error flags cleared.
+ * @param none
+ * @return none
+ *************************************************************************/
+void clearSCI1CommErrors( void )
+{
+    sciReceiveByte( sciREG );
+    sciREG->FLR |= ( SCI_FE_INT | SCI_OE_INT );
+}
+
+/*************************************************************************
+ * @brief clearSCI2CommErrors
+ * The clearSCI2CommErrors function clears framing and/or overrun error flags \n
+ * for the SCI2 peripheral.
+ * @details
+ * Inputs : none
+ * Outputs : SCI2 error flags cleared.
+ * @param none
+ * @return none
+ *************************************************************************/
+void clearSCI2CommErrors( void )
+{
+    sciReceiveByte( scilinREG );
+    scilinREG->FLR |= ( SCI_FE_INT | SCI_OE_INT );
+}
+
+/*************************************************************************
  * @brief isSCI1DMATransmitInProgress
  * The isSCI2DMATransmitInProgress function determines whether a DMA transmit \n
  * is in progress on the SCI1 peripheral.
Index: firmware/App/Drivers/Comm.h
===================================================================
diff -u -rd9cc76524777a12ba77b58ce95416dddfb032997 -r31f710004436c030e787c895980457e08577702d
--- firmware/App/Drivers/Comm.h	(.../Comm.h)	(revision d9cc76524777a12ba77b58ce95416dddfb032997)
+++ firmware/App/Drivers/Comm.h	(.../Comm.h)	(revision 31f710004436c030e787c895980457e08577702d)
@@ -40,6 +40,9 @@
 void clearSCI2DMAReceiveInterrupt( void );
 void clearSCI2DMATransmitInterrupt( void );
 
+void clearSCI1CommErrors( void );
+void clearSCI2CommErrors( void );
+
 BOOL isSCI1DMATransmitInProgress( void );
 BOOL isSCI2DMATransmitInProgress( void );
 
Index: firmware/App/Services/Interrupts.c
===================================================================
diff -u -r1bbf9da32e622975efed00b1a7589387a9829440 -r31f710004436c030e787c895980457e08577702d
--- firmware/App/Services/Interrupts.c	(.../Interrupts.c)	(revision 1bbf9da32e622975efed00b1a7589387a9829440)
+++ firmware/App/Services/Interrupts.c	(.../Interrupts.c)	(revision 31f710004436c030e787c895980457e08577702d)
@@ -163,7 +163,8 @@
         if ( ( flags & SCI_FE_INT ) != 0 )
         {
             sci1FrameErrorCnt++;
-            // TODO - clear and try to do something to recover (+ max retries = comm fault)
+            clearSCI1CommErrors();
+            // TODO - try to do something to recover (+ max retries = comm fault)
 #ifdef DEBUG_ENABLED
             // TODO - temporary debug code - remove later
             sprintf( debugStr, "Debug UART frame error:%5d \n", sci1FrameErrorCnt );
@@ -173,7 +174,8 @@
         if ( ( flags & SCI_OE_INT ) != 0 )
         {
             sci1OverrunErrorCnt++;
-            // TODO - clear and try to do something to recover (+ max retries = comm fault)
+            clearSCI1CommErrors();
+            // TODO - try to do something to recover (+ max retries = comm fault)
 #ifdef DEBUG_ENABLED
             // TODO - temporary debug code - remove later
             sprintf( debugStr, "Debug UART overrun error:%5d \n", sci1OverrunErrorCnt );
@@ -186,7 +188,8 @@
         if ( ( flags & SCI_FE_INT ) != 0 )
         {
             sci2FrameErrorCnt++;
-            // TODO - clear and try to do something to recover (+ max retries = comm fault)
+            clearSCI2CommErrors();
+            // TODO - try to do something to recover (+ max retries = comm fault)
 #ifdef DEBUG_ENABLED
             // TODO - temporary debug code - remove later
             sprintf( debugStr, "FPGA UART frame error:%5d \n", sci2FrameErrorCnt );
@@ -196,7 +199,8 @@
         if ( ( flags & SCI_OE_INT ) != 0 )
         {
             sci2OverrunErrorCnt++;
-            // TODO - clear and try to do something to recover (+ max retries = comm fault)
+            clearSCI2CommErrors();
+            // TODO - try to do something to recover (+ max retries = comm fault)
 #ifdef DEBUG_ENABLED
             // TODO - temporary debug code - remove later
             sprintf( debugStr, "FPGA UART overrun error:%5d \n", sci2OverrunErrorCnt );
Index: firmware/HD.dil
===================================================================
diff -u -r070554b23739bf16ea2bf9528ebabda1ce0ffeb3 -r31f710004436c030e787c895980457e08577702d
--- firmware/HD.dil	(.../HD.dil)	(revision 070554b23739bf16ea2bf9528ebabda1ce0ffeb3)
+++ firmware/HD.dil	(.../HD.dil)	(revision 31f710004436c030e787c895980457e08577702d)
@@ -1,4 +1,4 @@
-# RM46L852PGE 12/02/19 18:19:10
+# RM46L852PGE 12/11/19 17:53:30
 # 
 ARCH=RM46L852PGE
 # 
@@ -4441,7 +4441,7 @@
 DRIVER.CAN.VAR.CAN_1_MESSAGE_26_RTR.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_18_RTR.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_2_ID.VALUE=0x2
-DRIVER.CAN.VAR.CAN_1_AUTO_BUS_ON_TR.VALUE=103
+DRIVER.CAN.VAR.CAN_1_AUTO_BUS_ON_TR.VALUE=1033350
 DRIVER.CAN.VAR.CAN_3_MESSAGE_31_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_3_MESSAGE_23_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_3_MESSAGE_15_DLC.VALUE=8
@@ -4580,7 +4580,7 @@
 DRIVER.CAN.VAR.CAN_3_MESSAGE_24_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_3_MESSAGE_16_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_1_MESSAGE_8_DLC.VALUE=8
-DRIVER.CAN.VAR.CAN_1_NOMINAL_AUTO_BUS_ON_TIME.VALUE=996.758
+DRIVER.CAN.VAR.CAN_1_NOMINAL_AUTO_BUS_ON_TIME.VALUE=10000000.000
 DRIVER.CAN.VAR.CAN_2_SHIFT.VALUE=0
 DRIVER.CAN.VAR.CAN_1_MESSAGE_64_EOB.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_1_MESSAGE_64_DIR.VALUE=0x20000000
@@ -4975,7 +4975,7 @@
 DRIVER.CAN.VAR.CAN_2_MESSAGE_55_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_2_MESSAGE_47_DLC.VALUE=8
 DRIVER.CAN.VAR.CAN_2_MESSAGE_39_DLC.VALUE=8
-DRIVER.CAN.VAR.CAN_1_AUTO_BUS_ON_TIME.VALUE=1000
+DRIVER.CAN.VAR.CAN_1_AUTO_BUS_ON_TIME.VALUE=10000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_6_EOB.VALUE=0x00000000
 DRIVER.CAN.VAR.CAN_3_MESSAGE_6_DIR.VALUE=0x20000000
 DRIVER.CAN.VAR.CAN_2_MESSAGE_30_INT_ENA_REF.VALUE=0x00000000
Index: firmware/include/can.h
===================================================================
diff -u -rbe83f01a4d54cbd0d92b68cb95a15dcbb06a9a51 -r31f710004436c030e787c895980457e08577702d
--- firmware/include/can.h	(.../can.h)	(revision be83f01a4d54cbd0d92b68cb95a15dcbb06a9a51)
+++ firmware/include/can.h	(.../can.h)	(revision 31f710004436c030e787c895980457e08577702d)
@@ -639,7 +639,7 @@
                                  | (uint32)((uint32)((2U + 3U) - 1U) << 8U) \
                                  | (uint32)((uint32)(3U - 1U) << 6U) | (uint32)45U)
 #define CAN1_TEST_CONFIGVALUE       0x00000080U 
-#define CAN1_ABOTR_CONFIGVALUE    ((uint32)(103U))
+#define CAN1_ABOTR_CONFIGVALUE    ((uint32)(1033350U))
 #define CAN1_INTMUX0_CONFIGVALUE  ((uint32)0x00000000U \
                                  | (uint32)0x00000000U \
                                  | (uint32)0x00000000U \
Index: firmware/source/can.c
===================================================================
diff -u -rbe83f01a4d54cbd0d92b68cb95a15dcbb06a9a51 -r31f710004436c030e787c895980457e08577702d
--- firmware/source/can.c	(.../can.c)	(revision be83f01a4d54cbd0d92b68cb95a15dcbb06a9a51)
+++ firmware/source/can.c	(.../can.c)	(revision 31f710004436c030e787c895980457e08577702d)
@@ -180,7 +180,7 @@
                          | (uint32)0x00000000U;
 
     /** - Setup auto bus on timer period */
-    canREG1->ABOTR = (uint32)103U;
+    canREG1->ABOTR = (uint32)1033350U;
 
     /** - Initialize message 1 
     *     - Wait until IF1 is ready for use