diff --git a/.mxproject b/.mxproject
index d3df932..be0c470 100644
--- a/.mxproject
+++ b/.mxproject
@@ -6,6 +6,11 @@ SourceFiles=../Core/Src/main.c;../Core/Src/stm32g4xx_it.c;../Core/Src/stm32g4xx_
 HeaderPath=../Drivers/STM32G4xx_HAL_Driver/Inc;../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32G4xx/Include;../Drivers/CMSIS/Include;../Core/Inc;
 CDefines=USE_HAL_DRIVER;STM32G431xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
 
+[PreviousUsedMakefileFiles]
+SourceFiles=Core/Src/main.c;Core/Src/stm32g4xx_it.c;Core/Src/stm32g4xx_hal_msp.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_fdcan.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ramfunc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_gpio.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_exti.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_cortex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim_ex.c;Drivers/CMSIS/Device/ST/STM32G4xx/Source/Templates/system_stm32g4xx.c;Core/Src/system_stm32g4xx.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_fdcan.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ramfunc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_gpio.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_exti.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_cortex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim_ex.c;Drivers/CMSIS/Device/ST/STM32G4xx/Source/Templates/system_stm32g4xx.c;Core/Src/system_stm32g4xx.c;;;
+HeaderPath=Drivers/STM32G4xx_HAL_Driver/Inc;Drivers/STM32G4xx_HAL_Driver/Inc/Legacy;Drivers/CMSIS/Device/ST/STM32G4xx/Include;Drivers/CMSIS/Include;Core/Inc;
+CDefines=USE_HAL_DRIVER;STM32G431xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
+
 [PreviousGenFiles]
 AdvancedFolderStructure=true
 HeaderFileListSize=3
@@ -23,8 +28,3 @@ SourceFolderListSize=1
 SourcePath#0=../Core/Src
 SourceFiles=;
 
-[PreviousUsedMakefileFiles]
-SourceFiles=Core/Src/main.c;Core/Src/stm32g4xx_it.c;Core/Src/stm32g4xx_hal_msp.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_fdcan.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ramfunc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_gpio.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_exti.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_cortex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim_ex.c;Drivers/CMSIS/Device/ST/STM32G4xx/Source/Templates/system_stm32g4xx.c;Core/Src/system_stm32g4xx.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_fdcan.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ramfunc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_gpio.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_exti.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_cortex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim_ex.c;Drivers/CMSIS/Device/ST/STM32G4xx/Source/Templates/system_stm32g4xx.c;Core/Src/system_stm32g4xx.c;;;
-HeaderPath=Drivers/STM32G4xx_HAL_Driver/Inc;Drivers/STM32G4xx_HAL_Driver/Inc/Legacy;Drivers/CMSIS/Device/ST/STM32G4xx/Include;Drivers/CMSIS/Include;Core/Inc;
-CDefines=USE_HAL_DRIVER;STM32G431xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
-
diff --git a/Core/Inc/AIR_State_Maschine.h b/Core/Inc/AIR_State_Maschine.h
new file mode 100644
index 0000000..5f285eb
--- /dev/null
+++ b/Core/Inc/AIR_State_Maschine.h
@@ -0,0 +1,61 @@
+/*
+ * AIR_State_Maschine.h
+ *
+ *  Created on: Jun 15, 2022
+ *      Author: max
+ */
+
+#ifndef INC_AIR_STATE_MASCHINE_H_
+#define INC_AIR_STATE_MASCHINE_H_
+
+#include "main.h"
+
+#include "stm32g431xx.h"
+#include "stm32g4xx_hal.h"
+#include "stm32g4xx_hal_gpio.h"
+
+#define TS_INACTIVE 0
+#define TS_PRECHARGE 2
+#define TS_DISCHARGE 3
+#define TS_ERROR 4
+#define TS_ACTIVE 1
+#define TS_CHARGING_CHECK 5
+#define TS_CHARGING 6
+
+#define ADC_READ_TIMEOUT 500       // in ms
+#define SDC_LOWER_THRESHOLD 2500   // in ADC Values
+#define PRECHARGE_95_DURATION 1000 // in ms
+#define PRECHARGE_OPEN_AFTER 1000  // in ms
+// FIXME
+#define LOWER_VEHICLE_SIDE_VOLTAGE_LIMIT 150000 // in mV
+
+typedef struct {
+
+  int32_t BatteryVoltageVehicleSide;
+  int32_t BatteryVoltageBatterySide;
+  int32_t shuntCurrent;
+  uint8_t targetTSState;
+  uint8_t currentTSState;
+  uint32_t precharge95ReachedTimestamp;
+  uint32_t chargingCheckTimestamp;
+
+} AIRStateHandler;
+
+AIRStateHandler init_AIR_State_Maschine();
+
+void Update_AIR_Info(AIRStateHandler* airstate);
+uint8_t Update_AIR_State(AIRStateHandler* airstate);
+void Activate_TS(AIRStateHandler* airstate);
+void Deactivate_TS(AIRStateHandler* airstate);
+
+void AIR_Precharge_Position();
+void AIR_Inactive_Position();
+void AIR_Discharge_Position();
+void AIR_Active_Position();
+void AIR_Error_Position();
+
+typedef enum { RELAY_AIR_NEG, RELAY_AIR_POS, RELAY_PRECHARGE } Relay;
+
+void Set_Relay_Position(Relay relay, GPIO_PinState position);
+
+#endif /* INC_AIR_STATE_MASCHINE_H_ */
diff --git a/Core/Inc/AMS_Errorcodes.h b/Core/Inc/AMS_Errorcodes.h
new file mode 100644
index 0000000..63b3bb5
--- /dev/null
+++ b/Core/Inc/AMS_Errorcodes.h
@@ -0,0 +1,18 @@
+/*
+ * AMS_Errorcodes.h
+ *
+ *  Created on: Jun 16, 2022
+ *      Author: max
+ */
+
+#ifndef INC_AMS_ERRORCODES_H_
+#define INC_AMS_ERRORCODES_H_
+
+#include "main.h"
+
+#define SlavesTimeoutError 1
+#define SlavesErrorFrameError 2
+#define SLAVES_FRAME_TIMEOUT_ERROR 3
+#define SLAVES_TOO_FEW_TEMPS 4
+
+#endif /* INC_AMS_ERRORCODES_H_ */
diff --git a/Core/Inc/CAN_Communication.h b/Core/Inc/CAN_Communication.h
new file mode 100644
index 0000000..efe258e
--- /dev/null
+++ b/Core/Inc/CAN_Communication.h
@@ -0,0 +1,52 @@
+/*
+ * CAN_Communication.h
+ *
+ *  Created on: Apr 26, 2022
+ *      Author: max
+ */
+
+#ifndef INC_CAN_COMMUNICATION_H_
+#define INC_CAN_COMMUNICATION_H_
+
+#include "AMS_Errorcodes.h"
+#include "Slave_Monitoring.h"
+#include "main.h"
+
+#include "stm32g4xx_hal.h"
+#include "stm32g4xx_hal_fdcan.h"
+
+#define CANFRAMEBUFFERSIZE 512
+
+// Frame ID = Base Address + Slave ID + MessageNr.
+#define SLAVE_STATUS_BASE_ADDRESS 0x600
+#define SLAVE_CMD_BASE_ADDRESS 0x500  //
+#define SLAVE_EMERGENCY_ADDRESS 0x001 // Emergency Frame
+#define CLOCK_SYNC_ADDRESS 0x002
+#define MASTER_HEARTBEAT_ADDRESS 0x010
+#define SLAVE_EEPROM_WRITE_ADDRESS 0x020
+
+typedef struct {
+  int16_t FrameID;
+  uint8_t data[8];
+  uint8_t length;
+  uint32_t timestamp;
+  uint8_t error;
+
+} canFrame;
+
+extern canFrame framebuffer[CANFRAMEBUFFERSIZE];
+
+extern uint32_t framebufferwritepointer;
+extern uint32_t framebufferreadpointer;
+extern uint32_t frames_read;
+
+void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef* handle,
+                               uint32_t interrupt_flags);
+
+void CAN_Init(FDCAN_HandleTypeDef* hcan);
+uint8_t CAN_Receive(FDCAN_HandleTypeDef* hcan);
+uint8_t CAN_Transmit(FDCAN_HandleTypeDef* hcan, uint16_t frameid,
+                     uint8_t* buffer, uint8_t datalen);
+void updateSlaveInfo(uint8_t slaveID, uint8_t MessageID, canFrame rxFrame);
+
+#endif /* INC_CAN_COMMUNICATION_H_ */
diff --git a/Core/Inc/Clock_Sync.h b/Core/Inc/Clock_Sync.h
new file mode 100644
index 0000000..b4213c6
--- /dev/null
+++ b/Core/Inc/Clock_Sync.h
@@ -0,0 +1,34 @@
+#ifndef INC_CLOCK_SYNC_H_
+#define INC_CLOCK_SYNC_H_
+
+/**
+ * @file Clock_Sync.h
+ * @author Jasper v. Blanckenburg (j.blanckenburg@fasttube.de)
+ * @brief Clock synchronization mechanism -- master side
+ * @version 0.1
+ * @date 2022-08-01
+ *
+ * @copyright Copyright (c) 2022
+ *
+ * The slaves' clocks are fairly inaccurate -- too inaccurate for reliable CAN
+ * communication. In order to synchronize the clock frequencies, the slaves need
+ * an external clock source. Since the HSE doesn't work on all slaves, we use
+ * the master as the external clock source. For more detail, take a look at the
+ * clock sync section in the slave code.
+ *
+ * This file handles the master part of the clock sync mechanism: It sends
+ * CLOCK_SYNC frames every 1000 ms and MASTER_HEARTBEAT frames every 100 ms. In
+ * order to keep the time between packets accurate, they are sent from timer
+ * interrupts.
+ */
+
+#include "stm32g4xx_hal.h"
+#include "stm32g4xx_hal_fdcan.h"
+#include "stm32g4xx_hal_tim.h"
+
+void clock_sync_init(FDCAN_HandleTypeDef* can, TIM_HandleTypeDef* sync_timer,
+                     TIM_HandleTypeDef* heartbeat_timer);
+
+void clock_sync_handle_timer_complete(TIM_HandleTypeDef* timer);
+
+#endif // INC_CLOCK_SYNC_H_
diff --git a/Core/Inc/Error_Check.h b/Core/Inc/Error_Check.h
new file mode 100644
index 0000000..9cb9ebf
--- /dev/null
+++ b/Core/Inc/Error_Check.h
@@ -0,0 +1,30 @@
+/*
+ * Error_Check.h
+ *
+ *  Created on: Jun 16, 2022
+ *      Author: max
+ */
+
+#ifndef INC_ERROR_CHECK_H_
+#define INC_ERROR_CHECK_H_
+
+#include "main.h"
+
+typedef struct {
+  uint8_t IMD_ERROR;
+  uint8_t AMS_ERROR_LED;
+  uint8_t IMD_ERROR_LED;
+
+  uint8_t TS_no_voltage_error;
+  uint8_t positive_AIR_or_PC_error;
+  uint8_t negative_AIR_error;
+
+  uint8_t HV_inactive;
+  uint8_t negative_AIR_open;
+  uint8_t positive_AIR_and_PC_open;
+
+} ErrorFlags;
+
+ErrorFlags CheckErrorFlags();
+
+#endif /* INC_ERROR_CHECK_H_ */
diff --git a/Core/Inc/Slave_Monitoring.h b/Core/Inc/Slave_Monitoring.h
new file mode 100644
index 0000000..362453e
--- /dev/null
+++ b/Core/Inc/Slave_Monitoring.h
@@ -0,0 +1,44 @@
+/*
+ * Slave_Monitoring.h
+ *
+ *  Created on: Jun 15, 2022
+ *      Author: max
+ */
+
+#ifndef INC_SLAVE_MONITORING_H_
+#define INC_SLAVE_MONITORING_H_
+
+#include "AMS_Errorcodes.h"
+#include "Error_Check.h"
+#include "main.h"
+
+#include "stm32g431xx.h"
+
+#define NUMBEROFSLAVES 9
+#define NUMBEROFCELLS 10
+#define NUMBEROFTEMPS 32
+
+#define SLAVETIMEOUT 5000
+#define SLAVE_HEARTBEAT_FRAMES 11
+// 30% * 90 = 27, each sensor measures 2 cells
+#define SLAVE_MIN_TEMP_SENSORS 14
+
+typedef struct {
+
+  uint16_t slaveID;
+  uint16_t cellVoltages[NUMBEROFCELLS];
+  uint16_t cellTemps[NUMBEROFTEMPS];
+  uint32_t timestamp;
+  uint8_t error;
+  uint8_t timeout;
+  uint32_t frame_timestamps[SLAVE_HEARTBEAT_FRAMES];
+  uint8_t error_frame[8];
+
+} SlaveHandler;
+
+extern SlaveHandler slaves[NUMBEROFSLAVES];
+
+void initSlaves();
+uint8_t checkSlaveTimeout();
+
+#endif /* INC_SLAVE_MONITORING_H_ */
diff --git a/Core/Inc/main.h b/Core/Inc/main.h
index d887f3a..dd1814f 100644
--- a/Core/Inc/main.h
+++ b/Core/Inc/main.h
@@ -36,7 +36,10 @@ extern "C" {
 
 /* Exported types ------------------------------------------------------------*/
 /* USER CODE BEGIN ET */
-
+typedef struct {
+  uint8_t errorcode;
+  uint8_t errorarg[8];
+} AMSErrorHandle;
 /* USER CODE END ET */
 
 /* Exported constants --------------------------------------------------------*/
@@ -55,7 +58,7 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim);
 void Error_Handler(void);
 
 /* USER CODE BEGIN EFP */
-
+void AMS_Error_Handler(AMSErrorHandle*);
 /* USER CODE END EFP */
 
 /* Private defines -----------------------------------------------------------*/
diff --git a/Core/Src/AIR_State_Maschine.c b/Core/Src/AIR_State_Maschine.c
new file mode 100644
index 0000000..20fe32b
--- /dev/null
+++ b/Core/Src/AIR_State_Maschine.c
@@ -0,0 +1,263 @@
+/*
+ * AIR_State_Maschine.c
+ *
+ *  Created on: Jun 15, 2022
+ *      Author: max
+ */
+
+#include "AIR_State_Maschine.h"
+
+#include "main.h"
+
+#include "stm32g4xx_hal.h"
+#include "stm32g4xx_hal_gpio.h"
+
+DMA_HandleTypeDef* air_current_dma = {0};
+DMA_HandleTypeDef* sdc_voltage_dma = {0};
+
+uint8_t air_adc_complete = 0;
+uint8_t sdc_adc_complete = 0;
+
+static uint32_t pos_air_change_timestamp, neg_air_change_timestamp,
+    precharge_change_timestamp;
+static GPIO_PinState neg_air_state, pos_air_state, precharge_state;
+
+AIRStateHandler init_AIR_State_Maschine() {
+  AIRStateHandler airstate = {0};
+
+  airstate.targetTSState = TS_INACTIVE;
+  airstate.currentTSState = TS_INACTIVE;
+  airstate.BatteryVoltageBatterySide = 0;
+  airstate.BatteryVoltageVehicleSide = 0;
+
+  return airstate;
+}
+
+void Update_AIR_Info(AIRStateHandler* airstate) {
+  uint16_t relay_adc_buffer[4] = {0};
+  uint16_t sdc_adc_buffer[1] = {0};
+
+  /*//HAL_ADC_Start_DMA(air_current_adc, (uint32_t*)relay_adc_buffer, 4);
+  //HAL_ADC_Start_DMA(sdc_voltage_adc, (uint32_t*)sdc_adc_buffer, 1);
+  HAL_ADC_Start(sdc_voltage_adc);
+  HAL_StatusTypeDef status = HAL_ADC_PollForConversion(sdc_voltage_adc, 10);
+  uint32_t adcval1 = HAL_ADC_GetValue(sdc_voltage_adc);
+  HAL_ADC_Stop(sdc_voltage_adc);
+
+  HAL_ADC_Start(air_current_adc);
+  status = HAL_ADC_PollForConversion(air_current_adc, 10);
+  uint32_t adcval2 = HAL_ADC_GetValue(air_current_adc);
+  HAL_ADC_Start(air_current_adc);
+  status = HAL_ADC_PollForConversion(air_current_adc, 10);
+  uint32_t adcval3 = HAL_ADC_GetValue(air_current_adc);
+  HAL_ADC_Start(air_current_adc);
+  status = HAL_ADC_PollForConversion(air_current_adc, 10);
+  uint32_t adcval4 = HAL_ADC_GetValue(air_current_adc);
+  HAL_ADC_Start(air_current_adc);
+  status = HAL_ADC_PollForConversion(air_current_adc, 10);
+  uint32_t adcval5 = HAL_ADC_GetValue(air_current_adc);
+  HAL_ADC_Stop(air_current_adc);*/
+}
+
+uint8_t Update_AIR_State(AIRStateHandler* airstate) {
+  Update_AIR_Info(airstate);
+
+  //--------------------------------------------------State Transition
+  // Rules----------------------------------------------------------
+
+  /*if(airstate->currentTSState == airstate->targetTSState)	//Target TS
+  State is Equal to actual TS State
+  {
+          return airstate->currentTSState;
+  }*/
+
+  if (airstate->currentTSState == TS_ERROR) // No Escape from TS Error State
+  {
+    // Don't change anything, but prevent any other if from being entered
+  }
+
+  else if (airstate->targetTSState ==
+           TS_ERROR) // Error State is Entered if Target State is Error State
+  {
+    airstate->currentTSState = TS_ERROR;
+  }
+
+  else if ((airstate->currentTSState == TS_INACTIVE) &&
+           (airstate->targetTSState ==
+            TS_ACTIVE)) // Transition from Inactive to Active via Precharge
+  {
+    airstate->currentTSState = TS_PRECHARGE;
+    airstate->precharge95ReachedTimestamp = 0;
+  }
+
+  else if ((airstate->currentTSState == TS_INACTIVE) &&
+           (airstate->targetTSState == TS_CHARGING)) {
+    airstate->currentTSState = TS_CHARGING_CHECK;
+    airstate->chargingCheckTimestamp = HAL_GetTick();
+  }
+
+  // TODO: Is it correct that we also go from precharge to discharge?
+  else if ((airstate->currentTSState == TS_ACTIVE ||
+            airstate->currentTSState == TS_PRECHARGE ||
+            airstate->currentTSState == TS_CHARGING_CHECK ||
+            airstate->currentTSState == TS_CHARGING) &&
+           (airstate->targetTSState ==
+            TS_INACTIVE)) // Transition from Active to Inactive via Discharge
+  {
+    airstate->currentTSState = TS_DISCHARGE;
+  }
+
+  else if ((airstate->targetTSState == TS_CHARGING) &&
+           (airstate->currentTSState == TS_CHARGING_CHECK)) {
+    if (airstate->BatteryVoltageVehicleSide >
+        airstate->BatteryVoltageBatterySide) {
+      airstate->currentTSState = TS_CHARGING;
+    } else if (HAL_GetTick() > airstate->chargingCheckTimestamp + 2000) {
+      airstate->currentTSState = TS_ERROR;
+    }
+  }
+
+  else if (airstate->currentTSState == TS_CHARGING) {
+    if (airstate->shuntCurrent < 0) {
+      airstate->currentTSState = TS_ERROR;
+    }
+  }
+
+  else if (airstate->currentTSState ==
+           TS_PRECHARGE) // Change from Precharge to Active at 95% TS Voltage at
+                         // Vehicle Side
+  {
+    if ((airstate->BatteryVoltageVehicleSide >
+         LOWER_VEHICLE_SIDE_VOLTAGE_LIMIT)) {
+      if (airstate->BatteryVoltageVehicleSide >
+          (airstate->BatteryVoltageBatterySide * 0.95)) {
+        if (airstate->precharge95ReachedTimestamp == 0) {
+          airstate->precharge95ReachedTimestamp = HAL_GetTick();
+        } else if (HAL_GetTick() - airstate->precharge95ReachedTimestamp >=
+                   PRECHARGE_95_DURATION) {
+          airstate->currentTSState = TS_ACTIVE;
+        }
+      }
+    }
+  }
+
+  else if (airstate->currentTSState ==
+           TS_DISCHARGE) // Change from Discharge to Inactive at 95% TS
+                         // Voltage at Vehicle Side
+  {
+    airstate->currentTSState = TS_INACTIVE;
+  }
+
+  //_-----------------------------------------------AIR
+  // Positions--------------------------------------------------------
+
+  if (airstate->currentTSState == TS_PRECHARGE) {
+    AIR_Precharge_Position();
+  }
+
+  if (airstate->currentTSState == TS_DISCHARGE) {
+    AIR_Discharge_Position();
+  }
+
+  if (airstate->currentTSState == TS_CHARGING_CHECK) {
+    AIR_Precharge_Position();
+  }
+
+  if (airstate->currentTSState == TS_CHARGING) {
+    AIR_Active_Position();
+  }
+
+  if (airstate->currentTSState == TS_ACTIVE) {
+    AIR_Active_Position();
+  }
+
+  if (airstate->currentTSState == TS_INACTIVE) {
+    AIR_Inactive_Position();
+  }
+
+  if (airstate->currentTSState == TS_ERROR) {
+    AIR_Error_Position();
+  }
+
+  return airstate->currentTSState;
+}
+
+void Activate_TS(AIRStateHandler* airstate) {
+  airstate->targetTSState = TS_ACTIVE;
+}
+
+void Deactivate_TS(AIRStateHandler* airstate) {
+  airstate->targetTSState = TS_INACTIVE;
+}
+
+void AIR_Precharge_Position() {
+  Set_Relay_Position(RELAY_PRECHARGE, GPIO_PIN_SET);
+  Set_Relay_Position(RELAY_AIR_NEG, GPIO_PIN_SET);
+  Set_Relay_Position(RELAY_AIR_POS, GPIO_PIN_RESET);
+}
+
+void AIR_Inactive_Position() {
+  Set_Relay_Position(RELAY_PRECHARGE, GPIO_PIN_RESET);
+  Set_Relay_Position(RELAY_AIR_NEG, GPIO_PIN_RESET);
+  Set_Relay_Position(RELAY_AIR_POS, GPIO_PIN_RESET);
+}
+
+void AIR_Discharge_Position() {
+  Set_Relay_Position(RELAY_PRECHARGE, GPIO_PIN_SET);
+  Set_Relay_Position(RELAY_AIR_NEG, GPIO_PIN_SET);
+  Set_Relay_Position(RELAY_AIR_POS, GPIO_PIN_RESET);
+}
+
+void AIR_Active_Position() {
+  if (pos_air_state == GPIO_PIN_SET &&
+      HAL_GetTick() - pos_air_change_timestamp > PRECHARGE_OPEN_AFTER) {
+    Set_Relay_Position(RELAY_PRECHARGE, GPIO_PIN_RESET);
+  } else {
+    Set_Relay_Position(RELAY_PRECHARGE, GPIO_PIN_SET);
+  }
+  Set_Relay_Position(RELAY_AIR_NEG, GPIO_PIN_SET);
+  Set_Relay_Position(RELAY_AIR_POS, GPIO_PIN_SET);
+}
+
+void AIR_Error_Position() {
+  Set_Relay_Position(RELAY_PRECHARGE, GPIO_PIN_RESET);
+  Set_Relay_Position(RELAY_AIR_NEG, GPIO_PIN_RESET);
+  Set_Relay_Position(RELAY_AIR_POS, GPIO_PIN_RESET);
+}
+
+void Set_Relay_Position(Relay relay, GPIO_PinState position) {
+  // Add a small delay after closing relays in order to not draw too much
+  // current
+  switch (relay) {
+  case RELAY_AIR_NEG:
+    HAL_GPIO_WritePin(NEG_AIR_CTRL_GPIO_Port, NEG_AIR_CTRL_Pin, position);
+    if (position != neg_air_state) {
+      neg_air_change_timestamp = HAL_GetTick();
+    }
+    if (position == GPIO_PIN_SET && neg_air_state == GPIO_PIN_RESET) {
+      HAL_Delay(10);
+    }
+    neg_air_state = position;
+    break;
+  case RELAY_AIR_POS:
+    HAL_GPIO_WritePin(POS_AIR_CTRL_GPIO_Port, POS_AIR_CTRL_Pin, position);
+    if (position != pos_air_state) {
+      pos_air_change_timestamp = HAL_GetTick();
+    }
+    if (position == GPIO_PIN_SET && pos_air_state == GPIO_PIN_RESET) {
+      HAL_Delay(10);
+    }
+    pos_air_state = position;
+    break;
+  case RELAY_PRECHARGE:
+    HAL_GPIO_WritePin(PRECHARGE_CTRL_GPIO_Port, PRECHARGE_CTRL_Pin, position);
+    if (position != precharge_state) {
+      precharge_change_timestamp = HAL_GetTick();
+    }
+    if (position == GPIO_PIN_SET && precharge_state == GPIO_PIN_RESET) {
+      HAL_Delay(10);
+    }
+    precharge_state = position;
+    break;
+  }
+}
diff --git a/Core/Src/CAN_Communication.c b/Core/Src/CAN_Communication.c
new file mode 100644
index 0000000..6223891
--- /dev/null
+++ b/Core/Src/CAN_Communication.c
@@ -0,0 +1,210 @@
+/*
+ * CAN_Communication.c
+ *
+ *  Created on: Apr 26, 2022
+ *      Author: max
+ */
+
+#include "CAN_Communication.h"
+
+#include "Error_Check.h"
+
+#include "stm32g4xx_hal_fdcan.h"
+
+#include <stdint.h>
+#include <string.h>
+
+const uint16_t slave_CAN_id_to_slave_index[10] = {
+    0, 1, 2, 3, 4, 5, 6, 7, 255, 8}; // TODO: Make this pretty pls
+canFrame framebuffer[CANFRAMEBUFFERSIZE] = {0};
+uint32_t framebufferwritepointer = 0;
+uint32_t framebufferreadpointer = 0;
+uint32_t frames_read = 0;
+
+void CAN_Init(FDCAN_HandleTypeDef* hcan) {
+  HAL_FDCAN_Stop(hcan);
+
+  framebufferreadpointer = 0;
+  framebufferwritepointer = 0;
+
+  FDCAN_FilterTypeDef fdfilter = {0};
+
+  fdfilter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
+  fdfilter.FilterID1 = 0x000; // ID
+  fdfilter.FilterID2 = 0x000; // Mask
+  fdfilter.FilterIndex = 0;
+
+  fdfilter.FilterType = FDCAN_FILTER_MASK;
+  fdfilter.IdType = FDCAN_STANDARD_ID;
+
+  HAL_FDCAN_ConfigFilter(hcan, &fdfilter);
+
+  HAL_StatusTypeDef status = HAL_FDCAN_Start(hcan);
+
+  if (status) {
+    return;
+  }
+
+  status =
+      HAL_FDCAN_ActivateNotification(hcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
+}
+
+uint8_t CAN_Receive(FDCAN_HandleTypeDef* hcan) {
+  frames_read = 0;
+  while (framebufferreadpointer != framebufferwritepointer) {
+    framebufferreadpointer++;
+
+    if (framebufferreadpointer >= CANFRAMEBUFFERSIZE) {
+      framebufferreadpointer = 0;
+    }
+
+    canFrame rxFrame = framebuffer[framebufferreadpointer];
+    frames_read++;
+
+    if ((rxFrame.FrameID & SLAVE_STATUS_BASE_ADDRESS) ==
+        SLAVE_STATUS_BASE_ADDRESS) {
+      uint16_t msg = rxFrame.FrameID - SLAVE_STATUS_BASE_ADDRESS;
+      uint8_t slaveID = (msg & 0x0F0) >> 4;
+      slaveID = slave_CAN_id_to_slave_index[slaveID];
+      uint8_t messageID = msg & 0x00F;
+      updateSlaveInfo(slaveID, messageID, rxFrame);
+    } else if (rxFrame.FrameID == SLAVE_EMERGENCY_ADDRESS) {
+      uint8_t slave_id = rxFrame.data[0];
+      slaves[slave_id].error = 1;
+      memcpy(slaves[slave_id].error_frame, rxFrame.data, 8);
+    }
+  }
+
+  return 0;
+}
+
+uint8_t CAN_Transmit(FDCAN_HandleTypeDef* hcan, uint16_t frameid,
+                     uint8_t* buffer, uint8_t datalen) {
+  FDCAN_TxHeaderTypeDef txheader = {0};
+
+  txheader.Identifier = frameid;
+  txheader.IdType = FDCAN_STANDARD_ID;
+  txheader.TxFrameType = FDCAN_FRAME_CLASSIC;
+  txheader.DataLength = ((uint32_t)datalen) << 16;
+  txheader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
+  txheader.BitRateSwitch = FDCAN_BRS_OFF;
+  txheader.FDFormat = FDCAN_CLASSIC_CAN;
+  txheader.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
+  txheader.MessageMarker = 0;
+
+  HAL_FDCAN_AddMessageToTxFifoQ(hcan, &txheader, buffer);
+
+  return 0;
+}
+void HAL_FDCAN_ErrorCallback(FDCAN_HandleTypeDef* hcan) {}
+
+void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef* handle,
+                               uint32_t interrupt_flags) {
+
+  FDCAN_RxHeaderTypeDef rxFrameHeader;
+  uint8_t data[8];
+  framebufferwritepointer++;
+
+  if (framebufferwritepointer >= CANFRAMEBUFFERSIZE) {
+    framebufferwritepointer = 0;
+  }
+
+  if (!(interrupt_flags & FDCAN_IT_RX_FIFO0_NEW_MESSAGE)) {
+    return;
+  }
+
+  if (HAL_FDCAN_GetRxMessage(handle, FDCAN_RX_FIFO0, &rxFrameHeader, data) !=
+      HAL_OK) {
+    framebuffer[framebufferwritepointer].error = 1;
+  } else {
+    framebuffer[framebufferwritepointer].error = 0;
+  }
+
+  if (rxFrameHeader.IdType != FDCAN_STANDARD_ID) {
+    return;
+  }
+
+  framebuffer[framebufferwritepointer].FrameID =
+      (int16_t)rxFrameHeader.Identifier;
+  framebuffer[framebufferwritepointer].length =
+      (uint8_t)rxFrameHeader.DataLength >> 16;
+
+  for (int i = 0; i < (rxFrameHeader.DataLength >> 16); i++) {
+    framebuffer[framebufferwritepointer].data[i] = data[i];
+  }
+
+  framebuffer[framebufferwritepointer].timestamp = HAL_GetTick();
+}
+
+void updateSlaveInfo(uint8_t slaveID, uint8_t MessageID, canFrame rxFrame) {
+  if (slaveID < NUMBEROFSLAVES) {
+    switch (MessageID) {
+    case 0x00:
+      slaves[slaveID].cellVoltages[0] = rxFrame.data[0] | rxFrame.data[1] << 8;
+      slaves[slaveID].cellVoltages[1] = rxFrame.data[2] | rxFrame.data[3] << 8;
+      slaves[slaveID].cellVoltages[2] = rxFrame.data[4] | rxFrame.data[5] << 8;
+      slaves[slaveID].cellVoltages[3] = rxFrame.data[6] | rxFrame.data[7] << 8;
+      break;
+    case 0x01:
+      slaves[slaveID].cellVoltages[4] = rxFrame.data[0] | rxFrame.data[1] << 8;
+      slaves[slaveID].cellVoltages[5] = rxFrame.data[2] | rxFrame.data[3] << 8;
+      slaves[slaveID].cellVoltages[6] = rxFrame.data[4] | rxFrame.data[5] << 8;
+      slaves[slaveID].cellVoltages[7] = rxFrame.data[6] | rxFrame.data[7] << 8;
+      break;
+    case 0x02:
+      slaves[slaveID].cellVoltages[8] = rxFrame.data[0] | rxFrame.data[1] << 8;
+      slaves[slaveID].cellVoltages[9] = rxFrame.data[2] | rxFrame.data[3] << 8;
+      break;
+    case 0x03:
+      slaves[slaveID].cellTemps[0] = rxFrame.data[0] | rxFrame.data[1] << 8;
+      slaves[slaveID].cellTemps[1] = rxFrame.data[2] | rxFrame.data[3] << 8;
+      slaves[slaveID].cellTemps[2] = rxFrame.data[4] | rxFrame.data[5] << 8;
+      slaves[slaveID].cellTemps[3] = rxFrame.data[6] | rxFrame.data[7] << 8;
+      break;
+    case 0x04:
+      slaves[slaveID].cellTemps[4] = rxFrame.data[0] | rxFrame.data[1] << 8;
+      slaves[slaveID].cellTemps[5] = rxFrame.data[2] | rxFrame.data[3] << 8;
+      slaves[slaveID].cellTemps[6] = rxFrame.data[4] | rxFrame.data[5] << 8;
+      slaves[slaveID].cellTemps[7] = rxFrame.data[6] | rxFrame.data[7] << 8;
+      break;
+    case 0x05:
+      slaves[slaveID].cellTemps[8] = rxFrame.data[0] | rxFrame.data[1] << 8;
+      slaves[slaveID].cellTemps[9] = rxFrame.data[2] | rxFrame.data[3] << 8;
+      slaves[slaveID].cellTemps[10] = rxFrame.data[4] | rxFrame.data[5] << 8;
+      slaves[slaveID].cellTemps[11] = rxFrame.data[6] | rxFrame.data[7] << 8;
+      break;
+    case 0x06:
+      slaves[slaveID].cellTemps[12] = rxFrame.data[0] | rxFrame.data[1] << 8;
+      slaves[slaveID].cellTemps[13] = rxFrame.data[2] | rxFrame.data[3] << 8;
+      slaves[slaveID].cellTemps[14] = rxFrame.data[4] | rxFrame.data[5] << 8;
+      slaves[slaveID].cellTemps[15] = rxFrame.data[6] | rxFrame.data[7] << 8;
+      break;
+    case 0x07:
+      slaves[slaveID].cellTemps[16] = rxFrame.data[0] | rxFrame.data[1] << 8;
+      slaves[slaveID].cellTemps[17] = rxFrame.data[2] | rxFrame.data[3] << 8;
+      slaves[slaveID].cellTemps[18] = rxFrame.data[4] | rxFrame.data[5] << 8;
+      slaves[slaveID].cellTemps[19] = rxFrame.data[6] | rxFrame.data[7] << 8;
+      break;
+    case 0x08:
+      slaves[slaveID].cellTemps[20] = rxFrame.data[0] | rxFrame.data[1] << 8;
+      slaves[slaveID].cellTemps[21] = rxFrame.data[2] | rxFrame.data[3] << 8;
+      slaves[slaveID].cellTemps[22] = rxFrame.data[4] | rxFrame.data[5] << 8;
+      slaves[slaveID].cellTemps[23] = rxFrame.data[6] | rxFrame.data[7] << 8;
+      break;
+    case 0x09:
+      slaves[slaveID].cellTemps[24] = rxFrame.data[0] | rxFrame.data[1] << 8;
+      slaves[slaveID].cellTemps[25] = rxFrame.data[2] | rxFrame.data[3] << 8;
+      slaves[slaveID].cellTemps[26] = rxFrame.data[4] | rxFrame.data[5] << 8;
+      slaves[slaveID].cellTemps[27] = rxFrame.data[6] | rxFrame.data[7] << 8;
+      break;
+    case 0x0A:
+      slaves[slaveID].cellTemps[28] = rxFrame.data[0] | rxFrame.data[1] << 8;
+      slaves[slaveID].cellTemps[29] = rxFrame.data[2] | rxFrame.data[3] << 8;
+      slaves[slaveID].cellTemps[30] = rxFrame.data[4] | rxFrame.data[5] << 8;
+      slaves[slaveID].cellTemps[31] = rxFrame.data[6] | rxFrame.data[7] << 8;
+      break;
+    }
+    slaves[slaveID].timestamp = rxFrame.timestamp;
+    slaves[slaveID].frame_timestamps[MessageID] = rxFrame.timestamp;
+  }
+}
diff --git a/Core/Src/Clock_Sync.c b/Core/Src/Clock_Sync.c
new file mode 100644
index 0000000..78f4067
--- /dev/null
+++ b/Core/Src/Clock_Sync.c
@@ -0,0 +1,35 @@
+#include "Clock_Sync.h"
+
+#include "CAN_Communication.h"
+
+#include "stm32g4xx_hal.h"
+#include "stm32g4xx_hal_fdcan.h"
+#include "stm32g4xx_hal_tim.h"
+
+static FDCAN_HandleTypeDef* can;
+static TIM_HandleTypeDef* sync_timer;
+static TIM_HandleTypeDef* heartbeat_timer;
+
+static uint8_t clock_sync_counter = 0;
+
+void clock_sync_init(FDCAN_HandleTypeDef* can_handle,
+                     TIM_HandleTypeDef* sync_timer_handle,
+                     TIM_HandleTypeDef* heartbeat_timer_handle) {
+  can = can_handle;
+  sync_timer = sync_timer_handle;
+  heartbeat_timer = heartbeat_timer_handle;
+  HAL_TIM_Base_Start_IT(heartbeat_timer);
+  // Delay between starting the timers so the interrupts don't fire at the same
+  // time
+  HAL_Delay(50);
+  HAL_TIM_Base_Start_IT(sync_timer);
+}
+
+void clock_sync_handle_timer_complete(TIM_HandleTypeDef* timer) {
+  if (timer == sync_timer) {
+    CAN_Transmit(can, CLOCK_SYNC_ADDRESS, &clock_sync_counter, 1);
+    clock_sync_counter++;
+  } else if (timer == heartbeat_timer) {
+    CAN_Transmit(can, MASTER_HEARTBEAT_ADDRESS, NULL, 0);
+  }
+}
diff --git a/Core/Src/Error_Check.c b/Core/Src/Error_Check.c
new file mode 100644
index 0000000..0720708
--- /dev/null
+++ b/Core/Src/Error_Check.c
@@ -0,0 +1,13 @@
+/*
+ * Error_Check.c
+ *
+ *  Created on: Jun 16, 2022
+ *      Author: max
+ */
+
+#include "Error_Check.h"
+
+ErrorFlags CheckErrorFlags() {
+  ErrorFlags errors = {0};
+  return errors;
+}
diff --git a/Core/Src/Slave_Monitoring.c b/Core/Src/Slave_Monitoring.c
new file mode 100644
index 0000000..74fd075
--- /dev/null
+++ b/Core/Src/Slave_Monitoring.c
@@ -0,0 +1,104 @@
+/*
+ * Slave_Monitoring.c
+ *
+ *  Created on: Jun 15, 2022
+ *      Author: max
+ */
+
+#include "Slave_Monitoring.h"
+
+#include "AMS_Errorcodes.h"
+#include "main.h"
+
+#include "stm32g4xx_hal.h"
+#include "stm32g4xx_hal_gpio.h"
+
+#include <string.h>
+
+SlaveHandler slaves[NUMBEROFSLAVES];
+
+void initSlaves() {
+  HAL_GPIO_WritePin(SLAVES_ENABLE_GPIO_Port, SLAVES_ENABLE_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(BOOT0_FF_DATA_GPIO_Port, BOOT0_FF_DATA_Pin, GPIO_PIN_RESET);
+
+  for (int i = 0; i < NUMBEROFSLAVES + 5; i++) {
+    HAL_GPIO_WritePin(BOOT0_FF_CLK_GPIO_Port, BOOT0_FF_CLK_Pin, GPIO_PIN_SET);
+    HAL_Delay(1);
+    HAL_GPIO_WritePin(BOOT0_FF_CLK_GPIO_Port, BOOT0_FF_CLK_Pin, GPIO_PIN_RESET);
+    HAL_Delay(1);
+  }
+
+  HAL_Delay(5);
+  HAL_GPIO_WritePin(SLAVES_ENABLE_GPIO_Port, SLAVES_ENABLE_Pin, GPIO_PIN_SET);
+
+  for (int n = 0; n < NUMBEROFSLAVES; n++) {
+    for (int i = 0; i < NUMBEROFTEMPS; i++)
+      slaves[n].cellTemps[i] = 0;
+
+    for (int j = 0; j < NUMBEROFCELLS; j++)
+      slaves[n].cellVoltages[j] = 32768;
+
+    slaves[n].error = 0;
+    slaves[n].timeout = 0;
+    slaves[n].timestamp = HAL_GetTick();
+    slaves[n].slaveID = n;
+    for (int i = 0; i < SLAVE_HEARTBEAT_FRAMES; i++) {
+      slaves[n].frame_timestamps[i] = HAL_GetTick();
+    }
+  }
+}
+
+uint8_t checkSlaveTimeout() {
+  if (HAL_GetTick() < 10000) {
+    return 0;
+  }
+
+  for (int n = 0; n < NUMBEROFSLAVES; n++) {
+    if (((int)(HAL_GetTick() - slaves[n].timestamp)) > SLAVETIMEOUT) {
+      slaves[n].timeout = 1;
+
+      AMSErrorHandle timeouterror;
+      timeouterror.errorcode = SlavesTimeoutError;
+      timeouterror.errorarg[0] = n;
+
+      AMS_Error_Handler(&timeouterror);
+      return 1;
+    }
+
+    if (slaves[n].error) {
+      AMSErrorHandle errorframe;
+      errorframe.errorcode = SlavesErrorFrameError;
+      memcpy(errorframe.errorarg, slaves[n].error_frame, 7);
+      AMS_Error_Handler(&errorframe);
+      return 1;
+    }
+
+    for (int i = 0; i < SLAVE_HEARTBEAT_FRAMES; i++) {
+      if ((int)(HAL_GetTick() - slaves[n].frame_timestamps[i]) >
+          SLAVETIMEOUT * 2) {
+        slaves[n].timeout = 1;
+        AMSErrorHandle timeouterror;
+        timeouterror.errorcode = SLAVES_FRAME_TIMEOUT_ERROR;
+        timeouterror.errorarg[0] = n;
+        timeouterror.errorarg[1] = i;
+        AMS_Error_Handler(&timeouterror);
+        return 1;
+      }
+    }
+
+    int working_cell_temps = 0;
+    for (int i = 0; i < NUMBEROFTEMPS; i++) {
+      if (slaves[n].cellTemps[i] != 0) {
+        working_cell_temps++;
+      }
+    }
+    if (working_cell_temps < SLAVE_MIN_TEMP_SENSORS) {
+      AMSErrorHandle temperror;
+      temperror.errorcode = SLAVES_TOO_FEW_TEMPS;
+      temperror.errorarg[0] = n;
+      AMS_Error_Handler(&temperror);
+      return 1;
+    }
+  }
+  return 0;
+}
diff --git a/Core/Src/main.c b/Core/Src/main.c
index b2deb5a..10e62b7 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -21,7 +21,11 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-
+#include "AIR_State_Maschine.h"
+#include "CAN_Communication.h"
+#include "Clock_Sync.h"
+#include "Error_Check.h"
+#include "Slave_Monitoring.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -41,7 +45,9 @@
 /* Private variables ---------------------------------------------------------*/
 FDCAN_HandleTypeDef hfdcan1;
 
+TIM_HandleTypeDef htim1;
 TIM_HandleTypeDef htim3;
+TIM_HandleTypeDef htim8;
 
 /* USER CODE BEGIN PV */
 
@@ -52,13 +58,17 @@ void SystemClock_Config(void);
 static void MX_GPIO_Init(void);
 static void MX_TIM3_Init(void);
 static void MX_FDCAN1_Init(void);
+static void MX_TIM1_Init(void);
+static void MX_TIM8_Init(void);
 /* USER CODE BEGIN PFP */
-
+void setAMSError(void);
 /* USER CODE END PFP */
 
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
-
+AIRStateHandler airstates;
+ErrorFlags errorflags;
+AMSErrorHandle defaulterrorhandle = {0};
 /* USER CODE END 0 */
 
 /**
@@ -91,8 +101,13 @@ int main(void) {
   MX_GPIO_Init();
   MX_TIM3_Init();
   MX_FDCAN1_Init();
+  MX_TIM1_Init();
+  MX_TIM8_Init();
   /* USER CODE BEGIN 2 */
-
+  airstates = init_AIR_State_Maschine();
+  CAN_Init(&hfdcan1);
+  clock_sync_init(&hfdcan1, &htim1, &htim8);
+  initSlaves();
   /* USER CODE END 2 */
 
   /* Infinite loop */
@@ -101,6 +116,11 @@ int main(void) {
     /* USER CODE END WHILE */
 
     /* USER CODE BEGIN 3 */
+    CAN_Receive(&hfdcan1);          // Run CAN Event Loop
+    errorflags = CheckErrorFlags(); // Check for Errors
+    Update_AIR_Info(&airstates);
+    checkSlaveTimeout();          // check for Slave Timeout
+    Update_AIR_State(&airstates); // Update AIR State Maschine
   }
   /* USER CODE END 3 */
 }
@@ -181,6 +201,48 @@ static void MX_FDCAN1_Init(void) {
   /* USER CODE END FDCAN1_Init 2 */
 }
 
+/**
+ * @brief TIM1 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_TIM1_Init(void) {
+
+  /* USER CODE BEGIN TIM1_Init 0 */
+
+  /* USER CODE END TIM1_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+
+  /* USER CODE BEGIN TIM1_Init 1 */
+
+  /* USER CODE END TIM1_Init 1 */
+  htim1.Instance = TIM1;
+  htim1.Init.Prescaler = 1599;
+  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim1.Init.Period = 9999;
+  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim1.Init.RepetitionCounter = 0;
+  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim1) != HAL_OK) {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM1_Init 2 */
+
+  /* USER CODE END TIM1_Init 2 */
+}
+
 /**
  * @brief TIM3 Initialization Function
  * @param None
@@ -225,6 +287,48 @@ static void MX_TIM3_Init(void) {
   HAL_TIM_MspPostInit(&htim3);
 }
 
+/**
+ * @brief TIM8 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_TIM8_Init(void) {
+
+  /* USER CODE BEGIN TIM8_Init 0 */
+
+  /* USER CODE END TIM8_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+
+  /* USER CODE BEGIN TIM8_Init 1 */
+
+  /* USER CODE END TIM8_Init 1 */
+  htim8.Instance = TIM8;
+  htim8.Init.Prescaler = 1599;
+  htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim8.Init.Period = 999;
+  htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim8.Init.RepetitionCounter = 0;
+  htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim8) != HAL_OK) {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig) != HAL_OK) {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK) {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM8_Init 2 */
+
+  /* USER CODE END TIM8_Init 2 */
+}
+
 /**
  * @brief GPIO Initialization Function
  * @param None
@@ -282,7 +386,27 @@ static void MX_GPIO_Init(void) {
 }
 
 /* USER CODE BEGIN 4 */
+void AMS_Error_Handler(AMSErrorHandle* errorinfo) {
+  while (1) {
+    setAMSError();
+    airstates.targetTSState = TS_ERROR;
+    Update_AIR_State(&airstates);
+    CAN_Receive(&hfdcan1);
+    errorflags = CheckErrorFlags();
+  }
+}
 
+void setAMSError() {
+  static int errors = 0;
+  errors++;
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  GPIO_InitStruct.Pin = AMS_ERR_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(AMS_ERR_GPIO_Port, &GPIO_InitStruct);
+  HAL_GPIO_WritePin(AMS_ERR_GPIO_Port, AMS_ERR_Pin, GPIO_PIN_RESET);
+}
 /* USER CODE END 4 */
 
 /**
diff --git a/Core/Src/stm32g4xx_hal_msp.c b/Core/Src/stm32g4xx_hal_msp.c
index 92a9719..c029ed9 100644
--- a/Core/Src/stm32g4xx_hal_msp.c
+++ b/Core/Src/stm32g4xx_hal_msp.c
@@ -158,6 +158,39 @@ void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* hfdcan)
 
 }
 
+/**
+* @brief TIM_Base MSP Initialization
+* This function configures the hardware resources used in this example
+* @param htim_base: TIM_Base handle pointer
+* @retval None
+*/
+void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
+{
+  if(htim_base->Instance==TIM1)
+  {
+  /* USER CODE BEGIN TIM1_MspInit 0 */
+
+  /* USER CODE END TIM1_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM1_CLK_ENABLE();
+  /* USER CODE BEGIN TIM1_MspInit 1 */
+
+  /* USER CODE END TIM1_MspInit 1 */
+  }
+  else if(htim_base->Instance==TIM8)
+  {
+  /* USER CODE BEGIN TIM8_MspInit 0 */
+
+  /* USER CODE END TIM8_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM8_CLK_ENABLE();
+  /* USER CODE BEGIN TIM8_MspInit 1 */
+
+  /* USER CODE END TIM8_MspInit 1 */
+  }
+
+}
+
 /**
 * @brief TIM_PWM MSP Initialization
 * This function configures the hardware resources used in this example
@@ -206,6 +239,39 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
   }
 
 }
+/**
+* @brief TIM_Base MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param htim_base: TIM_Base handle pointer
+* @retval None
+*/
+void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
+{
+  if(htim_base->Instance==TIM1)
+  {
+  /* USER CODE BEGIN TIM1_MspDeInit 0 */
+
+  /* USER CODE END TIM1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM1_CLK_DISABLE();
+  /* USER CODE BEGIN TIM1_MspDeInit 1 */
+
+  /* USER CODE END TIM1_MspDeInit 1 */
+  }
+  else if(htim_base->Instance==TIM8)
+  {
+  /* USER CODE BEGIN TIM8_MspDeInit 0 */
+
+  /* USER CODE END TIM8_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM8_CLK_DISABLE();
+  /* USER CODE BEGIN TIM8_MspDeInit 1 */
+
+  /* USER CODE END TIM8_MspDeInit 1 */
+  }
+
+}
+
 /**
 * @brief TIM_PWM MSP De-Initialization
 * This function freeze the hardware resources used in this example
diff --git a/Makefile b/Makefile
index f1c3365..25a6a49 100644
--- a/Makefile
+++ b/Makefile
@@ -1,40 +1,40 @@
-##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [3.17.1] date: [Mon Aug 08 02:48:24 CEST 2022]
-##########################################################################################################################
-
-# ------------------------------------------------
-# Generic Makefile (based on gcc)
-#
-# ChangeLog :
-#	2017-02-10 - Several enhancements + project update mode
-#   2015-07-22 - first version
-# ------------------------------------------------
-
-######################################
-# target
-######################################
-TARGET = ams-master
-
-
-######################################
-# building variables
-######################################
-# debug build?
-DEBUG = 1
-# optimization
-OPT = -Og
-
-
-#######################################
-# paths
-#######################################
-# Build path
-BUILD_DIR = build
-
-######################################
-# source
-######################################
-# C sources
+##########################################################################################################################
+# File automatically-generated by tool: [projectgenerator] version: [3.17.1] date: [Mon Aug 08 11:01:56 CEST 2022] 
+##########################################################################################################################
+
+# ------------------------------------------------
+# Generic Makefile (based on gcc)
+#
+# ChangeLog :
+#	2017-02-10 - Several enhancements + project update mode
+#   2015-07-22 - first version
+# ------------------------------------------------
+
+######################################
+# target
+######################################
+TARGET = ams-master
+
+
+######################################
+# building variables
+######################################
+# debug build?
+DEBUG = 1
+# optimization
+OPT = -Og
+
+
+#######################################
+# paths
+#######################################
+# Build path
+BUILD_DIR = build
+
+######################################
+# source
+######################################
+# C sources
 C_SOURCES =  \
 Core/Src/main.c \
 Core/Src/stm32g4xx_it.c \
@@ -55,137 +55,137 @@ Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr_ex.c \
 Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_cortex.c \
 Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim.c \
 Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim_ex.c \
-Core/Src/system_stm32g4xx.c  
-
-# ASM sources
+Core/Src/system_stm32g4xx.c
+
+# ASM sources
 ASM_SOURCES =  \
-startup_stm32g431xx.s
-
-
-#######################################
-# binaries
-#######################################
-PREFIX = arm-none-eabi-
-# The gcc compiler bin path can be either defined in make command via GCC_PATH variable (> make GCC_PATH=xxx)
-# either it can be added to the PATH environment variable.
-ifdef GCC_PATH
-CC = $(GCC_PATH)/$(PREFIX)gcc
-AS = $(GCC_PATH)/$(PREFIX)gcc -x assembler-with-cpp
-CP = $(GCC_PATH)/$(PREFIX)objcopy
-SZ = $(GCC_PATH)/$(PREFIX)size
-else
-CC = $(PREFIX)gcc
-AS = $(PREFIX)gcc -x assembler-with-cpp
-CP = $(PREFIX)objcopy
-SZ = $(PREFIX)size
-endif
-HEX = $(CP) -O ihex
-BIN = $(CP) -O binary -S
- 
-#######################################
-# CFLAGS
-#######################################
-# cpu
-CPU = -mcpu=cortex-m4
-
-# fpu
-FPU = -mfpu=fpv4-sp-d16
-
-# float-abi
-FLOAT-ABI = -mfloat-abi=hard
-
-# mcu
-MCU = $(CPU) -mthumb $(FPU) $(FLOAT-ABI)
-
-# macros for gcc
-# AS defines
-AS_DEFS = 
-
-# C defines
+startup_stm32g431xx.s
+
+
+#######################################
+# binaries
+#######################################
+PREFIX = arm-none-eabi-
+# The gcc compiler bin path can be either defined in make command via GCC_PATH variable (> make GCC_PATH=xxx)
+# either it can be added to the PATH environment variable.
+ifdef GCC_PATH
+CC = $(GCC_PATH)/$(PREFIX)gcc
+AS = $(GCC_PATH)/$(PREFIX)gcc -x assembler-with-cpp
+CP = $(GCC_PATH)/$(PREFIX)objcopy
+SZ = $(GCC_PATH)/$(PREFIX)size
+else
+CC = $(PREFIX)gcc
+AS = $(PREFIX)gcc -x assembler-with-cpp
+CP = $(PREFIX)objcopy
+SZ = $(PREFIX)size
+endif
+HEX = $(CP) -O ihex
+BIN = $(CP) -O binary -S
+ 
+#######################################
+# CFLAGS
+#######################################
+# cpu
+CPU = -mcpu=cortex-m4
+
+# fpu
+FPU = -mfpu=fpv4-sp-d16
+
+# float-abi
+FLOAT-ABI = -mfloat-abi=hard
+
+# mcu
+MCU = $(CPU) -mthumb $(FPU) $(FLOAT-ABI)
+
+# macros for gcc
+# AS defines
+AS_DEFS = 
+
+# C defines
 C_DEFS =  \
 -DUSE_HAL_DRIVER \
--DSTM32G431xx
-
-
-# AS includes
-AS_INCLUDES = 
-
-# C includes
+-DSTM32G431xx
+
+
+# AS includes
+AS_INCLUDES = 
+
+# C includes
 C_INCLUDES =  \
 -ICore/Inc \
 -IDrivers/STM32G4xx_HAL_Driver/Inc \
 -IDrivers/STM32G4xx_HAL_Driver/Inc/Legacy \
 -IDrivers/CMSIS/Device/ST/STM32G4xx/Include \
--IDrivers/CMSIS/Include
-
-
-# compile gcc flags
-ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
-
-CFLAGS += $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
-
-ifeq ($(DEBUG), 1)
-CFLAGS += -g -gdwarf-2
-endif
-
-
-# Generate dependency information
-CFLAGS += -MMD -MP -MF"$(@:%.o=%.d)"
-
-
-#######################################
-# LDFLAGS
-#######################################
-# link script
-LDSCRIPT = STM32G431CBTx_FLASH.ld
-
-# libraries
-LIBS = -lc -lm -lnosys 
-LIBDIR = 
-LDFLAGS = $(MCU) -specs=nano.specs -T$(LDSCRIPT) $(LIBDIR) $(LIBS) -Wl,-Map=$(BUILD_DIR)/$(TARGET).map,--cref -Wl,--gc-sections
-
-# default action: build all
-all: $(BUILD_DIR)/$(TARGET).elf $(BUILD_DIR)/$(TARGET).hex $(BUILD_DIR)/$(TARGET).bin
-
-
-#######################################
-# build the application
-#######################################
-# list of objects
-OBJECTS = $(addprefix $(BUILD_DIR)/,$(notdir $(C_SOURCES:.c=.o)))
-vpath %.c $(sort $(dir $(C_SOURCES)))
-# list of ASM program objects
-OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(ASM_SOURCES:.s=.o)))
-vpath %.s $(sort $(dir $(ASM_SOURCES)))
-
-$(BUILD_DIR)/%.o: %.c Makefile | $(BUILD_DIR) 
-	$(CC) -c $(CFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.c=.lst)) $< -o $@
-
-$(BUILD_DIR)/%.o: %.s Makefile | $(BUILD_DIR)
-	$(AS) -c $(CFLAGS) $< -o $@
-
-$(BUILD_DIR)/$(TARGET).elf: $(OBJECTS) Makefile
-	$(CC) $(OBJECTS) $(LDFLAGS) -o $@
-	$(SZ) $@
-
-$(BUILD_DIR)/%.hex: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
-	$(HEX) $< $@
-	
-$(BUILD_DIR)/%.bin: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
-	$(BIN) $< $@	
-	
-$(BUILD_DIR):
-	mkdir $@		
-
-#######################################
-# clean up
-#######################################
-clean:
-	-rm -fR $(BUILD_DIR)
-  
-#######################################
-# dependencies
-#######################################
--include $(wildcard $(BUILD_DIR)/*.d)
-
-# *** EOF ***
\ No newline at end of file
+-IDrivers/CMSIS/Include
+
+
+# compile gcc flags
+ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
+
+CFLAGS += $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
+
+ifeq ($(DEBUG), 1)
+CFLAGS += -g -gdwarf-2
+endif
+
+
+# Generate dependency information
+CFLAGS += -MMD -MP -MF"$(@:%.o=%.d)"
+
+
+#######################################
+# LDFLAGS
+#######################################
+# link script
+LDSCRIPT = STM32G431CBTx_FLASH.ld
+
+# libraries
+LIBS = -lc -lm -lnosys 
+LIBDIR = 
+LDFLAGS = $(MCU) -specs=nano.specs -T$(LDSCRIPT) $(LIBDIR) $(LIBS) -Wl,-Map=$(BUILD_DIR)/$(TARGET).map,--cref -Wl,--gc-sections
+
+# default action: build all
+all: $(BUILD_DIR)/$(TARGET).elf $(BUILD_DIR)/$(TARGET).hex $(BUILD_DIR)/$(TARGET).bin
+
+
+#######################################
+# build the application
+#######################################
+# list of objects
+OBJECTS = $(addprefix $(BUILD_DIR)/,$(notdir $(C_SOURCES:.c=.o)))
+vpath %.c $(sort $(dir $(C_SOURCES)))
+# list of ASM program objects
+OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(ASM_SOURCES:.s=.o)))
+vpath %.s $(sort $(dir $(ASM_SOURCES)))
+
+$(BUILD_DIR)/%.o: %.c Makefile | $(BUILD_DIR) 
+	$(CC) -c $(CFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.c=.lst)) $< -o $@
+
+$(BUILD_DIR)/%.o: %.s Makefile | $(BUILD_DIR)
+	$(AS) -c $(CFLAGS) $< -o $@
+
+$(BUILD_DIR)/$(TARGET).elf: $(OBJECTS) Makefile
+	$(CC) $(OBJECTS) $(LDFLAGS) -o $@
+	$(SZ) $@
+
+$(BUILD_DIR)/%.hex: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
+	$(HEX) $< $@
+	
+$(BUILD_DIR)/%.bin: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
+	$(BIN) $< $@	
+	
+$(BUILD_DIR):
+	mkdir $@		
+
+#######################################
+# clean up
+#######################################
+clean:
+	-rm -fR $(BUILD_DIR)
+  
+#######################################
+# dependencies
+#######################################
+-include $(wildcard $(BUILD_DIR)/*.d)
+
+# *** EOF ***
diff --git a/STM32Make.make b/STM32Make.make
index 55fa41e..6b7fb02 100644
--- a/STM32Make.make
+++ b/STM32Make.make
@@ -36,6 +36,11 @@ BUILD_DIR = build
 ######################################
 # C sources
 C_SOURCES =  \
+Core/Src/AIR_State_Maschine.c \
+Core/Src/CAN_Communication.c \
+Core/Src/Clock_Sync.c \
+Core/Src/Error_Check.c \
+Core/Src/Slave_Monitoring.c \
 Core/Src/main.c \
 Core/Src/stm32g4xx_hal_msp.c \
 Core/Src/stm32g4xx_it.c \
diff --git a/ams-master.ioc b/ams-master.ioc
index 32fe544..b6afbd3 100644
--- a/ams-master.ioc
+++ b/ams-master.ioc
@@ -20,8 +20,10 @@ Mcu.IP0=FDCAN1
 Mcu.IP1=NVIC
 Mcu.IP2=RCC
 Mcu.IP3=SYS
-Mcu.IP4=TIM3
-Mcu.IPNb=5
+Mcu.IP4=TIM1
+Mcu.IP5=TIM3
+Mcu.IP6=TIM8
+Mcu.IPNb=7
 Mcu.Name=STM32G431C(6-8-B)Tx
 Mcu.Package=LQFP48
 Mcu.Pin0=PF0-OSC_IN
@@ -38,6 +40,8 @@ Mcu.Pin18=PB5
 Mcu.Pin19=VP_SYS_VS_Systick
 Mcu.Pin2=PA3
 Mcu.Pin20=VP_SYS_VS_DBSignals
+Mcu.Pin21=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin22=VP_TIM8_VS_ClockSourceINT
 Mcu.Pin3=PA4
 Mcu.Pin4=PA5
 Mcu.Pin5=PA6
@@ -45,7 +49,7 @@ Mcu.Pin6=PA7
 Mcu.Pin7=PB0
 Mcu.Pin8=PB1
 Mcu.Pin9=PB2
-Mcu.PinsNb=21
+Mcu.PinsNb=23
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32G431CBTx
@@ -202,10 +206,20 @@ RCC.VCOInputFreq_Value=16000000
 RCC.VCOOutputFreq_Value=128000000
 SH.S_TIM3_CH4.0=TIM3_CH4,PWM Generation4 CH4
 SH.S_TIM3_CH4.ConfNb=1
+TIM1.IPParameters=Prescaler,PeriodNoDither
+TIM1.PeriodNoDither=9999
+TIM1.Prescaler=1599
 TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
 TIM3.IPParameters=Channel-PWM Generation4 CH4
+TIM8.IPParameters=Prescaler,PeriodNoDither
+TIM8.PeriodNoDither=999
+TIM8.Prescaler=1599
 VP_SYS_VS_DBSignals.Mode=DisableDeadBatterySignals
 VP_SYS_VS_DBSignals.Signal=SYS_VS_DBSignals
 VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+VP_TIM1_VS_ClockSourceINT.Mode=Internal
+VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
+VP_TIM8_VS_ClockSourceINT.Mode=Internal
+VP_TIM8_VS_ClockSourceINT.Signal=TIM8_VS_ClockSourceINT
 board=custom