diff --git a/Core/Src/main.c b/Core/Src/main.c
index 4bb7c76..1fb1fd4 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -221,15 +221,15 @@ static void MX_CAN1_Init(void) {
 
   /* USER CODE END CAN1_Init 1 */
   hcan1.Instance = CAN1;
-  hcan1.Init.Prescaler = 5;
+  hcan1.Init.Prescaler = 2;
   hcan1.Init.Mode = CAN_MODE_NORMAL;
   hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
-  hcan1.Init.TimeSeg1 = CAN_BS1_6TQ;
+  hcan1.Init.TimeSeg1 = CAN_BS1_13TQ;
   hcan1.Init.TimeSeg2 = CAN_BS2_2TQ;
   hcan1.Init.TimeTriggeredMode = DISABLE;
   hcan1.Init.AutoBusOff = DISABLE;
   hcan1.Init.AutoWakeUp = DISABLE;
-  hcan1.Init.AutoRetransmission = ENABLE;
+  hcan1.Init.AutoRetransmission = DISABLE;
   hcan1.Init.ReceiveFifoLocked = DISABLE;
   hcan1.Init.TransmitFifoPriority = DISABLE;
   if (HAL_CAN_Init(&hcan1) != HAL_OK) {
@@ -255,10 +255,10 @@ static void MX_CAN2_Init(void) {
 
   /* USER CODE END CAN2_Init 1 */
   hcan2.Instance = CAN2;
-  hcan2.Init.Prescaler = 5;
+  hcan2.Init.Prescaler = 2;
   hcan2.Init.Mode = CAN_MODE_NORMAL;
   hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
-  hcan2.Init.TimeSeg1 = CAN_BS1_6TQ;
+  hcan2.Init.TimeSeg1 = CAN_BS1_13TQ;
   hcan2.Init.TimeSeg2 = CAN_BS2_2TQ;
   hcan2.Init.TimeTriggeredMode = DISABLE;
   hcan2.Init.AutoBusOff = DISABLE;
diff --git a/Makefile b/Makefile
index 43caf09..6061dae 100644
--- a/Makefile
+++ b/Makefile
@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [3.16.0] date: [Mon Jun 13 23:59:18 CEST 2022] 
+# File automatically-generated by tool: [projectgenerator] version: [3.16.0] date: [Thu Jun 23 11:54:27 CEST 2022] 
 ##########################################################################################################################
 
 # ------------------------------------------------
diff --git a/ams-slave.ioc b/ams-slave.ioc
index ad0d993..b39f2fc 100644
--- a/ams-slave.ioc
+++ b/ams-slave.ioc
@@ -1,19 +1,19 @@
 #MicroXplorer Configuration settings - do not modify
-CAN1.BS1=CAN_BS1_6TQ
+CAN1.BS1=CAN_BS1_13TQ
 CAN1.BS2=CAN_BS2_2TQ
-CAN1.CalculateBaudRate=355555
-CAN1.CalculateTimeBit=2812
-CAN1.CalculateTimeQuantum=312.5
+CAN1.CalculateBaudRate=500000
+CAN1.CalculateTimeBit=2000
+CAN1.CalculateTimeQuantum=125.0
 CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,NART,BS1,BS2,Prescaler
-CAN1.NART=ENABLE
-CAN1.Prescaler=5
-CAN2.BS1=CAN_BS1_6TQ
+CAN1.NART=DISABLE
+CAN1.Prescaler=2
+CAN2.BS1=CAN_BS1_13TQ
 CAN2.BS2=CAN_BS2_2TQ
-CAN2.CalculateBaudRate=355555
-CAN2.CalculateTimeBit=2812
-CAN2.CalculateTimeQuantum=312.5
+CAN2.CalculateBaudRate=500000
+CAN2.CalculateTimeBit=2000
+CAN2.CalculateTimeQuantum=125.0
 CAN2.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,BS2
-CAN2.Prescaler=5
+CAN2.Prescaler=2
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
@@ -183,7 +183,7 @@ ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=Makefile
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_CAN1_Init-CAN1-false-HAL-true,4-MX_CAN2_Init-CAN2-false-HAL-true,5-MX_I2C1_Init-I2C1-false-HAL-true,6-MX_USART1_UART_Init-USART1-false-HAL-true,7-MX_USART2_UART_Init-USART2-false-HAL-true,8-MX_USART3_UART_Init-USART3-false-HAL-true,9-MX_USART6_UART_Init-USART6-false-HAL-true
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_CAN1_Init-CAN1-false-HAL-true,4-MX_CAN2_Init-CAN2-false-HAL-true,5-MX_I2C1_Init-I2C1-false-HAL-true,6-MX_USART1_UART_Init-USART1-false-HAL-true,7-MX_USART2_UART_Init-USART2-false-HAL-true,8-MX_USART3_UART_Init-USART3-false-HAL-true,9-MX_USART6_UART_Init-USART6-false-HAL-true,10-MX_TIM3_Init-TIM3-false-HAL-true
 RCC.CortexFreq_Value=16000000
 RCC.DFSDMFreq_Value=16000000
 RCC.FamilyName=M