diff --git a/Core/Inc/AMS_CAN.h b/Core/Inc/AMS_CAN.h
index 77c9b7a..4e42aaf 100644
--- a/Core/Inc/AMS_CAN.h
+++ b/Core/Inc/AMS_CAN.h
@@ -23,7 +23,6 @@
 void ams_can_init(CAN_HandleTypeDef* ams, CAN_HandleTypeDef* car);
 
 void ams_can_handle_ams_msg(CAN_RxHeaderTypeDef* header, uint8_t* data);
-void ams_can_handle_car_msg(CAN_RxHeaderTypeDef* header, uint8_t* data);
 
 void ams_can_send_heartbeat();
 /**
diff --git a/Core/Src/AMS_CAN.c b/Core/Src/AMS_CAN.c
index e24fcb3..1b94e20 100644
--- a/Core/Src/AMS_CAN.c
+++ b/Core/Src/AMS_CAN.c
@@ -19,35 +19,17 @@
 #include <stdint.h>
 
 static CAN_HandleTypeDef* handle_ams;
-static CAN_HandleTypeDef* handle_car;
 
 void ams_can_init(CAN_HandleTypeDef* ams_handle,
                   CAN_HandleTypeDef* car_handle) {
   handle_ams = ams_handle;
-  handle_car = car_handle;
-
-  // Configure filters
-  CAN_FilterTypeDef filter_car;
-  filter_car.FilterBank = 14;
-  filter_car.FilterMode = CAN_FILTERMODE_IDMASK;
-  filter_car.FilterScale = CAN_FILTERSCALE_32BIT;
-  filter_car.FilterIdHigh = CAN_ID_AMS_SLAVE_HEARTBEAT_BASE >> 16;
-  filter_car.FilterIdLow = CAN_ID_AMS_SLAVE_HEARTBEAT_BASE & 0xFFFF;
-  filter_car.FilterMaskIdHigh = 0xFFFF;
-  filter_car.FilterMaskIdLow = 0xFF00;
-  filter_car.FilterFIFOAssignment = CAN_RX_FIFO0;
-  filter_car.FilterActivation = ENABLE;
-  filter_car.SlaveStartFilterBank = 14;
-  if (HAL_CAN_ConfigFilter(handle_car, &filter_car) != HAL_OK) {
-    Error_Handler();
-  }
 
   // Start peripheral
   if (HAL_CAN_Start(handle_ams) != HAL_OK) {
-    Error_Handler();
-  }
-  if (HAL_CAN_Start(handle_car) != HAL_OK) {
-    Error_Handler();
+    handle_ams = car_handle;
+    if (HAL_CAN_Start(handle_ams) != HAL_OK) {
+      Error_Handler();
+    }
   }
 
   // Activate RX notifications
@@ -55,11 +37,6 @@ void ams_can_init(CAN_HandleTypeDef* ams_handle,
       HAL_OK) {
     Error_Handler();
   }
-  if (HAL_CAN_ActivateNotification(handle_car,
-                                   CAN_IT_RX_FIFO0_MSG_PENDING | CAN_IT_ERROR |
-                                       CAN_IT_LAST_ERROR_CODE) != HAL_OK) {
-    Error_Handler();
-  }
 }
 
 static int cb_triggered = 0;
@@ -75,8 +52,6 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef* handle) {
 
   if (handle == handle_ams) {
     ams_can_handle_ams_msg(&header, data);
-  } else if (handle == handle_car) {
-    ams_can_handle_car_msg(&header, data);
   } else {
     Error_Handler();
   }
@@ -84,8 +59,6 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef* handle) {
 
 void ams_can_handle_ams_msg(CAN_RxHeaderTypeDef* header, uint8_t* data) {}
 
-void ams_can_handle_car_msg(CAN_RxHeaderTypeDef* header, uint8_t* data) {}
-
 void ams_can_send_heartbeat() {
   static CAN_TxHeaderTypeDef header;
   static uint8_t data[8];
diff --git a/Core/Src/main.c b/Core/Src/main.c
index f48b1fe..b261eee 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -108,7 +108,7 @@ void check_error_conditions() {
     error = 1;
   }
   tmp144_check_timeouts();
-  if (tmp144_bus_busbar.state == TMP144_ERROR ||
+  if (tmp144_bus_busbar.state == TMP144_ERROR &&
       tmp144_bus_other.state == TMP144_ERROR) {
     ams_can_send_error(AMS_ERROR_TMP144, AMS_ERROR_TX_TIMEOUT);
     error = 1;