diff --git a/Core/Inc/can.h b/Core/Inc/can.h
index aecdb06..c355b19 100644
--- a/Core/Inc/can.h
+++ b/Core/Inc/can.h
@@ -1,6 +1,9 @@
 
 #include "stm32f3xx_hal.h"
 #include <stdint.h>
+#include "AMS_HighLevel.h"
+#include "can-halal.h"
+#include "state_machine.h"
 
 #define CAN_ID_IN   0x501
 #define CAN_ID_OUT  0x502
@@ -9,5 +12,4 @@ void can_init(CAN_HandleTypeDef* hcan);
 
 void can_handle_send_status();
 
-void can_handle_recieve_command(CAN_RxHeaderTypeDef* header, uint8_t* data);
-
+void can_handle_recieve_command(const uint8_t *data);
\ No newline at end of file
diff --git a/Core/Src/can.c b/Core/Src/can.c
index 963c179..747ff35 100644
--- a/Core/Src/can.c
+++ b/Core/Src/can.c
@@ -6,11 +6,8 @@
 
 #include "can.h"
 
-#include "AMS_HighLevel.h"
-//#include "TMP1075.h"
-#include "can-halal.h"
-#include "state_machine.h"
-
+//#define CAN_ID_IN   0x501
+//#define CAN_ID_OUT  0x502
 void can_init(CAN_HandleTypeDef* hcan) { ftcan_init(hcan); }
 
 /*
@@ -25,3 +22,7 @@ void can_handle_send_status() {
   data[0] = (state.current_state << 5);       //save 5 bit since codes are from 0-6
   ftcan_transmit(CAN_ID_OUT, data, sizeof(data));
 }
+
+void can_handle_recieve_command(const uint8_t *data){
+  ftcan_msg_received_cb(0x501, 8, data);
+}