diff --git a/Software/Core/Inc/main.h b/Software/Core/Inc/main.h
index cd9eae1..f529088 100644
--- a/Software/Core/Inc/main.h
+++ b/Software/Core/Inc/main.h
@@ -127,10 +127,10 @@ void Error_Handler(void);
 #define D6_GPIO_Port GPIOB
 #define PWM2_1_Pin GPIO_PIN_5
 #define PWM2_1_GPIO_Port GPIOB
-#define PWM3_2_Pin GPIO_PIN_6
+#define PWM3_1_Pin GPIO_PIN_6
+#define PWM3_1_GPIO_Port GPIOB
+#define PWM3_2_Pin GPIO_PIN_7
 #define PWM3_2_GPIO_Port GPIOB
-#define PWM3_2B7_Pin GPIO_PIN_7
-#define PWM3_2B7_GPIO_Port GPIOB
 
 /* USER CODE BEGIN Private defines */
 
diff --git a/Software/Core/Inc/mappings.h b/Software/Core/Inc/mappings.h
index 6ebaea1..53c777e 100644
--- a/Software/Core/Inc/mappings.h
+++ b/Software/Core/Inc/mappings.h
@@ -2,8 +2,8 @@
 #define MAPPINGS_H
 
 // CHOOSE ONE, comment the other or comment both and use -D SN_FRONT
-#define SN_FRONT
-//#define SN_REAR
+//#define SN_FRONT
+#define SN_REAR
 
 #include <stdint.h>
 #include "main.h"
@@ -171,6 +171,35 @@ static can_pkt_t CAN_SIGNAL_MAP[NUM_TX_PKT] = {
     }
 };
 
+#define CAN_PWM_DC_ID 0x0DC
+#define CAN_PWM_CONF_ID 0x0DD
+
 #endif
 
+/* user needs
+TIM_HandleTypeDef* PWM_TIM_MAP[3] = {&htim1, &htim4, &htim3};
+*/
+
+typedef enum {
+    PWM1 = 0, // TIM1
+    PWM3 = 1, // TIM4
+    PWM2 = 2, // TIM3
+} pwm_tim_t; // Used as index for PWM_TIM_MAP
+
+typedef struct {
+    uint8_t tim;
+    uint8_t ch;
+} pwm_ch_t;
+
+static pwm_ch_t PWM_CH_MAP[8] = {
+    { .tim = PWM1, .ch = 0 }, // TIM1_CH1
+    { .tim = PWM1, .ch = 1 }, // TIM1_CH2
+    { .tim = PWM1, .ch = 2 }, // TIM1_CH3
+    { .tim = PWM1, .ch = 3 }, // TIM1_CH4
+    { .tim = PWM3, .ch = 0 }, // TIM4_CH1
+    { .tim = PWM3, .ch = 1 }, // TIM4_CH2
+    { .tim = PWM2, .ch = 1 }, // TIM3_CH2
+    { .tim = PWM2, .ch = 3 }  // TIM3_CH4
+};
+
 #endif
\ No newline at end of file
diff --git a/Software/Core/Src/main.c b/Software/Core/Src/main.c
index 9520e2d..05f0701 100644
--- a/Software/Core/Src/main.c
+++ b/Software/Core/Src/main.c
@@ -37,7 +37,7 @@
 
 /* Private define ------------------------------------------------------------*/
 /* USER CODE BEGIN PD */
-
+#define TIM_BASE_FREQ 96000000UL
 /* USER CODE END PD */
 
 /* Private macro -------------------------------------------------------------*/
@@ -51,6 +51,9 @@
 /* Declare buffer in D1 domain SRAM */
 static uint16_t adc_values[NUM_ADC_PINS];
 static uint8_t  dio_values[NUM_DIO_PINS];
+
+// See mappings.h pwm_tim_t
+TIM_HandleTypeDef* PWM_TIM_MAP[3] = {&htim1, &htim4, &htim3};
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -137,7 +140,16 @@ int main(void)
     FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE) != HAL_OK)
     Error_Handler();
 
-  // TODO: Add Filters and Rx Handler
+  FDCAN_FilterTypeDef filter;
+  filter.IdType = FDCAN_STANDARD_ID;
+  filter.FilterIndex = 0;
+  filter.FilterType = FDCAN_FILTER_MASK;
+  filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
+  filter.FilterID1 = 0x0DD;
+  filter.FilterID2 = 0x7FE; // Match 0x0DC and 0x0DD
+
+  if (HAL_FDCAN_ConfigFilter(&hfdcan1, &filter) != HAL_OK)
+    Error_Handler();
 
   if (HAL_FDCAN_Start(&hfdcan1) != HAL_OK)
     Error_Handler();
@@ -293,6 +305,51 @@ void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc)
     __asm volatile ("NOP");
   }
 }
+
+void SetCCR(TIM_TypeDef* Instance, unsigned int ch, uint8_t dc) {
+  (&(Instance->CCR1))[ch] = dc;
+}
+
+void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *handle, uint32_t RxFifo0ITs)
+{
+  if (handle != &hfdcan1 || (RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) == RESET)
+    return;
+  
+  static FDCAN_RxHeaderTypeDef header;
+  static uint8_t data[8];
+  if (HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO0, &header, data) != HAL_OK)
+    return;
+
+  if (header.FDFormat != FDCAN_CLASSIC_CAN ||
+      header.RxFrameType != FDCAN_DATA_FRAME ||
+      header.IdType != FDCAN_STANDARD_ID)
+    return;
+  
+  switch (header.Identifier) {
+    case CAN_PWM_DC_ID:
+      uint8_t* dcs = data;
+      for (int i = 0; i < header.DataLength; i++) {
+        TIM_HandleTypeDef* htim = PWM_TIM_MAP[PWM_CH_MAP[i].tim];
+        SetCCR(htim->Instance, PWM_CH_MAP[i].ch, dcs[i]);
+        if (htim->ChannelState[PWM_CH_MAP[i].ch] == HAL_TIM_CHANNEL_STATE_RESET)
+          HAL_TIM_PWM_Start(htim, PWM_CH_MAP[i].ch << 2);
+        // MAYBE: Stop Timer when DC == 0 on all channels?
+        // HAL_TIM_PWM_Stop(htim, channel);
+      }
+      break;
+    case CAN_PWM_CONF_ID:
+      uint16_t* freqs = (uint16_t*) data;
+      for (int i = 0; i < (header.DataLength/2); i++) {
+        uint32_t prescaler = (TIM_BASE_FREQ / (255UL * freqs[i])); // cast?
+        PWM_TIM_MAP[i]->Instance->PSC = prescaler;
+      }
+      break;
+    default:
+      break;
+  }
+
+}
+
 /* USER CODE END 4 */
 
 /**
diff --git a/Software/Core/Src/tim.c b/Software/Core/Src/tim.c
index 59126d8..eb2917b 100644
--- a/Software/Core/Src/tim.c
+++ b/Software/Core/Src/tim.c
@@ -437,7 +437,7 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
     PB6     ------> TIM4_CH1
     PB7     ------> TIM4_CH2
     */
-    GPIO_InitStruct.Pin = PWM3_2_Pin|PWM3_2B7_Pin;
+    GPIO_InitStruct.Pin = PWM3_1_Pin|PWM3_2_Pin;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
diff --git a/Software/sensor-node.ioc b/Software/sensor-node.ioc
index dc6594c..7b5bb97 100644
--- a/Software/sensor-node.ioc
+++ b/Software/sensor-node.ioc
@@ -354,7 +354,7 @@ PB5.GPIOParameters=GPIO_Label
 PB5.GPIO_Label=PWM2_1
 PB5.Signal=S_TIM3_CH2
 PB6.GPIOParameters=GPIO_Label
-PB6.GPIO_Label=PWM3_2
+PB6.GPIO_Label=PWM3_1
 PB6.Signal=S_TIM4_CH1
 PB7.GPIOParameters=GPIO_Label
 PB7.GPIO_Label=PWM3_2
@@ -607,13 +607,19 @@ TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
 TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
 TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
 TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
-TIM1.IPParameters=Channel-PWM Generation4 CH4,Channel-PWM Generation3 CH3,Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2
+TIM1.IPParameters=Channel-PWM Generation4 CH4,Channel-PWM Generation3 CH3,Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Prescaler,Period
+TIM1.Period=255
+TIM1.Prescaler=753
 TIM3.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
 TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
-TIM3.IPParameters=Channel-PWM Generation2 CH2,Channel-PWM Generation4 CH4
+TIM3.IPParameters=Channel-PWM Generation4 CH4,Channel-PWM Generation2 CH2,Prescaler,Period
+TIM3.Period=255
+TIM3.Prescaler=1203
 TIM4.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
 TIM4.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
-TIM4.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2
+TIM4.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Prescaler,Period
+TIM4.Period=255
+TIM4.Prescaler=19
 TIM6.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_DISABLE
 TIM6.IPParameters=Prescaler,Period,TIM_MasterOutputTrigger,AutoReloadPreload
 TIM6.Period=2000-1