diff --git a/.settings/bundles-lock.store.json b/.settings/bundles-lock.store.json
index 7e6cbbe..394ecb1 100644
--- a/.settings/bundles-lock.store.json
+++ b/.settings/bundles-lock.store.json
@@ -77,6 +77,50 @@
         }
       ]
     },
+    {
+      "name": "jlink-gdbserver",
+      "version": "9.24.0+st.1",
+      "platform": "aarch64-darwin",
+      "selected_by": [
+        {
+          "name": "jlink-gdbserver",
+          "version": "9.24.0+st.1"
+        }
+      ]
+    },
+    {
+      "name": "jlink-gdbserver",
+      "version": "9.24.0+st.1",
+      "platform": "x86_64-darwin",
+      "selected_by": [
+        {
+          "name": "jlink-gdbserver",
+          "version": "9.24.0+st.1"
+        }
+      ]
+    },
+    {
+      "name": "jlink-gdbserver",
+      "version": "9.24.0+st.1",
+      "platform": "x86_64-linux",
+      "selected_by": [
+        {
+          "name": "jlink-gdbserver",
+          "version": "9.24.0+st.1"
+        }
+      ]
+    },
+    {
+      "name": "jlink-gdbserver",
+      "version": "9.24.0+st.1",
+      "platform": "x86_64-windows",
+      "selected_by": [
+        {
+          "name": "jlink-gdbserver",
+          "version": "9.24.0+st.1"
+        }
+      ]
+    },
     {
       "name": "ninja",
       "version": "1.13.1+st.1",
diff --git a/.settings/bundles.store.json b/.settings/bundles.store.json
index d036e56..19c686e 100644
--- a/.settings/bundles.store.json
+++ b/.settings/bundles.store.json
@@ -15,6 +15,10 @@
     {
       "name": "st-arm-clangd",
       "version": "19.1.2+st.3"
+    },
+    {
+      "name": "jlink-gdbserver",
+      "version": "9.24.0+st.1"
     }
   ]
 }
diff --git a/Core/Src/can.c b/Core/Src/can.c
index 225223a..8b5438b 100644
--- a/Core/Src/can.c
+++ b/Core/Src/can.c
@@ -38,11 +38,11 @@ void MX_CAN1_Init(void)
 
   /* USER CODE END CAN1_Init 1 */
   hcan1.Instance = CAN1;
-  hcan1.Init.Prescaler = 16;
+  hcan1.Init.Prescaler = 3;
   hcan1.Init.Mode = CAN_MODE_NORMAL;
   hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
-  hcan1.Init.TimeSeg1 = CAN_BS1_1TQ;
-  hcan1.Init.TimeSeg2 = CAN_BS2_1TQ;
+  hcan1.Init.TimeSeg1 = CAN_BS1_10TQ;
+  hcan1.Init.TimeSeg2 = CAN_BS2_3TQ;
   hcan1.Init.TimeTriggeredMode = DISABLE;
   hcan1.Init.AutoBusOff = DISABLE;
   hcan1.Init.AutoWakeUp = DISABLE;
diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c
index b5876c7..05af9be 100644
--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@@ -25,7 +25,8 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-
+#include "bsp_can.h"
+#include "CAN_receive.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -128,6 +129,7 @@ void StartCAN_Receive_Task(void *argument)
   /* Infinite loop */
   for(;;)
   {
+    CAN_cmd_chassis(1000,0,0,0);
     osDelay(1);
   }
   /* USER CODE END StartCAN_Receive_Task */
@@ -154,5 +156,4 @@ void StartChassis_Control_Task(void *argument)
 /* Private application code --------------------------------------------------*/
 /* USER CODE BEGIN Application */
 
-/* USER CODE END Application */
-
+/* USER CODE END Application */
\ No newline at end of file
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 5634203..8882420 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -24,6 +24,8 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
+#include "bsp_can.h"
+#include "CAN_receive.h"
 
 /* USER CODE END Includes */
 
@@ -91,7 +93,7 @@ int main(void)
   MX_GPIO_Init();
   MX_CAN1_Init();
   /* USER CODE BEGIN 2 */
-
+  can_filter_init();
   /* USER CODE END 2 */
 
   /* Init scheduler */
diff --git a/Infantry_chassis.ioc b/Infantry_chassis.ioc
index fa85c88..ec68876 100644
--- a/Infantry_chassis.ioc
+++ b/Infantry_chassis.ioc
@@ -2,15 +2,18 @@
 CAD.formats=
 CAD.pinconfig=
 CAD.provider=
-CAN1.CalculateBaudRate=875000
-CAN1.CalculateTimeBit=1142
-CAN1.CalculateTimeQuantum=380.95238095238096
-CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate
+CAN1.BS1=CAN_BS1_10TQ
+CAN1.BS2=CAN_BS2_3TQ
+CAN1.CalculateBaudRate=1000000
+CAN1.CalculateTimeBit=1000
+CAN1.CalculateTimeQuantum=71.42857142857143
+CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,BS2
+CAN1.Prescaler=3
 FREERTOS.FootprintOK=true
 FREERTOS.IPParameters=Tasks01,FootprintOK
 FREERTOS.Tasks01=CAN_Receive_Tas,40,128,StartCAN_Receive_Task,Default,NULL,Dynamic,NULL,NULL;Chassis_Control,24,128,StartChassis_Control_Task,Default,NULL,Dynamic,NULL,NULL
 File.Version=6
-GPIO.groupedBy=
+GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
 Mcu.CPN=STM32F407IGH6TR
 Mcu.Family=STM32F4