diff --git a/Core/Inc/stm32f4xx_it.h b/Core/Inc/stm32f4xx_it.h
index 232bacd..53e0c55 100644
--- a/Core/Inc/stm32f4xx_it.h
+++ b/Core/Inc/stm32f4xx_it.h
@@ -52,6 +52,7 @@ void MemManage_Handler(void);
 void BusFault_Handler(void);
 void UsageFault_Handler(void);
 void DebugMon_Handler(void);
+void CAN1_RX0_IRQHandler(void);
 void TIM5_IRQHandler(void);
 void DMA2_Stream0_IRQHandler(void);
 /* USER CODE BEGIN EFP */
diff --git a/Core/Src/can_handler.c b/Core/Src/can_handler.c
index 460ee90..373c666 100644
--- a/Core/Src/can_handler.c
+++ b/Core/Src/can_handler.c
@@ -21,6 +21,8 @@
 #define CAN_MSG_QUEUE_SIZE 25 /* messages */
 static osMessageQueueId_t can_outbound_queue;
 
+static uint32_t id_list[4] = { 0x000, 0x000, 0x000, 0x002 };
+
 extern CAN_HandleTypeDef hcan1;
 
 can_t *can1;
@@ -32,7 +34,7 @@ void can1_init()
 	assert(can1);
 
 	can1->hcan = &hcan1;
-
+	assert(!can_add_filter(can1, id_list));
 	assert(!can_init(can1));
 #endif
 
diff --git a/Core/Src/main.c b/Core/Src/main.c
index b2d69b2..4a52f72 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -406,7 +406,7 @@ static void MX_CAN1_Init(void)
   hcan1.Init.TimeTriggeredMode = DISABLE;
   hcan1.Init.AutoBusOff = ENABLE;
   hcan1.Init.AutoWakeUp = DISABLE;
-  hcan1.Init.AutoRetransmission = DISABLE;
+  hcan1.Init.AutoRetransmission = ENABLE;
   hcan1.Init.ReceiveFifoLocked = DISABLE;
   hcan1.Init.TransmitFifoPriority = DISABLE;
   if (HAL_CAN_Init(&hcan1) != HAL_OK)
diff --git a/Core/Src/stm32f4xx_hal_msp.c b/Core/Src/stm32f4xx_hal_msp.c
index 2fd16dd..682805d 100644
--- a/Core/Src/stm32f4xx_hal_msp.c
+++ b/Core/Src/stm32f4xx_hal_msp.c
@@ -195,6 +195,9 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
     GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
+    /* CAN1 interrupt Init */
+    HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
   /* USER CODE BEGIN CAN1_MspInit 1 */
 
   /* USER CODE END CAN1_MspInit 1 */
@@ -224,6 +227,8 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
     */
     HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
 
+    /* CAN1 interrupt DeInit */
+    HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
   /* USER CODE BEGIN CAN1_MspDeInit 1 */
 
   /* USER CODE END CAN1_MspDeInit 1 */
diff --git a/Core/Src/stm32f4xx_it.c b/Core/Src/stm32f4xx_it.c
index 25a348d..b83ccd0 100644
--- a/Core/Src/stm32f4xx_it.c
+++ b/Core/Src/stm32f4xx_it.c
@@ -56,6 +56,7 @@
 
 /* External variables --------------------------------------------------------*/
 extern DMA_HandleTypeDef hdma_adc1;
+extern CAN_HandleTypeDef hcan1;
 extern TIM_HandleTypeDef htim5;
 
 /* USER CODE BEGIN EV */
@@ -173,6 +174,20 @@ void DebugMon_Handler(void)
 /* please refer to the startup file (startup_stm32f4xx.s).                    */
 /******************************************************************************/
 
+/**
+  * @brief This function handles CAN1 RX0 interrupts.
+  */
+void CAN1_RX0_IRQHandler(void)
+{
+  /* USER CODE BEGIN CAN1_RX0_IRQn 0 */
+
+  /* USER CODE END CAN1_RX0_IRQn 0 */
+  HAL_CAN_IRQHandler(&hcan1);
+  /* USER CODE BEGIN CAN1_RX0_IRQn 1 */
+
+  /* USER CODE END CAN1_RX0_IRQn 1 */
+}
+
 /**
   * @brief This function handles TIM5 global interrupt.
   */
diff --git a/MSB-FW.ioc b/MSB-FW.ioc
index ecc3d94..0dece5d 100644
--- a/MSB-FW.ioc
+++ b/MSB-FW.ioc
@@ -28,7 +28,7 @@ CAN1.CalculateBaudRate=500000
 CAN1.CalculateTimeBit=2000
 CAN1.CalculateTimeQuantum=125.0
 CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,BS2,ABOM,NART
-CAN1.NART=DISABLE
+CAN1.NART=ENABLE
 CAN1.Prescaler=2
 Dma.ADC1.0.Direction=DMA_PERIPH_TO_MEMORY
 Dma.ADC1.0.FIFOMode=DMA_FIFOMODE_DISABLE
@@ -104,6 +104,7 @@ Mcu.UserName=STM32F405RGTx
 MxCube.Version=6.11.1
 MxDb.Version=DB.6.0.111
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC.CAN1_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.DMA2_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.ForceEnableDMAVector=true
diff --git a/Makefile b/Makefile
index 612ceb5..615e3c4 100644
--- a/Makefile
+++ b/Makefile
@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [4.3.0-B58] date: [Fri Oct 18 02:28:33 GMT 2024] 
+# File automatically-generated by tool: [projectgenerator] version: [4.3.0-B58] date: [Fri Nov 08 02:15:30 GMT 2024] 
 ##########################################################################################################################
 
 # ------------------------------------------------