diff --git a/firmware/src/can_app.c b/firmware/src/can_app.c
index 1dda581..a321fe0 100644
--- a/firmware/src/can_app.c
+++ b/firmware/src/can_app.c
@@ -78,7 +78,7 @@ inline void can_app_send_measurements(void)
     msg.length                              = CAN_MSG_MCB19_1_MEASUREMENTS_LENGTH;
     msg.flags.rtr = 0;
 
-    measurements.io_avg = 100 * measurements.vo_avg_sum / measurements.vo_avg_sum_count;
+    measurements.vo_avg = 100 * measurements.vo_avg_sum / measurements.vo_avg_sum_count;
     measurements.io_avg = 100 * measurements.io_avg_sum / measurements.io_avg_sum_count;
     measurements.vi_avg = 100 * measurements.vi_avg_sum / measurements.vi_avg_sum_count;
     measurements.dt_avg = 255 * measurements.dt_avg_sum / measurements.dt_avg_sum_count;
diff --git a/firmware/src/can_app.h b/firmware/src/can_app.h
index 70dc2f0..42f88a3 100644
--- a/firmware/src/can_app.h
+++ b/firmware/src/can_app.h
@@ -32,8 +32,8 @@ void can_app_extractor_mic17_msc(can_t *msg);
 void check_can(void);
 
 #ifdef CAN_ON
-#define CAN_APP_SEND_STATE_CLK_DIV  CAN_APP_SEND_STATE_FREQ
-#define CAN_APP_SEND_MEASUREMENTS_CLK_DIV    CAN_APP_SEND_MEASUREMENTS_FREQ
+#define CAN_APP_SEND_STATE_CLK_DIV (MACHINE_TIMER_FREQUENCY / CAN_MSG_MCB19_2_STATE_FREQUENCY)
+#define CAN_APP_SEND_MEASUREMENTS_CLK_DIV (MACHINE_TIMER_FREQUENCY / CAN_MSG_MCB19_2_MEASUREMENTS_FREQUENCY)
 #else
 #define CAN_APP_SEND_STATE_CLK_DIV  1
 #define CAN_APP_SEND_MEASUREMENTS_CLK_DIV    1
diff --git a/firmware/src/conf.h b/firmware/src/conf.h
index 6044289..df65482 100644
--- a/firmware/src/conf.h
+++ b/firmware/src/conf.h
@@ -26,7 +26,7 @@
 #define VERBOSE_ON_ERROR
 //#define PRINT_INFOS
 
-#define CAN_SIGNATURE_SELF      CAN_SIGNATURE_MCB19_1
+#define CAN_SIGNATURE_SELF      CAN_SIGNATURE_MCB19_2
 
 // MODULES ACTIVATION
 #define USART_ON
@@ -42,8 +42,8 @@
 #ifdef CONTROL_ON
 #define D_MIN       0
 #define D_MAX       0.9
-#define VO_SETPOINT 14
-#define IO_MAX      8
+#define VO_SETPOINT 14.6
+#define IO_MAX      10
 #define VO_MAX      16
 #define VI_MIN      21
 #define PERIOD      0.0009960853844391542f;// 0.0001995171684523453f; // 0.0002      // 5kHz
@@ -59,10 +59,8 @@
 #endif
 
 #ifdef MACHINE_ON
-#define MACHINE_TIMER_FREQUENCY             300           //<! machine timer frequency in Hz
-#define MACHINE_TIMER_PRESCALER             1024          //<! machine timer prescaler
-#define MACHINE_FREQUENCY                   100           //<! machine frequency in Hz
-#define MACHINE_CLK_DIVIDER_VALUE           (MACHINE_TIMER_FREQUENCY)/(MACHINE_FREQUENCY)  //<! machine_run clock divider
+#define MACHINE_TIMER_FREQUENCY             200U           //<! machine timer frequency in Hz
+#define MACHINE_TIMER_PRESCALER             1024U          //<! machine timer prescaler
 #endif // MACHINE_ON
 
 #ifdef LED_ON
@@ -83,8 +81,6 @@
 
 #ifdef CAN_ON
 #define SPI_ON
-#define CAN_APP_SEND_STATE_FREQ     40//36000     //<! state msg frequency in Hz
-#define CAN_APP_SEND_MEASUREMENTS_FREQ       4//6000      //<! adc msg frequency in Hz
 
 // CANBUS DEFINITONS
 // ----------------------------------------------------------------------------
diff --git a/firmware/src/machine.c b/firmware/src/machine.c
index d1999b3..680baac 100644
--- a/firmware/src/machine.c
+++ b/firmware/src/machine.c
@@ -18,39 +18,40 @@ volatile uint8_t led_clk_div;
  */
 void machine_init(void)
 {
-	//clr_bit(PRR0, PRTIM2);                          // Activates clock
-
-    // MODE 2 -> CTC with TOP on OCR2
-    TCCR2A  =    (1 << WGM21) | (0 << WGM20)        // mode 2
-              | (0 << COM2B1) | (0 << COM2B0)       // do nothing
-              | (0 << COM2A1) | (0 << COM2A0);      // do nothing
-
-    TCCR2B =
-#if MACHINE_TIMER_PRESCALER ==     1
-                (0 << CS22) | (0 << CS21) | (1 << CS20) // Prescaler N=1
-#elif MACHINE_TIMER_PRESCALER ==   8
-                (0 << CS22) | (1 << CS21) | (0 << CS20) // Prescaler N=8
-#elif MACHINE_TIMER_PRESCALER ==   32
-                (0 << CS22) | (1 << CS21) | (1 << CS20) // Prescaler N=32
-#elif MACHINE_TIMER_PRESCALER ==   64
-                (1 << CS22) | (0 << CS21) | (0 << CS20) // Prescaler N=64
-#elif MACHINE_TIMER_PRESCALER ==   128
-                (1 << CS22) | (0 << CS21) | (1 << CS20) // Prescaler N=128
-#elif MACHINE_TIMER_PRESCALER ==   256
-                (1 << CS22) | (1 << CS21) | (0 << CS20) // Prescaler N=256
-#elif MACHINE_TIMER_PRESCALER ==   1024
-                (1 << CS22) | (1 << CS21) | (1 << CS20) // Prescaler N=1024
+	// clr_bit(PRR0, PRTIM2);                          // Activates clock
+
+	// MODE 2 -> CTC with TOP on OCR1
+	TCCR2A = (1 << WGM21) | (0 << WGM20)	  // mode 2
+			 | (0 << COM2B1) | (0 << COM2B0)  // do nothing
+			 | (0 << COM2A1) | (0 << COM2A0); // do nothing
+
+	TCCR2B =
+#if MACHINE_TIMER_PRESCALER == 1
+		(0 << CS22) | (0 << CS21) | (1 << CS20) // Prescaler N=1
+#elif MACHINE_TIMER_PRESCALER == 8
+		(0 << CS22) | (1 << CS21) | (0 << CS20) // Prescaler N=8
+#elif MACHINE_TIMER_PRESCALER == 32
+		(0 << CS22) | (1 << CS21) | (1 << CS20) // Prescaler N=32
+#elif MACHINE_TIMER_PRESCALER == 64
+		(1 << CS22) | (0 << CS21) | (0 << CS20) // Prescaler N=64
+#elif MACHINE_TIMER_PRESCALER == 128
+		(1 << CS22) | (0 << CS21) | (1 << CS20) // Prescaler N=128
+#elif MACHINE_TIMER_PRESCALER == 256
+		(1 << CS22) | (1 << CS21) | (0 << CS20) // Prescaler N=256
+#elif MACHINE_TIMER_PRESCALER == 1024
+		(1 << CS22) | (1 << CS21) | (1 << CS20) // Prescaler N=1024
 #else
-                0
+		0
 #endif
-                | (0 << WGM22);      // mode 2
+		| (0 << WGM22); // mode 2
 
-    OCR2A = MACHINE_TIMER_TOP;                       // OCR2A = TOP = fcpu/(N*2*f) -1
+	OCR2A = MACHINE_TIMER_TOP; // OCR2A = TOP = fcpu/(N*2*f) -1
 
-    TIMSK2 |=   (1 << OCIE2A);                      // Activates interruption
+	TIMSK2 |= (1 << OCIE2A); // Activates interruption
+
+	set_machine_initial_state();
+	set_state_initializing();
 
-    set_machine_initial_state();
-    set_state_initializing();
 } 
 
 /**
@@ -117,7 +118,7 @@ inline void print_configurations(void)
     VERBOSE_MSG_MACHINE(usart_send_string("\nadc_f: "));
     VERBOSE_MSG_MACHINE(usart_send_uint16( ADC_FREQUENCY ));
     VERBOSE_MSG_MACHINE(usart_send_string("\nmachine_f: "));
-    VERBOSE_MSG_MACHINE(usart_send_uint16( MACHINE_FREQUENCY ));
+    VERBOSE_MSG_MACHINE(usart_send_uint16( MACHINE_TIMER_FREQUENCY ));
 
     VERBOSE_MSG_MACHINE(usart_send_char('\n'));
 }
@@ -373,16 +374,6 @@ inline void machine_run(void)
 */
 ISR(TIMER2_COMPA_vect)
 {
-    if(++machine_clk_divider == MACHINE_CLK_DIVIDER_VALUE){
-        machine_clk_divider = 0;
-        machine_clk = 1;
-
-        /*if(machine_clk){
-            for(;;){
-                pwm_reset();
-                VERBOSE_MSG_ERROR(if(machine_clk) usart_send_string("\nERROR: CLOCK CONFLICT!!!\n"));
-            }
-        }*/
-    }
+    machine_clk = 1;
 }
 
diff --git a/firmware/src/machine.h b/firmware/src/machine.h
index 9f1b7cd..bbc19aa 100644
--- a/firmware/src/machine.h
+++ b/firmware/src/machine.h
@@ -19,7 +19,7 @@
 
 // Equations for mode 2 (CTC with TOP OCR2A)
 // Note the resolution. For example.. at 150hz, ICR1 = PWM_TOP = 159, so it
-#define MACHINE_TIMER_TOP ((F_CPU/(2*MACHINE_TIMER_PRESCALER))/(MACHINE_TIMER_FREQUENCY) -1)
+#define MACHINE_TIMER_TOP (uint8_t)(((F_CPU) / ((MACHINE_TIMER_PRESCALER) * (MACHINE_TIMER_FREQUENCY))) - 1)
 
 #include "dbg_vrb.h"
 #ifdef ADC_ON