diff --git a/Core/Inc/stm32f4xx_it.h b/Core/Inc/stm32f4xx_it.h
index 53e0c55..232bacd 100644
--- a/Core/Inc/stm32f4xx_it.h
+++ b/Core/Inc/stm32f4xx_it.h
@@ -52,7 +52,6 @@ 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/main.c b/Core/Src/main.c
index 1d053c3..b2d69b2 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -398,7 +398,7 @@ static void MX_CAN1_Init(void)
 
   /* USER CODE END CAN1_Init 1 */
   hcan1.Instance = CAN1;
-  hcan1.Init.Prescaler = 1;
+  hcan1.Init.Prescaler = 2;
   hcan1.Init.Mode = CAN_MODE_NORMAL;
   hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
   hcan1.Init.TimeSeg1 = CAN_BS1_13TQ;
@@ -414,7 +414,6 @@ static void MX_CAN1_Init(void)
     Error_Handler();
   }
   /* USER CODE BEGIN CAN1_Init 2 */
-  can1_init(&hcan1);
 
   /* USER CODE END CAN1_Init 2 */
 
diff --git a/Core/Src/stm32f4xx_hal_msp.c b/Core/Src/stm32f4xx_hal_msp.c
index 682805d..2fd16dd 100644
--- a/Core/Src/stm32f4xx_hal_msp.c
+++ b/Core/Src/stm32f4xx_hal_msp.c
@@ -195,9 +195,6 @@ 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 */
@@ -227,8 +224,6 @@ 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 55a2bd2..f3baa99 100644
--- a/Core/Src/stm32f4xx_it.c
+++ b/Core/Src/stm32f4xx_it.c
@@ -56,7 +56,6 @@
 
 /* External variables --------------------------------------------------------*/
 extern DMA_HandleTypeDef hdma_adc1;
-extern CAN_HandleTypeDef hcan1;
 extern TIM_HandleTypeDef htim5;
 
 /* USER CODE BEGIN EV */
@@ -161,20 +160,6 @@ 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/Drivers/Embedded-Base b/Drivers/Embedded-Base
index e3359df..fe86adc 160000
--- a/Drivers/Embedded-Base
+++ b/Drivers/Embedded-Base
@@ -1 +1 @@
-Subproject commit e3359dff1d54a7abdb0890911828ce2fc4f86513
+Subproject commit fe86adccf26edb23b0d80366a99426d177ed824d
diff --git a/MSB-FW.ioc b/MSB-FW.ioc
index 948a737..ecc3d94 100644
--- a/MSB-FW.ioc
+++ b/MSB-FW.ioc
@@ -24,12 +24,12 @@ CAD.provider=
 CAN1.ABOM=ENABLE
 CAN1.BS1=CAN_BS1_13TQ
 CAN1.BS2=CAN_BS2_2TQ
-CAN1.CalculateBaudRate=1000000
-CAN1.CalculateTimeBit=1000
-CAN1.CalculateTimeQuantum=62.5
+CAN1.CalculateBaudRate=500000
+CAN1.CalculateTimeBit=2000
+CAN1.CalculateTimeQuantum=125.0
 CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,BS2,ABOM,NART
 CAN1.NART=DISABLE
-CAN1.Prescaler=1
+CAN1.Prescaler=2
 Dma.ADC1.0.Direction=DMA_PERIPH_TO_MEMORY
 Dma.ADC1.0.FIFOMode=DMA_FIFOMODE_DISABLE
 Dma.ADC1.0.Instance=DMA2_Stream0
@@ -104,7 +104,6 @@ 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 c63d47e..f8f8c0e 100644
--- a/Makefile
+++ b/Makefile
@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [4.3.0-B58] date: [Mon Sep 30 23:00:37 GMT 2024] 
+# File automatically-generated by tool: [projectgenerator] version: [4.3.0-B58] date: [Fri Oct 18 02:28:33 GMT 2024] 
 ##########################################################################################################################
 
 # ------------------------------------------------
diff --git a/compose.yml b/compose.yml
index 14ef1a2..a9bd242 100644
--- a/compose.yml
+++ b/compose.yml
@@ -4,8 +4,9 @@ services:
     ner-gcc-arm:
         image: ghcr.io/northeastern-electric-racing/embedded-base:main
         build: .
-        # network_mode: host
+        network_mode: host
         privileged: true
+        
         volumes:
             - type: bind
               source: .
diff --git a/flash.cfg b/flash.cfg
index a5a00f1..23aacea 100644
--- a/flash.cfg
+++ b/flash.cfg
@@ -7,8 +7,3 @@ source [find target/${STM_TARGET_NAME}x.cfg]
 # Set the adapter speed
 adapter speed 5000
 
-# find elf
-set elf_file "build/MSB-FW.elf"
-
-# Program the ELF file
-program $elf_file verify reset exit
\ No newline at end of file