diff --git a/Core/Inc/msb.h b/Core/Inc/msb.h
index 6aa4fb8..2da6e3c 100644
--- a/Core/Inc/msb.h
+++ b/Core/Inc/msb.h
@@ -34,8 +34,8 @@ int8_t debug2_write(bool status);
 
 int8_t vcc5_en_write(bool status);
 
-int32_t imu_data_get(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx,
-		     lsm6dso_md_t *imu_md_temp, lsm6dso_data_t *imu_data_temp);
+int32_t imu_data_get_accel(LSM6DSO_Axes_t *axes);
+int32_t imu_data_get_gyro(LSM6DSO_Axes_t *axes);
 
 #ifdef SENSOR_SHOCKPOT
 void shockpot_read(uint32_t *shockpot_sense);
diff --git a/Core/Inc/msb_conf.h b/Core/Inc/msb_conf.h
index fd650a3..e2ac8fc 100644
--- a/Core/Inc/msb_conf.h
+++ b/Core/Inc/msb_conf.h
@@ -32,8 +32,8 @@
 #define CAN_ENABLE
 
 // on central
-#define SENSOR_TEMP	// SHT30
-#define SENSOR_SHOCKPOT // ADC1
+#define SENSOR_TEMP // SHT30
+//#define SENSOR_SHOCKPOT // ADC1
 //#define SENSOR_STRAIN	// ADC1
 //#define SENSOR_TOF       // VL6180X
 
diff --git a/Core/Src/can_handler.c b/Core/Src/can_handler.c
index c086e19..7e3a4f6 100644
--- a/Core/Src/can_handler.c
+++ b/Core/Src/can_handler.c
@@ -62,7 +62,7 @@ void vCanDispatch(void *pv_params)
 					      &msg_from_queue, NULL,
 					      osWaitForever)) {
 #ifdef CAN_ENABLE
-while (HAL_CAN_GetTxMailboxesFreeLevel(&hcan1) == 0) {
+			while (HAL_CAN_GetTxMailboxesFreeLevel(&hcan1) == 0) {
 				osDelay(1);
 			}
 
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 5ea446e..ffa1713 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -431,7 +431,7 @@ static void MX_CAN1_Init(void)
   hcan1.Init.TimeTriggeredMode = DISABLE;
   hcan1.Init.AutoBusOff = ENABLE;
   hcan1.Init.AutoWakeUp = DISABLE;
-  hcan1.Init.AutoRetransmission = ENABLE;
+  hcan1.Init.AutoRetransmission = DISABLE;
   hcan1.Init.ReceiveFifoLocked = DISABLE;
   hcan1.Init.TransmitFifoPriority = DISABLE;
   if (HAL_CAN_Init(&hcan1) != HAL_OK)
diff --git a/Core/Src/monitor.c b/Core/Src/monitor.c
index 0e140ee..7898238 100644
--- a/Core/Src/monitor.c
+++ b/Core/Src/monitor.c
@@ -116,17 +116,6 @@ void vIMUMonitor(void *pv_params)
 		int16_t gyro_z;
 	} gyro_data;
 
-	struct __attribute__((__packed__)) {
-		float_t temp;
-	} temperature_data;
-
-	stmdev_ctx_t ctx;
-	stmdev_ctx_t aux_ctx;
-	// int16_t temperature_data_temp;
-
-	lsm6dso_md_t imu_md_temp;
-	lsm6dso_data_t imu_data_temp;
-
 	can_msg_t imu_orientation_msg = {
 		.id = convert_can(CANID_IMU_ORIENTATION, device_loc),
 		.len = 6,
@@ -142,40 +131,35 @@ void vIMUMonitor(void *pv_params)
 		int16_t yaw;
 	} orientation_data;
 
-	/* Add parameters for formatting data */
-	imu_md_temp.ui.gy.fs = LSM6DSO_500dps;
-	imu_md_temp.ui.gy.odr = LSM6DSO_GY_UI_52Hz_LP;
-	imu_md_temp.ui.xl.fs = LSM6DSO_XL_UI_2g;
-	imu_md_temp.ui.xl.odr = LSM6DSO_XL_UI_52Hz_LP;
+	LSM6DSO_Axes_t axes_accel;
+	LSM6DSO_Axes_t axes_gyro;
 
 	for (;;) {
 		/* Take measurement */
-		if (imu_data_get(&ctx, &aux_ctx, &imu_md_temp,
-				 &imu_data_temp)) {
-			printf("Failed to get IMU data \r\n");
+		if (imu_data_get_accel(&axes_accel)) {
+			printf("Failed to get accel data \r\n");
+		}
+		if (imu_data_get_gyro(&axes_gyro)) {
+			printf("Failed to get gyro data \r\n");
 		}
 
 		/* Run values through LPF of sample size  */
-		accel_data.accel_x = imu_data_temp.ui.xl.mg[0];
-		accel_data.accel_y = imu_data_temp.ui.xl.mg[1];
-		accel_data.accel_z = imu_data_temp.ui.xl.mg[2];
-		gyro_data.gyro_x = imu_data_temp.ui.gy.mdps[0];
-		gyro_data.gyro_y = imu_data_temp.ui.gy.mdps[1];
-		gyro_data.gyro_z = imu_data_temp.ui.gy.mdps[2];
-		temperature_data.temp = imu_data_temp.ui.heat.deg_c;
+		accel_data.accel_x = axes_accel.x;
+		accel_data.accel_y = axes_accel.y;
+		accel_data.accel_z = axes_accel.z;
+		gyro_data.gyro_x = axes_gyro.x;
+		gyro_data.gyro_y = axes_gyro.y;
+		gyro_data.gyro_z = axes_gyro.z;
 
 		// Acc (Convert mg to g)
-		mFXInput.acc[0] = (float)(imu_data_temp.ui.xl.mg[0] / 1000.0f);
-		mFXInput.acc[1] = (float)(imu_data_temp.ui.xl.mg[1] / 1000.0f);
-		mFXInput.acc[2] = (float)(imu_data_temp.ui.xl.mg[2] / 1000.0f);
+		mFXInput.acc[0] = (float)(axes_accel.x / 1000.0f);
+		mFXInput.acc[1] = (float)(axes_accel.y / 1000.0f);
+		mFXInput.acc[2] = (float)(axes_accel.z / 1000.0f);
 
 		// Gyro (Convert mdps to dps)
-		mFXInput.gyro[0] =
-			(float)(imu_data_temp.ui.gy.mdps[0] * 0.001f);
-		mFXInput.gyro[1] =
-			(float)(imu_data_temp.ui.gy.mdps[1] * 0.001f);
-		mFXInput.gyro[2] =
-			(float)(imu_data_temp.ui.gy.mdps[2] * 0.001f);
+		mFXInput.gyro[0] = (float)(axes_gyro.x * 0.001f);
+		mFXInput.gyro[1] = (float)(axes_gyro.y * 0.001f);
+		mFXInput.gyro[2] = (float)(axes_gyro.z * 0.001f);
 
 		// Magnetometer
 		mFXInput.mag[0] = 0.0f;
@@ -198,6 +182,13 @@ void vIMUMonitor(void *pv_params)
 		       orientation_data.roll);
 		printf("IMU Temp: %3.2f °C \r\n", temperature_data.temp);
 #endif
+		// printf("IMU Accel x: %d y: %d z: %d \r\n", accel_data.accel_x,
+		// 		       accel_data.accel_y, accel_data.accel_z);
+		// printf("IMU Gyro x: %d y: %d z: %d \r\n", gyro_data.gyro_x,
+		//        gyro_data.gyro_y, gyro_data.gyro_z);
+		// printf("IMU Orientation Yaw: %d Pitch: %d Roll: %d \r\n",
+		//        orientation_data.yaw, orientation_data.pitch,
+		//        orientation_data.roll);
 
 		/* convert to big endian */
 		endian_swap(&accel_data.accel_x, sizeof(accel_data.accel_x));
@@ -297,7 +288,6 @@ void vShockpotMonitor(void *pv_params)
 		uint16_t raw;
 	} shockpot_data;
 
-
 	for (;;) {
 		shockpot_read(&shock_value);
 
@@ -307,8 +297,8 @@ void vShockpotMonitor(void *pv_params)
 		//printf("Shock value:\t%ld\r\n", shock_value);
 
 		// convert to inches, get percent and multiply by 50 mm (stroke length) then convert to inches
-		float in = (shock_value / 4095.0) * 54.44 * (1/25.4);	
-		
+		float in = (shock_value / 4095.0) * 54.44 * (1 / 25.4);
+
 		shockpot_data.in = in;
 		endian_swap(&shockpot_data.in, sizeof(shockpot_data.in));
 		shockpot_data.raw = shock_value;
diff --git a/Core/Src/msb.c b/Core/Src/msb.c
index 14b5017..bb39a07 100644
--- a/Core/Src/msb.c
+++ b/Core/Src/msb.c
@@ -16,8 +16,7 @@ extern device_loc_t device_loc;
 
 osMutexId_t i2c_mutex;
 
-// reads imu reg
-
+// overriden functions
 int32_t lsm6dso_read_reg(stmdev_ctx_t *ctx, uint8_t reg, uint8_t *data,
 			 uint16_t len)
 {
@@ -65,11 +64,16 @@ int8_t msb_init()
 	assert(!LSM6DSO_Init(&imu)); /* This is always connected */
 
 	/* Setup IMU Accelerometer - default 104Hz */
+	LSM6DSO_ACC_SetOutputDataRate_With_Mode(
+		&imu, 833.0f, LSM6DSO_ACC_HIGH_PERFORMANCE_MODE);
 	LSM6DSO_ACC_Enable(&imu);
+	// 4=div100
+	LSM6DSO_ACC_Set_Filter_Mode(&imu, 0, 3);
 	/* Setup IMU Gyroscope */
+	LSM6DSO_GYRO_SetOutputDataRate_With_Mode(
+		&imu, 104.0f, LSM6DSO_GYRO_HIGH_PERFORMANCE_MODE);
 	LSM6DSO_GYRO_Enable(&imu);
-
-	LSM6DSO_ACC_Set_Filter_Mode(&imu, 0, 4);
+	// LSM6DSO_GYRO_Set_Filter_Mode(&imu, 0, 3);
 
 	LSM6DSO_FIFO_Set_Mode(&imu, 0);
 	LSM6DSO_ACC_Disable_Inactivity_Detection(&imu);
@@ -194,18 +198,23 @@ int8_t vcc5_en_write(bool status)
 }
 
 #ifdef SENSOR_IMU
-int32_t imu_data_get(stmdev_ctx_t *ctx, stmdev_ctx_t *aux_ctx,
-		     lsm6dso_md_t *imu_md_temp, lsm6dso_data_t *imu_data_temp)
+int32_t imu_data_get_accel(LSM6DSO_Axes_t *axes)
 {
 	osStatus_t mut_stat = osMutexAcquire(i2c_mutex, osWaitForever);
 	if (mut_stat)
 		return mut_stat;
-	HAL_StatusTypeDef hal_stat =
-		lsm6dso_data_get(ctx, aux_ctx, imu_md_temp, imu_data_temp);
+	HAL_StatusTypeDef hal_stat = LSM6DSO_ACC_GetAxes(&imu, axes);
 	osMutexRelease(i2c_mutex);
-	if (hal_stat)
-		return hal_stat;
-	return 0;
+	return hal_stat;
+}
+int32_t imu_data_get_gyro(LSM6DSO_Axes_t *axes)
+{
+	osStatus_t mut_stat = osMutexAcquire(i2c_mutex, osWaitForever);
+	if (mut_stat)
+		return mut_stat;
+	HAL_StatusTypeDef hal_stat = LSM6DSO_GYRO_GetAxes(&imu, axes);
+	osMutexRelease(i2c_mutex);
+	return hal_stat;
 }
 
 void motion_fx_init(void)
diff --git a/MSB-FW.ioc b/MSB-FW.ioc
index 672b4cf..e0d8def 100644
--- a/MSB-FW.ioc
+++ b/MSB-FW.ioc
@@ -27,7 +27,7 @@ CAN1.CalculateBaudRate=500000
 CAN1.CalculateTimeBit=2000
 CAN1.CalculateTimeQuantum=142.85714285714286
 CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,BS2,ABOM,NART
-CAN1.NART=ENABLE
+CAN1.NART=DISABLE
 CAN1.Prescaler=6
 Dma.ADC1.0.Direction=DMA_PERIPH_TO_MEMORY
 Dma.ADC1.0.FIFOMode=DMA_FIFOMODE_DISABLE
diff --git a/Makefile b/Makefile
index 5abf5fd..57d7c4b 100644
--- a/Makefile
+++ b/Makefile
@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [4.5.0-RC5] date: [Fri May 30 20:32:44 EDT 2025] 
+# File automatically-generated by tool: [projectgenerator] version: [4.5.0-RC5] date: [Sat Jul 26 14:06:59 EDT 2025] 
 ##########################################################################################################################
 
 # ------------------------------------------------