diff --git a/Core/Inc/FreeRTOSConfig.h b/Core/Inc/FreeRTOSConfig.h
index 7f54aab..f96bfc4 100644
--- a/Core/Inc/FreeRTOSConfig.h
+++ b/Core/Inc/FreeRTOSConfig.h
@@ -73,7 +73,7 @@
 #define configTICK_RATE_HZ                       ((TickType_t)1000)
 #define configMAX_PRIORITIES                     ( 56 )
 #define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
-#define configTOTAL_HEAP_SIZE                    ((size_t)0x6000)
+#define configTOTAL_HEAP_SIZE                    ((size_t)0x10000)
 #define configMAX_TASK_NAME_LEN                  ( 16 )
 #define configGENERATE_RUN_TIME_STATS            1
 #define configUSE_TRACE_FACILITY                 1
diff --git a/DevC.ioc b/DevC.ioc
index 503de29..0a7cb06 100644
--- a/DevC.ioc
+++ b/DevC.ioc
@@ -15,13 +15,12 @@ ADC3.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
 CAD.formats=
 CAD.pinconfig=
 CAD.provider=
-CAN1.ABOM=DISABLE
 CAN1.BS1=CAN_BS1_6TQ
 CAN1.BS2=CAN_BS2_7TQ
 CAN1.CalculateBaudRate=1000000
 CAN1.CalculateTimeBit=1000
 CAN1.CalculateTimeQuantum=71.42857142857143
-CAN1.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,TXFP,ABOM,CalculateTimeBit,CalculateBaudRate,NART
+CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,BS2,NART,TXFP
 CAN1.NART=ENABLE
 CAN1.Prescaler=3
 CAN1.TXFP=ENABLE
@@ -150,7 +149,7 @@ FREERTOS.configENABLE_BACKWARD_COMPATIBILITY=0
 FREERTOS.configENABLE_FPU=1
 FREERTOS.configGENERATE_RUN_TIME_STATS=1
 FREERTOS.configRECORD_STACK_HIGH_ADDRESS=1
-FREERTOS.configTOTAL_HEAP_SIZE=0x6000
+FREERTOS.configTOTAL_HEAP_SIZE=0x10000
 FREERTOS.configUSE_STATS_FORMATTING_FUNCTIONS=1
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
@@ -267,7 +266,7 @@ Mcu.UserName=STM32F407IGHx
 MxCube.Version=6.2.0
 MxDb.Version=DB.6.0.20
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.CAN1_RX0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
+NVIC.CAN1_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.CAN2_RX0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
@@ -555,7 +554,7 @@ ProjectManager.ProjectFileName=DevC.ioc
 ProjectManager.ProjectName=DevC
 ProjectManager.ProjectStructure=
 ProjectManager.RegisterCallBack=
-ProjectManager.StackSize=0x1000
+ProjectManager.StackSize=0x2000
 ProjectManager.TargetToolchain=CMake
 ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
diff --git a/STM32F407XX_FLASH.ld b/STM32F407XX_FLASH.ld
index df95fde..4dca48a 100644
--- a/STM32F407XX_FLASH.ld
+++ b/STM32F407XX_FLASH.ld
@@ -64,7 +64,7 @@ FLASH (rx)      : ORIGIN = 0x8000000, LENGTH = 1024K
 _estack = ORIGIN(RAM) + LENGTH(RAM);    /* end of RAM */
 /* Generate a link error if heap and stack don't fit into RAM */
 _Min_Heap_Size = 0x1000;      /* required amount of heap  */
-_Min_Stack_Size = 0x1000; /* required amount of stack */
+_Min_Stack_Size = 0x2000; /* required amount of stack */
 
 /* Define output sections */
 SECTIONS
diff --git a/User/task/blink.c b/User/task/blink.c
index e879c0a..95bf1ca 100644
--- a/User/task/blink.c
+++ b/User/task/blink.c
@@ -6,7 +6,7 @@
 /* Includes ----------------------------------------------------------------- */
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
-
+#include "bsp/pwm.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
diff --git a/User/task/user_task.c b/User/task/user_task.c
index 62d7ab7..f6364f8 100644
--- a/User/task/user_task.c
+++ b/User/task/user_task.c
@@ -22,7 +22,7 @@ const osThreadAttr_t attr_imu = {
 const osThreadAttr_t attr_ctrl_chassis = {
     .name = "ctrl_chassis",
     .priority = osPriorityNormal,
-    .stack_size = 256 * 4,
+    .stack_size = 512 * 4,
 };
 const osThreadAttr_t attr_atti_esti = {
     .name = "atti_esti",