diff --git a/board/CubeMX_Config/CubeMX_Config.ioc b/board/CubeMX_Config/CubeMX_Config.ioc
index b9da9fe..7997be3 100644
--- a/board/CubeMX_Config/CubeMX_Config.ioc
+++ b/board/CubeMX_Config/CubeMX_Config.ioc
@@ -57,47 +57,47 @@ Mcu.Pin0=PE2
 Mcu.Pin1=PE3
 Mcu.Pin10=PC3
 Mcu.Pin11=PA0
-Mcu.Pin12=PA2
-Mcu.Pin13=PA3
-Mcu.Pin14=PA4
-Mcu.Pin15=PA5
-Mcu.Pin16=PA6
-Mcu.Pin17=PA7
-Mcu.Pin18=PC4
-Mcu.Pin19=PC5
+Mcu.Pin12=PA1
+Mcu.Pin13=PA2
+Mcu.Pin14=PA3
+Mcu.Pin15=PA4
+Mcu.Pin16=PA5
+Mcu.Pin17=PA6
+Mcu.Pin18=PA7
+Mcu.Pin19=PC4
 Mcu.Pin2=PE4
-Mcu.Pin20=PB0
-Mcu.Pin21=PB1
-Mcu.Pin22=PE7
-Mcu.Pin23=PE8
-Mcu.Pin24=PE9
-Mcu.Pin25=PE11
-Mcu.Pin26=PE12
-Mcu.Pin27=PE13
-Mcu.Pin28=PE14
-Mcu.Pin29=PB10
+Mcu.Pin20=PC5
+Mcu.Pin21=PB0
+Mcu.Pin22=PB1
+Mcu.Pin23=PE7
+Mcu.Pin24=PE8
+Mcu.Pin25=PE9
+Mcu.Pin26=PE11
+Mcu.Pin27=PE12
+Mcu.Pin28=PE13
+Mcu.Pin29=PE14
 Mcu.Pin3=PE5
-Mcu.Pin30=PB12
-Mcu.Pin31=PB13
-Mcu.Pin32=PB14
-Mcu.Pin33=PB15
-Mcu.Pin34=PD14
-Mcu.Pin35=PD15
-Mcu.Pin36=PC6
-Mcu.Pin37=PC7
-Mcu.Pin38=PC9
-Mcu.Pin39=PA8
+Mcu.Pin30=PB10
+Mcu.Pin31=PB12
+Mcu.Pin32=PB13
+Mcu.Pin33=PB14
+Mcu.Pin34=PB15
+Mcu.Pin35=PD14
+Mcu.Pin36=PD15
+Mcu.Pin37=PC6
+Mcu.Pin38=PC7
+Mcu.Pin39=PC9
 Mcu.Pin4=PE6
-Mcu.Pin40=PA9
-Mcu.Pin41=PA10
-Mcu.Pin42=PA11
-Mcu.Pin43=PA12
-Mcu.Pin44=PA13
-Mcu.Pin45=PA14
-Mcu.Pin46=PC10
-Mcu.Pin47=PC11
-Mcu.Pin48=PC12
-Mcu.Pin49=PD0
+Mcu.Pin40=PA8
+Mcu.Pin41=PA9
+Mcu.Pin42=PA10
+Mcu.Pin43=PA11
+Mcu.Pin44=PA12
+Mcu.Pin45=PA13
+Mcu.Pin46=PA14
+Mcu.Pin47=PC10
+Mcu.Pin48=PC11
+Mcu.Pin49=PC12
 Mcu.Pin5=PH0 - OSC_IN
 Mcu.Pin50=PD2
 Mcu.Pin51=PD5
@@ -137,10 +137,14 @@ NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:false
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 PA0.Mode=Asynchronous
 PA0.Signal=UART4_TX
+PA1.Locked=true
+PA1.Mode=Asynchronous
+PA1.Signal=UART4_RX
 PA10.Mode=Asynchronous
 PA10.Signal=USART1_RX
-PA11.Mode=Asynchronous
-PA11.Signal=UART4_RX
+PA11.Locked=true
+PA11.Mode=CAN_Activate
+PA11.Signal=CAN1_RX
 PA12.Mode=CAN_Activate
 PA12.Signal=CAN1_TX
 PA13.Mode=Serial_Wire
@@ -201,8 +205,6 @@ PC7.Mode=Asynchronous
 PC7.Signal=USART6_RX
 PC9.Mode=I2C
 PC9.Signal=I2C3_SDA
-PD0.Mode=CAN_Activate
-PD0.Signal=CAN1_RX
 PD14.Mode=Asynchronous
 PD14.Signal=UART9_RX
 PD15.Mode=Asynchronous
@@ -271,7 +273,7 @@ ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=MDK-ARM V5.32
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_USART2_UART_Init-USART2-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_CAN2_Init-CAN2-false-HAL-true,7-MX_ADC1_Init-ADC1-false-HAL-true,8-MX_CAN3_Init-CAN3-false-HAL-true,9-MX_I2C3_Init-I2C3-false-HAL-true,10-MX_SPI2_Init-SPI2-false-HAL-true,11-MX_SPI4_Init-SPI4-false-HAL-true,12-MX_TIM1_Init-TIM1-false-HAL-true,13-MX_TIM2_Init-TIM2-false-HAL-true,14-MX_TIM3_Init-TIM3-false-HAL-true,15-MX_TIM4_Init-TIM4-false-HAL-true,16-MX_TIM12_Init-TIM12-false-HAL-true,17-MX_UART4_Init-UART4-false-HAL-true,18-MX_UART5_Init-UART5-false-HAL-true,19-MX_UART7_Init-UART7-false-HAL-true,20-MX_UART8_Init-UART8-false-HAL-true,21-MX_UART9_Init-UART9-false-HAL-true,22-MX_UART10_Init-UART10-false-HAL-true,23-MX_USART3_UART_Init-USART3-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_USART2_UART_Init-USART2-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_CAN2_Init-CAN2-false-HAL-true,7-MX_ADC1_Init-ADC1-false-HAL-true,8-MX_CAN3_Init-CAN3-false-HAL-true,9-MX_I2C3_Init-I2C3-false-HAL-true,10-MX_SPI2_Init-SPI2-false-HAL-true,11-MX_SPI4_Init-SPI4-false-HAL-true,12-MX_TIM1_Init-TIM1-false-HAL-true,13-MX_TIM2_Init-TIM2-false-HAL-true,14-MX_TIM3_Init-TIM3-false-HAL-true,15-MX_TIM4_Init-TIM4-false-HAL-true,16-MX_TIM12_Init-TIM12-false-HAL-true,17-MX_UART4_Init-UART4-false-HAL-true,18-MX_UART5_Init-UART5-false-HAL-true,19-MX_UART7_Init-UART7-false-HAL-true,20-MX_UART8_Init-UART8-false-HAL-true,21-MX_UART9_Init-UART9-false-HAL-true,22-MX_UART10_Init-UART10-false-HAL-true,23-MX_USART3_UART_Init-USART3-false-HAL-true,24-MX_USART6_UART_Init-USART6-false-HAL-true
 RCC.AHBFreq_Value=100000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV2
 RCC.APB1Freq_Value=50000000
diff --git a/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c b/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
index 6f9a020..dd2e789 100644
--- a/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
+++ b/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
@@ -175,25 +175,17 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
     __HAL_RCC_CAN1_CLK_ENABLE();
 
     __HAL_RCC_GPIOA_CLK_ENABLE();
-    __HAL_RCC_GPIOD_CLK_ENABLE();
     /**CAN1 GPIO Configuration
+    PA11     ------> CAN1_RX
     PA12     ------> CAN1_TX
-    PD0     ------> CAN1_RX
     */
-    GPIO_InitStruct.Pin = GPIO_PIN_12;
+    GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
     GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
-    GPIO_InitStruct.Pin = GPIO_PIN_0;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
-    GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
-    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
-
   /* USER CODE BEGIN CAN1_MspInit 1 */
 
   /* USER CODE END CAN1_MspInit 1 */
@@ -266,12 +258,10 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
     __HAL_RCC_CAN1_CLK_DISABLE();
 
     /**CAN1 GPIO Configuration
+    PA11     ------> CAN1_RX
     PA12     ------> CAN1_TX
-    PD0     ------> CAN1_RX
     */
-    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_12);
-
-    HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0);
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
 
   /* USER CODE BEGIN CAN1_MspDeInit 1 */
 
@@ -814,22 +804,15 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
     __HAL_RCC_GPIOA_CLK_ENABLE();
     /**UART4 GPIO Configuration
     PA0     ------> UART4_TX
-    PA11     ------> UART4_RX
+    PA1     ------> UART4_RX
     */
-    GPIO_InitStruct.Pin = GPIO_PIN_0;
+    GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
     GPIO_InitStruct.Alternate = GPIO_AF8_UART4;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
-    GPIO_InitStruct.Pin = GPIO_PIN_11;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
-    GPIO_InitStruct.Alternate = GPIO_AF11_UART4;
-    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
   /* USER CODE BEGIN UART4_MspInit 1 */
 
   /* USER CODE END UART4_MspInit 1 */
@@ -1079,9 +1062,9 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
 
     /**UART4 GPIO Configuration
     PA0     ------> UART4_TX
-    PA11     ------> UART4_RX
+    PA1     ------> UART4_RX
     */
-    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_0|GPIO_PIN_11);
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_0|GPIO_PIN_1);
 
   /* USER CODE BEGIN UART4_MspDeInit 1 */