diff --git a/Software/CAN_Sensor/src/main.rs b/Software/CAN_Sensor/src/main.rs
index c5be6c5..25868da 100644
--- a/Software/CAN_Sensor/src/main.rs
+++ b/Software/CAN_Sensor/src/main.rs
@@ -415,7 +415,7 @@ async fn can_task(
                     Timer::after_millis(100).await;
                 }
                 let mut msg: heapless::String<128> = heapless::String::new();
-                let _ = write!(&mut msg, "rx err {:?}", err);
+                let _ = write!(&mut msg, "rx err {:?} \r\n", err);
                 log(msg);
             }
         }
@@ -429,14 +429,25 @@ async fn can_task(
             }
         }
 
-        // Check CAN error status register for bus-off condition
-        if hal::pac::CAN1.errsr().read().boff() {
-            blink_error_loop(info, warn, 3, 3).await; // Bus-off error
-        }
+
 
         while let Ok(mut frame) = CAN_TX_CH.try_receive() {
             match can.transmit(&mut frame) {
-                Ok(..) => {
+                Ok(_ok) => {
+                    let status = hal::pac::CAN1.errsr().read();
+
+                    // Check CAN error status register for bus-off condition
+                    if status.boff() || status.ewgf() || status.epvf() {
+                        let mut msg: heapless::String<128> = heapless::String::new();
+                        let _ = write!(&mut msg, "canbus status {} {} {} \r\n", status.boff(), status.ewgf(), status.epvf());
+                        log(msg);
+                        for _ in 0..2 {
+                            warn.set_high();
+                            Timer::after_millis(100).await;
+                            warn.set_low();
+                            Timer::after_millis(100).await;
+                        }
+                    }
                 }
                 Err(nb::Error::WouldBlock) => {
                     for _ in 0..2 {
@@ -446,7 +457,7 @@ async fn can_task(
                         Timer::after_millis(100).await;
                     }
                     let mut msg: heapless::String<128> = heapless::String::new();
-                    let _ = write!(&mut msg, "canbus out buffer full");
+                    let _ = write!(&mut msg, "canbus out buffer full  \r\n");
                     log(msg);
                 }
                 Err(nb::Error::Other(err)) => {
@@ -457,7 +468,7 @@ async fn can_task(
                         Timer::after_millis(100).await;
                     }
                     let mut msg: heapless::String<128> = heapless::String::new();
-                    let _ = write!(&mut msg, "tx err {:?}", err);
+                    let _ = write!(&mut msg, "tx err {:?}  \r\n", err);
                     log(msg);
                 }
             }
@@ -516,7 +527,7 @@ async fn worker(
     loop {
         let mut total_pulses: u32 = 0;
 
-        for _ in 0..AVG_WINDOWS {
+        for _window in 0..AVG_WINDOWS {
             // Count rising edges of Q in a 100 ms window
             let start = Instant::now();
             let mut pulses: u32 = 0;
@@ -586,9 +597,8 @@ async fn worker(
 
         // Send firmware build timestamp after each measurement so the controller
         // always has up-to-date build info without requiring an identify request.
-        if let Some(build_frame) = CanFrame::new(firmware_build_id, &FIRMWARE_BUILD_MINUTES.to_be_bytes()) {
-            CAN_TX_CH.send(build_frame).await;
-        }
+        let firmware = CanFrame::new(firmware_build_id, &FIRMWARE_BUILD_MINUTES.to_be_bytes()).unwrap();
+        CAN_TX_CH.send(firmware).await;
 
         // Wait for the other slot to measure, plus gaps to ensure no overlap
         // After A finishes measuring: wait 50ms (gap) + 400ms (B measures) + 50ms (gap) = 500ms