diff --git a/firmware/.gdbinit b/firmware/.gdbinit
new file mode 100644
index 0000000..9934875
--- /dev/null
+++ b/firmware/.gdbinit
@@ -0,0 +1,18 @@
+#/com: target extended-remote /dev/ttyBmpGDB
+#/com: redefine "target remote" as "target extended-remote":
+define target remote
+tar ext $arg0
+mon tpwr en
+shell sleep 1
+#/com: monitor SWD
+mon s
+attach 1
+#mon erase_mass
+#flash-erase
+
+#/com: enable peripheral view
+set mem inaccessible-by-default off
+
+load
+compare-sections
+#b main
\ No newline at end of file
diff --git a/firmware/CMakeLists.txt b/firmware/CMakeLists.txt
index 11435d7..024c9b1 100644
--- a/firmware/CMakeLists.txt
+++ b/firmware/CMakeLists.txt
@@ -25,7 +25,7 @@ set(CMAKE_C_STANDARD 11)
 
 #Uncomment for software floating point
 #add_compile_options(-mfloat-abi=soft)
-#
+
 #add_compile_options(-mcpu=cortex-m4 -mthumb -mthumb-interwork)
 #add_compile_options(-ffunction-sections -fdata-sections -fno-common -fmessage-length=0)
 
@@ -53,6 +53,7 @@ else ()
     add_compile_options(-Og -g)
 endif ()
 
+#include_directories()
 include_directories(
         Core/Inc
 
@@ -71,12 +72,14 @@ include_directories(
         USB_DEVICE/Target
 )
 
+#add_definitions()
 add_definitions(-DDEBUG -DUSE_HAL_DRIVER -DSTM32F107xC)
 
+
 file(GLOB_RECURSE SOURCES "startup/*.*" "USB_DEVICE/*.*" "Middlewares/*.*" "Drivers/*.*" "Core/*.*")
 
 #set(LINKER_SCRIPT ${CMAKE_SOURCE_DIR}/)
-#
+
 #add_link_options(-Wl,-gc-sections,--print-memory-usage,-Map=${PROJECT_BINARY_DIR}/${PROJECT_NAME}.map)
 #add_link_options(-mcpu=cortex-m4 -mthumb -mthumb-interwork)
 #add_link_options(-T ${LINKER_SCRIPT})
diff --git a/firmware/CMakeLists_template.txt b/firmware/CMakeLists_template.txt
index 84e7b6f..a6f9d32 100644
--- a/firmware/CMakeLists_template.txt
+++ b/firmware/CMakeLists_template.txt
@@ -83,7 +83,7 @@ file(GLOB_RECURSE SOURCES ${sources})
 #add_link_options(-mcpu=${mcpu} -mthumb -mthumb-interwork)
 #add_link_options(-T $${LINKER_SCRIPT})
 
-set(LINKER_SCRIPT ${CMAKE_SOURCE_DIR}/STM32F107VCTX_FLASH.ld)
+set(LINKER_SCRIPT ${CMAKE_SOURCE_DIR}/STM32F107VCTx_FLASH.ld)
 
 add_link_options(-Wl,-gc-sections,--print-memory-usage,-Map=${PROJECT_BINARY_DIR}/${PROJECT_NAME}.map)
 add_link_options(-mcpu=cortex-m3 -mthumb -mthumb-interwork)
diff --git a/firmware/Core/Src/main.c b/firmware/Core/Src/main.c
index f2a1ff9..2c2003c 100644
--- a/firmware/Core/Src/main.c
+++ b/firmware/Core/Src/main.c
@@ -372,6 +372,8 @@ void usbTIM(uint8_t OnOff) {
 	}
 }
 
+u8_t TestData[8] = {1,2,3,4,5,6,7,8};
+
 void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 {
 	if (htim->Instance == TIM2)
@@ -381,15 +383,19 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 	}
 	else if (htim->Instance == TIM3)
 	{
-		CAN_TransmitRTR(0x500, 8, &hcan2);
+        if (!(TIM3_Clock % 10)){
+            CAN_TransmitRTR(0x500, 8, &hcan2);
+        }
+
 
 		if (TIM3_Clock % 2)
 		{
-			transmitCanPacketFromQueue(&can1_transmit_queue, &can1_transmit_queue_size, &hcan1);
+//			transmitCanPacketFromQueue(&can1_transmit_queue, &can1_transmit_queue_size, &hcan1);
 		}
-		else
+		if (!(TIM3_Clock % 3))
 		{
-			transmitCanPacketFromQueue(&can2_transmit_queue, &can2_transmit_queue_size, &hcan2);
+            CAN_Transmit(0x501, TestData, 8, &hcan2);
+//			transmitCanPacketFromQueue(&can2_transmit_queue, &can2_transmit_queue_size, &hcan2);
 		}
 
 		TIM3_Clock++;
@@ -1302,19 +1308,14 @@ void transmitCan2Packet()
 	memcpy(buffer + 4, &endFaultVoltage, sizeof(endFaultVoltage));
 	addCanPacketToQueue(0x503, buffer, &can2_transmit_queue, &can2_transmit_queue_size);
 
-	// sending charge starting and ending command
+	// sending charge start current
 	float chargeStartingCurrent = 15; // TODO move to generalConfig
-	float chargeEndingCurrent = 5; // TODO move to generalConfig
-
+    u32_t chargeStartingCurrentInterval = 20; // in seconds TODO move to generalConfig
 	memcpy(buffer, &chargeStartingCurrent, sizeof(chargeStartingCurrent));
-	memcpy(buffer + 4, &chargeEndingCurrent, sizeof(chargeEndingCurrent));
-	addCanPacketToQueue(0x504, buffer, &can2_transmit_queue, &can2_transmit_queue_size);
-
-	// sending charge permission, charge ending, charge/discharge state and table current command
-	const uint8_t chargeAllowed = packState.chargeAllowed ? 0xFF : 0x00;
-	const uint8_t chargeEnding = packState.SoC > 95 ? 0xFF : 0x00;
-	const uint8_t chargeSwitchState = charge_switch_state ? 0xFF : 0x00;
+	memcpy(buffer + 4, &chargeStartingCurrentInterval, sizeof(chargeStartingCurrentInterval));
+    addCanPacketToQueue(0x504, buffer, &can2_transmit_queue, &can2_transmit_queue_size);
 
+    // sending table current and end-of-charge current command
 	const int socIndex = getIndexBySoc();
 	const int temperatureIndex = getIndexByTemperature();
 	float tableCurrent = 0;
@@ -1326,16 +1327,25 @@ void transmitCan2Packet()
 		tableCurrent = pureCurrent ? tableValue : generalConfig->batteryCapacity * tableValue;
 	}
 
+    float chargeEndingCurrent = 5; // TODO move to generalConfig
+    memcpy(buffer + 0, &tableCurrent, sizeof(tableCurrent));
+    memcpy(buffer + 4, &chargeEndingCurrent, sizeof(chargeEndingCurrent));
+    addCanPacketToQueue(0x505, buffer, &can2_transmit_queue, &can2_transmit_queue_size);
+
+    // sending charge permission, charge ending, charge/discharge state command
+    const uint8_t chargeAllowed = packState.chargeAllowed ? 0xFF : 0x00;
+    const uint8_t chargeEnding = packState.SoC > 95 ? 0xFF : 0x00;
+    const uint8_t chargeSwitchState = charge_switch_state ? 0xFF : 0x00;
 	memset(buffer, '\0', sizeof(buffer));
 	memcpy(buffer + 0, &chargeAllowed, sizeof(chargeAllowed));
 	memcpy(buffer + 1, &chargeEnding, sizeof(chargeEnding));
 	memcpy(buffer + 2, &chargeSwitchState, sizeof(chargeSwitchState));
-	memcpy(buffer + 4, &tableCurrent, sizeof(tableCurrent));
-	addCanPacketToQueue(0x505, buffer, &can2_transmit_queue, &can2_transmit_queue_size);
+	addCanPacketToQueue(0x506, buffer, &can2_transmit_queue, &can2_transmit_queue_size);
 }
 
 void addCanPacketToQueue(uint16_t id, uint8_t* data, uint8_t** queue, uint16_t* queueSize)
 {
+    return;
 	*queueSize += 10;
 	*queue = (uint8_t*)realloc(*queue, *queueSize);