diff --git a/Protocol/CAN.cpp b/Protocol/CAN.cpp
index 25c4f12..a3c3b18 100644
--- a/Protocol/CAN.cpp
+++ b/Protocol/CAN.cpp
@@ -1,5 +1,6 @@
 #include "CAN.h"
 #include "DSP2833x_Device.h"
+#include "DSP2833x_ECan.h"
 
 namespace canSpace {
 
@@ -25,13 +26,13 @@ void CAN::transmitMsg(Uint16 boxNumber, const CANMessage& message){
     p_CanRegs_->CANTRS.all = CanShadow_.CANTRS.all;
 
     // Wait for TA bit to be set
-    do { CanShadow_.CANTA.all = p_CanRegs_->CANTA.all; }
-    while((CanShadow_.CANTA.all & mboxControl) == 0 );
+    // do { CanShadow_.CANTA.all = p_CanRegs_->CANTA.all; }
+    // while((CanShadow_.CANTA.all & mboxControl) == 0 );
 
-    // Clear TA (transmit acknowledge bit)
-    CanShadow_.CANTA.all = 0;
-    CanShadow_.CANTA.all |= mboxControl;
-    p_CanRegs_->CANTA.all = CanShadow_.CANTA.all;
+    // // Clear TA (transmit acknowledge bit)
+    // CanShadow_.CANTA.all = 0;
+    // CanShadow_.CANTA.all |= mboxControl;
+    // p_CanRegs_->CANTA.all = CanShadow_.CANTA.all;
 }
 
 
@@ -250,4 +251,35 @@ bool CAN::isNewMessage(Uint16 boxNumber){
 }
 
 
+void CAN::resetTimeStampCounter(){
+    EALLOW;
+    ECanbRegs.CANTSC = 0;
+    EDIS;
+}
+
+
+void CAN::setTimeOutValue(Uint16 boxNumber, Uint32 canBitsNumber){
+    if (boxNumber > 31) { return; }
+
+    volatile Uint32* p_MailBox(0);
+    p_MailBox = &(p_CanMotoRegs_->MOTO0) + boxNumber;
+
+    *p_MailBox = canBitsNumber;
+}
+
+
+bool CAN::isTimeOut(Uint16 boxNumber){
+    bool mBOXTimeOut = false;
+    mBOXTimeOut = p_CanRegs_->CANTOS.all & (1ul << boxNumber);
+    return mBOXTimeOut;
+}
+
+
+void CAN::clearTimeOutFlag(Uint16 boxNumber){
+    Uint32 clearFlag = 0;
+    clearFlag = 1ul << boxNumber;
+    p_CanRegs_->CANTOS.all = clearFlag;
+}
+
+
 }   // canSpace
diff --git a/Protocol/CAN.h b/Protocol/CAN.h
index 80cc810..9d50408 100644
--- a/Protocol/CAN.h
+++ b/Protocol/CAN.h
@@ -1,7 +1,7 @@
 #pragma once
 
-#include "DSP2833x_Device.h"
-#include "DSP28x_Project.h"
+#include "F28335/DSP28x_Project.h"
+#include "F28335/DSP2833x_Device.h"
 
 namespace canSpace {
 
@@ -113,7 +113,7 @@ public:
     bool isNewMessage();
     bool isNewMessage(Uint16 boxNumber);
 
-    void transmitMsg(Uint16 boxNumber, const CANMessage& message);  // TODO excessive method?
+    void transmitMsg(Uint16 boxNumber, const CANMessage& message);
     void transmitMsg(Uint16 boxNumber, const Uint64& message);
     void transmitMsg(Uint16 boxNumber, const Uint64& message, const Uint16 dlc);
     void updateTXMessage(Uint16 boxNumber, const CANMessage& message);
@@ -122,11 +122,20 @@ public:
     int16 receiveMsg(Uint16 boxNumber, CANMessage& rxMessage);
     int16 receiveMsg(Uint16 boxNumber, Uint64& rxMessage);
 
+    void enableTimeOutControl(Uint16 boxNumber);
+    void disableTimeOutControl(Uint16 boxNumber);
+    void resetTimeStampCounter();
+    void setTimeOutValue(Uint16 boxNumber, Uint32 canBitsNumber);
+    bool isTimeOut(Uint16 boxNumber);
+    void clearTimeOutFlag(Uint16 boxNumber);
+
 private:
     CAN_VARIANT canPort;
     volatile ECAN_REGS* p_CanRegs_;
     ECAN_REGS CanShadow_;
     volatile ECAN_MBOXES* p_CanMBoxes_;
+    volatile MOTO_REGS* p_CanMotoRegs_;
+    volatile MOTS_REGS* p_CanMotsRegs_;
 };
 
 
diff --git a/Protocol/CANConfig.cpp b/Protocol/CANConfig.cpp
index 0e2a659..868f7c1 100644
--- a/Protocol/CANConfig.cpp
+++ b/Protocol/CANConfig.cpp
@@ -1,9 +1,14 @@
 #include "CAN.h"
+#include "DSP2833x_ECan.h"
 
 namespace canSpace {
 
 CAN::CAN(CAN_VARIANT canVariant) : 
-    canPort(canVariant)
+    canPort(canVariant),
+    p_CanRegs_(0),
+    p_CanMBoxes_(0),
+    p_CanMotoRegs_(0),
+    p_CanMotsRegs_(0)
 {}
 
 
@@ -19,6 +24,8 @@ void CAN::config(Uint16 baudrate, Uint16 flags){
 		EDIS;
 		p_CanRegs_ = &ECanaRegs;
 		p_CanMBoxes_ = &ECanaMboxes;
+        p_CanMotoRegs_ = &ECanaMOTORegs;
+        p_CanMotsRegs_ = &ECanaMOTSRegs;
 	}
 	else if (canPort == CANB){
 		EALLOW;
@@ -26,6 +33,8 @@ void CAN::config(Uint16 baudrate, Uint16 flags){
 		EDIS;
 		p_CanRegs_ = &ECanbRegs;
 		p_CanMBoxes_ = &ECanbMboxes;
+        p_CanMotoRegs_ = &ECanbMOTORegs;
+        p_CanMotsRegs_ = &ECanbMOTSRegs;
 	}
 	else { return; }
 
@@ -283,4 +292,27 @@ void CAN::configMBoxIsr(Uint16 boxNumber){
     EDIS;
 }
 
+
+void CAN::enableTimeOutControl(Uint16 boxNumber){
+    if (boxNumber > 31) return;
+
+    Uint32 mboxControl(0);
+
+    mboxControl = p_CanRegs_->CANTOC.all;
+    mboxControl |= 1ul << boxNumber;
+    p_CanRegs_->CANTOC.all = mboxControl;
+}
+
+
+void CAN::disableTimeOutControl(Uint16 boxNumber){
+    if (boxNumber > 31) return;
+
+    Uint32 mboxControl(0);
+
+    mboxControl = p_CanRegs_->CANTOC.all;
+    mboxControl &= ~(1ul << boxNumber);
+    p_CanRegs_->CANTOC.all = mboxControl;
+}
+
+
 } //canSpace