Developed a CAN bootloader and communications system for the MS16 platform in the uw-midsun/fwxvi repository, focusing on reliable firmware deployment and runtime CAN interactions. The work involved implementing the full bootloader flow in C, including transmit and receive operations, initialization routines, configuration management, and comprehensive error handling. Special attention was given to hardware configuration differences across MS16 variants, ensuring compatibility and robustness. Incorporated feedback from code reviews to refine the implementation and improve maintainability. Leveraged expertise in embedded systems, firmware development, and CAN bus protocols to deliver a feature that enhances deployment reliability and traceability for the platform.