Worked on the uw-midsun/fwxvi repository to deliver a CAN Communication Resilience and Performance Upgrade, focusing on improving bus reliability and real-time control. Utilized C programming and embedded systems expertise to switch the clock source from MSI to HSI, update CAN timings for better accuracy, and reconfigure CAN pins to push-pull for enhanced signal integrity. Hardened error recovery logic and improved FIFO reading to reduce message loss and ensure correct FIFO processing, addressing a critical interrupt handling issue. The work established a more robust foundation for deterministic real-time systems, emphasizing hardware interfacing and resilience under adverse operating conditions.