diff --git a/software/main/src/main.cpp b/software/main/src/main.cpp
index 1581a5c..ffa9baa 100644
--- a/software/main/src/main.cpp
+++ b/software/main/src/main.cpp
@@ -50,4 +50,3 @@ extern "C" void app_main() {
 	/* can::init(); */
 	twai::init();
 }
-
diff --git a/software/main/src/twai.cpp b/software/main/src/twai.cpp
index 7941064..e9bce90 100644
--- a/software/main/src/twai.cpp
+++ b/software/main/src/twai.cpp
@@ -10,17 +10,13 @@
 static void listen(void*) {
 	for (;;) {
 		twai_message_t message;
-		if (twai_receive(&message, portMAX_DELAY) == ESP_OK) {
-			ESP_LOGI(TWAI_TAG, "Message received");
-		} else {
+		if (twai_receive(&message, portMAX_DELAY) != ESP_OK) {
 			ESP_LOGI(TWAI_TAG, "Failed to receive message");
 			continue;
 		}
 
 		if (message.extd) {
 			ESP_LOGI(TWAI_TAG, "Message is in Extended Format");
-		} else {
-			ESP_LOGI(TWAI_TAG, "Message is in Standard Format");
 		}
 
 		ESP_LOGI(TWAI_TAG, "ID=%d, Length=%d", message.identifier, message.data_length_code);
@@ -28,9 +24,13 @@ static void listen(void*) {
 }
 
 void twai::init() {
-	twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(GPIO_NUM_5, GPIO_NUM_19, TWAI_MODE_LISTEN_ONLY);
+	twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(GPIO_NUM_5, GPIO_NUM_19, TWAI_MODE_NORMAL);
 	twai_timing_config_t t_config = TWAI_TIMING_CONFIG_125KBITS();
-	twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
+	twai_filter_config_t f_config = {
+		.acceptance_code = (0b100100101 << 5) + (0b1000011111 << 21),
+		.acceptance_mask = (0b011000000 << 5),
+		.single_filter = false
+	};
 
 	if (twai_driver_install(&g_config, &t_config, &f_config) == ESP_OK) {
 		ESP_LOGI(TWAI_TAG, "Driver installed");