diff --git a/README.md b/README.md
index f2f43b26..71f7860e 100644
--- a/README.md
+++ b/README.md
@@ -211,11 +211,27 @@ systemctl status example
 ````
 More detailed information about the used q7s commands can be found in the Q7S user manual.
 
-
-
-### Update file in rootfs
+### Bringing up CAN
 ````
-writeprotect 0 0 0 # qspi0 nom unlock (see also Q7S user manual)
+ip link set can0 down
+ip link set can0 type can loopback off
+ip link set can0 up type can bitrate 1000000
+````
+Following command sends 8 bytes to device with id 99 (for petalinux)
+````
+cansend can0 -i99 99 88 77 11 33 11 22 99
+````
+For Q7S use this:
+````
+cansend can0 5A1#11.22.33.44.55.66.77.88
+````
+Turn loopback mode on:
+````
+ip link set can0 type can bitrate 1000000 loopback on 
+````
+Reading data from CAN:
+````
+candump can0
 ````
 
 ## Setting up UNIX environment for real-time functionalities
diff --git a/fsfw b/fsfw
index ca34250e..113397c6 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit ca34250e8d74cec8a75bed284bf0ec9252019b65
+Subproject commit 113397c6c6ae4c46341f4880710e4e4d9b6e7630
diff --git a/tmtc b/tmtc
index 2f1c3d5e..3fc71f90 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 2f1c3d5eb9c3858d99c4516f4f132425ea1a97b7
+Subproject commit 3fc71f9094e8fb670942f0c29a9dea0b6e03d17f