diff --git a/main/cmd_can.c b/main/cmd_can.c
index 048f642..6b7cf25 100644
--- a/main/cmd_can.c
+++ b/main/cmd_can.c
@@ -8,6 +8,7 @@
 #include "xvprintf.h"
 #include "can.h"
 
+
 static void register_send_can_frame(void);
 
 void register_can_commands(void) {
@@ -21,18 +22,15 @@ static struct {
 } cansend_args;
 
 static int send_can_frame(int argc, char **argv) {
-    const char *delim = "#";
-    int tmp_can_id = 0;
-    int tmp_id = 0;
-    char printf_str[30];
-    char can_msg_str_buf[40];
+    char printf_str[50];
+    char can_msg_str_buf[50];
     int nerrors = arg_parse(argc, argv, (void **) &cansend_args);
     if (nerrors != 0) {
         arg_print_errors(stderr, cansend_args.end, argv[0]);
         return 1;
     }
-    const char* can_msg_ptr = cansend_args.message->sval[0];
 
+    const char *can_msg_ptr = cansend_args.message->sval[0];
     strlcpy(can_msg_str_buf, can_msg_ptr, sizeof(can_msg_str_buf));
     printf("%s\n", can_msg_str_buf);
 
diff --git a/main/console.c b/main/console.c
index 88c5222..dfcd36f 100644
--- a/main/console.c
+++ b/main/console.c
@@ -95,7 +95,7 @@ void console_task_interactive(void* arg) {
     ls.buf = buf;
     ls.prompt = prompt;
     linenoiseEditStart(&ls);
-    xTaskCreate(console_task_tx, "console tsk tx", 4096, NULL, CONFIG_CONSOLE_TX_PRIORITY, NULL);
+    xTaskCreate(console_task_tx, "console tsk tx", 5000, NULL, CONFIG_CONSOLE_TX_PRIORITY, NULL);
     esp_log_set_vprintf(&vxprintf);
     while (true) {
         line = linenoiseEditFeed(&ls);
diff --git a/main/main.c b/main/main.c
index ce4c47d..36afdd0 100644
--- a/main/main.c
+++ b/main/main.c
@@ -10,8 +10,8 @@
 void app_main(void) {
     can_init();
     init_tx_ringbuf();
-    xTaskCreate(can_task, "can task", 4096, NULL, CONFIG_CAN_TASK_PRIORITY, NULL);
+    xTaskCreate(can_task, "can task", 4800, NULL, CONFIG_CAN_TASK_PRIORITY, NULL);
     initialize_filesystem();
     initialize_console();
-    xTaskCreate(console_task_interactive, "console tsk int", 4096, NULL, CONFIG_CONSOLE_INT_PRIORITY, NULL);
+    xTaskCreate(console_task_interactive, "console tsk int", 8000, NULL, CONFIG_CONSOLE_INT_PRIORITY, NULL);
 }
diff --git a/sdkconfig b/sdkconfig
index e144422..02872c4 100644
--- a/sdkconfig
+++ b/sdkconfig
@@ -406,15 +406,15 @@ CONFIG_CONSOLE_INT_PRIORITY=1
 #
 # Compiler options
 #
-# CONFIG_COMPILER_OPTIMIZATION_DEFAULT is not set
-CONFIG_COMPILER_OPTIMIZATION_SIZE=y
+CONFIG_COMPILER_OPTIMIZATION_DEFAULT=y
+# CONFIG_COMPILER_OPTIMIZATION_SIZE is not set
 # CONFIG_COMPILER_OPTIMIZATION_PERF is not set
 # CONFIG_COMPILER_OPTIMIZATION_NONE is not set
-# CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_ENABLE is not set
+CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_ENABLE=y
 # CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_SILENT is not set
-CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_DISABLE=y
+# CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_DISABLE is not set
 CONFIG_COMPILER_FLOAT_LIB_FROM_GCCLIB=y
-CONFIG_COMPILER_OPTIMIZATION_ASSERTION_LEVEL=0
+CONFIG_COMPILER_OPTIMIZATION_ASSERTION_LEVEL=2
 # CONFIG_COMPILER_OPTIMIZATION_CHECKS_SILENT is not set
 CONFIG_COMPILER_HIDE_PATHS_MACROS=y
 # CONFIG_COMPILER_CXX_EXCEPTIONS is not set
@@ -1013,6 +1013,7 @@ CONFIG_FREERTOS_USE_STATS_FORMATTING_FUNCTIONS=y
 #
 # Port
 #
+CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER=y
 # CONFIG_FREERTOS_WATCHPOINT_END_OF_STACK is not set
 CONFIG_FREERTOS_TLSP_DELETION_CALLBACKS=y
 # CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP is not set
@@ -1039,7 +1040,9 @@ CONFIG_FREERTOS_DEBUG_OCDAWARE=y
 #
 CONFIG_HAL_ASSERTION_EQUALS_SYSTEM=y
 # CONFIG_HAL_ASSERTION_DISABLE is not set
-CONFIG_HAL_DEFAULT_ASSERTION_LEVEL=0
+# CONFIG_HAL_ASSERTION_SILENT is not set
+# CONFIG_HAL_ASSERTION_ENABLE is not set
+CONFIG_HAL_DEFAULT_ASSERTION_LEVEL=2
 CONFIG_HAL_SPI_MASTER_FUNC_IN_IRAM=y
 CONFIG_HAL_SPI_SLAVE_FUNC_IN_IRAM=y
 # end of Hardware Abstraction Layer (HAL) and Low Level (LL)
@@ -1209,6 +1212,7 @@ CONFIG_LWIP_SNTP_UPDATE_DELAY=3600000
 # end of SNTP
 
 CONFIG_LWIP_BRIDGEIF_MAX_PORTS=7
+CONFIG_LWIP_ESP_LWIP_ASSERT=y
 
 #
 # Hooks
@@ -1616,14 +1620,14 @@ CONFIG_LOG_BOOTLOADER_LEVEL=1
 CONFIG_FLASHMODE_DIO=y
 # CONFIG_FLASHMODE_DOUT is not set
 CONFIG_MONITOR_BAUD=115200
-# CONFIG_OPTIMIZATION_LEVEL_DEBUG is not set
-# CONFIG_COMPILER_OPTIMIZATION_LEVEL_DEBUG is not set
-CONFIG_OPTIMIZATION_LEVEL_RELEASE=y
-CONFIG_COMPILER_OPTIMIZATION_LEVEL_RELEASE=y
-# CONFIG_OPTIMIZATION_ASSERTIONS_ENABLED is not set
+CONFIG_OPTIMIZATION_LEVEL_DEBUG=y
+CONFIG_COMPILER_OPTIMIZATION_LEVEL_DEBUG=y
+# CONFIG_OPTIMIZATION_LEVEL_RELEASE is not set
+# CONFIG_COMPILER_OPTIMIZATION_LEVEL_RELEASE is not set
+CONFIG_OPTIMIZATION_ASSERTIONS_ENABLED=y
 # CONFIG_OPTIMIZATION_ASSERTIONS_SILENT is not set
-CONFIG_OPTIMIZATION_ASSERTIONS_DISABLED=y
-CONFIG_OPTIMIZATION_ASSERTION_LEVEL=0
+# CONFIG_OPTIMIZATION_ASSERTIONS_DISABLED is not set
+CONFIG_OPTIMIZATION_ASSERTION_LEVEL=2
 # CONFIG_CXX_EXCEPTIONS is not set
 CONFIG_STACK_CHECK_NONE=y
 # CONFIG_STACK_CHECK_NORM is not set
@@ -1734,6 +1738,7 @@ CONFIG_TIMER_TASK_PRIORITY=1
 CONFIG_TIMER_TASK_STACK_DEPTH=2048
 CONFIG_TIMER_QUEUE_LENGTH=10
 # CONFIG_ENABLE_STATIC_TASK_CLEAN_UP_HOOK is not set
+# CONFIG_HAL_ASSERTION_SILIENT is not set
 # CONFIG_L2_TO_L3_COPY is not set
 CONFIG_ESP_GRATUITOUS_ARP=y
 CONFIG_GARP_TMR_INTERVAL=60