diff --git a/components/console/linenoise/linenoise.c b/components/console/linenoise/linenoise.c
index 1fb2491..925b705 100644
--- a/components/console/linenoise/linenoise.c
+++ b/components/console/linenoise/linenoise.c
@@ -139,6 +139,8 @@ static int history_max_len = LINENOISE_DEFAULT_HISTORY_MAX_LEN;
 static int history_len = 0;
 static char **history = NULL;
 
+SemaphoreHandle_t stdout_taken_sem;
+
 
 enum KEY_ACTION{
 	KEY_NULL = 0,	    /* NULL */
@@ -198,7 +200,7 @@ bool linenoiseIsDumbMode(void) {
     return dumbmode;
 }
 
-static void flushWrite(void) {
+void flushWrite(void) {
     if (__fbufsize(stdout) > 0) {
         fflush(stdout);
     }
@@ -858,13 +860,16 @@ static char *linenoiseDumb(struct linenoiseState *l) {
     /* dumb terminal, fall back to fgets */
     // Not needed anymore, prompt is now in linenoiseEditStart
     // fputs(l->prompt, stdout);
-    flushWrite();
+    // flushWrite();
     l->len = 0; //needed?
     while (l->len < l->buflen) {
         int c = fgetc(stdin);
+        xSemaphoreTake(stdout_taken_sem, portMAX_DELAY);
         if (c == '\n') {
+            xSemaphoreGive(stdout_taken_sem);
             break;
         } else if (c >= 0x1c && c <= 0x1f){
+            xSemaphoreGive(stdout_taken_sem);
             continue; /* consume arrow keys */
         } else if (c == BACKSPACE || c == 0x8) {
             if (l->len > 0) {
@@ -879,9 +884,12 @@ static char *linenoiseDumb(struct linenoiseState *l) {
         }
         fputc(c, stdout); /* echo */
         flushWrite();
+        xSemaphoreGive(stdout_taken_sem);
     }
+    xSemaphoreTake(stdout_taken_sem, portMAX_DELAY);
     fputc('\n', stdout);
     flushWrite();
+    xSemaphoreGive(stdout_taken_sem);
     // if (l->len == 0) return linenoiseEditMore;
     return strdup(l->buf);
 }
@@ -936,19 +944,27 @@ int linenoiseEditStart(struct linenoiseState *l, char *buf, size_t buflen, const
 
     /* The latest history entry is always our current buffer, that
      * initially is just an empty string. */
+    xSemaphoreTake(stdout_taken_sem, portMAX_DELAY);
     if (!dumbmode) {
         linenoiseHistoryAdd("");
         int pos1 = getCursorPosition();
-        if (fwrite(prompt,l->plen,1,stdout) == -1) return -1;
+        if (fwrite(prompt,l->plen,1,stdout) == -1) {
+            xSemaphoreGive(stdout_taken_sem);
+            return -1;
+        }
         flushWrite();
         int pos2 = getCursorPosition();
         if (pos1 >= 0 && pos2 >= 0) {
             l->plen = pos2 - pos1;
         }
     } else {
-        if (fwrite(prompt,l->plen,1,stdout) == -1) return -1;
+        if (fwrite(prompt,l->plen,1,stdout) == -1) {
+            xSemaphoreGive(stdout_taken_sem);
+            return -1;
+        }
         flushWrite();
     }
+    xSemaphoreGive(stdout_taken_sem);
     return 0;
 }
 
@@ -975,6 +991,7 @@ char *linenoiseEditMore = "If you see this, you are misusing the API: when linen
 char *linenoiseEditFeed(struct linenoiseState *l) {
     if (dumbmode) return linenoiseDumb(l);
     uint32_t t1 = 0;
+    uint32_t t2;
     char c;
     int nread;
     char seq[3];
@@ -990,16 +1007,20 @@ char *linenoiseEditFeed(struct linenoiseState *l) {
      */
     t1 = getMillis();
     nread = fread(&c, 1, 1, stdin);
-    if (nread <= 0) return NULL;
-    // FIXME: line printed twice after pasting something
-    if ( (getMillis() - t1) < LINENOISE_PASTE_KEY_DELAY && c != ENTER) {
+    if (nread <= 0) return linenoiseEditMore;
+    t2 = getMillis();
+    xSemaphoreTake(stdout_taken_sem, portMAX_DELAY);
+    // FIXME: line printed twice after pasting something that takes more than 1 line
+    if ( (t2 - t1) < LINENOISE_PASTE_KEY_DELAY && c != ENTER) {
         /* Pasting data, insert characters without formatting.
          * This can only be performed when the cursor is at the end of the
          * line. */
         if (linenoiseInsertPastedChar(l,c)) {
             errno = EIO;
+            xSemaphoreGive(stdout_taken_sem);
             return NULL;
         }
+        xSemaphoreGive(stdout_taken_sem);
         return linenoiseEditMore;
     }
 
@@ -1012,7 +1033,10 @@ char *linenoiseEditFeed(struct linenoiseState *l) {
         // TODO: how was it supposed to work? c can't be less than 0
         // if (c < 0) return NULL;
         /* Read next character when 0 */
-        if (c == 0) return linenoiseEditMore;
+        if (c == 0) {
+            xSemaphoreGive(stdout_taken_sem);
+            return linenoiseEditMore;
+        }
     }
 
     switch(c) {
@@ -1028,9 +1052,11 @@ char *linenoiseEditFeed(struct linenoiseState *l) {
             refreshLine(l);
             hintsCallback = hc;
         }
+        xSemaphoreGive(stdout_taken_sem);
         return strdup(l->buf);
     case CTRL_C:     /* ctrl-c */
         errno = EAGAIN;
+        xSemaphoreGive(stdout_taken_sem);
         return NULL;
     case BACKSPACE:   /* backspace */
     case 8:     /* ctrl-h */
@@ -1044,6 +1070,7 @@ char *linenoiseEditFeed(struct linenoiseState *l) {
             history_len--;
             free(history[history_len]);
             errno = ENOENT;
+            xSemaphoreGive(stdout_taken_sem);
             return NULL;
         }
         break;
@@ -1124,7 +1151,10 @@ char *linenoiseEditFeed(struct linenoiseState *l) {
         }
         break;
     default:
-        if (linenoiseEditInsert(l,c)) return NULL;
+        if (linenoiseEditInsert(l,c)) {
+            xSemaphoreGive(stdout_taken_sem);
+            return NULL;
+        }
         break;
     case CTRL_U: /* Ctrl+u, delete the whole line. */
         l->buf[0] = '\0';
@@ -1151,6 +1181,7 @@ char *linenoiseEditFeed(struct linenoiseState *l) {
         break;
     }
     flushWrite();
+    xSemaphoreGive(stdout_taken_sem);
     return linenoiseEditMore;
 }
 
@@ -1160,8 +1191,10 @@ char *linenoiseEditFeed(struct linenoiseState *l) {
  * returns something different than NULL. At this point the user input
  * is in the buffer, and we can restore the terminal in normal mode. */
 void linenoiseEditStop(struct linenoiseState *l) {
+    xSemaphoreTake(stdout_taken_sem, portMAX_DELAY);
     fputc('\n', stdout);
     flushWrite();
+    xSemaphoreGive(stdout_taken_sem);
 }
 
 /* This just implements a blocking loop for the multiplexed API.
@@ -1184,12 +1217,14 @@ static char *linenoiseBlockingEdit(char *buf, size_t buflen, const char *prompt)
 }
 
 int linenoiseProbe() {
+    xSemaphoreTake(stdout_taken_sem, portMAX_DELAY);
     /* Switch to non-blocking mode */
     int stdin_fileno = fileno(stdin);
     int flags = fcntl(stdin_fileno, F_GETFL);
     flags |= O_NONBLOCK;
     int res = fcntl(stdin_fileno, F_SETFL, flags);
     if (res != 0) {
+        xSemaphoreGive(stdout_taken_sem);
         return -1;
     }
     /* Device status request */
@@ -1218,11 +1253,14 @@ int linenoiseProbe() {
     flags &= ~O_NONBLOCK;
     res = fcntl(stdin_fileno, F_SETFL, flags);
     if (res != 0) {
+        xSemaphoreGive(stdout_taken_sem);
         return -1;
     }
     if (read_bytes < 4) {
+        xSemaphoreGive(stdout_taken_sem);
         return -2;
     }
+    xSemaphoreGive(stdout_taken_sem);
     return 0;
 }
 
diff --git a/components/console/linenoise/linenoise.h b/components/console/linenoise/linenoise.h
index 74e3719..7022361 100644
--- a/components/console/linenoise/linenoise.h
+++ b/components/console/linenoise/linenoise.h
@@ -46,8 +46,12 @@ extern "C" {
 
 #include <stddef.h> /* For size_t. */
 #include <stdbool.h>
+// for semaphore
+#include "freertos/FreeRTOS.h"
+#include "freertos/semphr.h"
 
 extern char *linenoiseEditMore;
+extern SemaphoreHandle_t stdout_taken_sem;
 
 /* The linenoiseState structure represents the state during line editing.
  * We pass this state to functions implementing specific editing
@@ -112,6 +116,7 @@ int linenoiseProbe();
 void linenoiseMaskModeEnable(void);
 void linenoiseMaskModeDisable(void);
 int linenoiseSetMaxLineLen(size_t len);
+void flushWrite(void);
 
 
 #ifdef __cplusplus
diff --git a/main/CMakeLists.txt b/main/CMakeLists.txt
index 3e1f38a..3516e52 100644
--- a/main/CMakeLists.txt
+++ b/main/CMakeLists.txt
@@ -2,8 +2,9 @@ set(COMPONENT_SRCS
         "main.c"
         "cmd_system.c"
         "can.c"
-        "console_task.c"
+        "console.c"
         "fs.c"
+        "xvprintf.c"
 )
 
 set(COMPONENT_ADD_INCLUDEDIRS
diff --git a/main/Kconfig.projbuild b/main/Kconfig.projbuild
index 7b764e9..7efd4f8 100644
--- a/main/Kconfig.projbuild
+++ b/main/Kconfig.projbuild
@@ -25,12 +25,19 @@ menu "Can_wizard Configuration"
         help
             A priority of FreeRTOS task can_task. See more about tasks priorities in FreeRTOS documentation.
 
-    config CONSOLE_TASK_PRIORITY
-        int "Console task priority"
+    config CONSOLE_TX_PRIORITY
+        int "Console task TX priority"
         range 0 22
         default 2
         help
-            A priority of FreeRTOS task can_task. See more about tasks priorities in FreeRTOS documentation.
+            A priority of FreeRTOS task can_task_tx. See more about tasks priorities in FreeRTOS documentation.
+
+    config CONSOLE_INT_PRIORITY
+        int "Console task interactive priority"
+        range 0 22
+        default 1
+        help
+            A priority of FreeRTOS task can_task_interactive. See more about tasks priorities in FreeRTOS documentation.
 
 
 
diff --git a/main/can.c b/main/can.c
index 0fbcbbe..9a7aa38 100644
--- a/main/can.c
+++ b/main/can.c
@@ -4,9 +4,14 @@
 
 #include "can.h"
 #include "esp_log.h"
+#include "freertos/projdefs.h"
 #include "hal/twai_types.h"
 #include "sdkconfig.h"
+#include <stddef.h>
 #include <stdio.h>
+#include "freertos/ringbuf.h"
+#include "xvprintf.h"
+
 
 static const twai_timing_config_t t_config = TWAI_TIMING_CONFIG_125KBITS();
 static const twai_general_config_t g_config = {
@@ -74,8 +79,8 @@ void can_task(void* arg) {
         if (twai_receive(&rx_msg, pdMS_TO_TICKS(10)) != ESP_OK) continue;
         // TODO: add software filtering
         // if ((((rx_msg.identifier >> 8) & 0xFF) != CONFIG_DEVICE_ID) && (((rx_msg.identifier >> 8) & 0xFF) != 0xFF)) continue;
-        ESP_LOGI(LOG_TAG, "received can package with ID: %" PRIu32, rx_msg.identifier);
-        // printf("received can package with ID: %" PRIu32, rx_msg.identifier);
+        // ESP_LOGI(LOG_TAG, "received can frame: %" PRIu32, rx_msg.identifier);
+        xprintf("received can frame: %" PRIu32 "\n", rx_msg.identifier);
     }
 }
 
diff --git a/main/console.c b/main/console.c
new file mode 100644
index 0000000..2c31dc2
--- /dev/null
+++ b/main/console.c
@@ -0,0 +1,155 @@
+#include "console.h"
+#include <fcntl.h>
+#include "esp_err.h"
+#include "esp_log.h"
+#include "esp_system.h"
+#include "esp_console.h"
+#include "esp_vfs_dev.h"
+#include <stdio.h>
+#include <string.h>
+#include "esp_system.h"
+#include "freertos/projdefs.h"
+#include "linenoise/linenoise.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_vfs_usb_serial_jtag.h"
+#include "driver/usb_serial_jtag.h"
+#include "cmd_system.h"
+#include "fs.h"
+#include "xvprintf.h"
+
+#if CONFIG_LOG_COLORS
+static const bool use_colors = true;
+#else
+static const bool use_colors = true;
+#endif
+
+static const char* TAG = "console task";
+esp_console_config_t console_config;
+struct linenoiseState ls;
+
+char prompt[50];
+
+static void get_prompt(char* prompt_buf) {
+    static const char* text = "can_wizard > ";
+    static const char* prompt_color = LOG_COLOR_E;
+    memset(prompt_buf,0,strlen(prompt_buf));
+    if (use_colors) {
+        strcat(prompt_buf, prompt_color);
+        strcat(prompt_buf, text);
+        strcat(prompt_buf, LOG_RESET_COLOR);
+    } else {
+        strcat(prompt_buf, text);
+    }
+}
+
+void console_task_tx(void* arg) {
+    const int fd = fileno(stdout);
+    char *msg_to_print;
+    size_t msg_to_print_size;
+    vTaskDelay(pdMS_TO_TICKS(200));
+    while(1) {
+        msg_to_print = (char *)xRingbufferReceive(can_messages, &msg_to_print_size, portMAX_DELAY);
+        if (msg_to_print != NULL) {
+            xSemaphoreTake(stdout_taken_sem, portMAX_DELAY);
+            linenoiseHide(&ls);
+            write(fd, msg_to_print, msg_to_print_size);
+            flushWrite();
+            linenoiseShow(&ls);
+            xSemaphoreGive(stdout_taken_sem);
+            vRingbufferReturnItem(can_messages, (void *) msg_to_print);
+        }
+    }
+}
+
+void console_task_interactive(void* arg) {
+    stdout_taken_sem = xSemaphoreCreateMutex();
+    char *buf = calloc(1, console_config.max_cmdline_length);
+    char *line;
+    vTaskDelay(pdMS_TO_TICKS(15)); //give some time for app_main to finish
+    /* Figure out if the terminal supports escape sequences */
+    printf("Testing your console...");
+    int probe_status = linenoiseProbe();
+    // int probe_status = 1;
+    if (probe_status) { /* zero indicates success */
+        printf("\n"
+               "Your terminal application does not support escape sequences.\n"
+               "Line editing and history features are disabled.\n"
+               "On Windows, try using Putty instead.\n"
+               "Your terminal is in Dumb Mode from now! \n");
+        linenoiseSetDumbMode(1);
+    }
+    printf("\n"
+       "Type 'help' to get the list of commands.\n"
+       "Use UP/DOWN arrows to navigate through command history.\n"
+       "Press TAB when typing command name to auto-complete.\n"
+       "Ctrl+C will terminate the console environment.\n");
+    get_prompt(prompt);
+    linenoiseEditStart(&ls, buf, console_config.max_cmdline_length, prompt);
+    while (true) {
+        line = linenoiseEditFeed(&ls);
+        if (line == linenoiseEditMore) continue;
+        linenoiseEditStop(&ls);
+        if (line == NULL) { /* Break on EOF or error */
+            ESP_LOGE(TAG, "Ctrl+C???");
+            break;
+        }
+        /* Add the command to the history if not empty*/
+        if (strlen(line) > 0) {
+            linenoiseHistoryAdd(line);
+            /* Save command history to filesystem */
+            linenoiseHistorySave(HISTORY_PATH);
+        }
+
+        int ret;
+        esp_err_t err = esp_console_run(line, &ret);
+        if (err == ESP_ERR_NOT_FOUND) {
+            printf("Unrecognized command\n");
+        } else if (err == ESP_ERR_INVALID_ARG) {
+            // command was empty
+        } else if (err == ESP_OK && ret != ESP_OK) {
+            printf("Command returned non-zero error code: 0x%x (%s)\n", ret, esp_err_to_name(ret));
+        } else if (err != ESP_OK) {
+            printf("Internal error: %s\n", esp_err_to_name(err));
+        }
+        /* linenoise allocates line buffer on the heap, so need to free it */
+        linenoiseFree(line);
+        linenoiseEditStart(&ls, buf, console_config.max_cmdline_length, prompt);
+    }
+
+    ESP_LOGE(TAG, "Terminating console");
+    esp_console_deinit();
+    while (1) {
+        vTaskDelay(100);
+    }
+}
+
+void initialize_console(void) {
+    /* Disable buffering on stdin */
+    setvbuf(stdin, NULL, _IONBF, 0);
+    /* Minicom, screen, idf_monitor send CR when ENTER key is pressed */
+    esp_vfs_dev_usb_serial_jtag_set_rx_line_endings(ESP_LINE_ENDINGS_CR);
+    /* Move the caret to the beginning of the next line on '\n' */
+    esp_vfs_dev_usb_serial_jtag_set_tx_line_endings(ESP_LINE_ENDINGS_CRLF);
+    /* Enable non-blocking mode on stdin and stdout */
+    fcntl(fileno(stdout), F_SETFL, 0);
+    fcntl(fileno(stdin), F_SETFL, 0);
+    usb_serial_jtag_driver_config_t usb_serial_jtag_config = USB_SERIAL_JTAG_DRIVER_CONFIG_DEFAULT();
+    /* Install USB-SERIAL-JTAG driver for interrupt-driven reads and writes */
+    ESP_ERROR_CHECK(usb_serial_jtag_driver_install(&usb_serial_jtag_config));
+    /* Tell vfs to use usb-serial-jtag driver */
+    esp_vfs_usb_serial_jtag_use_driver();
+    console_config.max_cmdline_args = 8;
+    console_config.max_cmdline_length = 256;
+    if (use_colors) console_config.hint_color = atoi(LOG_COLOR_CYAN);
+    ESP_ERROR_CHECK(esp_console_init(&console_config));
+    linenoiseSetMultiLine(1);
+    linenoiseSetCompletionCallback(&esp_console_get_completion);
+    linenoiseSetHintsCallback((linenoiseHintsCallback*) &esp_console_get_hint);
+    linenoiseHistorySetMaxLen(100);
+    linenoiseSetMaxLineLen(console_config.max_cmdline_length);
+    linenoiseHistoryLoad(HISTORY_PATH);
+    /* Register commands */
+    esp_console_register_help_command();
+    register_system();
+}
diff --git a/main/console.h b/main/console.h
new file mode 100644
index 0000000..22d4453
--- /dev/null
+++ b/main/console.h
@@ -0,0 +1,10 @@
+#ifndef MAIN_CONSOLE_TASK_H
+#define MAIN_CONSOLE_TASK_H
+
+// functions
+
+void console_task_tx(void* arg);
+void console_task_interactive(void* arg);
+void initialize_console(void);
+
+#endif // MAIN_CONSOLE_TASK_H
diff --git a/main/console_task.c b/main/console_task.c
deleted file mode 100644
index cb14bf8..0000000
--- a/main/console_task.c
+++ /dev/null
@@ -1,88 +0,0 @@
-#include "console_task.h"
-#include <stdio.h>
-#include <string.h>
-#include "esp_system.h"
-#include "linenoise/linenoise.h"
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
-#include "esp_log.h"
-#include "esp_console.h"
-#include "fs.h"
-#include "esp_err.h"
-
-#define PROMPT_STR "[root@can_wiz ~]$ "
-
-static const char* TAG = "console task";
-
-
-void console_task(void* arg) {
-    
-    /* Prompt to be printed before each line.
-     * This can be customized, made dynamic, etc.
-     */
-    const char* prompt = LOG_COLOR_E PROMPT_STR LOG_RESET_COLOR;
-    // const char* prompt = "dumb_console >";
-
-    printf("\n"
-           "Type 'help' to get the list of commands.\n"
-           "Use UP/DOWN arrows to navigate through command history.\n"
-           "Press TAB when typing command name to auto-complete.\n"
-           "Ctrl+C will terminate the console environment.\n");
-
-     /* Figure out if the terminal supports escape sequences */
-    int probe_status = linenoiseProbe();
-    // int probe_status = 1;
-    if (probe_status) { /* zero indicates success */
-        printf("\n"
-               "Your terminal application does not support escape sequences.\n"
-               "Line editing and history features are disabled.\n"
-               "On Windows, try using Putty instead.\n");
-        linenoiseSetDumbMode(1);
-    
-#if CONFIG_LOG_COLORS
-        /* Since the terminal doesn't support escape sequences,
-         * don't use color codes in the prompt.
-         */
-        // prompt = "> ";
-#endif //CONFIG_LOG_COLORS
-    }
-    
-    /* Main loop */
-    while (true) {
-        /* Get a line using linenoise.
-         * The line is returned when ENTER is pressed.
-         */
-        char* line = linenoise(prompt);
-        if (line == NULL) { /* Break on EOF or error */
-            ESP_LOGE(TAG, "Ctrl+C???");
-            break;
-        }
-        /* Add the command to the history if not empty*/
-        if (strlen(line) > 0) {
-            linenoiseHistoryAdd(line);
-            /* Save command history to filesystem */
-            linenoiseHistorySave(HISTORY_PATH);
-        }
-
-        /* Try to run the command */
-        int ret;
-        esp_err_t err = esp_console_run(line, &ret);
-        if (err == ESP_ERR_NOT_FOUND) {
-            printf("Unrecognized command\n");
-        } else if (err == ESP_ERR_INVALID_ARG) {
-            // command was empty
-        } else if (err == ESP_OK && ret != ESP_OK) {
-            printf("Command returned non-zero error code: 0x%x (%s)\n", ret, esp_err_to_name(ret));
-        } else if (err != ESP_OK) {
-            printf("Internal error: %s\n", esp_err_to_name(err));
-        }
-        /* linenoise allocates line buffer on the heap, so need to free it */
-        linenoiseFree(line);
-    }
-
-    ESP_LOGE(TAG, "Error or end-of-input, terminating console");
-    esp_console_deinit();
-    while (true) {
-        vTaskDelay(100);
-    }
-}
diff --git a/main/console_task.h b/main/console_task.h
deleted file mode 100644
index 61382a7..0000000
--- a/main/console_task.h
+++ /dev/null
@@ -1,8 +0,0 @@
-#ifndef MAIN_CONSOLE_TASK_H
-#define MAIN_CONSOLE_TASK_H
-
-// functions
-
-void console_task(void* arg);
-
-#endif // MAIN_CONSOLE_TASK_H
diff --git a/main/main.c b/main/main.c
index f16d824..f7a9841 100644
--- a/main/main.c
+++ b/main/main.c
@@ -1,80 +1,17 @@
 #include <stdio.h>
-#include <fcntl.h>
-#include "esp_err.h"
-#include "esp_system.h"
-#include "esp_log.h"
-#include "esp_console.h"
-#include "esp_vfs_dev.h"
-#include "linenoise/linenoise.h"
-#include "esp_vfs_usb_serial_jtag.h"
-#include "driver/usb_serial_jtag.h"
-#include "cmd_system.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
 #include "can.h"
 #include "fs.h"
-#include "console_task.h"
-
-
-static void initialize_console(void) {
-    /* Disable buffering on stdin */
-    setvbuf(stdin, NULL, _IONBF, 0);
-
-    /* Minicom, screen, idf_monitor send CR when ENTER key is pressed */
-    esp_vfs_dev_usb_serial_jtag_set_rx_line_endings(ESP_LINE_ENDINGS_CR);
-    /* Move the caret to the beginning of the next line on '\n' */
-    esp_vfs_dev_usb_serial_jtag_set_tx_line_endings(ESP_LINE_ENDINGS_CRLF);
-
-    /* Enable non-blocking mode on stdin and stdout */
-    fcntl(fileno(stdout), F_SETFL, 0);
-    fcntl(fileno(stdin), F_SETFL, 0);
-
-    usb_serial_jtag_driver_config_t usb_serial_jtag_config = USB_SERIAL_JTAG_DRIVER_CONFIG_DEFAULT();
-
-    /* Install USB-SERIAL-JTAG driver for interrupt-driven reads and writes */
-    ESP_ERROR_CHECK(usb_serial_jtag_driver_install(&usb_serial_jtag_config));
-
-    /* Tell vfs to use usb-serial-jtag driver */
-    esp_vfs_usb_serial_jtag_use_driver();
-
-    /* Initialize the console */
-    esp_console_config_t console_config = {
-        .max_cmdline_args = 8,
-        .max_cmdline_length = 256,
-#if CONFIG_LOG_COLORS
-        .hint_color = atoi(LOG_COLOR_CYAN)
-#endif
-    };
-    ESP_ERROR_CHECK(esp_console_init(&console_config));
-
-    /* Configure linenoise line completion library */
-    /* Enable multiline editing. If not set, long commands will scroll within
-     * single line.
-     */
-    linenoiseSetMultiLine(1);
-
-    /* Tell linenoise where to get command completions and hints */
-    linenoiseSetCompletionCallback(&esp_console_get_completion);
-    linenoiseSetHintsCallback((linenoiseHintsCallback*) &esp_console_get_hint);
-
-    /* Set command history size */
-    linenoiseHistorySetMaxLen(100);
-
-    /* Set command maximum length */
-    linenoiseSetMaxLineLen(console_config.max_cmdline_length);
-
-    /* Load command history from filesystem */
-    linenoiseHistoryLoad(HISTORY_PATH);
-}
+#include "console.h"
+#include "xvprintf.h"
 
 void app_main(void) {
     can_init();
+    init_tx_ringbuf();
     xTaskCreate(can_task, "can task", 4096, NULL, CONFIG_CAN_TASK_PRIORITY, NULL);
     initialize_filesystem();
     initialize_console();
-
-    /* Register commands */
-    esp_console_register_help_command();
-    register_system();
-
-    xTaskCreate(console_task, "console task", 4096, NULL, CONFIG_CONSOLE_TASK_PRIORITY, NULL);
-
+    xTaskCreate(console_task_tx, "console tsk tx", 4096, NULL, CONFIG_CONSOLE_TX_PRIORITY, NULL);
+    xTaskCreate(console_task_interactive, "console tsk int", 4096, NULL, CONFIG_CONSOLE_INT_PRIORITY, NULL);
 }
diff --git a/main/xvprintf.c b/main/xvprintf.c
new file mode 100644
index 0000000..31ba327
--- /dev/null
+++ b/main/xvprintf.c
@@ -0,0 +1,30 @@
+#include "xvprintf.h"
+#include <stdarg.h>
+#include <stdio.h>
+#include "stdbool.h"
+#include "esp_log.h"
+
+RingbufHandle_t can_messages;
+
+
+void init_tx_ringbuf() {
+    can_messages = xRingbufferCreate(1028, RINGBUF_TYPE_NOSPLIT);
+    esp_log_set_vprintf(&xvprintf);
+}
+
+// This function will be called by the ESP log library every time ESP_LOG needs to be performed.
+//      @important Do NOT use the ESP_LOG* macro's in this function ELSE recursive loop and stack overflow! So use printf() instead for debug messages.
+int xvprintf(const char *fmt, va_list args) {
+    char msg_to_send[500];
+    size_t str_len;
+    str_len = snprintf(msg_to_send, 499, fmt, va_arg(args, int), va_arg(args, char *));
+    va_end(args);
+    xRingbufferSend(can_messages, msg_to_send, str_len + 1, pdMS_TO_TICKS(100));
+    return str_len;
+}
+
+int xprintf(const char *fmt, ...) {
+    va_list(args);
+    va_start(args, fmt);
+    return xvprintf(fmt, args);
+}
diff --git a/main/xvprintf.h b/main/xvprintf.h
new file mode 100644
index 0000000..6d9c9a4
--- /dev/null
+++ b/main/xvprintf.h
@@ -0,0 +1,14 @@
+#ifndef MAIN_XVPRINTF_H
+#define MAIN_XVPRINTF_H
+
+#include "freertos/ringbuf.h"
+
+extern RingbufHandle_t can_messages;
+
+void init_tx_ringbuf();
+int xvprintf(const char *fmt, va_list args);
+int xprintf(const char *fmt, ...);
+
+// functions
+
+#endif // MAIN_XVPRINTF_H
diff --git a/sdkconfig b/sdkconfig
index c6d3c3d..e0a3edd 100644
--- a/sdkconfig
+++ b/sdkconfig
@@ -399,7 +399,8 @@ CONFIG_ENV_GPIO_OUT_RANGE_MAX=21
 CONFIG_CAN_RX_GPIO=9
 CONFIG_CAN_TX_GPIO=8
 CONFIG_CAN_TASK_PRIORITY=5
-CONFIG_CONSOLE_TASK_PRIORITY=2
+CONFIG_CONSOLE_TX_PRIORITY=2
+CONFIG_CONSOLE_INT_PRIORITY=1
 # end of Can_wizard Configuration
 
 #
@@ -987,7 +988,7 @@ CONFIG_FATFS_VFS_FSTAT_BLKSIZE=0
 #
 # CONFIG_FREERTOS_SMP is not set
 CONFIG_FREERTOS_UNICORE=y
-CONFIG_FREERTOS_HZ=100
+CONFIG_FREERTOS_HZ=1000
 CONFIG_FREERTOS_OPTIMIZED_SCHEDULER=y
 # CONFIG_FREERTOS_CHECK_STACKOVERFLOW_NONE is not set
 # CONFIG_FREERTOS_CHECK_STACKOVERFLOW_PTRVAL is not set