diff --git a/main/can.c b/main/can.c
index d8621be..c380537 100644
--- a/main/can.c
+++ b/main/can.c
@@ -9,12 +9,13 @@
 #include "freertos/ringbuf.h"
 #include "xvprintf.h"
 
-
-
 static const char* LOG_TAG = "can";
 
 bool is_error_passive = false;
 
+SemaphoreHandle_t can_mutex;
+can_status_t curr_can_state = { 0 };
+
 can_state_e get_can_state() {
     twai_status_info_t status;
     esp_err_t res = twai_get_status_info(&status);
@@ -89,6 +90,7 @@ void can_msg_to_str(twai_message_t *can_msg, char *out_str) {
 }
 
 void can_task(void* arg) {
+    can_mutex = xSemaphoreCreateMutex();
     twai_message_t rx_msg;
     char data_bytes_str[50];
     // ESP_ERROR_CHECK(esp_task_wdt_add(NULL));
diff --git a/main/can.h b/main/can.h
index 25b3c35..af7b279 100644
--- a/main/can.h
+++ b/main/can.h
@@ -3,6 +3,8 @@
 
 #include "driver/twai.h"
 #include "sdkconfig.h"
+#include "freertos/semphr.h"
+#include <stdint.h>
 
 typedef struct {
   char status[30];
@@ -21,6 +23,18 @@ typedef enum {
   CAN_RECOVERING = 5,
 } can_state_e;
 
+typedef struct {
+  can_state_e state;
+  uint32_t msgs_to_tx;            /**< Number of messages queued for transmission or awaiting transmission completion */
+  uint32_t msgs_to_rx;            /**< Number of messages in RX queue waiting to be read */
+  uint32_t tx_error_counter;      /**< Current value of Transmit Error Counter */
+  uint32_t rx_error_counter;      /**< Current value of Receive Error Counter */
+  uint32_t tx_failed_count;       /**< Number of messages that failed transmissions */
+  uint32_t rx_missed_count;       /**< Number of messages that were lost due to a full RX queue (or errata workaround if enabled) */
+  uint32_t rx_overrun_count;      /**< Number of messages that were lost due to a RX FIFO overrun */
+  uint32_t arb_lost_count;        /**< Number of instances arbitration was lost */
+  uint32_t bus_error_count;       /**< Number of instances a bus error has occurred */
+} can_status_t;
 
 static const twai_timing_config_t t_config = TWAI_TIMING_CONFIG_125KBITS();
 static const twai_general_config_t g_config = {
@@ -36,6 +50,8 @@ static const twai_general_config_t g_config = {
     .intr_flags = ESP_INTR_FLAG_LEVEL1,
 };
 
+extern SemaphoreHandle_t can_mutex;
+extern can_status_t curr_can_state;
 
 // functions
 
diff --git a/main/cmd_can.c b/main/cmd_can.c
index 1208fba..a857943 100644
--- a/main/cmd_can.c
+++ b/main/cmd_can.c
@@ -1,4 +1,5 @@
 #include "cmd_can.h"
+#include "freertos/portmacro.h"
 #include "inttypes.h"
 #include "driver/twai.h"
 #include "freertos/projdefs.h"
@@ -12,7 +13,6 @@
 #include <stdio.h>
 #include <ctype.h>
 
-static void register_send_can_frame(void);
 static void register_send_can_frame(void);
 static void register_canup(void);
 static void register_candown(void);
@@ -22,7 +22,11 @@ static void register_canrecover(void);
 
 void register_can_commands(void) {
     register_send_can_frame();
-    
+    register_canup();
+    register_candown();
+    register_canstats();
+    register_canstart();
+    register_canrecover();
 }
 
 static struct {
@@ -114,31 +118,38 @@ static int canstats(int argc, char **argv) {
 }
 
 static int canup(int argc, char **argv) {
+    esp_err_t res;
+    xSemaphoreTake(can_mutex, portMAX_DELAY);
     // Install CAN driver
     // TODO: add CAN filtering
     static twai_filter_config_t f_config = {.acceptance_code = 0, .acceptance_mask = 0xFFFFFFFF, .single_filter = true};
-    esp_err_t res = twai_driver_install(&g_config, &t_config, &f_config);
+    res = twai_driver_install(&g_config, &t_config, &f_config);
     if (res != ESP_OK) {
         printf("Couldn't install CAN driver! Rebooting...\n");
         esp_restart();
     }
     printf("CAN driver installed\n");
     // Start CAN driver
-    ESP_ERROR_CHECK(twai_start());
+    res = twai_start();
     printf("CAN driver started\n");
+    xSemaphoreGive(can_mutex);
     return 0;
 }
 
 static int canstart(int argc, char **argv) {
     // Start CAN driver
+    xSemaphoreTake(can_mutex, portMAX_DELAY);
     ESP_ERROR_CHECK(twai_start());
     printf("CAN driver started\n");
+    xSemaphoreGive(can_mutex);
     return 0;
 }
 
 static int candown(int argc, char **argv) {
+    xSemaphoreTake(can_mutex, portMAX_DELAY);
     ESP_ERROR_CHECK(twai_stop());
     ESP_ERROR_CHECK(twai_driver_uninstall());
+    xSemaphoreGive(can_mutex);
     return 0;
 }
 
diff --git a/main/main.c b/main/main.c
index 36afdd0..73a97aa 100644
--- a/main/main.c
+++ b/main/main.c
@@ -8,7 +8,6 @@
 
 
 void app_main(void) {
-    can_init();
     init_tx_ringbuf();
     xTaskCreate(can_task, "can task", 4800, NULL, CONFIG_CAN_TASK_PRIORITY, NULL);
     initialize_filesystem();