diff --git a/controller/fw/embed/src/flash.cpp b/controller/fw/embed/src/flash.cpp
index 1c9a265..de96e4a 100644
--- a/controller/fw/embed/src/flash.cpp
+++ b/controller/fw/embed/src/flash.cpp
@@ -94,7 +94,7 @@ void flash_write(uint32_t addr, FLASH_RECORD* record){
     FLASH->CR |= FLASH_CR_PG;
     
     for(int i = 0;i < size;i++){
-        *(volatile uint32_t*)(addr + i) = data[i];
+        *(volatile uint32_t*)(addr + (i * 4)) = data[i];
         write_ptr++;
     }
     
diff --git a/controller/fw/embed/src/main.cpp b/controller/fw/embed/src/main.cpp
index 57b8b31..ca3b55c 100644
--- a/controller/fw/embed/src/main.cpp
+++ b/controller/fw/embed/src/main.cpp
@@ -119,36 +119,35 @@ void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
 
 void send_can_with_id_crc(uint32_t id, uint8_t message_type, const void* data, size_t data_length) {
   // Create CAN message
-  CAN_message_t msg;
-  msg.id = id;
-  msg.len = 8;  // Protocol-defined message length
-  msg.buf[0] = message_type;
-  memcpy(&msg.buf[1], data, data_length);
+  CAN_message_t msg_l;
+  msg_l.id = id;
+  msg_l.len = 8;  // Protocol-defined message length
+  msg_l.buf[0] = message_type;
+  memcpy(&msg_l.buf[1], data, data_length);
 
   // Prepare CRC calculation buffer (ID + data)
-  size_t crc_data_size = sizeof(msg.id) + data_length;
+  size_t crc_data_size = sizeof(msg_l.id) + data_length;
   uint8_t crc_data[crc_data_size];
 
   // Copy message ID
-  memcpy(crc_data, &msg.id, sizeof(msg.id));
+  memcpy(crc_data, &msg_l.id, sizeof(msg_l.id));
   // Copy all data bytes
-  memcpy(crc_data + sizeof(msg.id), data, data_length);
+  memcpy(crc_data + sizeof(msg_l.id), data, data_length);
 
   // Calculate CRC
   uint16_t crc_value = validate_crc16(crc_data, crc_data_size);
-
+ 
   // Insert CRC into buffer
-  msg.buf[6] = crc_value & 0xFF;
-  msg.buf[7] = (crc_value >> 8) & 0xFF;
+  msg_l.buf[6] = crc_value & 0xFF;
+  msg_l.buf[7] = (crc_value >> 8) & 0xFF;
 
   // Send message
-  Can.write(msg);
+  Can.write(msg_l);
   __NOP();
 }
   
 void send_velocity() {  
-  float current_velocity = motor.shaftVelocity(); 
-  flash_rec = load_params();  
+  float current_velocity = motor.shaftVelocity();  
   if (flash_rec == nullptr) {  // Null check  
       // Error handling: logging, alerts, etc.  
       return;
@@ -160,7 +159,6 @@ void send_velocity() {
 
 void send_angle() {
   float current_angle = motor.shaftAngle();
-  flash_rec = load_params();
   if (flash_rec == nullptr) {  // Null check
       // Error handling: logging, alerts, etc.
       return;
@@ -180,7 +178,6 @@ void send_motor_enabled() {
 
 void send_foc_state() {
   /* Firmware data reading */
-  flash_rec = load_params();
   if (flash_rec == nullptr) {  // Null check
       // Error handling: logging, alerts, etc.
       return;
@@ -192,7 +189,6 @@ void send_foc_state() {
 
 void send_id() {
   /* Firmware data reading */
-  flash_rec = load_params();
   if (flash_rec == nullptr) {  // Null check
       // Error handling: logging, alerts, etc.
       return;
@@ -206,7 +202,6 @@ void send_motor_torque() {
   float i_q = motor.current.q;  // Q-axis current (A)
   float torque = kt * i_q;      // Torque calculation
   torque *= 100;
-  flash_rec = load_params();
   CAN_TX_msg.id = flash_rec->value;
   CAN_TX_msg.buf[0] = 'T';
   CAN_TX_msg.len = 5;
@@ -215,7 +210,6 @@ void send_motor_torque() {
 }
 
 void send_pid(uint8_t param_pid){
-  flash_rec = load_params();
   if (flash_rec == nullptr) {  // Null check
     return;
   }
@@ -294,11 +288,11 @@ void listen_can(const CAN_message_t &msg) {
   if (calculated_crc != received_crc) {
     return; // Ignore message on CRC mismatch
   }
-
+  flash_rec = load_params();
   /* Message Structure: 0x691
      69 - Device address
      1 - Action code */
-  if(id_x == flash_rec->value){
+  if(id_x == flash_rec[addr_id].value){
     if(msg_ch == REG_WRITE){
       switch(msg.buf[0]) {
         case REG_ID: