diff --git a/main/accessors/settingsaccessors.h b/main/accessors/settingsaccessors.h
index 654b9e4..17d7103 100644
--- a/main/accessors/settingsaccessors.h
+++ b/main/accessors/settingsaccessors.h
@@ -130,11 +130,6 @@ struct StatsUpdateRateAccessor : public RefAccessorSaveSettings<int16_t> { int16
 struct DisplayUpdateRateAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.boardcomputerHardware.timersSettings.displayUpdateRate; } };
 struct DisplayRedrawRateAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.boardcomputerHardware.timersSettings.displayRedrawRate; } };
 
-// CAN
-#ifdef FEATURE_CAN
-struct CanReceiveRateAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.boardcomputerHardware.timersSettings.canReceiveRate; } };
-#endif
-
 // Cloud
 #ifdef FEATURE_CLOUD
 struct CloudCollectRateAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.boardcomputerHardware.timersSettings.cloudCollectRate; } };
diff --git a/main/displays/menus/timersmenu.cpp b/main/displays/menus/timersmenu.cpp
index 7d72040..5b60650 100644
--- a/main/displays/menus/timersmenu.cpp
+++ b/main/displays/menus/timersmenu.cpp
@@ -42,16 +42,6 @@ using DisplayRedrawRateChangeDisplay = makeComponent<
     BackActionInterface<SwitchScreenAction<TimersMenu>>,
     SwitchScreenAction<TimersMenu>
 >;
-
-#ifdef FEATURE_CAN
-using CanReceiveRateChangeDisplay = makeComponent<
-    ChangeValueDisplay<int16_t>,
-    StaticText<TEXT_CANRECEIVERATE>,
-    CanReceiveRateAccessor,
-    BackActionInterface<SwitchScreenAction<TimersMenu>>,
-    SwitchScreenAction<TimersMenu>
->;
-#endif
 }
 
 TimersMenu::TimersMenu()
@@ -60,9 +50,6 @@ TimersMenu::TimersMenu()
     constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_STATSUPDATERATE>,   SwitchScreenAction<StatsUpdateRateChangeDisplay>>>();
     constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_DISPLAYUPDATERATE>, SwitchScreenAction<DisplayUpdateRateChangeDisplay>>>();
     constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_DISPLAYREDRAWRATE>, SwitchScreenAction<DisplayRedrawRateChangeDisplay>>>();
-#ifdef FEATURE_CAN
-    constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_CANRECEIVERATE>,    SwitchScreenAction<CanReceiveRateChangeDisplay>>>();
-#endif
     constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_BACK>,              SwitchScreenAction<BoardcomputerHardwareSettingsMenu>, StaticMenuItemIcon<&espgui::icons::back>>>();
 }
 
diff --git a/main/main.cpp b/main/main.cpp
index b1823d3..3bd9b84 100644
--- a/main/main.cpp
+++ b/main/main.cpp
@@ -38,9 +38,6 @@ using namespace std::chrono_literals;
 #ifdef FEATURE_WEBSERVER
 #include "webserver.h"
 #endif
-#ifdef FEATURE_CAN
-#include "can.h"
-#endif
 #ifdef FEATURE_CLOUD
 #include "cloud.h"
 #include "udpcloud.h"
@@ -68,9 +65,6 @@ std::optional<espchrono::millis_clock::time_point> lastModeUpdate;
 std::optional<espchrono::millis_clock::time_point> lastStatsUpdate;
 std::optional<espchrono::millis_clock::time_point> lastDisplayUpdate;
 std::optional<espchrono::millis_clock::time_point> lastDisplayRedraw;
-#ifdef FEATURE_CAN
-std::optional<espchrono::millis_clock::time_point> lastCanParse;
-#endif
 #ifdef FEATURE_BLE
 std::optional<espchrono::millis_clock::time_point> lastBleUpdate;
 #endif
@@ -133,11 +127,6 @@ extern "C" void app_main()
         task.setup();
     }
 
-#ifdef FEATURE_CAN
-    bootLabel.redraw("can");
-    can::initCan();
-#endif
-
 #ifdef FEATURE_SERIAL
     bootLabel.redraw("front Serial begin");
     controllers.front.serial.get().begin(38400, SERIAL_8N1, PINS_RX1, PINS_TX1);
@@ -266,16 +255,6 @@ extern "C" void app_main()
             performance.lastTime = now;
         }
 
-#ifdef FEATURE_CAN
-        if (!lastCanParse || now - *lastCanParse >= 1000ms/settings.boardcomputerHardware.timersSettings.canReceiveRate)
-        {
-            //can::tryParseCanInput();
-            can::parseCanInput();
-
-            lastCanParse = now;
-        }
-#endif
-
 #ifdef FEATURE_SERIAL
         for (Controller &controller : controllers)
             controller.parser.update();
diff --git a/main/potis.cpp b/main/potis.cpp
index 4a0ed5c..5b2dc07 100644
--- a/main/potis.cpp
+++ b/main/potis.cpp
@@ -6,7 +6,6 @@
 
 // local includes
 #include "globals.h"
-
 #ifdef FEATURE_CAN
 #include "can.h"
 #endif
diff --git a/main/presets.h b/main/presets.h
index 7310782..d1a799a 100644
--- a/main/presets.h
+++ b/main/presets.h
@@ -140,9 +140,6 @@ constexpr Settings::BoardcomputerHardware::TimersSettings defaultTimersSettings
     .statsUpdateRate = 50,
     .displayUpdateRate = 50,
     .displayRedrawRate = 50,
-#ifdef FEATURE_CAN
-    .canReceiveRate = 100,
-#endif
 #ifdef FEATURE_CLOUD
     .cloudCollectRate = 100,
     .cloudSendRate = 1,
diff --git a/main/settings.h b/main/settings.h
index a37096e..b7916f6 100644
--- a/main/settings.h
+++ b/main/settings.h
@@ -107,9 +107,6 @@ struct Settings
             int16_t statsUpdateRate;
             int16_t displayUpdateRate;
             int16_t displayRedrawRate;
-#ifdef FEATURE_CAN
-            int16_t canReceiveRate;
-#endif
 #ifdef FEATURE_CLOUD
             int16_t cloudCollectRate;
             int16_t cloudSendRate;
@@ -303,9 +300,6 @@ void Settings::executeForEveryCommonSetting(T &&callable)
     callable("statsUpdateRate", boardcomputerHardware.timersSettings.statsUpdateRate);
     callable("displayUpdateRa", boardcomputerHardware.timersSettings.displayUpdateRate);
     callable("displayRedrawRa", boardcomputerHardware.timersSettings.displayRedrawRate);
-#ifdef FEATURE_CAN
-    callable("canReceiveRate", boardcomputerHardware.timersSettings.canReceiveRate);
-#endif
 #ifdef FEATURE_CLOUD
     callable("cloudCollectRat", boardcomputerHardware.timersSettings.cloudCollectRate);
     callable("cloudSendRate", boardcomputerHardware.timersSettings.cloudSendRate);
diff --git a/main/taskmanager.cpp b/main/taskmanager.cpp
index 45d672f..f99325d 100644
--- a/main/taskmanager.cpp
+++ b/main/taskmanager.cpp
@@ -41,6 +41,9 @@
 #ifdef FEATURE_BLUETOOTH
 #include "bluetooth_bobby.h"
 #endif
+#ifdef FEATURE_CAN
+#include "can.h"
+#endif
 
 using namespace std::chrono_literals;
 
@@ -49,36 +52,39 @@ constexpr const char * const TAG = "TASKS";
 
 espcpputils::SchedulerTask schedulerTasksArr[] {
     espcpputils::SchedulerTask { "wifi",           wifi_begin,            wifi_update,             100ms },
-    espcpputils::SchedulerTask { "input",          InputDispatcher::init, InputDispatcher::update, {}    },
+    espcpputils::SchedulerTask { "input",          InputDispatcher::init, InputDispatcher::update, 20ms  },
 #ifdef FEATURE_DPAD
-    espcpputils::SchedulerTask { "dpad",           dpad::init,            dpad::update,            {}    },
+    espcpputils::SchedulerTask { "dpad",           dpad::init,            dpad::update,            20ms  },
 #endif
 #ifdef FEATURE_DPAD_3WIRESW
-    espcpputils::SchedulerTask { "dpad3wire",      dpad3wire::init,       dpad3wire::update,       {}    },
+    espcpputils::SchedulerTask { "dpad3wire",      dpad3wire::init,       dpad3wire::update,       20ms  },
 #endif
 #ifdef FEATURE_DPAD_5WIRESW
-    espcpputils::SchedulerTask { "dpad5wire",      dpad5wire::init,       dpad5wire::update,       {}    },
+    espcpputils::SchedulerTask { "dpad5wire",      dpad5wire::init,       dpad5wire::update,       20ms  },
 #endif
 #ifdef FEATURE_DPAD_5WIRESW_2OUT
-    espcpputils::SchedulerTask { "dpad5wire_2out", dpad5wire_2out::init,  dpad5wire_2out::update,  {}    },
+    espcpputils::SchedulerTask { "dpad5wire_2out", dpad5wire_2out::init,  dpad5wire_2out::update,  20ms  },
 #endif
 #ifdef FEATURE_DPAD_6WIRESW
-    espcpputils::SchedulerTask { "dpad6wire",      dpad6wire::init,       dpad6wire::update,       {}    },
+    espcpputils::SchedulerTask { "dpad6wire",      dpad6wire::init,       dpad6wire::update,       20ms  },
 #endif
 #ifdef FEATURE_ROTARY
-    espcpputils::SchedulerTask { "rotary",         initRotary,            updateRotary,            {}    },
+    espcpputils::SchedulerTask { "rotary",         initRotary,            updateRotary,            20ms  },
 #endif
 #ifdef FEATURE_MOSFETS
-    espcpputils::SchedulerTask { "mosfets",        init_mosfets,          update_mosfets,          {}    },
+    espcpputils::SchedulerTask { "mosfets",        init_mosfets,          update_mosfets,          100ms },
 #endif
     espcpputils::SchedulerTask { "wifi",           wifi_begin,            wifi_update,             100ms },
 #ifdef FEATURE_NTP
     espcpputils::SchedulerTask { "time",           initTime,              updateTime,              100ms },
 #endif
-    espcpputils::SchedulerTask { "potis",          initPotis,             readPotis,               20ms },
+    espcpputils::SchedulerTask { "potis",          initPotis,             readPotis,               20ms  },
 #ifdef FEATURE_BLUETOOTH
     espcpputils::SchedulerTask { "bluetooth",      bluetooth_init,        bluetooth_update,        100ms },
 #endif
+#ifdef FEATURE_CAN
+    espcpputils::SchedulerTask { "can",            can::initCan,          can::parseCanInput,      50ms  },
+#endif
 };
 } // namespace
 
diff --git a/main/texts.cpp b/main/texts.cpp
index 9f58ec6..770bf1e 100644
--- a/main/texts.cpp
+++ b/main/texts.cpp
@@ -428,9 +428,6 @@ char TEXT_MODEUPDATERATE[] = "Mode update rate";
 char TEXT_STATSUPDATERATE[] = "Stats update rate";
 char TEXT_DISPLAYUPDATERATE[] = "Display update rate";
 char TEXT_DISPLAYREDRAWRATE[] = "Display redraw rate";
-#ifdef FEATURE_CAN
-char TEXT_CANRECEIVERATE[] = "CAN receive rate";
-#endif
 //char TEXT_BACK[] = "Back";
 
 //TimeSettingsMenu
diff --git a/main/texts.h b/main/texts.h
index 92f706f..8c4f188 100644
--- a/main/texts.h
+++ b/main/texts.h
@@ -428,9 +428,6 @@ extern char TEXT_MODEUPDATERATE[];
 extern char TEXT_STATSUPDATERATE[];
 extern char TEXT_DISPLAYUPDATERATE[];
 extern char TEXT_DISPLAYREDRAWRATE[];
-#ifdef FEATURE_CAN
-extern char TEXT_CANRECEIVERATE[];
-#endif
 //extern char TEXT_BACK[];
 
 //TimeSettingsMenu