diff --git a/esp-idf b/esp-idf
index c779440..4e7f7e7 160000
--- a/esp-idf
+++ b/esp-idf
@@ -1 +1 @@
-Subproject commit c779440a3e55fad39f28041eed6bb97181f7ddc8
+Subproject commit 4e7f7e7b524687b99ed98d12bab75de12a19b4b2
diff --git a/main/CMakeLists.txt b/main/CMakeLists.txt
index 251131d..5c8c061 100644
--- a/main/CMakeLists.txt
+++ b/main/CMakeLists.txt
@@ -126,6 +126,7 @@ set(headers
     displays/menus/bmsmenu.h
     displays/menus/boardcomputerhardwaresettingsmenu.h
     displays/menus/buzzermenu.h
+    displays/menus/candebugmenu.h
     displays/menus/cloudsettingsmenu.h
     displays/menus/commanddebugmenu.h
     displays/menus/controllerhardwaresettingsmenu.h
@@ -351,6 +352,7 @@ set(sources
     displays/menus/bmsmenu.cpp
     displays/menus/boardcomputerhardwaresettingsmenu.cpp
     displays/menus/buzzermenu.cpp
+    displays/menus/candebugmenu.cpp
     displays/menus/cloudsettingsmenu.cpp
     displays/menus/commanddebugmenu.cpp
     displays/menus/controllerhardwaresettingsmenu.cpp
diff --git a/main/can.cpp b/main/can.cpp
index 6831a72..788ee21 100644
--- a/main/can.cpp
+++ b/main/can.cpp
@@ -6,8 +6,8 @@
 #include <optional>
 
 // esp-idf
-#include <driver/gpio.h>
 #include <driver/twai.h>
+#include <driver/gpio.h>
 #include <esp_log.h>
 
 // 3rdparty lib includes
@@ -27,6 +27,8 @@ namespace can {
 uint32_t can_total_error_cnt;
 namespace {
 constexpr const char * const TAG = "BOBBYCAN";
+
+bool tryParseCanInput();
 } // namespace
 
 std::optional<int16_t> can_gas, can_brems;
@@ -77,6 +79,13 @@ void initCan()
     }
 }
 
+void updateCan()
+{
+    for (int i = 0; i < 4; i++)
+        if (!tryParseCanInput())
+            break;
+}
+
 namespace {
 
 template<bool isBack>
@@ -189,7 +198,6 @@ bool parseBoardcomputerCanMessage(const twai_message_t &message)
 
     return false;
 }
-} // namespace
 
 bool tryParseCanInput()
 {
@@ -249,12 +257,7 @@ bool tryParseCanInput()
     return true;
 }
 
-void parseCanInput()
-{
-    for (int i = 0; i < 4; i++)
-        if (!tryParseCanInput())
-            break;
-}
+} // namespace
 
 void sendCanCommands()
 {
diff --git a/main/can.h b/main/can.h
index bd0b571..e501dc3 100644
--- a/main/can.h
+++ b/main/can.h
@@ -18,22 +18,9 @@ extern uint32_t can_total_error_cnt;
 extern std::optional<int16_t> can_gas, can_brems;
 extern espchrono::millis_clock::time_point last_can_gas, last_can_brems;
 
-struct CanButtonsState
-{
-    bool up{};
-    bool down{};
-    bool confirm{};
-    bool back{};
-    bool profile0{};
-    bool profile1{};
-    bool profile2{};
-    bool profile3{};
-};
-extern CanButtonsState lastButtonsState;
-
 void initCan();
-bool tryParseCanInput();
-void parseCanInput();
+void updateCan();
+
 void sendCanCommands();
 } // namespace can
 #endif
diff --git a/main/displays/menus/candebugmenu.cpp b/main/displays/menus/candebugmenu.cpp
new file mode 100644
index 0000000..b8f2792
--- /dev/null
+++ b/main/displays/menus/candebugmenu.cpp
@@ -0,0 +1,225 @@
+#ifdef FEATURE_CAN
+
+#include "candebugmenu.h"
+
+// esp-idf includes
+#include <esp_log.h>
+
+// 3rdparty lib includes
+#include <fmt/core.h>
+
+// 3rdparty lib includes
+#include <menuitem.h>
+#include <actions/switchscreenaction.h>
+#include <actions/dummyaction.h>
+#include <icons/back.h>
+#include <screenmanager.h>
+
+// local includes
+#include "displays/menus/debugmenu.h"
+
+namespace {
+constexpr char TAG[] = "CANDEBUG";
+
+constexpr char TEXT_CANDEBUG[] = "CAN Debug";
+constexpr char TEXT_BACK[] = "Back";
+
+class CanStatusText : public virtual espgui::TextInterface
+{
+public:
+    explicit CanStatusText(const tl::expected<twai_status_info_t, esp_err_t> &last_can_status_info) :
+        m_last_can_status_info{last_can_status_info}
+    {
+    }
+
+    std::string text() const override
+    {
+        if (m_last_can_status_info)
+            return fmt::format("{}: &f{}", canStatusName(), canStatusText(*m_last_can_status_info));
+        else
+            return fmt::format("{}: &f&1{}", canStatusName(), esp_err_to_name(m_last_can_status_info.error()));
+    }
+
+protected:
+    virtual std::string canStatusName() const = 0;
+    virtual std::string canStatusText(const twai_status_info_t &can_status_info) const = 0;
+
+private:
+    const tl::expected<twai_status_info_t, esp_err_t> &m_last_can_status_info;
+};
+
+class CanStatusStateText : public CanStatusText
+{
+public:
+    using CanStatusText::CanStatusText;
+
+protected:
+    std::string canStatusName() const override { return "state"; }
+    std::string canStatusText(const twai_status_info_t &can_status_info) const override { return std::to_string(can_status_info.state); }
+};
+
+class CanStatusMsgsToTxText : public CanStatusText
+{
+public:
+    using CanStatusText::CanStatusText;
+
+protected:
+    std::string canStatusName() const override { return "msgs_to_tx"; }
+    std::string canStatusText(const twai_status_info_t &can_status_info) const override { return std::to_string(can_status_info.msgs_to_tx); }
+};
+
+class CanStatusMsgsToRxText : public CanStatusText
+{
+public:
+    using CanStatusText::CanStatusText;
+
+protected:
+    std::string canStatusName() const override { return "msgs_to_rx"; }
+    std::string canStatusText(const twai_status_info_t &can_status_info) const override { return std::to_string(can_status_info.msgs_to_rx); }
+};
+
+class CanStatusTxErrorCounterText : public CanStatusText
+{
+public:
+    using CanStatusText::CanStatusText;
+
+protected:
+    std::string canStatusName() const override { return "&stx_error_counter"; }
+    std::string canStatusText(const twai_status_info_t &can_status_info) const override { return std::to_string(can_status_info.tx_error_counter); }
+};
+
+class CanStatusRxErrorCounterText : public CanStatusText
+{
+public:
+    using CanStatusText::CanStatusText;
+
+protected:
+    std::string canStatusName() const override { return "&srx_error_counter"; }
+    std::string canStatusText(const twai_status_info_t &can_status_info) const override { return std::to_string(can_status_info.rx_error_counter); }
+};
+
+class CanStatusTxFailedCountText : public CanStatusText
+{
+public:
+    using CanStatusText::CanStatusText;
+
+protected:
+    std::string canStatusName() const override { return "&stx_failed_count"; }
+    std::string canStatusText(const twai_status_info_t &can_status_info) const override { return std::to_string(can_status_info.tx_failed_count); }
+};
+
+class CanStatusRxFailedCountText : public CanStatusText
+{
+public:
+    using CanStatusText::CanStatusText;
+
+protected:
+    std::string canStatusName() const override { return "&srx_missed_count"; }
+    std::string canStatusText(const twai_status_info_t &can_status_info) const override { return std::to_string(can_status_info.rx_missed_count); }
+};
+
+class CanStatusRxOverrunCountText : public CanStatusText
+{
+public:
+    using CanStatusText::CanStatusText;
+
+protected:
+    std::string canStatusName() const override { return "&srx_overrun_count"; }
+    std::string canStatusText(const twai_status_info_t &can_status_info) const override { return std::to_string(can_status_info.rx_overrun_count); }
+};
+
+class CanStatusArbLostCountText : public CanStatusText
+{
+public:
+    using CanStatusText::CanStatusText;
+
+protected:
+    std::string canStatusName() const override { return "&sarb_lost_count"; }
+    std::string canStatusText(const twai_status_info_t &can_status_info) const override { return std::to_string(can_status_info.arb_lost_count); }
+};
+
+class CanStatusBusErrorCountText : public CanStatusText
+{
+public:
+    using CanStatusText::CanStatusText;
+
+protected:
+    std::string canStatusName() const override { return "&sbus_error_count"; }
+    std::string canStatusText(const twai_status_info_t &can_status_info) const override { return std::to_string(can_status_info.bus_error_count); }
+};
+
+class CanPendingTxCountText : public virtual espgui::TextInterface
+{
+public:
+    std::string text() const override
+    {
+        unsigned pending{};
+        if (const auto result = twai_get_pending_tx(&pending); result == ESP_OK)
+            return fmt::format("pending_TX: {}", pending);
+        else
+            return fmt::format("pending_TX: &1{}", esp_err_to_name(result));
+    }
+};
+
+class CanPendingRxCountText : public virtual espgui::TextInterface
+{
+public:
+    std::string text() const override
+    {
+        unsigned pending{};
+        if (const auto result = twai_get_pending_rx(&pending); result == ESP_OK)
+            return fmt::format("pending_RX: {}", pending);
+        else
+            return fmt::format("pending_RX: &1{}", esp_err_to_name(result));
+    }
+};
+} // namespace
+
+CanDebugMenu::CanDebugMenu()
+{
+    using namespace espgui;
+    constructMenuItem<makeComponentArgs<MenuItem, CanStatusStateText, DummyAction>>(m_last_can_status_info);
+    constructMenuItem<makeComponentArgs<MenuItem, CanStatusMsgsToTxText, DummyAction>>(m_last_can_status_info);
+    constructMenuItem<makeComponentArgs<MenuItem, CanStatusMsgsToRxText, DummyAction>>(m_last_can_status_info);
+    constructMenuItem<makeComponentArgs<MenuItem, CanStatusTxErrorCounterText, DummyAction>>(m_last_can_status_info);
+    constructMenuItem<makeComponentArgs<MenuItem, CanStatusRxErrorCounterText, DummyAction>>(m_last_can_status_info);
+    constructMenuItem<makeComponentArgs<MenuItem, CanStatusTxFailedCountText, DummyAction>>(m_last_can_status_info);
+    constructMenuItem<makeComponentArgs<MenuItem, CanStatusRxFailedCountText, DummyAction>>(m_last_can_status_info);
+    constructMenuItem<makeComponentArgs<MenuItem, CanStatusRxOverrunCountText, DummyAction>>(m_last_can_status_info);
+    constructMenuItem<makeComponentArgs<MenuItem, CanStatusArbLostCountText, DummyAction>>(m_last_can_status_info);
+    constructMenuItem<makeComponentArgs<MenuItem, CanStatusBusErrorCountText, DummyAction>>(m_last_can_status_info);
+    constructMenuItem<makeComponentArgs<MenuItem, CanPendingTxCountText, DummyAction>>();
+    constructMenuItem<makeComponentArgs<MenuItem, CanPendingRxCountText, DummyAction>>();
+    constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_BACK>, SwitchScreenAction<DebugMenu>, StaticMenuItemIcon<&espgui::icons::back>>>();
+}
+
+std::string CanDebugMenu::text() const
+{
+    return TEXT_CANDEBUG;
+}
+
+void CanDebugMenu::update()
+{
+    Base::update();
+
+    twai_status_info_t status_info;
+    if (const auto result = twai_get_status_info(&status_info); result != ESP_OK)
+    {
+        ESP_LOGE(TAG, "twai_get_status_info() failed with %s", esp_err_to_name(result));
+        m_last_can_status_info = tl::make_unexpected(result);
+    }
+    else
+    {
+        ESP_LOGD(TAG, "state=%i msgs_to_tx=%u tx_error_counter=%u tx_failed_count=%u arb_lost_count=%u bus_error_count=%u",
+                 status_info.state, status_info.msgs_to_tx, status_info.tx_error_counter,
+                 status_info.tx_failed_count, status_info.arb_lost_count, status_info.bus_error_count);
+        m_last_can_status_info = status_info;
+    }
+}
+
+void CanDebugMenu::back()
+{
+    espgui::switchScreen<DebugMenu>();
+}
+
+#endif
diff --git a/main/displays/menus/candebugmenu.h b/main/displays/menus/candebugmenu.h
new file mode 100644
index 0000000..cd9cf32
--- /dev/null
+++ b/main/displays/menus/candebugmenu.h
@@ -0,0 +1,31 @@
+#pragma once
+
+// local includes
+#include "displays/bobbymenudisplay.h"
+
+#ifdef FEATURE_CAN
+
+// esp-idf includes
+#include <driver/twai.h>
+
+// 3rdparty lib includes
+#include <tl/expected.hpp>
+
+class CanDebugMenu : public BobbyMenuDisplay
+{
+    using Base = BobbyMenuDisplay;
+
+public:
+    CanDebugMenu();
+
+    std::string text() const override;
+
+    void update() override;
+
+    void back() override;
+
+private:
+    tl::expected<twai_status_info_t, esp_err_t> m_last_can_status_info;
+};
+
+#endif
diff --git a/main/displays/menus/debugmenu.cpp b/main/displays/menus/debugmenu.cpp
index c5f4665..b08cfca 100644
--- a/main/displays/menus/debugmenu.cpp
+++ b/main/displays/menus/debugmenu.cpp
@@ -1,11 +1,10 @@
 #include "debugmenu.h"
 
 // 3rdparty lib includes
-#include "menuitem.h"
-#include "actions/switchscreenaction.h"
-#include "actions/dummyaction.h"
-#include "icons/back.h"
-#include "accessors/settingsaccessors.h"
+#include <menuitem.h>
+#include <actions/switchscreenaction.h>
+#include <actions/dummyaction.h>
+#include <icons/back.h>
 #include <screenmanager.h>
 
 // local includes
@@ -17,8 +16,12 @@
 #include "icons/battery.h"
 #include "debugcolorhelpers.h"
 #include "esptexthelpers.h"
+#include "accessors/settingsaccessors.h"
 #include "displays/qrcodedebug.h"
 #include "displays/menus/taskmanagermenu.h"
+#ifdef FEATURE_CAN
+#include "displays/menus/candebugmenu.h"
+#endif
 #include "displays/menus/commanddebugmenu.h"
 #include "displays/menus/motorstatedebugmenu.h"
 #include "displays/menus/feedbackdebugmenu.h"
@@ -31,6 +34,9 @@
 namespace {
 constexpr char TEXT_DEBUG[] = "Debug";
 constexpr char TEXT_TASKMANAGER[] = "Taskmanager";
+#ifdef FEATURE_CAN
+constexpr char TEXT_CANDEBUG[] = "CAN Debug";
+#endif
 constexpr char TEXT_QRCODE_DEBUG[] = "QR Debug";
 constexpr char TEXT_BATTERYDEBUG[] = "Bat Debug Menu";
 constexpr char TEXT_TOGGLECLOUDDEBUG[] = "Cloud Debug";
@@ -57,6 +63,7 @@ DebugMenu::DebugMenu()
 {
     using namespace espgui;
     constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_TASKMANAGER>,          SwitchScreenAction<TaskmanagerMenu>>>();
+    constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_CANDEBUG>,             SwitchScreenAction<CanDebugMenu>>>();
     constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_QRCODE_DEBUG>,         SwitchScreenAction<QrCodeDebugDisplay>>>();
     constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_BATTERYDEBUG>,         SwitchScreenAction<BatteryDebugMenu>, StaticMenuItemIcon<&bobbyicons::battery>>>();
 #ifdef FEATURE_UDPCLOUD
@@ -95,5 +102,5 @@ std::string DebugMenu::text() const
 
 void DebugMenu::back()
 {
-    switchScreen<MainMenu>();
+    espgui::switchScreen<MainMenu>();
 }
diff --git a/main/taskmanager.cpp b/main/taskmanager.cpp
index 04ffdb8..ee1d64c 100644
--- a/main/taskmanager.cpp
+++ b/main/taskmanager.cpp
@@ -119,7 +119,7 @@ espcpputils::SchedulerTask schedulerTasksArr[] {
 #endif
 #endif
 #ifdef FEATURE_CAN
-    espcpputils::SchedulerTask { "can",            can::initCan,          can::parseCanInput,      10ms  },
+    espcpputils::SchedulerTask { "can",            can::initCan,          can::updateCan,          10ms  },
 #endif
     espcpputils::SchedulerTask { "debuginput",     initDebugInput,        handleDebugInput,        50ms  },
 #ifdef FEATURE_SERIAL