diff --git a/306-controller_interface.X/app/can_message.c b/306-controller_interface.X/app/can_message.c
index 9030894..d8f3fe3 100644
--- a/306-controller_interface.X/app/can_message.c
+++ b/306-controller_interface.X/app/can_message.c
@@ -25,6 +25,67 @@ typedef union {
 void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
     switch(idSender){
         case 0: // Broadcast / Debug
+            /*
+            S   R   M
+            0	1	0	CONTROL_SETUP               steeringMode        -                   -                   controlAliveTime
+            0	1	1	CONTROL_SPEED_FACTOR        valHH               valH                valL                valLL
+            0	1	2	CONTROL_POWER_FACTOR        valHH               valH                valL                valLL
+            0	1	3	CONTROL_STEERING_FACTOR     valHH               valH                valL                valLL
+            0	1	4	CONTROL_SECURITY_PARAM      maxSpeedFw          maxSpeedBw          -                   -
+            0	1	5	CONTROL_SETUP_PARAM         displayAliveTime	steeringAliveTime
+            0	1	6	CONTROL_SETUP_PARAM_JOY     joystickMode        joystickParam1      joystickParam2      joystickAliveTime
+            0	1	7	CONTROL_SETUP_PARAM_DRIVE   driveAliveTime      driveSpeedTime      driveStopTime
+            0	1	8	CONTROL_SETUP_PARAM_BATTERY batteryVoltTime     batteryCurrentTime  batteryEnergyTime   batteryAliveTime
+            */
+            if(idMsg == 0x0) { // CONTROL_SETUP
+                
+            }
+            
+            if(idMsg == 0x1) { // CONTROL_SPEED_FACTOR
+                
+            }
+            
+            if(idMsg == 0x2) { // CONTROL_POWER_FACTOR
+                
+            }
+            
+            if(idMsg == 0x3) { // CONTROL_STEERING_FACTOR
+                
+            }
+            
+            if(idMsg == 0x4) { // CONTROL_SECURITY_PARAM
+                
+            }
+            
+            if(idMsg == 0x5) { // CONTROL_SETUP_PARAM
+                
+            }
+            
+            if(idMsg == 0x6) { // CONTROL_SETUP_PARAM_JOY
+                //  joystickMode    joystickParam1  joystickParam2  joystickAliveTime
+                BYTES_4 tmpData;
+                tmpData.full.bytes = data;
+                MEM_write_one_byte(MEMADD_JOYSTICK_MODE, tmpData.separate.byte0);
+                MEM_write_one_byte(MEMADD_JOYSTICK_PARAM1, tmpData.separate.byte1);
+                MEM_write_one_byte(MEMADD_JOYSTICK_PARAM2, tmpData.separate.byte2);
+                MEM_write_one_byte(MEMADD_JOYSTICK_ALIVE_TIME, tmpData.separate.byte3);
+                CAR_CST.JOYSTICK_MODE = MEM_read_one_byte(MEMADD_JOYSTICK_MODE);
+                CAR_CST.JOYSTICK_PARAM1 = MEM_read_one_byte(MEMADD_JOYSTICK_PARAM1);
+                CAR_CST.JOYSTICK_PARAM2 = MEM_read_one_byte(MEMADD_JOYSTICK_PARAM2);
+                CAR_CST.JOYSTICK_ALIVE_TIME = MEM_read_one_byte(MEMADD_JOYSTICK_ALIVE_TIME);
+                ALIVE_CHECKER_setAliveTime(ACjoy(), CAR_CST.JOYSTICK_ALIVE_TIME);
+                CM_JOY_SETUP(NULL);
+                
+            }
+            
+            if(idMsg == 0x7) { // CONTROL_SETUP_PARAM_DRIVE
+                
+            }
+            
+            if(idMsg == 0x8) { // CONTROL_SETUP_PARAM_BATTERY
+                
+            }
+
             break;
             
         case 2: // Joystick