diff --git a/Firmware/communication/can/can_simple.cpp b/Firmware/communication/can/can_simple.cpp
index 5f375ca1..2a51f5d4 100644
--- a/Firmware/communication/can/can_simple.cpp
+++ b/Firmware/communication/can/can_simple.cpp
@@ -135,9 +135,9 @@ void CANSimple::do_command(Axis& axis, const can_Message_t& msg) {
         case MSG_RESET_ODRIVE:
             NVIC_SystemReset();
             break;
-        case MSG_GET_VBUS_VOLTAGE:
+        case MSG_GET_BUS_VOLTAGE_CURRENT:
             if (msg.rtr || msg.len == 0)
-                get_vbus_voltage_callback(axis);
+                get_bus_voltage_current_callback(axis);
             break;
         case MSG_CLEAR_ERRORS:
             clear_errors_callback(axis, msg);
@@ -348,17 +348,18 @@ bool CANSimple::get_iq_callback(const Axis& axis) {
     return canbus_->send_message(txmsg);
 }
 
-bool CANSimple::get_vbus_voltage_callback(const Axis& axis) {
+bool CANSimple::get_bus_voltage_current_callback(const Axis& axis) {
     can_Message_t txmsg;
 
     txmsg.id = axis.config_.can.node_id << NUM_CMD_ID_BITS;
-    txmsg.id += MSG_GET_VBUS_VOLTAGE;
+    txmsg.id += MSG_GET_BUS_VOLTAGE_CURRENT;
     txmsg.isExt = axis.config_.can.is_extended;
     txmsg.len = 8;
 
-    uint32_t floatBytes;
-    static_assert(sizeof(vbus_voltage) == sizeof(floatBytes));
+    static_assert(sizeof(float) == sizeof(vbus_voltage));
+    static_assert(sizeof(float) == sizeof(ibus_));
     can_setSignal<float>(txmsg, vbus_voltage, 0, 32, true);
+    can_setSignal<float>(txmsg, ibus_, 32, 32, true);
 
     return canbus_->send_message(txmsg);
 }
diff --git a/Firmware/communication/can/can_simple.hpp b/Firmware/communication/can/can_simple.hpp
index a94c292e..58b6982a 100644
--- a/Firmware/communication/can/can_simple.hpp
+++ b/Firmware/communication/can/can_simple.hpp
@@ -30,7 +30,7 @@ class CANSimple {
         MSG_GET_IQ,
         MSG_GET_SENSORLESS_ESTIMATES,
         MSG_RESET_ODRIVE,
-        MSG_GET_VBUS_VOLTAGE,
+        MSG_GET_BUS_VOLTAGE_CURRENT,
         MSG_CLEAR_ERRORS,
         MSG_SET_LINEAR_COUNT,
         MSG_SET_POS_GAIN,
@@ -63,7 +63,7 @@ class CANSimple {
     bool get_encoder_count_callback(const Axis& axis);
     bool get_iq_callback(const Axis& axis);
     bool get_sensorless_estimates_callback(const Axis& axis);
-    bool get_vbus_voltage_callback(const Axis& axis);
+    bool get_bus_voltage_current_callback(const Axis& axis);
     // msg.rtr bit must NOT be set
     bool get_adc_voltage_callback(const Axis& axis, const can_Message_t& msg);
 
diff --git a/docs/figures/can-protocol.csv b/docs/figures/can-protocol.csv
index 572c4046..5c9c2d86 100644
--- a/docs/figures/can-protocol.csv
+++ b/docs/figures/can-protocol.csv
@@ -93,7 +93,13 @@ IEEE 754 Float","32
 1","0
 0"
 0x016,Reboot ODrive,Master***,-,-,-,-,-,-
-0x017,Get Vbus Voltage,Master***,Vbus Voltage,0,IEEE 754 Float,32,1,0
+0x017,Get Bus Voltage and Current,Master***,"Bus Voltage
+Bus Current","0
+4","IEEE 754 Float
+IEEE 754 Float","32
+32","1
+1","0
+0"
 0x018,Clear Errors,Master,-,-,-,-,-,-
 0x019,Set Linear Count,Master,Position,0,Signed Int,32,1,0
 0x01A,Set Position Gain,Master,Pos Gain,0,IEEE 754 Float,32,1,0
diff --git a/tools/create_can_dbc.py b/tools/create_can_dbc.py
index e8ab74b5..a7f11b80 100644
--- a/tools/create_can_dbc.py
+++ b/tools/create_can_dbc.py
@@ -137,9 +137,10 @@ getSensorlessEstMsg = cantools.database.can.Message(
 # 0x016 - Reboot ODrive
 rebootMsg = cantools.database.can.Message(0x016, "Reboot", 0, [])
 
-# 0x017 - Get vbus Voltage
-vbusVoltage = cantools.database.can.Signal("Vbus_Voltage", 0, 32, is_float=True)
-getVbusVMsg = cantools.database.can.Message(0x017, "Get_Vbus_Voltage", 8, [vbusVoltage])
+# 0x017 - Get vbus Voltage and Current
+busVoltage = cantools.database.can.Signal("Bus_Voltage", 0, 32, is_float=True)
+busCurrent = cantools.database.can.Signal("Bus_Current", 32, 32, is_float=True)
+getVbusVCMsg = cantools.database.can.Message(0x017, "Get_Bus_Voltage_Current", 8, [busVoltage, busCurrent])
 
 # 0x018 - Clear Errors
 clearErrorsMsg = cantools.database.can.Message(0x018, "Clear_Errors", 0, [])
@@ -190,7 +191,7 @@ db = cantools.database.can.Database(
         getIqMsg,
         getSensorlessEstMsg,
         rebootMsg,
-        getVbusVMsg,
+        getVbusVCMsg,
         clearErrorsMsg,
         setLinearCountMsg,
         setPosGainMsg,
diff --git a/tools/odrive-cansimple.dbc b/tools/odrive-cansimple.dbc
index 8d0579d1..47a1d51d 100644
--- a/tools/odrive-cansimple.dbc
+++ b/tools/odrive-cansimple.dbc
@@ -110,8 +110,9 @@ BO_ 21 Get_Sensorless_Estimates: 8 Vector__XXX
 
 BO_ 22 Reboot: 0 Vector__XXX
 
-BO_ 23 Get_Vbus_Voltage: 8 Vector__XXX
- SG_ Vbus_Voltage : 0|32@1+ (1,0) [0|0] "" Vector__XXX
+BO_ 23 Get_Bus_Voltage_Current: 8 Vector__XXX
+ SG_ Bus_Current : 32|32@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ Bus_Voltage : 0|32@1+ (1,0) [0|0] "" Vector__XXX
 
 BO_ 24 Clear_Errors: 0 Vector__XXX
 
@@ -155,7 +156,8 @@ SIG_VALTYPE_ 20 Iq_Setpoint : 1;
 SIG_VALTYPE_ 20 Iq_Measured : 1;
 SIG_VALTYPE_ 21 Sensorless_Pos_Estimate : 1;
 SIG_VALTYPE_ 21 Sensorless_Vel_Estimate : 1;
-SIG_VALTYPE_ 23 Vbus_Voltage : 1;
+SIG_VALTYPE_ 23 Bus_Voltage : 1;
+SIG_VALTYPE_ 23 Bus_Current : 1;
 SIG_VALTYPE_ 26 Pos_Gain : 1;
 SIG_VALTYPE_ 27 Vel_Gain : 1;
 SIG_VALTYPE_ 27 Vel_Integrator_Gain : 1;