diff --git a/Firmware/Board/v3/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c b/Firmware/Board/v3/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c
index bc52bfd9..da185200 100644
--- a/Firmware/Board/v3/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c
+++ b/Firmware/Board/v3/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c
@@ -4458,7 +4458,7 @@ static HAL_StatusTypeDef I2C_Slave_STOPF(I2C_HandleTypeDef *hi2c)
     }
 
     /* Set ErrorCode corresponding to a Non-Acknowledge */
-    hi2c->ErrorCode |= HAL_I2C_ERROR_AF;
+    //hi2c->ErrorCode |= HAL_I2C_ERROR_AF;
   }
 
   if(hi2c->ErrorCode != HAL_I2C_ERROR_NONE)
diff --git a/Firmware/Board/v3/Inc/i2c.h b/Firmware/Board/v3/Inc/i2c.h
index f0b4cdec..f449b88a 100644
--- a/Firmware/Board/v3/Inc/i2c.h
+++ b/Firmware/Board/v3/Inc/i2c.h
@@ -69,7 +69,7 @@ extern I2C_HandleTypeDef hi2c1;
 
 extern void _Error_Handler(char *, int);
 
-void MX_I2C1_Init(void);
+void MX_I2C1_Init(uint8_t addr);
 
 /* USER CODE BEGIN Prototypes */
 
diff --git a/Firmware/Board/v3/Src/i2c.c b/Firmware/Board/v3/Src/i2c.c
index 405c63fb..bae77f12 100644
--- a/Firmware/Board/v3/Src/i2c.c
+++ b/Firmware/Board/v3/Src/i2c.c
@@ -62,13 +62,13 @@ DMA_HandleTypeDef hdma_i2c1_rx;
 DMA_HandleTypeDef hdma_i2c1_tx;
 
 /* I2C1 init function */
-void MX_I2C1_Init(void)
+void MX_I2C1_Init(uint8_t addr)
 {
 
   hi2c1.Instance = I2C1;
   hi2c1.Init.ClockSpeed = 100000;
   hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
-  hi2c1.Init.OwnAddress1 = 24;
+  hi2c1.Init.OwnAddress1 = addr << 1;
   hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
   hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
   hi2c1.Init.OwnAddress2 = 0;
@@ -114,7 +114,7 @@ void HAL_I2C_MspInit(I2C_HandleTypeDef* i2cHandle)
     hdma_i2c1_rx.Init.MemInc = DMA_MINC_ENABLE;
     hdma_i2c1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
     hdma_i2c1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
-    hdma_i2c1_rx.Init.Mode = DMA_NORMAL;
+    hdma_i2c1_rx.Init.Mode = DMA_CIRCULAR;
     hdma_i2c1_rx.Init.Priority = DMA_PRIORITY_LOW;
     hdma_i2c1_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
     if (HAL_DMA_Init(&hdma_i2c1_rx) != HAL_OK)