diff --git a/Core/Src/main.c b/Core/Src/main.c
index d6ac9e5..f8c4c96 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -28,12 +28,28 @@
 
 /* Private define ------------------------------------------------------------*/
 /* USER CODE BEGIN PD */
-
+#define CAN_QUEUE_DEPTH 32
+#define CAN_TASK_STACK_WORDS 128
+#define CAN_QUEUE_CB_SIZE 128
+#define CAN_MSG_SIZE sizeof(CanMessage_t)
 /* USER CODE END PD */
 
 /* Private macro -------------------------------------------------------------*/
 /* USER CODE BEGIN PM */
+//CCRAM: stack; control bank; queue memory
+__attribute__((section(".ccmram")))
+StackType_t xCAN1_Stack[CAN_TASK_STACK_WORDS];
+__attribute__((section(".ccmram"), aligned(4)))
+uint8_t can1_queue_cb[CAN_QUEUE_CB_SIZE];
+__attribute__((section(".ccmram"), aligned(4)))
+uint8_t can1_queue_mq[CAN_QUEUE_DEPTH * CAN_MSG_SIZE];
 
+__attribute__((section(".ccmram")))
+StackType_t xCAN2_Stack[CAN_TASK_STACK_WORDS];
+__attribute__((section(".ccmram"), aligned(4)))
+uint8_t can2_queue_cb[CAN_QUEUE_CB_SIZE];
+__attribute__((section(".ccmram"), aligned(4)))
+uint8_t can2_queue_mq[CAN_QUEUE_DEPTH * CAN_MSG_SIZE];
 /* USER CODE END PM */
 
 /* Private variables ---------------------------------------------------------*/
@@ -120,20 +136,26 @@ int main(void)
   osThreadId_t xCAN1rx;
   const osThreadAttr_t CAN1rxAttributes = {
     .name = "CAN1rx",
-    .stack_size = 128 * 4,
+    .stack_size = sizeof(xCAN1_Stack),
     .priority = (osPriority_t) osPriorityRealtime1,
   };
 
   osThreadId_t xCAN2rx;
   const osThreadAttr_t CAN2rxAttributes = {
     .name = "CAN2rx",
-    .stack_size = 128 * 4,
+    .cb_mem = NULL,
+    .cb_size = 0U,
+    .stack_mem = xCAN2_Stack,
+    .stack_size = sizeof(xCAN2_Stack),
     .priority = (osPriority_t) osPriorityRealtime,
   };
 
   osThreadId_t xLEDHeartbeatCAN1;
   const osThreadAttr_t LEDHeartbeatCAN1Attributes = {
     .name = "LED_HB_CAN1",
+    .cb_mem = NULL,
+    .cb_size = 0U,
+    .stack_mem = xCAN2_Stack,
     .stack_size = 128 * 4,
     .priority = (osPriority_t) osPriorityVeryLow1,
   };
@@ -151,8 +173,8 @@ int main(void)
   /* USER CODE END RTOS_MUTEX */
 
   /* USER CODE BEGIN RTOS_SEMAPHORES */
-  xSemaphoreCAN1 = osSemaphoreNew(32, 0, NULL);
-  xSemaphoreCAN2 = osSemaphoreNew(32, 0, NULL);
+  xSemaphoreCAN1 = osSemaphoreNew(CAN_QUEUE_DEPTH, 0, NULL);
+  xSemaphoreCAN2 = osSemaphoreNew(CAN_QUEUE_DEPTH, 0, NULL);
 
   if (xSemaphoreCAN1 == NULL || xSemaphoreCAN2 == NULL) Error_Handler();
 
@@ -167,8 +189,24 @@ int main(void)
   /* USER CODE END RTOS_TIMERS */
 
   /* USER CODE BEGIN RTOS_QUEUES */
-  xCAN1RxQueue = osMessageQueueNew(32, sizeof(CanMessage_t), NULL);
-  xCAN2RxQueue = osMessageQueueNew(32, sizeof(CanMessage_t), NULL);
+  const osMessageQueueAttr_t can1_queue_attr = {
+      .name = "CAN1_Q",
+      .cb_mem = can1_queue_cb,
+      .cb_size = sizeof(can1_queue_cb),
+      .mq_mem = can1_queue_mq,
+      .mq_size = sizeof(can1_queue_mq)
+  };
+
+  const osMessageQueueAttr_t can2_queue_attr = {
+      .name = "CAN2_Q",
+      .cb_mem = can2_queue_cb,
+      .cb_size = sizeof(can2_queue_cb),
+      .mq_mem = can2_queue_mq,
+      .mq_size = sizeof(can2_queue_mq)
+  };
+
+  xCAN1RxQueue = osMessageQueueNew(CAN_QUEUE_DEPTH, sizeof(CanMessage_t), &can1_queue_attr);
+  xCAN2RxQueue = osMessageQueueNew(CAN_QUEUE_DEPTH, sizeof(CanMessage_t), &can2_queue_attr);
 
   if (xCAN1RxQueue == NULL || xCAN2RxQueue == NULL) Error_Handler();
   /* USER CODE END RTOS_QUEUES */