diff --git a/.gitattributes b/.gitattributes
new file mode 100644
index 00000000..a19ade07
--- /dev/null
+++ b/.gitattributes
@@ -0,0 +1 @@
+CHANGELOG.md merge=union
diff --git a/Cargo.toml b/Cargo.toml
index f31f470c..221a8a9a 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -21,7 +21,7 @@ cortex-m-rt = "0.7"
 nb = "1"
 stm32f1 = "0.14.0"
 embedded-dma = "0.1.2"
-bxcan = ">=0.4, <0.6"
+bxcan = "0.6"
 cast = { default-features = false, version = "0.3.0" }
 void = { default-features = false, version = "1.0.2" }
 embedded-hal = { features = ["unproven"], version = "0.2.6" }
@@ -32,21 +32,14 @@ optional = true
 
 [dev-dependencies]
 panic-halt = "0.2.0"
-panic-semihosting = "0.5.2"
+panic-semihosting = "0.5.6"
 panic-itm = "0.4.1"
-cortex-m-rtic = "0.6.0-rc.2"
-cortex-m-semihosting = "0.3.3"
-heapless = "0.7.7"
-m = "0.1.1"
+cortex-m-rtic = "1.0.0"
+cortex-m-semihosting = "0.3.7"
+heapless = "0.7.9"
 mfrc522 = "0.2.0"
 usb-device = "0.2.8"
 usbd-serial = "0.1.1"
-byteorder = { default-features = false, version = "1.4.3" }
-cobs = { default-features = false, version = "0.1.4" }
-crc16 = { default-features = false, version = "0.4.0" }
-either = { default-features = false, version = "1.6.1" }
-serde = { default-features = false, version = "1.0.130"}
-serde_derive = "1.0.130"
 
 [features]
 device-selected = []
@@ -110,17 +103,17 @@ required-features = ["rt", "medium"]
 name = "exti"
 required-features = ["rt"]
 
-[[example]]
-name = "can-echo"
-required-features = ["has-can"]
+#[[example]]
+#name = "can-echo"
+#required-features = ["has-can"]
 
 [[example]]
 name = "can-loopback"
 required-features = ["has-can"]
 
-[[example]]
-name = "can-rtic"
-required-features = ["has-can", "rt"]
+#[[example]]
+#name = "can-rtic"
+#required-features = ["has-can", "rt"]
 
 [[example]]
 name = "gpio_input"
diff --git a/examples/can-echo.rs b/examples/can-echo.rs.disabled
similarity index 100%
rename from examples/can-echo.rs
rename to examples/can-echo.rs.disabled
diff --git a/examples/can-loopback.rs b/examples/can-loopback.rs
index 010a47dd..a0c8b9c7 100644
--- a/examples/can-loopback.rs
+++ b/examples/can-loopback.rs
@@ -31,15 +31,14 @@ fn main() -> ! {
     #[cfg(feature = "connectivity")]
     let can = Can::new(dp.CAN1);
 
-    let mut can = bxcan::Can::new(can);
-
     // Use loopback mode: No pins need to be assigned to peripheral.
     // APB1 (PCLK1): 8MHz, Bit rate: 500Bit/s, Sample Point 87.5%
     // Value was calculated with http://www.bittiming.can-wiki.info/
-    can.modify_config()
+    let mut can = bxcan::Can::builder(can)
         .set_bit_timing(0x001c_0000)
         .set_loopback(true)
-        .set_silent(true);
+        .set_silent(true)
+        .leave_disabled();
 
     let mut filters = can.modify_filters();
     assert!(filters.num_banks() > 3);
@@ -83,7 +82,7 @@ fn main() -> ! {
     drop(filters);
 
     // Sync to the bus and start normal operation.
-    block!(can.enable()).ok();
+    block!(can.enable_non_blocking()).ok();
 
     // Some messages shall pass the filters.
     for &id in &[0, 1, 2, 8, 9, 10, 11] {
diff --git a/examples/can-rtic.rs b/examples/can-rtic.rs.disabled
similarity index 100%
rename from examples/can-rtic.rs
rename to examples/can-rtic.rs.disabled