diff --git a/dbw/node_fw/lib/cuber-base/cuber_base.c b/dbw/node_fw/lib/cuber-base/cuber_base.c
index 6de525b87..58f7944f7 100644
--- a/dbw/node_fw/lib/cuber-base/cuber_base.c
+++ b/dbw/node_fw/lib/cuber-base/cuber_base.c
@@ -6,6 +6,7 @@
 #include "common.h"
 #include "cuber_nodetypes.h"
 #include "ember_can.h"
+#include "ember_can_callbacks.h"
 #include "ember_taskglue.h"
 #include "libgitrev.h"
 
@@ -250,13 +251,13 @@ static void set_status_LEDs() {
 
 // ######   PUBLIC FUNCTIONS    ###### //
 
-bool base_dbw_active()
+bool base_dbw_active(void)
 {
     return system_state == SYS_STATE_DBW_ACTIVE;
 }
 
 
-void base_set_state_lost_can()
+void ember_can_callback_notify_lost_can(void)
 {
     system_state = SYS_STATE_LOST_CAN;
 }
@@ -273,7 +274,7 @@ void base_set_state_estop(uint8_t choice)
 }
 
 
-void base_set_wdt_trigger()
+void base_set_wdt_trigger(void)
 {
     wdt_trigger = true;
 }
diff --git a/dbw/node_fw/lib/cuber-base/library.json b/dbw/node_fw/lib/cuber-base/library.json
index da61c7585..40434ad87 100644
--- a/dbw/node_fw/lib/cuber-base/library.json
+++ b/dbw/node_fw/lib/cuber-base/library.json
@@ -3,6 +3,7 @@
   "version": "1.0.1",
   "description": "CUber base management task",
   "dependencies": {
-    "libgitrev": "https://github.com/CooperUnion/libgitrev/archive/refs/tags/v1.0.1.zip"
+    "libgitrev": "https://github.com/CooperUnion/libgitrev/archive/refs/tags/v1.0.1.zip",
+    "cuber-nodetypes": "^1.0.0"
   }
 }
diff --git a/dbw/node_fw/lib/ember b/dbw/node_fw/lib/ember
index 5d8a98077..651cd88ae 160000
--- a/dbw/node_fw/lib/ember
+++ b/dbw/node_fw/lib/ember
@@ -1 +1 @@
-Subproject commit 5d8a9807743733c62807e531f99fb9a7fd0bd42c
+Subproject commit 651cd88ae8a27de991beea0cfc3e6a3250bc5780