diff --git a/hal/src/main/native/athena/CANAPI.cpp b/hal/src/main/native/athena/CANAPI.cpp
index 40332ef169..c69bc74826 100644
--- a/hal/src/main/native/athena/CANAPI.cpp
+++ b/hal/src/main/native/athena/CANAPI.cpp
@@ -7,6 +7,7 @@
 #include <ctime>
 
 #include <wpi/DenseMap.h>
+#include <wpi/mutex.h>
 
 #include "HALInitializer.h"
 #include "hal/CAN.h"
@@ -26,8 +27,9 @@ struct CANStorage {
   HAL_CANManufacturer manufacturer;
   HAL_CANDeviceType deviceType;
   uint8_t deviceId;
-  wpi::mutex mapMutex;
+  wpi::mutex periodicSendsMutex;
   wpi::SmallDenseMap<int32_t, int32_t> periodicSends;
+  wpi::mutex receivesMutex;
   wpi::SmallDenseMap<int32_t, Receives> receives;
 };
 }  // namespace
@@ -89,7 +91,7 @@ void HAL_CleanCAN(HAL_CANHandle handle) {
     return;
   }
 
-  std::scoped_lock lock(data->mapMutex);
+  std::scoped_lock lock(data->periodicSendsMutex);
 
   for (auto&& i : data->periodicSends) {
     int32_t s = 0;
@@ -108,12 +110,8 @@ void HAL_WriteCANPacket(HAL_CANHandle handle, const uint8_t* data,
   }
   auto id = CreateCANId(can.get(), apiId);
 
+  std::scoped_lock lock(can->periodicSendsMutex);
   HAL_CAN_SendMessage(id, data, length, HAL_CAN_SEND_PERIOD_NO_REPEAT, status);
-
-  if (*status != 0) {
-    return;
-  }
-  std::scoped_lock lock(can->mapMutex);
   can->periodicSends[apiId] = -1;
 }
 
@@ -127,12 +125,8 @@ void HAL_WriteCANPacketRepeating(HAL_CANHandle handle, const uint8_t* data,
   }
   auto id = CreateCANId(can.get(), apiId);
 
+  std::scoped_lock lock(can->periodicSendsMutex);
   HAL_CAN_SendMessage(id, data, length, repeatMs, status);
-
-  if (*status != 0) {
-    return;
-  }
-  std::scoped_lock lock(can->mapMutex);
   can->periodicSends[apiId] = repeatMs;
 }
 
@@ -148,12 +142,8 @@ void HAL_WriteCANRTRFrame(HAL_CANHandle handle, int32_t length, int32_t apiId,
   uint8_t data[8];
   std::memset(data, 0, sizeof(data));
 
+  std::scoped_lock lock(can->periodicSendsMutex);
   HAL_CAN_SendMessage(id, data, length, HAL_CAN_SEND_PERIOD_NO_REPEAT, status);
-
-  if (*status != 0) {
-    return;
-  }
-  std::scoped_lock lock(can->mapMutex);
   can->periodicSends[apiId] = -1;
 }
 
@@ -166,13 +156,9 @@ void HAL_StopCANPacketRepeating(HAL_CANHandle handle, int32_t apiId,
   }
   auto id = CreateCANId(can.get(), apiId);
 
+  std::scoped_lock lock(can->periodicSendsMutex);
   HAL_CAN_SendMessage(id, nullptr, 0, HAL_CAN_SEND_PERIOD_STOP_REPEATING,
                       status);
-
-  if (*status != 0) {
-    return;
-  }
-  std::scoped_lock lock(can->mapMutex);
   can->periodicSends[apiId] = -1;
 }
 
@@ -191,7 +177,7 @@ void HAL_ReadCANPacketNew(HAL_CANHandle handle, int32_t apiId, uint8_t* data,
   HAL_CAN_ReceiveMessage(&messageId, 0x1FFFFFFF, data, &dataSize, &ts, status);
 
   if (*status == 0) {
-    std::scoped_lock lock(can->mapMutex);
+    std::scoped_lock lock(can->receivesMutex);
     auto& msg = can->receives[messageId];
     msg.length = dataSize;
     msg.lastTimeStamp = ts;
@@ -216,7 +202,7 @@ void HAL_ReadCANPacketLatest(HAL_CANHandle handle, int32_t apiId, uint8_t* data,
   uint32_t ts = 0;
   HAL_CAN_ReceiveMessage(&messageId, 0x1FFFFFFF, data, &dataSize, &ts, status);
 
-  std::scoped_lock lock(can->mapMutex);
+  std::scoped_lock lock(can->receivesMutex);
   if (*status == 0) {
     // fresh update
     auto& msg = can->receives[messageId];
@@ -253,7 +239,7 @@ void HAL_ReadCANPacketTimeout(HAL_CANHandle handle, int32_t apiId,
   uint32_t ts = 0;
   HAL_CAN_ReceiveMessage(&messageId, 0x1FFFFFFF, data, &dataSize, &ts, status);
 
-  std::scoped_lock lock(can->mapMutex);
+  std::scoped_lock lock(can->receivesMutex);
   if (*status == 0) {
     // fresh update
     auto& msg = can->receives[messageId];
diff --git a/hal/src/main/native/sim/CANAPI.cpp b/hal/src/main/native/sim/CANAPI.cpp
index 5a4324ae59..4689d1f4e4 100644
--- a/hal/src/main/native/sim/CANAPI.cpp
+++ b/hal/src/main/native/sim/CANAPI.cpp
@@ -26,8 +26,9 @@ struct CANStorage {
   HAL_CANManufacturer manufacturer;
   HAL_CANDeviceType deviceType;
   uint8_t deviceId;
-  wpi::mutex mapMutex;
+  wpi::mutex periodicSendsMutex;
   wpi::SmallDenseMap<int32_t, int32_t> periodicSends;
+  wpi::mutex receivesMutex;
   wpi::SmallDenseMap<int32_t, Receives> receives;
 };
 }  // namespace
@@ -97,7 +98,7 @@ void HAL_CleanCAN(HAL_CANHandle handle) {
     return;
   }
 
-  std::scoped_lock lock(data->mapMutex);
+  std::scoped_lock lock(data->periodicSendsMutex);
 
   for (auto&& i : data->periodicSends) {
     int32_t s = 0;
@@ -116,12 +117,8 @@ void HAL_WriteCANPacket(HAL_CANHandle handle, const uint8_t* data,
   }
   auto id = CreateCANId(can.get(), apiId);
 
+  std::scoped_lock lock(can->periodicSendsMutex);
   HAL_CAN_SendMessage(id, data, length, HAL_CAN_SEND_PERIOD_NO_REPEAT, status);
-
-  if (*status != 0) {
-    return;
-  }
-  std::scoped_lock lock(can->mapMutex);
   can->periodicSends[apiId] = -1;
 }
 
@@ -135,12 +132,8 @@ void HAL_WriteCANPacketRepeating(HAL_CANHandle handle, const uint8_t* data,
   }
   auto id = CreateCANId(can.get(), apiId);
 
+  std::scoped_lock lock(can->periodicSendsMutex);
   HAL_CAN_SendMessage(id, data, length, repeatMs, status);
-
-  if (*status != 0) {
-    return;
-  }
-  std::scoped_lock lock(can->mapMutex);
   can->periodicSends[apiId] = repeatMs;
 }
 
@@ -156,12 +149,8 @@ void HAL_WriteCANRTRFrame(HAL_CANHandle handle, int32_t length, int32_t apiId,
   uint8_t data[8];
   std::memset(data, 0, sizeof(data));
 
+  std::scoped_lock lock(can->periodicSendsMutex);
   HAL_CAN_SendMessage(id, data, length, HAL_CAN_SEND_PERIOD_NO_REPEAT, status);
-
-  if (*status != 0) {
-    return;
-  }
-  std::scoped_lock lock(can->mapMutex);
   can->periodicSends[apiId] = -1;
 }
 
@@ -174,13 +163,9 @@ void HAL_StopCANPacketRepeating(HAL_CANHandle handle, int32_t apiId,
   }
   auto id = CreateCANId(can.get(), apiId);
 
+  std::scoped_lock lock(can->periodicSendsMutex);
   HAL_CAN_SendMessage(id, nullptr, 0, HAL_CAN_SEND_PERIOD_STOP_REPEATING,
                       status);
-
-  if (*status != 0) {
-    return;
-  }
-  std::scoped_lock lock(can->mapMutex);
   can->periodicSends[apiId] = -1;
 }
 
@@ -199,7 +184,7 @@ void HAL_ReadCANPacketNew(HAL_CANHandle handle, int32_t apiId, uint8_t* data,
   HAL_CAN_ReceiveMessage(&messageId, 0x1FFFFFFF, data, &dataSize, &ts, status);
 
   if (*status == 0) {
-    std::scoped_lock lock(can->mapMutex);
+    std::scoped_lock lock(can->receivesMutex);
     auto& msg = can->receives[messageId];
     msg.length = dataSize;
     msg.lastTimeStamp = ts;
@@ -224,7 +209,7 @@ void HAL_ReadCANPacketLatest(HAL_CANHandle handle, int32_t apiId, uint8_t* data,
   uint32_t ts = 0;
   HAL_CAN_ReceiveMessage(&messageId, 0x1FFFFFFF, data, &dataSize, &ts, status);
 
-  std::scoped_lock lock(can->mapMutex);
+  std::scoped_lock lock(can->receivesMutex);
   if (*status == 0) {
     // fresh update
     auto& msg = can->receives[messageId];
@@ -261,7 +246,7 @@ void HAL_ReadCANPacketTimeout(HAL_CANHandle handle, int32_t apiId,
   uint32_t ts = 0;
   HAL_CAN_ReceiveMessage(&messageId, 0x1FFFFFFF, data, &dataSize, &ts, status);
 
-  std::scoped_lock lock(can->mapMutex);
+  std::scoped_lock lock(can->receivesMutex);
   if (*status == 0) {
     // fresh update
     auto& msg = can->receives[messageId];