diff --git a/hal/src/main/native/athena/ctre/CtreCanNode.cpp b/hal/src/main/native/athena/ctre/CtreCanNode.cpp
index 8772a4715e..250088735c 100644
--- a/hal/src/main/native/athena/ctre/CtreCanNode.cpp
+++ b/hal/src/main/native/athena/ctre/CtreCanNode.cpp
@@ -68,17 +68,13 @@ void CtreCanNode::UnregisterTx(uint32_t arbId)
 		_txJobs.erase(iter);
 	}
 }
-timespec diff(const timespec & start, const timespec & end)
-{
-	timespec temp;
-	if ((end.tv_nsec-start.tv_nsec)<0) {
-		temp.tv_sec = end.tv_sec-start.tv_sec-1;
-		temp.tv_nsec = 1000000000+end.tv_nsec-start.tv_nsec;
-	} else {
-		temp.tv_sec = end.tv_sec-start.tv_sec;
-		temp.tv_nsec = end.tv_nsec-start.tv_nsec;
-	}
-	return temp;
+static int64_t GetTimeMs() {
+	std::chrono::time_point < std::chrono::system_clock > now;
+	now = std::chrono::system_clock::now();
+	auto duration = now.time_since_epoch();
+	auto millis = std::chrono::duration_cast < std::chrono::milliseconds
+					> (duration).count();
+	return (int64_t) millis;
 }
 CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeoutMs)
 {
@@ -90,10 +86,11 @@ CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeout
 	if(timeoutMs > 999)
 		timeoutMs = 999;
 	FRC_NetworkCommunication_CANSessionMux_receiveMessage(&arbId,kFullMessageIDMask,dataBytes,&len,&timeStamp,&status);
+	std::lock_guard<wpi::mutex> lock(_lck);
 	if(status == 0){
 		/* fresh update */
 		rxEvent_t & r = _rxRxEvents[arbId]; /* lookup entry or make a default new one with all zeroes */
-		clock_gettime(2,&r.time); 			/* fill in time */
+		r.time = GetTimeMs();
 		memcpy(r.bytes,  dataBytes,  8);	/* fill in databytes */
 	}else{
 		/* did not get the message */
@@ -107,16 +104,13 @@ CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeout
 			/* we've gotten this message before but not recently */
 			memcpy(dataBytes,i->second.bytes,8);
 			/* get the time now */
-			struct timespec temp;
-			clock_gettime(2,&temp); /* get now */
+			int64_t now = GetTimeMs(); /* get now */
 			/* how long has it been? */
-			temp = diff(i->second.time,temp); /* temp = now - last */
-			if(temp.tv_sec > 0){
-				retval = CTR_RxTimeout;
-			}else if(temp.tv_nsec > ((int32_t)timeoutMs*1000*1000)){
-				retval = CTR_RxTimeout;
-			}else {
-				/* our last update was recent enough */
+			int64_t temp = now - i->second.time; /* temp = now - last */
+			if (temp > ((int64_t) timeoutMs)) {
+					retval = CTR_RxTimeout;
+			} else {
+					/* our last update was recent enough */
 			}
 		}
 	}
diff --git a/hal/src/main/native/athena/ctre/CtreCanNode.h b/hal/src/main/native/athena/ctre/CtreCanNode.h
index 270759866c..c090cc39c7 100644
--- a/hal/src/main/native/athena/ctre/CtreCanNode.h
+++ b/hal/src/main/native/athena/ctre/CtreCanNode.h
@@ -4,6 +4,7 @@
 #include <map>
 #include <string.h> // memcpy
 #include <sys/time.h>
+#include <support/mutex.h>
 class CtreCanNode
 {
 public:
@@ -108,7 +109,7 @@ private:
 	class rxEvent_t{
 		public:
 			uint8_t bytes[8];
-			struct timespec time;
+			int64_t time;
 			rxEvent_t()
 			{
 				bytes[0] = 0;
@@ -127,5 +128,7 @@ private:
 
 	typedef std::map<uint32_t,rxEvent_t> rxRxEvents_t;
 	rxRxEvents_t _rxRxEvents;
+
+	wpi::mutex _lck;
 };
 #endif