diff --git a/Inc/util.h b/Inc/util.h
index 3725a78..99f163e 100644
--- a/Inc/util.h
+++ b/Inc/util.h
@@ -56,6 +56,7 @@ void intro_demo_led(uint32_t tDelay);
 
 /* input initialization function */
 void input_init(void);
+void UART_DisableRxErrors(UART_HandleTypeDef *huart);
 
 /* usart read functions */
 void usart_rx_check(void);
@@ -65,7 +66,6 @@ void usart_process_debug(uint8_t *userCommand, uint32_t len);
 #ifdef SERIAL_FEEDBACK
 void usart_process_data(SerialFeedback *Feedback_in, SerialFeedback *Feedback_out);
 #endif
-void UART_EndRxTransfer(UART_HandleTypeDef *huart);
 
 /* i2c write/read functions */
 int8_t i2c_writeBytes(uint8_t slaveAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
diff --git a/Src/util.c b/Src/util.c
index 80f7053..c4dd85b 100644
--- a/Src/util.c
+++ b/Src/util.c
@@ -39,7 +39,6 @@ SerialSideboard Sideboard;
 #if defined(SERIAL_DEBUG) || defined(SERIAL_FEEDBACK)
 static uint8_t rx_buffer[SERIAL_BUFFER_SIZE]; 	// USART Rx DMA circular buffer
 static uint32_t rx_buffer_len = ARRAY_LEN(rx_buffer);
-static uint32_t old_pos;
 #endif
 
 #ifdef SERIAL_FEEDBACK
@@ -123,11 +122,9 @@ void intro_demo_led(uint32_t tDelay)
 
 /* =========================== Input Initialization Function =========================== */
 void input_init(void) {
-	#ifdef SERIAL_CONTROL
-		HAL_UART_Transmit_DMA(&huart2, (uint8_t *)&Sideboard, sizeof(Sideboard));
-	#endif
 	#if defined(SERIAL_DEBUG) || defined(SERIAL_FEEDBACK)
-		HAL_UART_Receive_DMA (&huart2, (uint8_t *)rx_buffer, sizeof(rx_buffer));
+		HAL_UART_Receive_DMA(&huart2, (uint8_t *)rx_buffer, sizeof(rx_buffer));
+		UART_DisableRxErrors(&huart2);
 	#endif
 
 	intro_demo_led(100);												// Short LEDs intro demo with 100 ms delay. This also gives some time for the MPU-6050 to power-up.	
@@ -147,6 +144,23 @@ void input_init(void) {
 	#endif
 }
 
+/**
+  * @brief  Disable Rx Errors detection interrupts on UART peripheral (since we do not want DMA to be stopped)
+  *         The incorrect data will be filtered based on the START_FRAME and checksum.
+  * @param  huart: UART handle.
+  * @retval None
+  */
+#if defined(SERIAL_DEBUG) || defined(SERIAL_FEEDBACK)
+void UART_DisableRxErrors(UART_HandleTypeDef *huart)
+{
+  /* Disable PE (Parity Error) interrupts */
+  CLEAR_BIT(huart->Instance->CR1, USART_CR1_PEIE);
+
+  /* Disable EIE (Frame error, noise error, overrun error) interrupts */
+  CLEAR_BIT(huart->Instance->CR3, USART_CR3_EIE);
+}
+#endif
+
 /* =========================== USART READ Functions =========================== */
 
 /*
@@ -156,6 +170,7 @@ void input_init(void) {
 void usart_rx_check(void)
 {
 	#ifdef SERIAL_DEBUG
+	static uint32_t old_pos;
 	uint32_t pos;
 
 	pos = rx_buffer_len - __HAL_DMA_GET_COUNTER(huart2.hdmarx); 				// Calculate current position in buffer, Rx: DMA1_Channel6->CNDTR, Tx: DMA1_Channel7
@@ -176,8 +191,10 @@ void usart_rx_check(void)
 	#endif // SERIAL_DEBUG
 
 	#ifdef SERIAL_FEEDBACK
+	static uint32_t old_pos;
 	uint32_t pos;
-	uint8_t *ptr;	
+	uint8_t *ptr;
+	
     pos = rx_buffer_len - __HAL_DMA_GET_COUNTER(huart2.hdmarx); 				// Calculate current position in buffer, Rx: DMA1_Channel6->CNDTR, Tx: DMA1_Channel7	
     if (pos != old_pos) {                       								// Check change in received data
 		ptr = (uint8_t *)&FeedbackRaw;											// Initialize the pointer with FeedbackRaw address
@@ -237,39 +254,6 @@ void usart_process_data(SerialFeedback *Feedback_in, SerialFeedback *Feedback_ou
 }
 #endif // SERIAL_FEEDBACK
 
-/*
- * UART User Error Callback
- * - According to the STM documentation, when a DMA transfer error occurs during a DMA read or a write access,
- *   the faulty channel is automatically disabled through a hardware clear of its EN bit
- * - For hoverboard applications, the UART communication can be unrealiable, disablind the DMA transfer
- * - therefore the DMA needs to be re-started
- */
-void HAL_UART_ErrorCallback(UART_HandleTypeDef *uartHandle) {
-	#if defined(SERIAL_DEBUG) || defined(SERIAL_FEEDBACK)
-	if(uartHandle->Instance == USART2) {
-		HAL_DMA_Abort(uartHandle->hdmarx);
-		UART_EndRxTransfer(uartHandle);
-		HAL_UART_Receive_DMA(uartHandle, (uint8_t *)rx_buffer, sizeof(rx_buffer));
-		old_pos = 0;
-	}
-	#endif
-}
-
-/**
-  * @brief  End ongoing Rx transfer on UART peripheral (following error detection or Reception completion).
-  * @param  huart: UART handle.
-  * @retval None
-  */
-void UART_EndRxTransfer(UART_HandleTypeDef *huart)
-{
-  /* Disable RXNE (Interrupt Enable) and PE (Parity Error) interrupts */
-  CLEAR_BIT(huart->Instance->CR1, (USART_CR1_RXNEIE | USART_CR1_PEIE));
-  /* Disable EIE (Frame error, noise error, overrun error) interrupts */
-  CLEAR_BIT(huart->Instance->CR3, USART_CR3_EIE);
-
-  /* At end of Rx process, restore huart->RxState to Ready */
-  huart->RxState = HAL_UART_STATE_READY;
-}
 
 /* =========================== I2C WRITE Functions =========================== */