diff --git a/pyccp/listeners/message_sorter.py b/pyccp/listeners/message_sorter.py
index ab9523b..52ea304 100644
--- a/pyccp/listeners/message_sorter.py
+++ b/pyccp/listeners/message_sorter.py
@@ -16,11 +16,11 @@ class MessageSorter(can.Listener):
     """A can.Listener which sorts incoming CCP messages by type."""
 
     def __init__(
-        self, dto_id: int, cro_id: int,
+        self, dto_id: int, cro_id: int, is_extended_id: bool = True,
     ):
         self.dto_id = dto_id
         self.cro_id = cro_id
-
+        self.is_extended_id = is_extended_id
         self._crm_queue = queue.Queue()
         self._evm_queue = queue.Queue()
         self._daq_queue = queue.Queue()
@@ -73,7 +73,7 @@ def on_message_received(self, msg: can.Message):
             # CROs are logged by master
 
     def get_command_return_message(
-        self, timeout: float = 0.5
+        self, timeout: float = 1.5
     ) -> messages.CommandReturnMessage:
         """Return the first CRM in the queue.
 
diff --git a/pyccp/master.py b/pyccp/master.py
index 9ac78cf..39f95f8 100644
--- a/pyccp/master.py
+++ b/pyccp/master.py
@@ -33,19 +33,22 @@ class Master:
     """A CAN Calibration Protocol (CCP) master node."""
 
     def __init__(
-        self, transport: can.Bus, cro_id: int, dto_id: int,
+        self, transport: can.Bus, cro_id: int, dto_id: int, is_extended_id: bool
     ):
         self.slaveConnections = {}
         self.cro_id = cro_id
         self.dto_id = dto_id
+        self.is_extended_id = is_extended_id
         self._transport = transport
         # Receive both DTOs and CROs, the latter in case local echo is enabled.
+        
         self._transport.set_filters(
             [
-                {"can_id": dto_id, "can_mask": 0x1FFFFFFF, "extended": True},
-                {"can_id": cro_id, "can_mask": 0x1FFFFFFF, "extended": True},
+                {"can_id": dto_id, "can_mask": 0x1FFFFFFF, "extended": self.is_extended_id},
+                {"can_id": cro_id, "can_mask": 0x1FFFFFFF, "extended": self.is_extended_id},
             ]
         )
+        
         self._queue = MessageSorter(dto_id, cro_id)
         self._notifier = can.Notifier(self._transport, [self._queue])
         self.ctr = 0
@@ -54,6 +57,7 @@ def _send(self, command_code: CommandCodes, **kwargs):
         cro = CommandReceiveObject(
             arbitration_id=self.cro_id,
             command_code=command_code,
+            is_extended_id=self.is_extended_id,
             ctr=self.ctr,
             **kwargs
         )
@@ -63,7 +67,7 @@ def _send(self, command_code: CommandCodes, **kwargs):
             "Sent CRO CTR{}:  %s  %s".format(self.ctr), command_code.name, kwargs_str
         )
 
-    def _receive(self) -> bytearray:
+    def _receive(self,timeout=1.5) -> bytearray:
         """Check that the response is what we expect it to be.
 
         Raises
@@ -79,11 +83,11 @@ def _receive(self) -> bytearray:
             Five data bytes.
 
         """
+        
         try:
-            crm = self._queue.get_command_return_message()
+            crm = self._queue.get_command_return_message(timeout=timeout)
         except Empty:
             raise CCPError("No reply from slave")
-
         if crm.ctr == self.ctr:
             self.ctr = (self.ctr + 1) % 0x100
         else:
@@ -396,14 +400,47 @@ def get_s_status(self):
     def build_chksum(self):
         raise NotImplementedError  # pragma: no cover
 
-    def clear_memory(self):
-        raise NotImplementedError  # pragma: no cover
+    def clear_memory(self,size: int):
+        self._send(CommandCodes.CLEAR_MEMORY,size=size)
+        self._receive(timeout=10.0)
 
-    def program(self):
-        raise NotImplementedError  # pragma: no cover
+    def program(self, size: int, data: int) -> tuple:
+        """Program data from master to slave.
 
-    def program6(self):
-        raise NotImplementedError  # pragma: no cover
+        Parameters
+        ----------
+        size : int
+            Number of bytes to be transferred (0 - 5).
+        data : int
+            Data to be written to MTA0 in the slave.
+
+        Returns
+        -------
+        tuple
+             mta0_ext:  Current MTA0 extension,
+             mta0_addr: Current MTA0 address
+        """
+        self._send(CommandCodes.PROGRAM, size=size, data=data)
+        data = self._receive()
+        return data[0], data[1:]
+
+    def program6(self, data: int) -> tuple:
+        """Program 6 bytes of data from master to slave.
+
+        Parameters
+        ----------
+        data : int
+            Data to be written to MTA0 in the slave.
+
+        Returns
+        -------
+        tuple
+             mta0_ext:  Current MTA0 extension,
+             mta0_addr: Current MTA0 address
+        """
+        self._send(CommandCodes.PROGRAM_6, size=6, data=data)
+        data = self._receive()
+        return data[0], data[1:]
 
     def move(self):
         raise NotImplementedError  # pragma: no cover
diff --git a/pyccp/messages/command_receive.py b/pyccp/messages/command_receive.py
index 9b3a2f1..4a08f55 100644
--- a/pyccp/messages/command_receive.py
+++ b/pyccp/messages/command_receive.py
@@ -70,8 +70,11 @@ class CommandCodes(enum.IntEnum):
     # CommandCodes.GET_S_STATUS: getSStatus,
     # CommandCodes.BUILD_CHKSUM: buildChksum,
     # CommandCodes.CLEAR_MEMORY: clearMemory,
+    CommandCodes.CLEAR_MEMORY: COMMANDS_DB.get_message_by_name("clear_memory"),
     # CommandCodes.PROGRAM: program,
+    CommandCodes.PROGRAM: COMMANDS_DB.get_message_by_name("program"),
     # CommandCodes.PROGRAM_6: program6,
+    CommandCodes.PROGRAM_6: COMMANDS_DB.get_message_by_name("program6"),
     # CommandCodes.MOVE: move,
     # CommandCodes.TEST: test,
     # CommandCodes.GET_ACTIVE_CAL_PAGE: getActiveCalPage,
@@ -87,6 +90,7 @@ def __init__(
         arbitration_id: int = 0,
         command_code: CommandCodes = None,
         ctr: int = 0,
+        is_extended_id: bool = True,
         **kwargs: int,
     ):
         """Create a CommandReceiveObject.
@@ -107,11 +111,10 @@ def __init__(
         self.data = bytearray(MAX_DLC)
         self.command_code = command_code
         self.ctr = ctr
-
         if command_code is not None:
             self.data = self.encode(**kwargs)
 
-        super().__init__(arbitration_id=arbitration_id, data=self.data)
+        super().__init__(arbitration_id=arbitration_id, data=self.data,is_extended_id=is_extended_id)
 
     def encode(self, **kwargs: int) -> bytes:
         """Encode keyword arguments to bytes.
diff --git a/pyccp/messages/commands.dbc b/pyccp/messages/commands.dbc
index 149f731..e690bc2 100644
--- a/pyccp/messages/commands.dbc
+++ b/pyccp/messages/commands.dbc
@@ -1,121 +1,140 @@
-VERSION ""

-

-

-NS_ : 

-	NS_DESC_

-	CM_

-	BA_DEF_

-	BA_

-	VAL_

-	CAT_DEF_

-	CAT_

-	FILTER

-	BA_DEF_DEF_

-	EV_DATA_

-	ENVVAR_DATA_

-	SGTYPE_

-	SGTYPE_VAL_

-	BA_DEF_SGTYPE_

-	BA_SGTYPE_

-	SIG_TYPE_REF_

-	VAL_TABLE_

-	SIG_GROUP_

-	SIG_VALTYPE_

-	SIGTYPE_VALTYPE_

-	BO_TX_BU_

-	BA_DEF_REL_

-	BA_REL_

-	BA_DEF_DEF_REL_

-	BU_SG_REL_

-	BU_EV_REL_

-	BU_BO_REL_

-	SG_MUL_VAL_

-

-BS_:

-

-BU_: 

-

-

-BO_ 0 connect: 8 Vector__XXX

- SG_ station_address : 16|16@1+ (1,0) [0|0] "" Vector__XXX

- SG_ ctr : 8|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ command_code : 0|8@1+ (1,0) [0|0] "" Vector__XXX

-

-BO_ 1 get_ccp_version: 8 Vector__XXX

- SG_ minor : 24|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ major : 16|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ ctr : 8|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ command_code : 0|8@1+ (1,0) [0|0] "" Vector__XXX

-

-BO_ 2 exchange_id: 8 Vector__XXX

- SG_ device_info : 16|48@1+ (1,0) [0|0] "" Vector__XXX

- SG_ ctr : 8|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ command_code : 0|8@1+ (1,0) [0|0] "" Vector__XXX

-

-BO_ 3 set_mta: 8 Vector__XXX

- SG_ address : 39|32@0+ (1,0) [0|0] "" Vector__XXX

- SG_ extension : 24|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ mta : 16|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ ctr : 8|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ command_code : 0|8@1+ (1,0) [0|0] "" Vector__XXX

-

-BO_ 4 dnload: 8 Vector__XXX

- SG_ data : 31|40@0+ (1,0) [0|0] "" Vector__XXX

- SG_ size : 16|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ ctr : 8|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ command_code : 0|8@1+ (1,0) [0|0] "" Vector__XXX

-

-BO_ 5 upload: 8 Vector__XXX

- SG_ size : 16|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ ctr : 8|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ command_code : 0|8@1+ (1,0) [0|0] "" Vector__XXX

-

-BO_ 6 get_daq_size: 8 Vector__XXX

- SG_ dto_id : 39|32@0+ (1,0) [0|0] "" Vector__XXX

- SG_ daq_list_number : 16|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ ctr : 8|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ command_code : 0|8@1+ (1,0) [0|0] "" Vector__XXX

-

-BO_ 7 set_daq_ptr: 8 Vector__XXX

- SG_ element_number : 32|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ odt_number : 24|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ daq_list_number : 16|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ ctr : 8|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ command_code : 0|8@1+ (1,0) [0|0] "" Vector__XXX

-

-BO_ 8 write_daq: 8 Vector__XXX

- SG_ address : 39|32@0+ (1,0) [0|0] "" Vector__XXX

- SG_ extension : 24|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ size : 16|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ ctr : 8|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ command_code : 0|8@1+ (1,0) [0|0] "" Vector__XXX

-

-BO_ 9 start_stop: 8 Vector__XXX

- SG_ rate_prescaler : 55|16@0+ (1,0) [0|0] "" Vector__XXX

- SG_ event_channel : 40|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ last_odt_number : 32|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ daq_list_number : 24|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ mode : 16|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ ctr : 8|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ command_code : 0|8@1+ (1,0) [0|0] "" Vector__XXX

-

-BO_ 10 disconnect: 8 Vector__XXX

- SG_ station_address : 32|16@1+ (1,0) [0|0] "" Vector__XXX

- SG_ permanent : 16|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ ctr : 8|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ command_code : 0|8@1+ (1,0) [0|0] "" Vector__XXX

-

-BO_ 11 set_s_status: 8 Vector__XXX

- SG_ status_bits : 16|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ ctr : 8|8@1+ (1,0) [0|0] "" Vector__XXX

- SG_ command_code : 0|8@1+ (1,0) [0|0] "" Vector__XXX

-

-

-

-

-

-

-

-

-

-

+VERSION ""
+
+
+NS_ : 
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BS_:
+
+BU_:
+
+
+BO_ 17 New_Message_18: 8 Vector__XXX
+ SG_ New_Signal_63 : 16|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 16 New_Message_17: 8 Vector__XXX
+ SG_ New_Signal_62 : 24|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 15 New_Message_16: 8 Vector__XXX
+ SG_ New_Signal_53 : 23|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 14 program6: 8 Vector__XXX
+ SG_ data : 23|48@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ctr : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ command_code : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 13 program: 8 Vector__XXX
+ SG_ data : 31|40@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ size : 16|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ctr : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ command_code : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 12 clear_memory: 8 Vector__XXX
+ SG_ size : 23|32@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ ctr : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ command_code : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 0 connect: 8 Vector__XXX
+ SG_ station_address : 16|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ctr : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ command_code : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1 get_ccp_version: 8 Vector__XXX
+ SG_ minor : 24|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ major : 16|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ctr : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ command_code : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 2 exchange_id: 8 Vector__XXX
+ SG_ device_info : 16|48@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ctr : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ command_code : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 3 set_mta: 8 Vector__XXX
+ SG_ address : 39|32@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ extension : 24|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ mta : 16|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ctr : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ command_code : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 4 dnload: 8 Vector__XXX
+ SG_ data : 31|40@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ size : 16|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ctr : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ command_code : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 5 upload: 8 Vector__XXX
+ SG_ size : 16|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ctr : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ command_code : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 6 get_daq_size: 8 Vector__XXX
+ SG_ dto_id : 39|32@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ daq_list_number : 16|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ctr : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ command_code : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 7 set_daq_ptr: 8 Vector__XXX
+ SG_ element_number : 32|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ odt_number : 24|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ daq_list_number : 16|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ctr : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ command_code : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 8 write_daq: 8 Vector__XXX
+ SG_ address : 39|32@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ extension : 24|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ size : 16|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ctr : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ command_code : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 9 start_stop: 8 Vector__XXX
+ SG_ rate_prescaler : 55|16@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ event_channel : 40|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ last_odt_number : 32|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ daq_list_number : 24|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ mode : 16|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ctr : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ command_code : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 10 disconnect: 8 Vector__XXX
+ SG_ station_address : 32|16@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ permanent : 16|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ctr : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ command_code : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 11 set_s_status: 8 Vector__XXX
+ SG_ status_bits : 16|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ ctr : 8|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ command_code : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+
+
+
+
diff --git a/pyccp/messages/data_transmission.py b/pyccp/messages/data_transmission.py
index c99cdf0..6533e87 100644
--- a/pyccp/messages/data_transmission.py
+++ b/pyccp/messages/data_transmission.py
@@ -23,7 +23,7 @@ class DataTransmissionObject(CCPMessage):
     """
 
     def __init__(
-        self, arbitration_id: int, pid: Union[DTOType, int], data: bytearray,
+        self, arbitration_id: int, pid: Union[DTOType, int], data: bytearray, is_extended_id: bool = True,
     ):
         """Create a DTO.
 
@@ -44,7 +44,7 @@ def __init__(
         # is sometimes (?) shared between instances.
         self.data = deepcopy(data)
         self.pid = pid
-        super().__init__(arbitration_id=arbitration_id, data=self.data)
+        super().__init__(arbitration_id=arbitration_id, data=self.data,is_extended_id=is_extended_id)
 
     @property
     def pid(self) -> Union[DTOType, int]: