diff --git a/firmware/projects/Demo/CAN/Bar/config.yaml b/firmware/projects/Demo/CAN/Bar/config.yaml
index 23f7a4e2e..2599bb986 100644
--- a/firmware/projects/Demo/CAN/Bar/config.yaml
+++ b/firmware/projects/Demo/CAN/Bar/config.yaml
@@ -1,6 +1,6 @@
 canGen:
-  ourNode: bar
   busses:
-    - busName: veh
+    - name: veh
+      node: bar
       dbcFiles:
         - "../demo.dbc"
diff --git a/firmware/projects/Demo/CAN/Foo/config.yaml b/firmware/projects/Demo/CAN/Foo/config.yaml
index b1b143053..4ef5a0ddc 100644
--- a/firmware/projects/Demo/CAN/Foo/config.yaml
+++ b/firmware/projects/Demo/CAN/Foo/config.yaml
@@ -1,6 +1,6 @@
 canGen:
-  ourNode: foo
   busses:
-    - busName: veh
+    - name: veh
+      node: foo
       dbcFiles:
         - "../demo.dbc"
\ No newline at end of file
diff --git a/firmware/projects/EV5/FrontController/config.yaml b/firmware/projects/EV5/FrontController/config.yaml
index 56dff5a56..3ad948f65 100644
--- a/firmware/projects/EV5/FrontController/config.yaml
+++ b/firmware/projects/EV5/FrontController/config.yaml
@@ -1,7 +1,8 @@
 canGen:
-  ourNode: fc
   busses:
-    - busName: veh
+    - name: veh
+      node: fc
       dbcFile: "../veh.dbc"
-    - busName: pt
+    - name: pt
+      node: fc
       dbcFile: "../pt.dbc"
diff --git a/firmware/projects/EV5/LVController/config.yaml b/firmware/projects/EV5/LVController/config.yaml
index 325701615..187420ce3 100644
--- a/firmware/projects/EV5/LVController/config.yaml
+++ b/firmware/projects/EV5/LVController/config.yaml
@@ -1,5 +1,5 @@
 canGen:
-  ourNode: lvc
   busses:
-    - busName: veh
+    - name: veh
+      node: lvc
       dbcFile: "../veh.dbc"
\ No newline at end of file
diff --git a/firmware/projects/EV5/TMS/config.yaml b/firmware/projects/EV5/TMS/config.yaml
index 8ff0acebd..4e9f70c6d 100644
--- a/firmware/projects/EV5/TMS/config.yaml
+++ b/firmware/projects/EV5/TMS/config.yaml
@@ -1,5 +1,5 @@
 canGen:
-  ourNode: tms
   busses:
-    - busName: veh
+    - name: veh
+      node: tms
       dbcFile: "../veh.dbc"
\ No newline at end of file
diff --git a/firmware/projects/EV5/debug/FrontControllerSimple/config.yaml b/firmware/projects/EV5/debug/FrontControllerSimple/config.yaml
index 5e933b995..0f3b27531 100644
--- a/firmware/projects/EV5/debug/FrontControllerSimple/config.yaml
+++ b/firmware/projects/EV5/debug/FrontControllerSimple/config.yaml
@@ -1,7 +1,8 @@
 canGen:
-  ourNode: fc
   busses:
-    - busName: veh
+    - name: veh
+      node: fc
       dbcFile: "../../veh.dbc"
-    - busName: pt
+    - name: pt
+      node: fc
       dbcFile: "../../pt.dbc"
diff --git a/firmware/projects/EV5/debug/IoCheckoutFc/config.yaml b/firmware/projects/EV5/debug/IoCheckoutFc/config.yaml
index 0a47cb787..c273590ff 100644
--- a/firmware/projects/EV5/debug/IoCheckoutFc/config.yaml
+++ b/firmware/projects/EV5/debug/IoCheckoutFc/config.yaml
@@ -1,5 +1,5 @@
 canGen:
-  ourNode: FC
   busses:
-    - busName: io
+    - name: io
+      node: FC
       dbcFile: "io.dbc"
diff --git a/firmware/projects/EV5/debug/MotorDebug/config.yaml b/firmware/projects/EV5/debug/MotorDebug/config.yaml
index 666201815..4e37a4191 100644
--- a/firmware/projects/EV5/debug/MotorDebug/config.yaml
+++ b/firmware/projects/EV5/debug/MotorDebug/config.yaml
@@ -1,5 +1,5 @@
 canGen:
-  ourNode: FRONTCONTROLLER
   busses:
-    - busName: vehicle
+    - name: vehicle
+      node: FRONTCONTROLLER
       dbcFile: "pedal.dbc"
diff --git a/scripts/cangen/cangen/can_generator.py b/scripts/cangen/cangen/can_generator.py
index 265b94ec3..548bd5ae1 100644
--- a/scripts/cangen/cangen/can_generator.py
+++ b/scripts/cangen/cangen/can_generator.py
@@ -216,7 +216,7 @@ def generate_code(bus: Bus, config: Config):
     logger.info("Generating code")
 
     can_db = _parse_dbc_files(bus.dbc_file_path)
-    rx_msgs, tx_msgs = _filter_messages_by_node(can_db.messages, config.node)
+    rx_msgs, tx_msgs = _filter_messages_by_node(can_db.messages, bus.node)
 
     context = {
         "date": time.strftime("%Y-%m-%d"),
diff --git a/scripts/cangen/cangen/config.py b/scripts/cangen/cangen/config.py
index f5394697c..4025202b3 100644
--- a/scripts/cangen/cangen/config.py
+++ b/scripts/cangen/cangen/config.py
@@ -7,7 +7,8 @@
 class Bus:
     def __init__(self, bus: dict):
         self.dbc_file_path: str = bus.pop("dbcFile")
-        self.bus_name: str = bus.pop("busName").capitalize()
+        self.bus_name: str = bus.pop("name").capitalize()
+        self.node = bus.pop("node")
 
         if bus:
             raise ValueError(
@@ -23,9 +24,7 @@ def from_yaml(config_file_name: str) -> Config:
         return Config(config.pop("canGen"))
 
     def __init__(self, config: dict):
-        self.node = config.pop("ourNode")
         self.output_dir = config.pop("outputPath", DEFAULT_OUTPUT_DIR)
-
         self.busses = [Bus(bus) for bus in config.pop("busses")]
 
         if config: