diff --git a/src/protocol_v2/agilex_msg_parser_v2.c b/src/protocol_v2/agilex_msg_parser_v2.c
index dfa6c78..a8df7b0 100644
--- a/src/protocol_v2/agilex_msg_parser_v2.c
+++ b/src/protocol_v2/agilex_msg_parser_v2.c
@@ -185,8 +185,7 @@ bool DecodeCanFrameV2(const struct can_frame *rx_frame, AgxMessage *msg) {
       msg->body.actuator_ls_state_msg.driver_temp =
           (int16_t)((uint16_t)(frame->driver_temp.low_byte) |
                     (uint16_t)(frame->driver_temp.high_byte) << 8);
-      msg->body.actuator_ls_state_msg.motor_temp =
-          frame->motor_temp;
+      msg->body.actuator_ls_state_msg.motor_temp = frame->motor_temp;
       msg->body.actuator_ls_state_msg.driver_state = frame->driver_state;
       break;
     }
@@ -256,12 +255,34 @@ bool DecodeCanFrameV2(const struct can_frame *rx_frame, AgxMessage *msg) {
     }
     case CAN_MSG_BMS_BASIC_ID: {
       msg->type = AgxMsgBmsBasic;
-      // TODO
+      BmsBasicFrame *frame = (BmsBasicFrame *)(rx_frame->data);
+      msg->body.bms_basic_msg.battery_soc = frame->battery_soc;
+      msg->body.bms_basic_msg.battery_soh = frame->battery_soh;
+      msg->body.bms_basic_msg.voltage =
+          ((uint16_t)(frame->voltage.low_byte) |
+           (uint16_t)(frame->voltage.high_byte) << 8) /
+          10.0f;
+      msg->body.bms_basic_msg.current =
+          (int16_t)((uint16_t)(frame->current.low_byte) |
+                    (uint16_t)(frame->current.high_byte) << 8) /
+          10.0f;
+      msg->body.bms_basic_msg.temperature =
+          (int16_t)(((uint16_t)(frame->temperature.low_byte) |
+                     (uint16_t)(frame->temperature.high_byte) << 8)) /
+          10.0f;
       break;
     }
     case CAN_MSG_BMS_EXTENDED_ID: {
       msg->type = AgxMsgBmsExtended;
-      // TODO
+      BmsExtendedFrame *frame = (BmsExtendedFrame *)(rx_frame->data);
+      msg->body.bms_extended_msg.protection_code1 = frame->protection_code1;
+      msg->body.bms_extended_msg.protection_code2 = frame->protection_code2;
+      msg->body.bms_extended_msg.protection_code3 = frame->protection_code3;
+      msg->body.bms_extended_msg.protection_code4 = frame->protection_code4;
+      msg->body.bms_extended_msg.battery_max_teperature =
+          frame->battery_max_teperature;
+      msg->body.bms_extended_msg.battery_min_teperature =
+          frame->battery_min_teperature;
       break;
     }
     /*************** query/config frame **************/