CAN: add safety check, fix signal value enum naming

uwrobotics · May 26, 2021 · 24b8742 · 24b8742
1 parent 81982fe
commit 24b8742
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Showing 12 changed files with 187 additions and 184 deletions.
diff --git a/apps/test-stress-can/include/CANConfigArm.h b/apps/test-stress-can/include/CANConfigArm.h
@@ -53,33 +53,32 @@ static CANMsgMap rxMsgMap = {
     // One-shot messages
     {CANID::ARM_SET_CONTROL_MODE,
      {
-         {CANSIGNAL::ARM_TURNTABLE_CONTROL_MODE,
-          (CANSignalValue_t)ARM_TURNTABLE_CONTROL_MODE_VALUES::ARM_TURNTABLE_CONTROL_MODE_SNA},
-         {CANSIGNAL::ARM_SHOULDER_CONTROL_MODE,
-          (CANSignalValue_t)ARM_SHOULDER_CONTROL_MODE_VALUES::ARM_SHOULDER_CONTROL_MODE_SNA},
-         {CANSIGNAL::ARM_ELBOW_CONTROL_MODE,
-          (CANSignalValue_t)ARM_ELBOW_CONTROL_MODE_VALUES::ARM_ELBOW_CONTROL_MODE_SNA},
-         {CANSIGNAL::ARM_LEFT_WRIST_CONTROL_MODE,
-          (CANSignalValue_t)ARM_LEFT_WRIST_CONTROL_MODE_VALUES::ARM_LEFT_WRIST_CONTROL_MODE_SNA},
-         {CANSIGNAL::ARM_RIGHT_WRIST_CONTROL_MODE,
-          (CANSignalValue_t)ARM_RIGHT_WRIST_CONTROL_MODE_VALUES::ARM_RIGHT_WRIST_CONTROL_MODE_SNA},
-         {CANSIGNAL::ARM_CLAW_CONTROL_MODE, (CANSignalValue_t)ARM_CLAW_CONTROL_MODE_VALUES::ARM_CLAW_CONTROL_MODE_SNA},
+         {CANSIGNAL::ARM_TURNTABLE_CONTROL_MODE, (CANSignalValue_t)ARM_TURNTABLE_CONTROL_MODE_VALUES::SNA},
+         {CANSIGNAL::ARM_SHOULDER_CONTROL_MODE, (CANSignalValue_t)ARM_SHOULDER_CONTROL_MODE_VALUES::SNA},
+         {CANSIGNAL::ARM_ELBOW_CONTROL_MODE, (CANSignalValue_t)ARM_ELBOW_CONTROL_MODE_VALUES::SNA},
+         {CANSIGNAL::ARM_LEFT_WRIST_CONTROL_MODE, (CANSignalValue_t)ARM_LEFT_WRIST_CONTROL_MODE_VALUES::SNA},
+         {CANSIGNAL::ARM_RIGHT_WRIST_CONTROL_MODE, (CANSignalValue_t)ARM_RIGHT_WRIST_CONTROL_MODE_VALUES::SNA},
+         {CANSIGNAL::ARM_CLAW_CONTROL_MODE, (CANSignalValue_t)ARM_CLAW_CONTROL_MODE_VALUES::SNA},
      }},
     {CANID::ARM_SET_JOINT_PID_PARAMS,
      {
-         {CANSIGNAL::ARM_JOINT_PIDID, (CANSignalValue_t)ARM_JOINT_PIDID_VALUES::ARM_JOINT_PIDID_SNA},
-         {CANSIGNAL::ARM_JOINT_PID_PROPORTIONAL_GAIN,
-          (CANSignalValue_t)ARM_JOINT_PID_PROPORTIONAL_GAIN_VALUES::ARM_JOINT_PID_PROPORTIONAL_GAIN_SNA},
-         {CANSIGNAL::ARM_JOINT_PID_INTEGRAL_GAIN,
-          (CANSignalValue_t)ARM_JOINT_PID_INTEGRAL_GAIN_VALUES::ARM_JOINT_PID_INTEGRAL_GAIN_SNA},
-         {CANSIGNAL::ARM_JOINT_PID_DERIVATIVE_GAIN,
-          (CANSignalValue_t)ARM_JOINT_PID_DERIVATIVE_GAIN_VALUES::ARM_JOINT_PID_DERIVATIVE_GAIN_SNA},
-         {CANSIGNAL::ARM_JOINT_PID_DEADZONE,
-          (CANSignalValue_t)ARM_JOINT_PID_DEADZONE_VALUES::ARM_JOINT_PID_DEADZONE_SNA},
+         {CANSIGNAL::ARM_JOINT_PIDID, (CANSignalValue_t)ARM_JOINT_PIDID_VALUES::SNA},
+         {CANSIGNAL::ARM_JOINT_PID_PROPORTIONAL_GAIN, (CANSignalValue_t)ARM_JOINT_PID_PROPORTIONAL_GAIN_VALUES::SNA},
+         {CANSIGNAL::ARM_JOINT_PID_INTEGRAL_GAIN, (CANSignalValue_t)ARM_JOINT_PID_INTEGRAL_GAIN_VALUES::SNA},
+         {CANSIGNAL::ARM_JOINT_PID_DERIVATIVE_GAIN, (CANSignalValue_t)ARM_JOINT_PID_DERIVATIVE_GAIN_VALUES::SNA},
+         {CANSIGNAL::ARM_JOINT_PID_DEADZONE, (CANSignalValue_t)ARM_JOINT_PID_DEADZONE_VALUES::SNA},
+     }},
+    {CANID::ARM_SET_JOINT_SAFETY_CHECK,
+     {
+         {CANSIGNAL::ARM_SAFETY_CHECK_JOINT_ID, (CANSignalValue_t)ARM_SAFETY_CHECK_JOINT_ID_VALUES::SNA},
+         {CANSIGNAL::ARM_JOINT_CURRENT_CHECK, (CANSignalValue_t)ARM_JOINT_CURRENT_CHECK_VALUES::CHECK_OFF},
+         {CANSIGNAL::ARM_JOINT_ANGULAR_VELOCITY_CHECK,
+          (CANSignalValue_t)ARM_JOINT_ANGULAR_VELOCITY_CHECK_VALUES::CHECK_OFF},
+         {CANSIGNAL::ARM_JOINT_LIMIT_SWITCH_CHECK, (CANSignalValue_t)ARM_JOINT_LIMIT_SWITCH_CHECK_VALUES::CHECK_OFF},
      }},
     {CANID::COMMON_SWITCH_CAN_BUS,
      {
-         {CANSIGNAL::COMMON_CAN_BUS_ID, (CANSignalValue_t)COMMON_CAN_BUS_ID_VALUES::COMMON_CAN_BUS_ID_SNA},
+         {CANSIGNAL::COMMON_CAN_BUS_ID, (CANSignalValue_t)COMMON_CAN_BUS_ID_VALUES::SNA},
      }},
 };
 
@@ -113,32 +112,22 @@ static CANMsgMap txMsgMap = {
      }},
     {CANID::ARM_REPORT_FAULTS,
      {
-         {CANSIGNAL::ARM_TURNTABLE_ENCODER_STATE,
-          (CANSignalValue_t)ARM_TURNTABLE_ENCODER_STATE_VALUES::ARM_TURNTABLE_ENCODER_STATE_SNA},
+         {CANSIGNAL::ARM_TURNTABLE_ENCODER_STATE, (CANSignalValue_t)ARM_TURNTABLE_ENCODER_STATE_VALUES::SNA},
          {CANSIGNAL::ARM_TURNTABLE_CURRENT_SENSOR_STATE,
-          (CANSignalValue_t)ARM_TURNTABLE_CURRENT_SENSOR_STATE_VALUES::ARM_TURNTABLE_CURRENT_SENSOR_STATE_SNA},
-         {CANSIGNAL::ARM_SHOULDER_ENCODER_STATE,
-          (CANSignalValue_t)ARM_SHOULDER_ENCODER_STATE_VALUES::ARM_SHOULDER_ENCODER_STATE_SNA},
+          (CANSignalValue_t)ARM_TURNTABLE_CURRENT_SENSOR_STATE_VALUES::SNA},
+         {CANSIGNAL::ARM_SHOULDER_ENCODER_STATE, (CANSignalValue_t)ARM_SHOULDER_ENCODER_STATE_VALUES::SNA},
          {CANSIGNAL::ARM_SHOULDER_CURRENT_SENSOR_STATE,
-          (CANSignalValue_t)ARM_SHOULDER_CURRENT_SENSOR_STATE_VALUES::ARM_SHOULDER_CURRENT_SENSOR_STATE_SNA},
-         {CANSIGNAL::ARM_ELBOW_ENCODER_STATE,
-          (CANSignalValue_t)ARM_ELBOW_ENCODER_STATE_VALUES::ARM_ELBOW_ENCODER_STATE_SNA},
-         {CANSIGNAL::ARM_ELBOW_CURRENT_SENSOR_STATE,
-          (CANSignalValue_t)ARM_ELBOW_CURRENT_SENSOR_STATE_VALUES::ARM_ELBOW_CURRENT_SENSOR_STATE_SNA},
-         {CANSIGNAL::ARM_LEFT_WRIST_ENCODER_STATE,
-          (CANSignalValue_t)ARM_LEFT_WRIST_ENCODER_STATE_VALUES::ARM_LEFT_WRIST_ENCODER_STATE_SNA},
+          (CANSignalValue_t)ARM_SHOULDER_CURRENT_SENSOR_STATE_VALUES::SNA},
+         {CANSIGNAL::ARM_ELBOW_ENCODER_STATE, (CANSignalValue_t)ARM_ELBOW_ENCODER_STATE_VALUES::SNA},
+         {CANSIGNAL::ARM_ELBOW_CURRENT_SENSOR_STATE, (CANSignalValue_t)ARM_ELBOW_CURRENT_SENSOR_STATE_VALUES::SNA},
+         {CANSIGNAL::ARM_LEFT_WRIST_ENCODER_STATE, (CANSignalValue_t)ARM_LEFT_WRIST_ENCODER_STATE_VALUES::SNA},
          {CANSIGNAL::ARM_LEFT_WRIST_CURRENT_SENSOR_STATE,
-          (CANSignalValue_t)ARM_LEFT_WRIST_CURRENT_SENSOR_STATE_VALUES::ARM_LEFT_WRIST_CURRENT_SENSOR_STATE_SNA},
-         {CANSIGNAL::ARM_RIGHT_WRIST_ENCODER_STATE,
-          (CANSignalValue_t)ARM_RIGHT_WRIST_ENCODER_STATE_VALUES::ARM_RIGHT_WRIST_ENCODER_STATE_SNA},
+          (CANSignalValue_t)ARM_LEFT_WRIST_CURRENT_SENSOR_STATE_VALUES::SNA},
+         {CANSIGNAL::ARM_RIGHT_WRIST_ENCODER_STATE, (CANSignalValue_t)ARM_RIGHT_WRIST_ENCODER_STATE_VALUES::SNA},
          {CANSIGNAL::ARM_RIGHT_WRIST_CURRENT_SENSOR_STATE,
-          (CANSignalValue_t)ARM_RIGHT_WRIST_CURRENT_SENSOR_STATE_VALUES::ARM_RIGHT_WRIST_CURRENT_SENSOR_STATE_SNA},
-         {CANSIGNAL::ARM_CLAW_ENCODER_STATE,
-          (CANSignalValue_t)ARM_CLAW_ENCODER_STATE_VALUES::ARM_CLAW_ENCODER_STATE_SNA},
-         {CANSIGNAL::ARM_CLAW_CURRENT_SENSOR_STATE,
-          (CANSignalValue_t)ARM_CLAW_CURRENT_SENSOR_STATE_VALUES::ARM_CLAW_CURRENT_SENSOR_STATE_SNA},
-         {CANSIGNAL::ARM_NUM_CANRX_FAULTS, 0},
-         {CANSIGNAL::ARM_NUM_CANTX_FAULTS, 0},
+          (CANSignalValue_t)ARM_RIGHT_WRIST_CURRENT_SENSOR_STATE_VALUES::SNA},
+         {CANSIGNAL::ARM_CLAW_ENCODER_STATE, (CANSignalValue_t)ARM_CLAW_ENCODER_STATE_VALUES::SNA},
+         {CANSIGNAL::ARM_CLAW_CURRENT_SENSOR_STATE, (CANSignalValue_t)ARM_CLAW_CURRENT_SENSOR_STATE_VALUES::SNA},
      }},
     {CANID::ARM_REPORT_DIAGNOSTICS,
      {
@@ -150,6 +139,7 @@ static CANMsgMap txMsgMap = {
 const static CANMsg::CANMsgHandlerMap rxOneShotMsgHandler = {
     {CANID::ARM_SET_CONTROL_MODE, &oneShotHandler},
     {CANID::ARM_SET_JOINT_PID_PARAMS, &oneShotHandler},
+    {CANID::ARM_SET_JOINT_SAFETY_CHECK, &oneShotHandler},
     {CANID::COMMON_SWITCH_CAN_BUS, &switchCANBus},
 };
 

diff --git a/apps/test-stress-can/include/CANConfigGimbal.h b/apps/test-stress-can/include/CANConfigGimbal.h
@@ -35,24 +35,20 @@ static CANMsgMap rxMsgMap = {
     // One-shot messages
     {CANID::GIMBAL_SET_CONTROL_MODE,
      {
-         {CANSIGNAL::GIMBAL_PAN_CONTROL_MODE,
-          (CANSignalValue_t)GIMBAL_PAN_CONTROL_MODE_VALUES::GIMBAL_PAN_CONTROL_MODE_SNA},
+         {CANSIGNAL::GIMBAL_PAN_CONTROL_MODE, (CANSignalValue_t)GIMBAL_PAN_CONTROL_MODE_VALUES::SNA},
      }},
     {CANID::GIMBAL_SET_JOINT_PID_PARAMS,
      {
-         {CANSIGNAL::GIMBAL_JOINT_PIDID, (CANSignalValue_t)GIMBAL_JOINT_PIDID_VALUES::GIMBAL_JOINT_PIDID_SNA},
+         {CANSIGNAL::GIMBAL_JOINT_PIDID, (CANSignalValue_t)GIMBAL_JOINT_PIDID_VALUES::SNA},
          {CANSIGNAL::GIMBAL_JOINT_PID_PROPORTIONAL_GAIN,
-          (CANSignalValue_t)GIMBAL_JOINT_PID_PROPORTIONAL_GAIN_VALUES::GIMBAL_JOINT_PID_PROPORTIONAL_GAIN_SNA},
-         {CANSIGNAL::GIMBAL_JOINT_PID_INTEGRAL_GAIN,
-          (CANSignalValue_t)GIMBAL_JOINT_PID_INTEGRAL_GAIN_VALUES::GIMBAL_JOINT_PID_INTEGRAL_GAIN_SNA},
-         {CANSIGNAL::GIMBAL_JOINT_PID_DERIVATIVE_GAIN,
-          (CANSignalValue_t)GIMBAL_JOINT_PID_DERIVATIVE_GAIN_VALUES::GIMBAL_JOINT_PID_DERIVATIVE_GAIN_SNA},
-         {CANSIGNAL::GIMBAL_JOINT_PID_DEADZONE,
-          (CANSignalValue_t)GIMBAL_JOINT_PID_DEADZONE_VALUES::GIMBAL_JOINT_PID_DEADZONE_SNA},
+          (CANSignalValue_t)GIMBAL_JOINT_PID_PROPORTIONAL_GAIN_VALUES::SNA},
+         {CANSIGNAL::GIMBAL_JOINT_PID_INTEGRAL_GAIN, (CANSignalValue_t)GIMBAL_JOINT_PID_INTEGRAL_GAIN_VALUES::SNA},
+         {CANSIGNAL::GIMBAL_JOINT_PID_DERIVATIVE_GAIN, (CANSignalValue_t)GIMBAL_JOINT_PID_DERIVATIVE_GAIN_VALUES::SNA},
+         {CANSIGNAL::GIMBAL_JOINT_PID_DEADZONE, (CANSignalValue_t)GIMBAL_JOINT_PID_DEADZONE_VALUES::SNA},
      }},
     {CANID::COMMON_SWITCH_CAN_BUS,
      {
-         {CANSIGNAL::COMMON_CAN_BUS_ID, (CANSignalValue_t)COMMON_CAN_BUS_ID_VALUES::COMMON_CAN_BUS_ID_SNA},
+         {CANSIGNAL::COMMON_CAN_BUS_ID, (CANSignalValue_t)COMMON_CAN_BUS_ID_VALUES::SNA},
      }},
 };
 
@@ -64,10 +60,7 @@ static CANMsgMap txMsgMap = {
      }},
     {CANID::GIMBAL_REPORT_FAULTS,
      {
-         {CANSIGNAL::GIMBAL_PAN_ENCODER_STATE,
-          (CANSignalValue_t)GIMBAL_PAN_ENCODER_STATE_VALUES::GIMBAL_PAN_ENCODER_STATE_SNA},
-         {CANSIGNAL::GIMBAL_NUM_CANRX_FAULTS, 0},
-         {CANSIGNAL::GIMBAL_NUM_CANTX_FAULTS, 0},
+         {CANSIGNAL::GIMBAL_PAN_ENCODER_STATE, (CANSignalValue_t)GIMBAL_PAN_ENCODER_STATE_VALUES::SNA},
      }},
     {CANID::GIMBAL_REPORT_DIAGNOSTICS,
      {

diff --git a/apps/test-stress-can/include/CANConfigPDB.h b/apps/test-stress-can/include/CANConfigPDB.h
@@ -23,11 +23,11 @@ static CANMsgMap rxMsgMap = {
     // One-shot messages
     {CANID::PDB_SET_LED_MATRIX,
      {
-         {CANSIGNAL::PDB_LED_MATRIX_STATE, (CANSignalValue_t)PDB_LED_MATRIX_STATE_VALUES::PDB_LED_MATRIX_STATE_SNA},
+         {CANSIGNAL::PDB_LED_MATRIX_STATE, (CANSignalValue_t)PDB_LED_MATRIX_STATE_VALUES::SNA},
      }},
     {CANID::COMMON_SWITCH_CAN_BUS,
      {
-         {CANSIGNAL::COMMON_CAN_BUS_ID, (CANSignalValue_t)COMMON_CAN_BUS_ID_VALUES::COMMON_CAN_BUS_ID_SNA},
+         {CANSIGNAL::COMMON_CAN_BUS_ID, (CANSignalValue_t)COMMON_CAN_BUS_ID_VALUES::SNA},
      }},
 };
 
@@ -41,15 +41,13 @@ static CANMsgMap txMsgMap = {
      }},
     {CANID::PDB_REPORT_FAULTS,
      {
-         {CANSIGNAL::PDB_JETSON_STATUS, (CANSignalValue_t)PDB_JETSON_STATUS_VALUES::PDB_JETSON_STATUS_SNA},
-         {CANSIGNAL::PDB_ARM_POWER_STATUS, (CANSignalValue_t)PDB_ARM_POWER_STATUS_VALUES::PDB_ARM_POWER_STATUS_SNA},
-         {CANSIGNAL::PDB_SCIENCE_POWER_STATUS,
-          (CANSignalValue_t)PDB_SCIENCE_POWER_STATUS_VALUES::PDB_SCIENCE_POWER_STATUS_SNA},
-         {CANSIGNAL::PDB_GIMBAL_POWER_STATUS,
-          (CANSignalValue_t)PDB_GIMBAL_POWER_STATUS_VALUES::PDB_GIMBAL_POWER_STATUS_SNA},
-         {CANSIGNAL::PDB_VBAT_RAIL_STATUS, (CANSignalValue_t)PDB_VBAT_RAIL_STATUS_VALUES::PDB_VBAT_RAIL_STATUS_SNA},
-         {CANSIGNAL::PDB_17_V_RAIL_STATUS, (CANSignalValue_t)PDB_17_V_RAIL_STATUS_VALUES::PDB_17_V_RAIL_STATUS_SNA},
-         {CANSIGNAL::PDB_5_V_RAIL_STATUS, (CANSignalValue_t)PDB_5_V_RAIL_STATUS_VALUES::PDB_5_V_RAIL_STATUS_SNA},
+         {CANSIGNAL::PDB_JETSON_STATUS, (CANSignalValue_t)PDB_JETSON_STATUS_VALUES::SNA},
+         {CANSIGNAL::PDB_ARM_POWER_STATUS, (CANSignalValue_t)PDB_ARM_POWER_STATUS_VALUES::SNA},
+         {CANSIGNAL::PDB_SCIENCE_POWER_STATUS, (CANSignalValue_t)PDB_SCIENCE_POWER_STATUS_VALUES::SNA},
+         {CANSIGNAL::PDB_GIMBAL_POWER_STATUS, (CANSignalValue_t)PDB_GIMBAL_POWER_STATUS_VALUES::SNA},
+         {CANSIGNAL::PDB_VBAT_RAIL_STATUS, (CANSignalValue_t)PDB_VBAT_RAIL_STATUS_VALUES::SNA},
+         {CANSIGNAL::PDB_17_V_RAIL_STATUS, (CANSignalValue_t)PDB_17_V_RAIL_STATUS_VALUES::SNA},
+         {CANSIGNAL::PDB_5_V_RAIL_STATUS, (CANSignalValue_t)PDB_5_V_RAIL_STATUS_VALUES::SNA},
          {CANSIGNAL::PDB_NUM_CANRX_FAULTS, 0},
          {CANSIGNAL::PDB_NUM_CANTX_FAULTS, 0},
      }},

diff --git a/apps/test-stress-can/include/CANConfigScience.h b/apps/test-stress-can/include/CANConfigScience.h
@@ -38,26 +38,22 @@ static CANMsgMap rxMsgMap = {
     // One-shot messages
     {CANID::SCIENCE_SET_CONTROL_MODE,
      {
-         {CANSIGNAL::SCIENCE_GENEVA_CONTROL_MODE,
-          (CANSignalValue_t)SCIENCE_GENEVA_CONTROL_MODE_VALUES::SCIENCE_GENEVA_CONTROL_MODE_SNA},
-         {CANSIGNAL::SCIENCE_ELEVATOR_CONTROL_MODE,
-          (CANSignalValue_t)SCIENCE_ELEVATOR_CONTROL_MODE_VALUES::SCIENCE_ELEVATOR_CONTROL_MODE_SNA},
+         {CANSIGNAL::SCIENCE_GENEVA_CONTROL_MODE, (CANSignalValue_t)SCIENCE_GENEVA_CONTROL_MODE_VALUES::SNA},
+         {CANSIGNAL::SCIENCE_ELEVATOR_CONTROL_MODE, (CANSignalValue_t)SCIENCE_ELEVATOR_CONTROL_MODE_VALUES::SNA},
      }},
     {CANID::SCIENCE_SET_JOINT_PID_PARAMS,
      {
-         {CANSIGNAL::SCIENCE_JOINT_PIDID, (CANSignalValue_t)SCIENCE_JOINT_PIDID_VALUES::SCIENCE_JOINT_PIDID_SNA},
+         {CANSIGNAL::SCIENCE_JOINT_PIDID, (CANSignalValue_t)SCIENCE_JOINT_PIDID_VALUES::SNA},
          {CANSIGNAL::SCIENCE_JOINT_PID_PROPORTIONAL_GAIN,
-          (CANSignalValue_t)SCIENCE_JOINT_PID_PROPORTIONAL_GAIN_VALUES::SCIENCE_JOINT_PID_PROPORTIONAL_GAIN_SNA},
-         {CANSIGNAL::SCIENCE_JOINT_PID_INTEGRAL_GAIN,
-          (CANSignalValue_t)SCIENCE_JOINT_PID_INTEGRAL_GAIN_VALUES::SCIENCE_JOINT_PID_INTEGRAL_GAIN_SNA},
+          (CANSignalValue_t)SCIENCE_JOINT_PID_PROPORTIONAL_GAIN_VALUES::SNA},
+         {CANSIGNAL::SCIENCE_JOINT_PID_INTEGRAL_GAIN, (CANSignalValue_t)SCIENCE_JOINT_PID_INTEGRAL_GAIN_VALUES::SNA},
          {CANSIGNAL::SCIENCE_JOINT_PID_DERIVATIVE_GAIN,
-          (CANSignalValue_t)SCIENCE_JOINT_PID_DERIVATIVE_GAIN_VALUES::SCIENCE_JOINT_PID_DERIVATIVE_GAIN_SNA},
-         {CANSIGNAL::SCIENCE_JOINT_PID_DEADZONE,
-          (CANSignalValue_t)SCIENCE_JOINT_PID_DEADZONE_VALUES::SCIENCE_JOINT_PID_DEADZONE_SNA},
+          (CANSignalValue_t)SCIENCE_JOINT_PID_DERIVATIVE_GAIN_VALUES::SNA},
+         {CANSIGNAL::SCIENCE_JOINT_PID_DEADZONE, (CANSignalValue_t)SCIENCE_JOINT_PID_DEADZONE_VALUES::SNA},
      }},
     {CANID::COMMON_SWITCH_CAN_BUS,
      {
-         {CANSIGNAL::COMMON_CAN_BUS_ID, (CANSignalValue_t)COMMON_CAN_BUS_ID_VALUES::COMMON_CAN_BUS_ID_SNA},
+         {CANSIGNAL::COMMON_CAN_BUS_ID, (CANSignalValue_t)COMMON_CAN_BUS_ID_VALUES::SNA},
      }},
 };
 
@@ -76,14 +72,9 @@ static CANMsgMap txMsgMap = {
      }},
     {CANID::SCIENCE_REPORT_FAULTS,
      {
-         {CANSIGNAL::SCIENCE_GENEVA_ENCODER_STATE,
-          (CANSignalValue_t)SCIENCE_GENEVA_ENCODER_STATE_VALUES::SCIENCE_GENEVA_ENCODER_STATE_SNA},
-         {CANSIGNAL::SCIENCE_ELEVATOR_ENCODER_STATE,
-          (CANSignalValue_t)SCIENCE_ELEVATOR_ENCODER_STATE_VALUES::SCIENCE_ELEVATOR_ENCODER_STATE_SNA},
-         {CANSIGNAL::SCIENCE_MOISTURE_SENSOR_STATE,
-          (CANSignalValue_t)SCIENCE_MOISTURE_SENSOR_STATE_VALUES::SCIENCE_MOISTURE_SENSOR_STATE_SNA},
-         {CANSIGNAL::SCIENCE_NUM_CANRX_FAULTS, 0},
-         {CANSIGNAL::SCIENCE_NUM_CANTX_FAULTS, 0},
+         {CANSIGNAL::SCIENCE_GENEVA_ENCODER_STATE, (CANSignalValue_t)SCIENCE_GENEVA_ENCODER_STATE_VALUES::SNA},
+         {CANSIGNAL::SCIENCE_ELEVATOR_ENCODER_STATE, (CANSignalValue_t)SCIENCE_ELEVATOR_ENCODER_STATE_VALUES::SNA},
+         {CANSIGNAL::SCIENCE_MOISTURE_SENSOR_STATE, (CANSignalValue_t)SCIENCE_MOISTURE_SENSOR_STATE_VALUES::SNA},
      }},
     {CANID::SCIENCE_REPORT_DIAGNOSTICS,
      {

diff --git a/apps/test-stress-can/src/main.cpp b/apps/test-stress-can/src/main.cpp
@@ -1,4 +1,4 @@
-#include "CANConfigPDB.h"  // Include the header for the board you want to simulate
+#include "CANConfigArm.h"  // Include the header for the board you want to simulate
 #include "Logger.h"
 
 CANInterface can(CANConfig::config);