diff --git a/.mxproject b/.mxproject
index 6e2bbe0..1e9aa59 100644
--- a/.mxproject
+++ b/.mxproject
@@ -1,5 +1,5 @@
 [PreviousLibFiles]
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ares\ST\threadx\common\src\tx_byte_pool_search.c;..\Middlewares\ST\threadx\common\src\tx_byte_release.c;..\Middlewares\ST\threadx\common\src\tx_event_flags_cleanup.c;..\Middlewares\ST\threadx\common\src\tx_event_flags_create.c;..\Middlewares\ST\threadx\common\src\tx_event_flags_delete.c;..\Middlewares\ST\threadx\common\src\tx_event_flags_get.c;..\Middlewares\ST\threadx\common\src\tx_event_flags_info_get.c;..\Middlewares\ST\threadx\common\src\tx_event_flags_initialize.c;..\Middlewares\ST\threadx\common\src\tx_event_flags_set.c;..\Middlewares\ST\threadx\common\src\tx_event_flags_set_notify.c;..\Middlewares\ST\threadx\common\src\tx_mutex_cleanup.c;..\Middlewares\ST\threadx\common\src\tx_mutex_create.c;..\Middlewares\ST\threadx\common\src\tx_mutex_delete.c;..\Middlewares\ST\threadx\common\src\tx_mutex_get.c;..\Middlewares\ST\threadx\common\src\tx_mutex_info_get.c;..\Middlewares\ST\threadx\common\src\tx_mutex_initialize.c;..\Middlewares\ST\threadx\common\src\tx_mutex_prioritize.c;..\Middlewares\ST\threadx\common\src\tx_mutex_priority_change.c;..\Middlewares\ST\threadx\common\src\tx_mutex_put.c;..\Middlewares\ST\threadx\common\src\tx_queue_cleanup.c;..\Middlewares\ST\threadx\common\src\tx_queue_create.c;..\Middlewares\ST\threadx\common\src\tx_queue_delete.c;..\Middlewares\ST\threadx\common\src\tx_queue_flush.c;..\Middlewares\ST\threadx\common\src\tx_queue_front_send.c;..\Middlewares\ST\threadx\common\src\tx_queue_info_get.c;..\Middlewares\ST\threadx\common\src\tx_queue_initialize.c;..\Middlewares\ST\threadx\common\src\tx_queue_prioritize.c;..\Middlewares\ST\threadx\common\src\tx_queue_receive.c;..\Middlewares\ST\threadx\common\src\tx_queue_send.c;..\Middlewares\ST\threadx\common\src\tx_queue_send_notify.c;..\Middlewares\ST\threadx\common\src\tx_semaphore_ceiling_put.c;..\Middlewares\ST\threadx\common\src\tx_semaphore_cleanup.c;..\Middlewares\ST\threadx\common\src\tx_semaphore_create.c;..\Middlewares\ST\threadx\common\src\tx_semaphore_delete.c;..\Middlewares\ST\threadx\common\src\tx_semaphore_get.c;..\Middlewares\ST\threadx\common\src\tx_semaphore_info_get.c;..\Middlewares\ST\threadx\common\src\tx_semaphore_initialize.c;..\Middlewares\ST\threadx\common\src\tx_semaphore_prioritize.c;..\Middlewares\ST\threadx\common\src\tx_semaphore_put.c;..\Middlewares\ST\threadx\common\src\tx_semaphore_put_notify.c;..\Middlewares\ST\threadx\common\src\tx_thread_create.c;..\Middlewares\ST\threadx\common\src\tx_thread_delete.c;..\Middlewares\ST\threadx\common\src\tx_thread_entry_exit_notify.c;..\Middlewares\ST\threadx\common\src\tx_thread_identify.c;..\Middlewares\ST\threadx\common\src\tx_thread_info_get.c;..\Middlewares\ST\threadx\common\src\tx_thread_initialize.c;..\Middlewares\ST\threadx\common\src\tx_thread_preemption_change.c;..\Middlewares\ST\threadx\common\src\tx_thread_priority_change.c;..\Middlewares\ST\threadx\common\src\tx_thread_relinquish.c;..\Middlewares\ST\threadx\common\src\tx_thread_reset.c;..\Middlewares\ST\threadx\common\src\tx_thread_resume.c;..\Middlewares\ST\threadx\common\src\tx_thread_shell_entry.c;..\Middlewares\ST\threadx\common\src\tx_thread_sleep.c;..\Middlewares\ST\threadx\common\src\tx_thread_stack_analyze.c;..\Middlewares\ST\threadx\common\src\tx_thread_suspend.c;..\Middlewares\ST\threadx\common\src\tx_thread_system_preempt_check.c;..\Middlewares\ST\threadx\common\src\tx_thread_system_suspend.c;..\Middlewares\ST\threadx\common\src\tx_thread_terminate.c;..\Middlewares\ST\threadx\common\src\tx_thread_time_slice.c;..\Middlewares\ST\threadx\common\src\tx_thread_time_slice_change.c;..\Middlewares\ST\threadx\common\src\tx_thread_timeout.c;..\Middlewares\ST\threadx\common\src\tx_thread_wait_abort.c;..\Middlewares\ST\threadx\common\src\tx_time_get.c;..\Middlewares\ST\threadx\common\src\tx_time_set.c;..\Middlewares\ST\threadx\common\src\txe_block_allocate.c;..\Middlewares\ST\threadx\common\src\txe_block_pool_create.c;..\Middlewares\ST\threadx\common\src\txe_block_pool_delete.c;..\Middlewares\ST\threadx\common\src\txe_block_pool_info_get.c;..\Middlewares\ST\threadx\common\src\txe_block_pool_prioritize.c;..\Middlewares\ST\threadx\common\src\txe_block_release.c;..\Middlewares\ST\threadx\common\src\txe_byte_allocate.c;..\Middlewares\ST\threadx\common\src\txe_byte_pool_create.c;..\Middlewares\ST\threadx\common\src\txe_byte_pool_delete.c;..\Middlewares\ST\threadx\common\src\txe_byte_pool_info_get.c;..\Middlewares\ST\threadx\common\src\txe_byte_pool_prioritize.c;..\Middlewares\ST\threadx\common\src\txe_byte_release.c;..\Middlewares\ST\threadx\common\src\txe_event_flags_create.c;..\Middlewares\ST\threadx\common\src\txe_event_flags_delete.c;..\Middlewares\ST\threadx\common\src\txe_event_flags_get.c;..\Middlewares\ST\threadx\common\src\txe_event_flags_info_get.c;..\Middlewares\ST\threadx\common\src\txe_event_flags_set.c;..\Middlewares\ST\threadx\common\src\txe_event_flags_set_notify.c;..\Middlewares\ST\threadx\common\src\txe_mutex_create.c;..\Middlewares\ST\threadx\common\src\txe_mutex_delete.c;..\Middlewares\ST\threadx\common\src\txe_mutex_get.c;..\Middlewares\ST\threadx\common\src\txe_mutex_info_get.c;..\Middlewares\ST\threadx\common\src\txe_mutex_prioritize.c;..\Middlewares\ST\threadx\common\src\txe_mutex_put.c;..\Middlewares\ST\threadx\common\src\txe_queue_create.c;..\Middlewares\ST\threadx\common\src\txe_queue_delete.c;..\Middlewares\ST\threadx\common\src\txe_queue_flush.c;..\Middlewares\ST\threadx\common\src\txe_queue_front_send.c;..\Middlewares\ST\threadx\common\src\txe_queue_info_get.c;..\Middlewares\ST\threadx\common\src\txe_queue_prioritize.c;..\Middlewares\ST\threadx\common\src\txe_queue_receive.c;..\Middlewares\ST\threadx\common\src\txe_queue_send.c;..\Middlewares\ST\threadx\common\src\txe_queue_send_notify.c;..\Middlewares\ST\threadx\common\src\txe_semaphore_ceiling_put.c;..\Middlewares\ST\threadx\common\src\txe_semaphore_create.c;..\Middlewares\ST\threadx\common\src\txe_semaphore_delete.c;..\Middlewares\ST\threadx\common\src\txe_semaphore_get.c;..\Middlewares\ST\threadx\common\src\txe_semaphore_info_get.c;..\Middlewares\ST\threadx\common\src\txe_semaphore_prioritize.c;..\Middlewares\ST\threadx\common\src\txe_semaphore_put.c;..\Middlewares\ST\threadx\common\src\txe_semaphore_put_notify.c;..\Middlewares\ST\threadx\common\src\txe_thread_create.c;..\Middlewares\ST\threadx\common\src\txe_thread_delete.c;..\Middlewares\ST\threadx\common\src\txe_thread_entry_exit_notify.c;..\Middlewares\ST\threadx\common\src\txe_thread_info_get.c;..\Middlewares\ST\threadx\common\src\txe_thread_preemption_change.c;..\Middlewares\ST\threadx\common\src\txe_thread_priority_change.c;..\Middlewares\ST\threadx\common\src\txe_thread_relinquish.c;..\Middlewares\ST\threadx\common\src\txe_thread_reset.c;..\Middlewares\ST\threadx\common\src\txe_thread_resume.c;..\Middlewares\ST\threadx\common\src\txe_thread_suspend.c;..\Middlewares\ST\threadx\common\src\txe_thread_terminate.c;..\Middlewares\ST\threadx\common\src\txe_thread_time_slice_change.c;..\Middlewares\ST\threadx\common\src\txe_thread_wait_abort.c;..\Middlewares\ST\threadx\common\src\tx_timer_activate.c;..\Middlewares\ST\threadx\common\src\tx_timer_change.c;..\Middlewares\ST\threadx\common\src\tx_timer_create.c;..\Middlewares\ST\threadx\common\src\tx_timer_deactivate.c;..\Middlewares\ST\threadx\common\src\tx_timer_delete.c;..\Middlewares\ST\threadx\common\src\tx_timer_expiration_process.c;..\Middlewares\ST\threadx\common\src\tx_timer_info_get.c;..\Middlewares\ST\threadx\common\src\tx_timer_initialize.c;..\Middlewares\ST\threadx\common\src\tx_timer_system_activate.c;..\Middlewares\ST\threadx\common\src\tx_timer_system_deactivate.c;..\Middlewares\ST\threadx\common\src\tx_timer_thread_entry.c;..\Middlewares\ST\threadx\common\src\txe_timer_activate.c;..\Middlewares\ST\threadx\common\src\txe_timer_change.c;..\Middlewares\ST\threadx\common\src\txe_timer_create.c;..\Middlewares\ST\threadx\common\src\txe_timer_deactivate.c;..\Middlewares\ST\threadx\common\src\txe_timer_delete.c;..\Middlewares\ST\threadx\common\src\txe_timer_info_get.c;..\Drivers\CMSIS\Device\ST\STM32H5xx\Source\Templates\system_stm32h5xx.c;..\Core\Src\system_stm32h5xx.c;;;
diff --git a/Core/Inc/can_messages_rx.h b/Core/Inc/can_messages_rx.h
index 8d274c1..e0cff33 100644
--- a/Core/Inc/can_messages_rx.h
+++ b/Core/Inc/can_messages_rx.h
@@ -14,6 +14,12 @@
 #include "fdcan.h"
 #include "bitstream.h"
 
+typedef struct {
+ uint8_t button_id;
+} wheel_buttons_t;
+
+void receive_wheel_buttons(const can_msg_t *message, wheel_buttons_t *wheel_buttons);
+
 typedef struct {
  float temp;
  float humidity;
@@ -129,46 +135,82 @@ typedef struct {
 void receive_back_msb_orientation(const can_msg_t *message, back_msb_orientation_t *back_msb_orientation);
 
 typedef struct {
- float current_target_ac;
-} ac_current_command_t;
+ uint8_t pwm_duty;
+} shepherd_bms_fan_percent_t;
 
-void receive_ac_current_command(const can_msg_t *message, ac_current_command_t *ac_current_command);
+void receive_shepherd_bms_fan_percent(const can_msg_t *message, shepherd_bms_fan_percent_t *shepherd_bms_fan_percent);
 
 typedef struct {
- float brake_ac_current;
-} brake_current_command_t;
+ uint8_t state;
+} dashboard_efuse_state_t;
 
-void receive_brake_current_command(const can_msg_t *message, brake_current_command_t *brake_current_command);
+void receive_dashboard_efuse_state(const can_msg_t *message, dashboard_efuse_state_t *dashboard_efuse_state);
 
 typedef struct {
- float max_current_ac_target;
-} max_ac_current_command_t;
+ uint8_t state;
+} brake_efuse_state_t;
 
-void receive_max_ac_current_command(const can_msg_t *message, max_ac_current_command_t *max_ac_current_command);
+void receive_brake_efuse_state(const can_msg_t *message, brake_efuse_state_t *brake_efuse_state);
 
 typedef struct {
- float max_ac_brake_current_target;
-} max_ac_brake_current_command_t;
+ uint8_t state;
+} shutdown_efuse_state_t;
 
-void receive_max_ac_brake_current_command(const can_msg_t *message, max_ac_brake_current_command_t *max_ac_brake_current_command);
+void receive_shutdown_efuse_state(const can_msg_t *message, shutdown_efuse_state_t *shutdown_efuse_state);
 
 typedef struct {
- float max_dc_current_target;
-} max_dc_current_command_t;
+ uint8_t state;
+} lv_efuse_state_t;
 
-void receive_max_dc_current_command(const can_msg_t *message, max_dc_current_command_t *max_dc_current_command);
+void receive_lv_efuse_state(const can_msg_t *message, lv_efuse_state_t *lv_efuse_state);
 
 typedef struct {
- float max_dc_brake_current_target;
-} max_dc_brake_current_command_t;
+ uint8_t state;
+} radfan_efuse_state_t;
 
-void receive_max_dc_brake_current_command(const can_msg_t *message, max_dc_brake_current_command_t *max_dc_brake_current_command);
+void receive_radfan_efuse_state(const can_msg_t *message, radfan_efuse_state_t *radfan_efuse_state);
 
 typedef struct {
- uint8_t drive_enable;
-} drive_enable_command_t;
+ uint8_t state;
+} fanbatt_efuse_state_t;
 
-void receive_drive_enable_command(const can_msg_t *message, drive_enable_command_t *drive_enable_command);
+void receive_fanbatt_efuse_state(const can_msg_t *message, fanbatt_efuse_state_t *fanbatt_efuse_state);
+
+typedef struct {
+ uint8_t state;
+} pumpone_efuse_state_t;
+
+void receive_pumpone_efuse_state(const can_msg_t *message, pumpone_efuse_state_t *pumpone_efuse_state);
+
+typedef struct {
+ uint8_t state;
+} pumptwo_efuse_state_t;
+
+void receive_pumptwo_efuse_state(const can_msg_t *message, pumptwo_efuse_state_t *pumptwo_efuse_state);
+
+typedef struct {
+ uint8_t state;
+} battbox_efuse_state_t;
+
+void receive_battbox_efuse_state(const can_msg_t *message, battbox_efuse_state_t *battbox_efuse_state);
+
+typedef struct {
+ uint8_t state;
+} mc_efuse_state_t;
+
+void receive_mc_efuse_state(const can_msg_t *message, mc_efuse_state_t *mc_efuse_state);
+
+typedef struct {
+ uint8_t state;
+} spare_efuse_state_t;
+
+void receive_spare_efuse_state(const can_msg_t *message, spare_efuse_state_t *spare_efuse_state);
+
+typedef struct {
+ uint8_t command;
+} rtds_command_message_t;
+
+void receive_rtds_command_message(const can_msg_t *message, rtds_command_message_t *rtds_command_message);
 
 typedef struct {
  uint16_t ADC;
@@ -294,7 +336,6 @@ void receive_spare_efuse(const can_msg_t *message, spare_efuse_t *spare_efuse);
 typedef struct {
  bool bms_gpio;
  bool bots_gpio;
- bool spare_gpio;
  bool bspd_gpio;
  bool hv_c;
  bool hvd_gpio;
@@ -373,7 +414,6 @@ typedef struct {
  bool CAN_INCOMING_FAULT;
  bool BMS_CAN_MONITOR_FAULT;
  bool LIGHTNING_CAN_MONITOR_FAULT;
- bool SHUTDOWN_FAULT;
  bool ONBOARD_TEMP_FAULT;
  bool IMU_ACCEL_FAULT;
  bool IMU_GYRO_FAULT;
@@ -385,6 +425,7 @@ typedef struct {
  bool ONBOARD_PEDAL_DIFFERENCE_FAULT;
  bool RTDS_FAULT;
  bool LV_LOW_VOLTAGE_FAULT;
+ bool PRECHARGE_FLOATING_FAULT;
 } faults_t;
 
 void receive_faults(const can_msg_t *message, faults_t *faults);
@@ -485,87 +526,16 @@ typedef struct {
  bool ACCEL_SC;
  bool ACCEL_DIFF;
  bool BSPD_PREF;
+ bool BMS_NOT_PRECHARGED_YET;
 } drive_lock_states_t;
 
 void receive_drive_lock_states(const can_msg_t *message, drive_lock_states_t *drive_lock_states);
 
 typedef struct {
- uint8_t pwm_duty;
-} shepherd_bms_fan_percent_t;
-
-void receive_shepherd_bms_fan_percent(const can_msg_t *message, shepherd_bms_fan_percent_t *shepherd_bms_fan_percent);
-
-typedef struct {
- uint8_t state;
-} dashboard_efuse_state_t;
-
-void receive_dashboard_efuse_state(const can_msg_t *message, dashboard_efuse_state_t *dashboard_efuse_state);
-
-typedef struct {
- uint8_t state;
-} brake_efuse_state_t;
-
-void receive_brake_efuse_state(const can_msg_t *message, brake_efuse_state_t *brake_efuse_state);
-
-typedef struct {
- uint8_t state;
-} shutdown_efuse_state_t;
-
-void receive_shutdown_efuse_state(const can_msg_t *message, shutdown_efuse_state_t *shutdown_efuse_state);
-
-typedef struct {
- uint8_t state;
-} lv_efuse_state_t;
-
-void receive_lv_efuse_state(const can_msg_t *message, lv_efuse_state_t *lv_efuse_state);
-
-typedef struct {
- uint8_t state;
-} radfan_efuse_state_t;
-
-void receive_radfan_efuse_state(const can_msg_t *message, radfan_efuse_state_t *radfan_efuse_state);
-
-typedef struct {
- uint8_t state;
-} fanbatt_efuse_state_t;
-
-void receive_fanbatt_efuse_state(const can_msg_t *message, fanbatt_efuse_state_t *fanbatt_efuse_state);
-
-typedef struct {
- uint8_t state;
-} pumpone_efuse_state_t;
-
-void receive_pumpone_efuse_state(const can_msg_t *message, pumpone_efuse_state_t *pumpone_efuse_state);
-
-typedef struct {
- uint8_t state;
-} pumptwo_efuse_state_t;
-
-void receive_pumptwo_efuse_state(const can_msg_t *message, pumptwo_efuse_state_t *pumptwo_efuse_state);
-
-typedef struct {
- uint8_t state;
-} battbox_efuse_state_t;
-
-void receive_battbox_efuse_state(const can_msg_t *message, battbox_efuse_state_t *battbox_efuse_state);
-
-typedef struct {
- uint8_t state;
-} mc_efuse_state_t;
-
-void receive_mc_efuse_state(const can_msg_t *message, mc_efuse_state_t *mc_efuse_state);
-
-typedef struct {
- uint8_t state;
-} spare_efuse_state_t;
-
-void receive_spare_efuse_state(const can_msg_t *message, spare_efuse_state_t *spare_efuse_state);
-
-typedef struct {
- uint8_t command;
-} rtds_command_message_t;
+ bool reset_latching;
+} reset_latching_fault_t;
 
-void receive_rtds_command_message(const can_msg_t *message, rtds_command_message_t *rtds_command_message);
+void receive_reset_latching_fault(const can_msg_t *message, reset_latching_fault_t *reset_latching_fault);
 
 typedef struct {
  uint16_t R_iso_corrected;
@@ -585,12 +555,6 @@ typedef struct {
 
 void receive_imd_general_information(const can_msg_t *message, imd_general_information_t *imd_general_information);
 
-typedef struct {
- uint8_t button_id;
-} wheel_buttons_t;
-
-void receive_wheel_buttons(const can_msg_t *message, wheel_buttons_t *wheel_buttons);
-
 typedef struct {
  float charge_volts;
  float charge_current;
@@ -844,7 +808,7 @@ typedef struct {
 void receive_onboard_therm_temperatures(const can_msg_t *message, onboard_therm_temperatures_t *onboard_therm_temperatures);
 
 typedef struct {
- bool precharge_status;
+ uint8_t precharge_status;
 } precharge_status_t;
 
 void receive_precharge_status(const can_msg_t *message, precharge_status_t *precharge_status);
@@ -852,11 +816,9 @@ void receive_precharge_status(const can_msg_t *message, precharge_status_t *prec
 typedef struct {
  float batt_voltage;
  float ts_voltage;
- float shunt_temp;
- float pack_current;
-} hv_plate_data_t;
+} hv_plate_voltages_t;
 
-void receive_hv_plate_data(const can_msg_t *message, hv_plate_data_t *hv_plate_data);
+void receive_hv_plate_voltages(const can_msg_t *message, hv_plate_voltages_t *hv_plate_voltages);
 
 typedef struct {
  uint8_t chip_id;
@@ -921,7 +883,11 @@ typedef struct {
 void receive_pack_soc_status(const can_msg_t *message, pack_soc_status_t *pack_soc_status);
 
 typedef struct {
- bool shutdown;
+ bool shutdown_state;
+ bool shutdown_ts_minus_sense;
+ bool shutdown_ts_plus_sense;
+ bool shutdown_acc_sense;
+ bool shutdown_tsip_sense;
 } shutdown_as_read_by_bms_t;
 
 void receive_shutdown_as_read_by_bms(const can_msg_t *message, shutdown_as_read_by_bms_t *shutdown_as_read_by_bms);
@@ -940,6 +906,69 @@ typedef struct {
 
 void receive_bms_critically_faulted(const can_msg_t *message, bms_critically_faulted_t *bms_critically_faulted);
 
+typedef struct {
+ float pack_current;
+ float shunt_temp;
+} pack_current_and_shunt_temp_t;
+
+void receive_pack_current_and_shunt_temp(const can_msg_t *message, pack_current_and_shunt_temp_t *pack_current_and_shunt_temp);
+
+typedef struct {
+ float batt_volts;
+ float ts_volts;
+} hv_plate_voltages_adbms_t;
+
+void receive_hv_plate_voltages_adbms(const can_msg_t *message, hv_plate_voltages_adbms_t *hv_plate_voltages_adbms);
+
+typedef struct {
+ float pack_current;
+ float shunt_temp;
+} pack_current_and_shunt_temp_adbms_t;
+
+void receive_pack_current_and_shunt_temp_adbms(const can_msg_t *message, pack_current_and_shunt_temp_adbms_t *pack_current_and_shunt_temp_adbms);
+
+typedef struct {
+ float current_target_ac;
+} ac_current_command_t;
+
+void receive_ac_current_command(const can_msg_t *message, ac_current_command_t *ac_current_command);
+
+typedef struct {
+ float brake_ac_current;
+} brake_current_command_t;
+
+void receive_brake_current_command(const can_msg_t *message, brake_current_command_t *brake_current_command);
+
+typedef struct {
+ float max_current_ac_target;
+} max_ac_current_command_t;
+
+void receive_max_ac_current_command(const can_msg_t *message, max_ac_current_command_t *max_ac_current_command);
+
+typedef struct {
+ float max_ac_brake_current_target;
+} max_ac_brake_current_command_t;
+
+void receive_max_ac_brake_current_command(const can_msg_t *message, max_ac_brake_current_command_t *max_ac_brake_current_command);
+
+typedef struct {
+ float max_dc_current_target;
+} max_dc_current_command_t;
+
+void receive_max_dc_current_command(const can_msg_t *message, max_dc_current_command_t *max_dc_current_command);
+
+typedef struct {
+ float max_dc_brake_current_target;
+} max_dc_brake_current_command_t;
+
+void receive_max_dc_brake_current_command(const can_msg_t *message, max_dc_brake_current_command_t *max_dc_brake_current_command);
+
+typedef struct {
+ uint8_t drive_enable;
+} drive_enable_command_t;
+
+void receive_drive_enable_command(const can_msg_t *message, drive_enable_command_t *drive_enable_command);
+
 
 void receive_can(const can_msg_t *msg);
 
diff --git a/Core/Inc/u_can.h b/Core/Inc/u_can.h
index 146d92e..0bbc5f9 100644
--- a/Core/Inc/u_can.h
+++ b/Core/Inc/u_can.h
@@ -21,6 +21,6 @@ extern can_t can2;
 #define MAGNOMETER_MSG_ID         0xAAD
 #define IMD_GENERAL_MSG_ID        0x37
 #define BMS_LIGHTNING_OKAY_MSG_ID 0x01E
-
+#define RESET_LATCHING_MSG_ID     0x510
 
 #endif /* u_can.h */
\ No newline at end of file
diff --git a/Core/Inc/u_statemachine.h b/Core/Inc/u_statemachine.h
index 818bf38..e632ec4 100644
--- a/Core/Inc/u_statemachine.h
+++ b/Core/Inc/u_statemachine.h
@@ -21,6 +21,7 @@ Lightning_Board_Light_Status statemachine_getState();
 
 void statemachine_handleIMDMessage(can_msg_t* message); // Handles the IMD status message. 
 void statemachine_handleBMSMessage(can_msg_t* message); // Handles the BMS status message.
+void statemachine_handleResetLatchMessage(can_msg_t *message); // Handles the RESET LATCHING FAULTS message
 int statemachine_init(void); // Start the lightning timeout timer.
  
 #endif /* u_statemachine.h */
diff --git a/Core/Src/can_messages_rx.c b/Core/Src/can_messages_rx.c
index f9a5275..1e9e4ab 100644
--- a/Core/Src/can_messages_rx.c
+++ b/Core/Src/can_messages_rx.c
@@ -1,5 +1,13 @@
 #include "can_messages_rx.h"
 
+void receive_wheel_buttons(const can_msg_t *message, wheel_buttons_t *wheel_buttons) {
+    
+    uint8_t data = message->data[0];
+    uint64_t button_id_mask = (1ULL << 8) - 1ULL;
+    uint64_t button_id_raw = (data >> 0) & button_id_mask;
+    wheel_buttons->button_id = (uint8_t)button_id_raw;
+}
+
 void receive_front_msb_env(const can_msg_t *message, front_msb_env_t *front_msb_env) {
     
     uint32_t data_bigendian;
@@ -298,90 +306,108 @@ void receive_back_msb_orientation(const can_msg_t *message, back_msb_orientation
     back_msb_orientation->z_fdeg = (float)z_fdeg_raw;
 }
 
-void receive_ac_current_command(const can_msg_t *message, ac_current_command_t *ac_current_command) {
+void receive_shepherd_bms_fan_percent(const can_msg_t *message, shepherd_bms_fan_percent_t *shepherd_bms_fan_percent) {
     
-    uint16_t data_bigendian;
-    memcpy(&data_bigendian, message->data, 2);
-    uint16_t data = __builtin_bswap16(data_bigendian);
-    uint64_t current_target_ac_mask = (1ULL << 16) - 1ULL;
-    uint64_t current_target_ac_bits = (data >> 0) & current_target_ac_mask;
-    int64_t current_target_ac_raw = (current_target_ac_bits & (1ULL << (16 - 1)))
-        ? (int64_t)(current_target_ac_bits | ~current_target_ac_mask)
-        : (int64_t)current_target_ac_bits;
-    ac_current_command->current_target_ac = (float)(current_target_ac_raw / 10);
+    uint8_t data = message->data[0];
+    uint64_t pwm_duty_mask = (1ULL << 8) - 1ULL;
+    uint64_t pwm_duty_raw = (data >> 0) & pwm_duty_mask;
+    shepherd_bms_fan_percent->pwm_duty = (uint8_t)pwm_duty_raw;
 }
 
-void receive_brake_current_command(const can_msg_t *message, brake_current_command_t *brake_current_command) {
+void receive_dashboard_efuse_state(const can_msg_t *message, dashboard_efuse_state_t *dashboard_efuse_state) {
     
-    uint64_t data_bigendian;
-    memcpy(&data_bigendian, message->data, 8);
-    uint64_t data = __builtin_bswap64(data_bigendian);
-    uint64_t brake_ac_current_mask = (1ULL << 16) - 1ULL;
-    uint64_t brake_ac_current_bits = (data >> 48) & brake_ac_current_mask;
-    int64_t brake_ac_current_raw = (brake_ac_current_bits & (1ULL << (16 - 1)))
-        ? (int64_t)(brake_ac_current_bits | ~brake_ac_current_mask)
-        : (int64_t)brake_ac_current_bits;
-    brake_current_command->brake_ac_current = (float)(brake_ac_current_raw / 10);
+    uint8_t data = message->data[0];
+    uint64_t state_mask = (1ULL << 8) - 1ULL;
+    uint64_t state_raw = (data >> 0) & state_mask;
+    dashboard_efuse_state->state = (uint8_t)state_raw;
 }
 
-void receive_max_ac_current_command(const can_msg_t *message, max_ac_current_command_t *max_ac_current_command) {
+void receive_brake_efuse_state(const can_msg_t *message, brake_efuse_state_t *brake_efuse_state) {
     
-    uint64_t data_bigendian;
-    memcpy(&data_bigendian, message->data, 8);
-    uint64_t data = __builtin_bswap64(data_bigendian);
-    uint64_t max_current_ac_target_mask = (1ULL << 16) - 1ULL;
-    uint64_t max_current_ac_target_bits = (data >> 48) & max_current_ac_target_mask;
-    int64_t max_current_ac_target_raw = (max_current_ac_target_bits & (1ULL << (16 - 1)))
-        ? (int64_t)(max_current_ac_target_bits | ~max_current_ac_target_mask)
-        : (int64_t)max_current_ac_target_bits;
-    max_ac_current_command->max_current_ac_target = (float)(max_current_ac_target_raw / 10);
+    uint8_t data = message->data[0];
+    uint64_t state_mask = (1ULL << 8) - 1ULL;
+    uint64_t state_raw = (data >> 0) & state_mask;
+    brake_efuse_state->state = (uint8_t)state_raw;
 }
 
-void receive_max_ac_brake_current_command(const can_msg_t *message, max_ac_brake_current_command_t *max_ac_brake_current_command) {
+void receive_shutdown_efuse_state(const can_msg_t *message, shutdown_efuse_state_t *shutdown_efuse_state) {
     
-    uint64_t data_bigendian;
-    memcpy(&data_bigendian, message->data, 8);
-    uint64_t data = __builtin_bswap64(data_bigendian);
-    uint64_t max_ac_brake_current_target_mask = (1ULL << 16) - 1ULL;
-    uint64_t max_ac_brake_current_target_bits = (data >> 48) & max_ac_brake_current_target_mask;
-    int64_t max_ac_brake_current_target_raw = (max_ac_brake_current_target_bits & (1ULL << (16 - 1)))
-        ? (int64_t)(max_ac_brake_current_target_bits | ~max_ac_brake_current_target_mask)
-        : (int64_t)max_ac_brake_current_target_bits;
-    max_ac_brake_current_command->max_ac_brake_current_target = (float)(max_ac_brake_current_target_raw / 10);
+    uint8_t data = message->data[0];
+    uint64_t state_mask = (1ULL << 8) - 1ULL;
+    uint64_t state_raw = (data >> 0) & state_mask;
+    shutdown_efuse_state->state = (uint8_t)state_raw;
 }
 
-void receive_max_dc_current_command(const can_msg_t *message, max_dc_current_command_t *max_dc_current_command) {
+void receive_lv_efuse_state(const can_msg_t *message, lv_efuse_state_t *lv_efuse_state) {
     
-    uint16_t data_bigendian;
-    memcpy(&data_bigendian, message->data, 2);
-    uint16_t data = __builtin_bswap16(data_bigendian);
-    uint64_t max_dc_current_target_mask = (1ULL << 16) - 1ULL;
-    uint64_t max_dc_current_target_bits = (data >> 0) & max_dc_current_target_mask;
-    int64_t max_dc_current_target_raw = (max_dc_current_target_bits & (1ULL << (16 - 1)))
-        ? (int64_t)(max_dc_current_target_bits | ~max_dc_current_target_mask)
-        : (int64_t)max_dc_current_target_bits;
-    max_dc_current_command->max_dc_current_target = (float)(max_dc_current_target_raw / 10);
+    uint8_t data = message->data[0];
+    uint64_t state_mask = (1ULL << 8) - 1ULL;
+    uint64_t state_raw = (data >> 0) & state_mask;
+    lv_efuse_state->state = (uint8_t)state_raw;
 }
 
-void receive_max_dc_brake_current_command(const can_msg_t *message, max_dc_brake_current_command_t *max_dc_brake_current_command) {
+void receive_radfan_efuse_state(const can_msg_t *message, radfan_efuse_state_t *radfan_efuse_state) {
     
-    uint16_t data_bigendian;
-    memcpy(&data_bigendian, message->data, 2);
-    uint16_t data = __builtin_bswap16(data_bigendian);
-    uint64_t max_dc_brake_current_target_mask = (1ULL << 16) - 1ULL;
-    uint64_t max_dc_brake_current_target_bits = (data >> 0) & max_dc_brake_current_target_mask;
-    int64_t max_dc_brake_current_target_raw = (max_dc_brake_current_target_bits & (1ULL << (16 - 1)))
-        ? (int64_t)(max_dc_brake_current_target_bits | ~max_dc_brake_current_target_mask)
-        : (int64_t)max_dc_brake_current_target_bits;
-    max_dc_brake_current_command->max_dc_brake_current_target = (float)(max_dc_brake_current_target_raw / 10);
+    uint8_t data = message->data[0];
+    uint64_t state_mask = (1ULL << 8) - 1ULL;
+    uint64_t state_raw = (data >> 0) & state_mask;
+    radfan_efuse_state->state = (uint8_t)state_raw;
 }
 
-void receive_drive_enable_command(const can_msg_t *message, drive_enable_command_t *drive_enable_command) {
+void receive_fanbatt_efuse_state(const can_msg_t *message, fanbatt_efuse_state_t *fanbatt_efuse_state) {
     
     uint8_t data = message->data[0];
-    uint64_t drive_enable_mask = (1ULL << 8) - 1ULL;
-    uint64_t drive_enable_raw = (data >> 0) & drive_enable_mask;
-    drive_enable_command->drive_enable = (uint8_t)drive_enable_raw;
+    uint64_t state_mask = (1ULL << 8) - 1ULL;
+    uint64_t state_raw = (data >> 0) & state_mask;
+    fanbatt_efuse_state->state = (uint8_t)state_raw;
+}
+
+void receive_pumpone_efuse_state(const can_msg_t *message, pumpone_efuse_state_t *pumpone_efuse_state) {
+    
+    uint8_t data = message->data[0];
+    uint64_t state_mask = (1ULL << 8) - 1ULL;
+    uint64_t state_raw = (data >> 0) & state_mask;
+    pumpone_efuse_state->state = (uint8_t)state_raw;
+}
+
+void receive_pumptwo_efuse_state(const can_msg_t *message, pumptwo_efuse_state_t *pumptwo_efuse_state) {
+    
+    uint8_t data = message->data[0];
+    uint64_t state_mask = (1ULL << 8) - 1ULL;
+    uint64_t state_raw = (data >> 0) & state_mask;
+    pumptwo_efuse_state->state = (uint8_t)state_raw;
+}
+
+void receive_battbox_efuse_state(const can_msg_t *message, battbox_efuse_state_t *battbox_efuse_state) {
+    
+    uint8_t data = message->data[0];
+    uint64_t state_mask = (1ULL << 8) - 1ULL;
+    uint64_t state_raw = (data >> 0) & state_mask;
+    battbox_efuse_state->state = (uint8_t)state_raw;
+}
+
+void receive_mc_efuse_state(const can_msg_t *message, mc_efuse_state_t *mc_efuse_state) {
+    
+    uint8_t data = message->data[0];
+    uint64_t state_mask = (1ULL << 8) - 1ULL;
+    uint64_t state_raw = (data >> 0) & state_mask;
+    mc_efuse_state->state = (uint8_t)state_raw;
+}
+
+void receive_spare_efuse_state(const can_msg_t *message, spare_efuse_state_t *spare_efuse_state) {
+    
+    uint8_t data = message->data[0];
+    uint64_t state_mask = (1ULL << 8) - 1ULL;
+    uint64_t state_raw = (data >> 0) & state_mask;
+    spare_efuse_state->state = (uint8_t)state_raw;
+}
+
+void receive_rtds_command_message(const can_msg_t *message, rtds_command_message_t *rtds_command_message) {
+    
+    uint8_t data = message->data[0];
+    uint64_t command_mask = (1ULL << 8) - 1ULL;
+    uint64_t command_raw = (data >> 0) & command_mask;
+    rtds_command_message->command = (uint8_t)command_raw;
 }
 
 void receive_dashboard_efuse(const can_msg_t *message, dashboard_efuse_t *dashboard_efuse) {
@@ -670,29 +696,26 @@ void receive_shutdown_pins(const can_msg_t *message, shutdown_pins_t *shutdown_p
     uint64_t bots_gpio_mask = (1ULL << 1) - 1ULL;
     uint64_t bots_gpio_raw = (data >> 14) & bots_gpio_mask;
     shutdown_pins->bots_gpio = (bool)bots_gpio_raw;
-    uint64_t spare_gpio_mask = (1ULL << 1) - 1ULL;
-    uint64_t spare_gpio_raw = (data >> 13) & spare_gpio_mask;
-    shutdown_pins->spare_gpio = (bool)spare_gpio_raw;
     uint64_t bspd_gpio_mask = (1ULL << 1) - 1ULL;
-    uint64_t bspd_gpio_raw = (data >> 12) & bspd_gpio_mask;
+    uint64_t bspd_gpio_raw = (data >> 13) & bspd_gpio_mask;
     shutdown_pins->bspd_gpio = (bool)bspd_gpio_raw;
     uint64_t hv_c_mask = (1ULL << 1) - 1ULL;
-    uint64_t hv_c_raw = (data >> 11) & hv_c_mask;
+    uint64_t hv_c_raw = (data >> 12) & hv_c_mask;
     shutdown_pins->hv_c = (bool)hv_c_raw;
     uint64_t hvd_gpio_mask = (1ULL << 1) - 1ULL;
-    uint64_t hvd_gpio_raw = (data >> 10) & hvd_gpio_mask;
+    uint64_t hvd_gpio_raw = (data >> 11) & hvd_gpio_mask;
     shutdown_pins->hvd_gpio = (bool)hvd_gpio_raw;
     uint64_t imd_gpio_mask = (1ULL << 1) - 1ULL;
-    uint64_t imd_gpio_raw = (data >> 9) & imd_gpio_mask;
+    uint64_t imd_gpio_raw = (data >> 10) & imd_gpio_mask;
     shutdown_pins->imd_gpio = (bool)imd_gpio_raw;
     uint64_t ckpt_gpio_mask = (1ULL << 1) - 1ULL;
-    uint64_t ckpt_gpio_raw = (data >> 8) & ckpt_gpio_mask;
+    uint64_t ckpt_gpio_raw = (data >> 9) & ckpt_gpio_mask;
     shutdown_pins->ckpt_gpio = (bool)ckpt_gpio_raw;
     uint64_t inertia_sw_gpio_mask = (1ULL << 1) - 1ULL;
-    uint64_t inertia_sw_gpio_raw = (data >> 7) & inertia_sw_gpio_mask;
+    uint64_t inertia_sw_gpio_raw = (data >> 8) & inertia_sw_gpio_mask;
     shutdown_pins->inertia_sw_gpio = (bool)inertia_sw_gpio_raw;
     uint64_t tsms_gpio_mask = (1ULL << 1) - 1ULL;
-    uint64_t tsms_gpio_raw = (data >> 6) & tsms_gpio_mask;
+    uint64_t tsms_gpio_raw = (data >> 7) & tsms_gpio_mask;
     shutdown_pins->tsms_gpio = (bool)tsms_gpio_raw;
 }
 
@@ -871,42 +894,42 @@ void receive_faults(const can_msg_t *message, faults_t *faults) {
     uint64_t LIGHTNING_CAN_MONITOR_FAULT_mask = (1ULL << 1) - 1ULL;
     uint64_t LIGHTNING_CAN_MONITOR_FAULT_raw = (data >> 12) & LIGHTNING_CAN_MONITOR_FAULT_mask;
     faults->LIGHTNING_CAN_MONITOR_FAULT = (bool)LIGHTNING_CAN_MONITOR_FAULT_raw;
-    uint64_t SHUTDOWN_FAULT_mask = (1ULL << 1) - 1ULL;
-    uint64_t SHUTDOWN_FAULT_raw = (data >> 11) & SHUTDOWN_FAULT_mask;
-    faults->SHUTDOWN_FAULT = (bool)SHUTDOWN_FAULT_raw;
     uint64_t ONBOARD_TEMP_FAULT_mask = (1ULL << 1) - 1ULL;
-    uint64_t ONBOARD_TEMP_FAULT_raw = (data >> 10) & ONBOARD_TEMP_FAULT_mask;
+    uint64_t ONBOARD_TEMP_FAULT_raw = (data >> 11) & ONBOARD_TEMP_FAULT_mask;
     faults->ONBOARD_TEMP_FAULT = (bool)ONBOARD_TEMP_FAULT_raw;
     uint64_t IMU_ACCEL_FAULT_mask = (1ULL << 1) - 1ULL;
-    uint64_t IMU_ACCEL_FAULT_raw = (data >> 9) & IMU_ACCEL_FAULT_mask;
+    uint64_t IMU_ACCEL_FAULT_raw = (data >> 10) & IMU_ACCEL_FAULT_mask;
     faults->IMU_ACCEL_FAULT = (bool)IMU_ACCEL_FAULT_raw;
     uint64_t IMU_GYRO_FAULT_mask = (1ULL << 1) - 1ULL;
-    uint64_t IMU_GYRO_FAULT_raw = (data >> 8) & IMU_GYRO_FAULT_mask;
+    uint64_t IMU_GYRO_FAULT_raw = (data >> 9) & IMU_GYRO_FAULT_mask;
     faults->IMU_GYRO_FAULT = (bool)IMU_GYRO_FAULT_raw;
     uint64_t BSPD_PREFAULT_mask = (1ULL << 1) - 1ULL;
-    uint64_t BSPD_PREFAULT_raw = (data >> 7) & BSPD_PREFAULT_mask;
+    uint64_t BSPD_PREFAULT_raw = (data >> 8) & BSPD_PREFAULT_mask;
     faults->BSPD_PREFAULT = (bool)BSPD_PREFAULT_raw;
     uint64_t ONBOARD_BRAKE_OPEN_CIRCUIT_FAULT_mask = (1ULL << 1) - 1ULL;
-    uint64_t ONBOARD_BRAKE_OPEN_CIRCUIT_FAULT_raw = (data >> 6) & ONBOARD_BRAKE_OPEN_CIRCUIT_FAULT_mask;
+    uint64_t ONBOARD_BRAKE_OPEN_CIRCUIT_FAULT_raw = (data >> 7) & ONBOARD_BRAKE_OPEN_CIRCUIT_FAULT_mask;
     faults->ONBOARD_BRAKE_OPEN_CIRCUIT_FAULT = (bool)ONBOARD_BRAKE_OPEN_CIRCUIT_FAULT_raw;
     uint64_t ONBOARD_ACCEL_OPEN_CIRCUIT_FAULT_mask = (1ULL << 1) - 1ULL;
-    uint64_t ONBOARD_ACCEL_OPEN_CIRCUIT_FAULT_raw = (data >> 5) & ONBOARD_ACCEL_OPEN_CIRCUIT_FAULT_mask;
+    uint64_t ONBOARD_ACCEL_OPEN_CIRCUIT_FAULT_raw = (data >> 6) & ONBOARD_ACCEL_OPEN_CIRCUIT_FAULT_mask;
     faults->ONBOARD_ACCEL_OPEN_CIRCUIT_FAULT = (bool)ONBOARD_ACCEL_OPEN_CIRCUIT_FAULT_raw;
     uint64_t ONBOARD_BRAKE_SHORT_CIRCUIT_FAULT_mask = (1ULL << 1) - 1ULL;
-    uint64_t ONBOARD_BRAKE_SHORT_CIRCUIT_FAULT_raw = (data >> 4) & ONBOARD_BRAKE_SHORT_CIRCUIT_FAULT_mask;
+    uint64_t ONBOARD_BRAKE_SHORT_CIRCUIT_FAULT_raw = (data >> 5) & ONBOARD_BRAKE_SHORT_CIRCUIT_FAULT_mask;
     faults->ONBOARD_BRAKE_SHORT_CIRCUIT_FAULT = (bool)ONBOARD_BRAKE_SHORT_CIRCUIT_FAULT_raw;
     uint64_t ONBOARD_ACCEL_SHORT_CIRCUIT_FAULT_mask = (1ULL << 1) - 1ULL;
-    uint64_t ONBOARD_ACCEL_SHORT_CIRCUIT_FAULT_raw = (data >> 3) & ONBOARD_ACCEL_SHORT_CIRCUIT_FAULT_mask;
+    uint64_t ONBOARD_ACCEL_SHORT_CIRCUIT_FAULT_raw = (data >> 4) & ONBOARD_ACCEL_SHORT_CIRCUIT_FAULT_mask;
     faults->ONBOARD_ACCEL_SHORT_CIRCUIT_FAULT = (bool)ONBOARD_ACCEL_SHORT_CIRCUIT_FAULT_raw;
     uint64_t ONBOARD_PEDAL_DIFFERENCE_FAULT_mask = (1ULL << 1) - 1ULL;
-    uint64_t ONBOARD_PEDAL_DIFFERENCE_FAULT_raw = (data >> 2) & ONBOARD_PEDAL_DIFFERENCE_FAULT_mask;
+    uint64_t ONBOARD_PEDAL_DIFFERENCE_FAULT_raw = (data >> 3) & ONBOARD_PEDAL_DIFFERENCE_FAULT_mask;
     faults->ONBOARD_PEDAL_DIFFERENCE_FAULT = (bool)ONBOARD_PEDAL_DIFFERENCE_FAULT_raw;
     uint64_t RTDS_FAULT_mask = (1ULL << 1) - 1ULL;
-    uint64_t RTDS_FAULT_raw = (data >> 1) & RTDS_FAULT_mask;
+    uint64_t RTDS_FAULT_raw = (data >> 2) & RTDS_FAULT_mask;
     faults->RTDS_FAULT = (bool)RTDS_FAULT_raw;
     uint64_t LV_LOW_VOLTAGE_FAULT_mask = (1ULL << 1) - 1ULL;
-    uint64_t LV_LOW_VOLTAGE_FAULT_raw = (data >> 0) & LV_LOW_VOLTAGE_FAULT_mask;
+    uint64_t LV_LOW_VOLTAGE_FAULT_raw = (data >> 1) & LV_LOW_VOLTAGE_FAULT_mask;
     faults->LV_LOW_VOLTAGE_FAULT = (bool)LV_LOW_VOLTAGE_FAULT_raw;
+    uint64_t PRECHARGE_FLOATING_FAULT_mask = (1ULL << 1) - 1ULL;
+    uint64_t PRECHARGE_FLOATING_FAULT_raw = (data >> 0) & PRECHARGE_FLOATING_FAULT_mask;
+    faults->PRECHARGE_FLOATING_FAULT = (bool)PRECHARGE_FLOATING_FAULT_raw;
 }
 
 void receive_lv_voltage(const can_msg_t *message, lv_voltage_t *lv_voltage) {
@@ -1113,110 +1136,17 @@ void receive_drive_lock_states(const can_msg_t *message, drive_lock_states_t *dr
     uint64_t BSPD_PREF_mask = (1ULL << 1) - 1ULL;
     uint64_t BSPD_PREF_raw = (data >> 2) & BSPD_PREF_mask;
     drive_lock_states->BSPD_PREF = (bool)BSPD_PREF_raw;
+    uint64_t BMS_NOT_PRECHARGED_YET_mask = (1ULL << 1) - 1ULL;
+    uint64_t BMS_NOT_PRECHARGED_YET_raw = (data >> 1) & BMS_NOT_PRECHARGED_YET_mask;
+    drive_lock_states->BMS_NOT_PRECHARGED_YET = (bool)BMS_NOT_PRECHARGED_YET_raw;
 }
 
-void receive_shepherd_bms_fan_percent(const can_msg_t *message, shepherd_bms_fan_percent_t *shepherd_bms_fan_percent) {
-    
-    uint8_t data = message->data[0];
-    uint64_t pwm_duty_mask = (1ULL << 8) - 1ULL;
-    uint64_t pwm_duty_raw = (data >> 0) & pwm_duty_mask;
-    shepherd_bms_fan_percent->pwm_duty = (uint8_t)pwm_duty_raw;
-}
-
-void receive_dashboard_efuse_state(const can_msg_t *message, dashboard_efuse_state_t *dashboard_efuse_state) {
-    
-    uint8_t data = message->data[0];
-    uint64_t state_mask = (1ULL << 8) - 1ULL;
-    uint64_t state_raw = (data >> 0) & state_mask;
-    dashboard_efuse_state->state = (uint8_t)state_raw;
-}
-
-void receive_brake_efuse_state(const can_msg_t *message, brake_efuse_state_t *brake_efuse_state) {
-    
-    uint8_t data = message->data[0];
-    uint64_t state_mask = (1ULL << 8) - 1ULL;
-    uint64_t state_raw = (data >> 0) & state_mask;
-    brake_efuse_state->state = (uint8_t)state_raw;
-}
-
-void receive_shutdown_efuse_state(const can_msg_t *message, shutdown_efuse_state_t *shutdown_efuse_state) {
-    
-    uint8_t data = message->data[0];
-    uint64_t state_mask = (1ULL << 8) - 1ULL;
-    uint64_t state_raw = (data >> 0) & state_mask;
-    shutdown_efuse_state->state = (uint8_t)state_raw;
-}
-
-void receive_lv_efuse_state(const can_msg_t *message, lv_efuse_state_t *lv_efuse_state) {
-    
-    uint8_t data = message->data[0];
-    uint64_t state_mask = (1ULL << 8) - 1ULL;
-    uint64_t state_raw = (data >> 0) & state_mask;
-    lv_efuse_state->state = (uint8_t)state_raw;
-}
-
-void receive_radfan_efuse_state(const can_msg_t *message, radfan_efuse_state_t *radfan_efuse_state) {
-    
-    uint8_t data = message->data[0];
-    uint64_t state_mask = (1ULL << 8) - 1ULL;
-    uint64_t state_raw = (data >> 0) & state_mask;
-    radfan_efuse_state->state = (uint8_t)state_raw;
-}
-
-void receive_fanbatt_efuse_state(const can_msg_t *message, fanbatt_efuse_state_t *fanbatt_efuse_state) {
-    
-    uint8_t data = message->data[0];
-    uint64_t state_mask = (1ULL << 8) - 1ULL;
-    uint64_t state_raw = (data >> 0) & state_mask;
-    fanbatt_efuse_state->state = (uint8_t)state_raw;
-}
-
-void receive_pumpone_efuse_state(const can_msg_t *message, pumpone_efuse_state_t *pumpone_efuse_state) {
-    
-    uint8_t data = message->data[0];
-    uint64_t state_mask = (1ULL << 8) - 1ULL;
-    uint64_t state_raw = (data >> 0) & state_mask;
-    pumpone_efuse_state->state = (uint8_t)state_raw;
-}
-
-void receive_pumptwo_efuse_state(const can_msg_t *message, pumptwo_efuse_state_t *pumptwo_efuse_state) {
-    
-    uint8_t data = message->data[0];
-    uint64_t state_mask = (1ULL << 8) - 1ULL;
-    uint64_t state_raw = (data >> 0) & state_mask;
-    pumptwo_efuse_state->state = (uint8_t)state_raw;
-}
-
-void receive_battbox_efuse_state(const can_msg_t *message, battbox_efuse_state_t *battbox_efuse_state) {
-    
-    uint8_t data = message->data[0];
-    uint64_t state_mask = (1ULL << 8) - 1ULL;
-    uint64_t state_raw = (data >> 0) & state_mask;
-    battbox_efuse_state->state = (uint8_t)state_raw;
-}
-
-void receive_mc_efuse_state(const can_msg_t *message, mc_efuse_state_t *mc_efuse_state) {
-    
-    uint8_t data = message->data[0];
-    uint64_t state_mask = (1ULL << 8) - 1ULL;
-    uint64_t state_raw = (data >> 0) & state_mask;
-    mc_efuse_state->state = (uint8_t)state_raw;
-}
-
-void receive_spare_efuse_state(const can_msg_t *message, spare_efuse_state_t *spare_efuse_state) {
-    
-    uint8_t data = message->data[0];
-    uint64_t state_mask = (1ULL << 8) - 1ULL;
-    uint64_t state_raw = (data >> 0) & state_mask;
-    spare_efuse_state->state = (uint8_t)state_raw;
-}
-
-void receive_rtds_command_message(const can_msg_t *message, rtds_command_message_t *rtds_command_message) {
+void receive_reset_latching_fault(const can_msg_t *message, reset_latching_fault_t *reset_latching_fault) {
     
     uint8_t data = message->data[0];
-    uint64_t command_mask = (1ULL << 8) - 1ULL;
-    uint64_t command_raw = (data >> 0) & command_mask;
-    rtds_command_message->command = (uint8_t)command_raw;
+    uint64_t reset_latching_mask = (1ULL << 1) - 1ULL;
+    uint64_t reset_latching_raw = (data >> 7) & reset_latching_mask;
+    reset_latching_fault->reset_latching = (bool)reset_latching_raw;
 }
 
 void receive_imd_general_information(const can_msg_t *message, imd_general_information_t *imd_general_information) {
@@ -1327,14 +1257,6 @@ void receive_imd_general_information(const can_msg_t *message, imd_general_infor
     
     
     
-}
-
-void receive_wheel_buttons(const can_msg_t *message, wheel_buttons_t *wheel_buttons) {
-    
-    uint8_t data = message->data[0];
-    uint64_t button_id_mask = (1ULL << 8) - 1ULL;
-    uint64_t button_id_raw = (data >> 0) & button_id_mask;
-    wheel_buttons->button_id = (uint8_t)button_id_raw;
 }
 
 void receive_bms_charge_message_send(const can_msg_t *message, bms_charge_message_send_t *bms_charge_message_send) {
@@ -1934,40 +1856,28 @@ void receive_onboard_therm_temperatures(const can_msg_t *message, onboard_therm_
 void receive_precharge_status(const can_msg_t *message, precharge_status_t *precharge_status) {
     
     uint8_t data = message->data[0];
-    uint64_t precharge_status_mask = (1ULL << 1) - 1ULL;
-    uint64_t precharge_status_raw = (data >> 7) & precharge_status_mask;
-    precharge_status->precharge_status = (bool)precharge_status_raw;
+    uint64_t precharge_status_mask = (1ULL << 8) - 1ULL;
+    uint64_t precharge_status_raw = (data >> 0) & precharge_status_mask;
+    precharge_status->precharge_status = (uint8_t)precharge_status_raw;
 }
 
-void receive_hv_plate_data(const can_msg_t *message, hv_plate_data_t *hv_plate_data) {
+void receive_hv_plate_voltages(const can_msg_t *message, hv_plate_voltages_t *hv_plate_voltages) {
     
     uint64_t data_bigendian;
     memcpy(&data_bigendian, message->data, 8);
     uint64_t data = __builtin_bswap64(data_bigendian);
-    uint64_t batt_voltage_mask = (1ULL << 16) - 1ULL;
-    uint64_t batt_voltage_bits = (data >> 48) & batt_voltage_mask;
-    int64_t batt_voltage_raw = (batt_voltage_bits & (1ULL << (16 - 1)))
+    uint64_t batt_voltage_mask = (1ULL << 32) - 1ULL;
+    uint64_t batt_voltage_bits = (data >> 32) & batt_voltage_mask;
+    int64_t batt_voltage_raw = (batt_voltage_bits & (1ULL << (32 - 1)))
         ? (int64_t)(batt_voltage_bits | ~batt_voltage_mask)
         : (int64_t)batt_voltage_bits;
-    hv_plate_data->batt_voltage = (float)(batt_voltage_raw / 100);
-    uint64_t ts_voltage_mask = (1ULL << 16) - 1ULL;
-    uint64_t ts_voltage_bits = (data >> 32) & ts_voltage_mask;
-    int64_t ts_voltage_raw = (ts_voltage_bits & (1ULL << (16 - 1)))
+    hv_plate_voltages->batt_voltage = (float)(batt_voltage_raw / 100);
+    uint64_t ts_voltage_mask = (1ULL << 32) - 1ULL;
+    uint64_t ts_voltage_bits = (data >> 0) & ts_voltage_mask;
+    int64_t ts_voltage_raw = (ts_voltage_bits & (1ULL << (32 - 1)))
         ? (int64_t)(ts_voltage_bits | ~ts_voltage_mask)
         : (int64_t)ts_voltage_bits;
-    hv_plate_data->ts_voltage = (float)(ts_voltage_raw / 100);
-    uint64_t shunt_temp_mask = (1ULL << 16) - 1ULL;
-    uint64_t shunt_temp_bits = (data >> 16) & shunt_temp_mask;
-    int64_t shunt_temp_raw = (shunt_temp_bits & (1ULL << (16 - 1)))
-        ? (int64_t)(shunt_temp_bits | ~shunt_temp_mask)
-        : (int64_t)shunt_temp_bits;
-    hv_plate_data->shunt_temp = (float)(shunt_temp_raw / 100);
-    uint64_t pack_current_mask = (1ULL << 16) - 1ULL;
-    uint64_t pack_current_bits = (data >> 0) & pack_current_mask;
-    int64_t pack_current_raw = (pack_current_bits & (1ULL << (16 - 1)))
-        ? (int64_t)(pack_current_bits | ~pack_current_mask)
-        : (int64_t)pack_current_bits;
-    hv_plate_data->pack_current = (float)(pack_current_raw / 100);
+    hv_plate_voltages->ts_voltage = (float)(ts_voltage_raw / 100);
 }
 
 void receive_segment_pec_errors(const can_msg_t *message, segment_pec_errors_t *segment_pec_errors) {
@@ -2116,9 +2026,21 @@ void receive_pack_soc_status(const can_msg_t *message, pack_soc_status_t *pack_s
 void receive_shutdown_as_read_by_bms(const can_msg_t *message, shutdown_as_read_by_bms_t *shutdown_as_read_by_bms) {
     
     uint8_t data = message->data[0];
-    uint64_t shutdown_mask = (1ULL << 8) - 1ULL;
-    uint64_t shutdown_raw = (data >> 0) & shutdown_mask;
-    shutdown_as_read_by_bms->shutdown = (bool)shutdown_raw;
+    uint64_t shutdown_state_mask = (1ULL << 1) - 1ULL;
+    uint64_t shutdown_state_raw = (data >> 7) & shutdown_state_mask;
+    shutdown_as_read_by_bms->shutdown_state = (bool)shutdown_state_raw;
+    uint64_t shutdown_ts_minus_sense_mask = (1ULL << 1) - 1ULL;
+    uint64_t shutdown_ts_minus_sense_raw = (data >> 6) & shutdown_ts_minus_sense_mask;
+    shutdown_as_read_by_bms->shutdown_ts_minus_sense = (bool)shutdown_ts_minus_sense_raw;
+    uint64_t shutdown_ts_plus_sense_mask = (1ULL << 1) - 1ULL;
+    uint64_t shutdown_ts_plus_sense_raw = (data >> 5) & shutdown_ts_plus_sense_mask;
+    shutdown_as_read_by_bms->shutdown_ts_plus_sense = (bool)shutdown_ts_plus_sense_raw;
+    uint64_t shutdown_acc_sense_mask = (1ULL << 1) - 1ULL;
+    uint64_t shutdown_acc_sense_raw = (data >> 4) & shutdown_acc_sense_mask;
+    shutdown_as_read_by_bms->shutdown_acc_sense = (bool)shutdown_acc_sense_raw;
+    uint64_t shutdown_tsip_sense_mask = (1ULL << 1) - 1ULL;
+    uint64_t shutdown_tsip_sense_raw = (data >> 3) & shutdown_tsip_sense_mask;
+    shutdown_as_read_by_bms->shutdown_tsip_sense = (bool)shutdown_tsip_sense_raw;
 }
 
 void receive_hv_plate_isospi_communication_status(const can_msg_t *message, hv_plate_isospi_communication_status_t *hv_plate_isospi_communication_status) {
@@ -2145,3 +2067,143 @@ void receive_bms_critically_faulted(const can_msg_t *message, bms_critically_fau
     bms_critically_faulted->critically_faulted = (bool)critically_faulted_raw;
 }
 
+void receive_pack_current_and_shunt_temp(const can_msg_t *message, pack_current_and_shunt_temp_t *pack_current_and_shunt_temp) {
+    
+    uint64_t data_bigendian;
+    memcpy(&data_bigendian, message->data, 8);
+    uint64_t data = __builtin_bswap64(data_bigendian);
+    uint64_t pack_current_mask = (1ULL << 32) - 1ULL;
+    uint64_t pack_current_bits = (data >> 32) & pack_current_mask;
+    int64_t pack_current_raw = (pack_current_bits & (1ULL << (32 - 1)))
+        ? (int64_t)(pack_current_bits | ~pack_current_mask)
+        : (int64_t)pack_current_bits;
+    pack_current_and_shunt_temp->pack_current = (float)(pack_current_raw / 100);
+    uint64_t shunt_temp_mask = (1ULL << 32) - 1ULL;
+    uint64_t shunt_temp_raw = (data >> 0) & shunt_temp_mask;
+    pack_current_and_shunt_temp->shunt_temp = (float)(shunt_temp_raw / 100);
+}
+
+void receive_hv_plate_voltages_adbms(const can_msg_t *message, hv_plate_voltages_adbms_t *hv_plate_voltages_adbms) {
+    
+    uint64_t data_bigendian;
+    memcpy(&data_bigendian, message->data, 8);
+    uint64_t data = __builtin_bswap64(data_bigendian);
+    uint64_t batt_volts_mask = (1ULL << 32) - 1ULL;
+    uint64_t batt_volts_bits = (data >> 32) & batt_volts_mask;
+    int64_t batt_volts_raw = (batt_volts_bits & (1ULL << (32 - 1)))
+        ? (int64_t)(batt_volts_bits | ~batt_volts_mask)
+        : (int64_t)batt_volts_bits;
+    hv_plate_voltages_adbms->batt_volts = (float)(batt_volts_raw / 100);
+    uint64_t ts_volts_mask = (1ULL << 32) - 1ULL;
+    uint64_t ts_volts_bits = (data >> 0) & ts_volts_mask;
+    int64_t ts_volts_raw = (ts_volts_bits & (1ULL << (32 - 1)))
+        ? (int64_t)(ts_volts_bits | ~ts_volts_mask)
+        : (int64_t)ts_volts_bits;
+    hv_plate_voltages_adbms->ts_volts = (float)(ts_volts_raw / 100);
+}
+
+void receive_pack_current_and_shunt_temp_adbms(const can_msg_t *message, pack_current_and_shunt_temp_adbms_t *pack_current_and_shunt_temp_adbms) {
+    
+    uint64_t data_bigendian;
+    memcpy(&data_bigendian, message->data, 8);
+    uint64_t data = __builtin_bswap64(data_bigendian);
+    uint64_t pack_current_mask = (1ULL << 32) - 1ULL;
+    uint64_t pack_current_bits = (data >> 32) & pack_current_mask;
+    int64_t pack_current_raw = (pack_current_bits & (1ULL << (32 - 1)))
+        ? (int64_t)(pack_current_bits | ~pack_current_mask)
+        : (int64_t)pack_current_bits;
+    pack_current_and_shunt_temp_adbms->pack_current = (float)(pack_current_raw / 100);
+    uint64_t shunt_temp_mask = (1ULL << 32) - 1ULL;
+    uint64_t shunt_temp_bits = (data >> 0) & shunt_temp_mask;
+    int64_t shunt_temp_raw = (shunt_temp_bits & (1ULL << (32 - 1)))
+        ? (int64_t)(shunt_temp_bits | ~shunt_temp_mask)
+        : (int64_t)shunt_temp_bits;
+    pack_current_and_shunt_temp_adbms->shunt_temp = (float)(shunt_temp_raw / 100);
+}
+
+void receive_ac_current_command(const can_msg_t *message, ac_current_command_t *ac_current_command) {
+    
+    uint16_t data_bigendian;
+    memcpy(&data_bigendian, message->data, 2);
+    uint16_t data = __builtin_bswap16(data_bigendian);
+    uint64_t current_target_ac_mask = (1ULL << 16) - 1ULL;
+    uint64_t current_target_ac_bits = (data >> 0) & current_target_ac_mask;
+    int64_t current_target_ac_raw = (current_target_ac_bits & (1ULL << (16 - 1)))
+        ? (int64_t)(current_target_ac_bits | ~current_target_ac_mask)
+        : (int64_t)current_target_ac_bits;
+    ac_current_command->current_target_ac = (float)(current_target_ac_raw / 10);
+}
+
+void receive_brake_current_command(const can_msg_t *message, brake_current_command_t *brake_current_command) {
+    
+    uint64_t data_bigendian;
+    memcpy(&data_bigendian, message->data, 8);
+    uint64_t data = __builtin_bswap64(data_bigendian);
+    uint64_t brake_ac_current_mask = (1ULL << 16) - 1ULL;
+    uint64_t brake_ac_current_bits = (data >> 48) & brake_ac_current_mask;
+    int64_t brake_ac_current_raw = (brake_ac_current_bits & (1ULL << (16 - 1)))
+        ? (int64_t)(brake_ac_current_bits | ~brake_ac_current_mask)
+        : (int64_t)brake_ac_current_bits;
+    brake_current_command->brake_ac_current = (float)(brake_ac_current_raw / 10);
+}
+
+void receive_max_ac_current_command(const can_msg_t *message, max_ac_current_command_t *max_ac_current_command) {
+    
+    uint64_t data_bigendian;
+    memcpy(&data_bigendian, message->data, 8);
+    uint64_t data = __builtin_bswap64(data_bigendian);
+    uint64_t max_current_ac_target_mask = (1ULL << 16) - 1ULL;
+    uint64_t max_current_ac_target_bits = (data >> 48) & max_current_ac_target_mask;
+    int64_t max_current_ac_target_raw = (max_current_ac_target_bits & (1ULL << (16 - 1)))
+        ? (int64_t)(max_current_ac_target_bits | ~max_current_ac_target_mask)
+        : (int64_t)max_current_ac_target_bits;
+    max_ac_current_command->max_current_ac_target = (float)(max_current_ac_target_raw / 10);
+}
+
+void receive_max_ac_brake_current_command(const can_msg_t *message, max_ac_brake_current_command_t *max_ac_brake_current_command) {
+    
+    uint64_t data_bigendian;
+    memcpy(&data_bigendian, message->data, 8);
+    uint64_t data = __builtin_bswap64(data_bigendian);
+    uint64_t max_ac_brake_current_target_mask = (1ULL << 16) - 1ULL;
+    uint64_t max_ac_brake_current_target_bits = (data >> 48) & max_ac_brake_current_target_mask;
+    int64_t max_ac_brake_current_target_raw = (max_ac_brake_current_target_bits & (1ULL << (16 - 1)))
+        ? (int64_t)(max_ac_brake_current_target_bits | ~max_ac_brake_current_target_mask)
+        : (int64_t)max_ac_brake_current_target_bits;
+    max_ac_brake_current_command->max_ac_brake_current_target = (float)(max_ac_brake_current_target_raw / 10);
+}
+
+void receive_max_dc_current_command(const can_msg_t *message, max_dc_current_command_t *max_dc_current_command) {
+    
+    uint16_t data_bigendian;
+    memcpy(&data_bigendian, message->data, 2);
+    uint16_t data = __builtin_bswap16(data_bigendian);
+    uint64_t max_dc_current_target_mask = (1ULL << 16) - 1ULL;
+    uint64_t max_dc_current_target_bits = (data >> 0) & max_dc_current_target_mask;
+    int64_t max_dc_current_target_raw = (max_dc_current_target_bits & (1ULL << (16 - 1)))
+        ? (int64_t)(max_dc_current_target_bits | ~max_dc_current_target_mask)
+        : (int64_t)max_dc_current_target_bits;
+    max_dc_current_command->max_dc_current_target = (float)(max_dc_current_target_raw / 10);
+}
+
+void receive_max_dc_brake_current_command(const can_msg_t *message, max_dc_brake_current_command_t *max_dc_brake_current_command) {
+    
+    uint16_t data_bigendian;
+    memcpy(&data_bigendian, message->data, 2);
+    uint16_t data = __builtin_bswap16(data_bigendian);
+    uint64_t max_dc_brake_current_target_mask = (1ULL << 16) - 1ULL;
+    uint64_t max_dc_brake_current_target_bits = (data >> 0) & max_dc_brake_current_target_mask;
+    int64_t max_dc_brake_current_target_raw = (max_dc_brake_current_target_bits & (1ULL << (16 - 1)))
+        ? (int64_t)(max_dc_brake_current_target_bits | ~max_dc_brake_current_target_mask)
+        : (int64_t)max_dc_brake_current_target_bits;
+    max_dc_brake_current_command->max_dc_brake_current_target = (float)(max_dc_brake_current_target_raw / 10);
+}
+
+void receive_drive_enable_command(const can_msg_t *message, drive_enable_command_t *drive_enable_command) {
+    
+    uint8_t data = message->data[0];
+    uint64_t drive_enable_mask = (1ULL << 8) - 1ULL;
+    uint64_t drive_enable_raw = (data >> 0) & drive_enable_mask;
+    drive_enable_command->drive_enable = (uint8_t)drive_enable_raw;
+}
+
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 6fa2a1a..0f6fa6b 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -357,7 +357,7 @@ static void MX_FDCAN2_Init(void)
   hfdcan2.Init.DataSyncJumpWidth = 1;
   hfdcan2.Init.DataTimeSeg1 = 1;
   hfdcan2.Init.DataTimeSeg2 = 1;
-  hfdcan2.Init.StdFiltersNbr = 2;
+  hfdcan2.Init.StdFiltersNbr = 4;
   hfdcan2.Init.ExtFiltersNbr = 2;
   hfdcan2.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
   if (HAL_FDCAN_Init(&hfdcan2) != HAL_OK)
diff --git a/Core/Src/u_can.c b/Core/Src/u_can.c
index 160af23..7d1ec73 100644
--- a/Core/Src/u_can.c
+++ b/Core/Src/u_can.c
@@ -16,10 +16,18 @@ uint8_t can2_init(FDCAN_HandleTypeDef *hcan) {
     }
 
     /* Add filters for standard IDs */
-    uint16_t standard_ids[] = { IMD_GENERAL_MSG_ID, BMS_LIGHTNING_OKAY_MSG_ID };
-    status = can_add_filter_standard(&can2, standard_ids);
+    uint16_t standard_ids1[] = { IMD_GENERAL_MSG_ID, BMS_LIGHTNING_OKAY_MSG_ID };
+    status = can_add_filter_standard(&can2, standard_ids1);
     if(status != HAL_OK) {
-        PRINTLN_ERROR("Failed to add standard filter to can2 (Status: %d/%s, ID1: %d, ID2: %d).", status, hal_status_toString(status), standard_ids[0], standard_ids[1]);
+        PRINTLN_ERROR("Failed to add standard filter to can2 (Status: %d/%s, ID1: %d, ID2: %d).", status, hal_status_toString(status), standard_ids1[0], standard_ids1[1]);
+        return U_ERROR;
+    }
+
+    /* Add filters for standard IDs */
+    uint16_t standard_ids2[] = { RESET_LATCHING_MSG_ID, 0x0 };
+    status = can_add_filter_standard(&can2, standard_ids2);
+    if(status != HAL_OK) {
+        PRINTLN_ERROR("Failed to add standard filter to can2 (Status: %d/%s, ID1: %d, ID2: %d).", status, hal_status_toString(status), standard_ids2[0], standard_ids2[1]);
         return U_ERROR;
     }
 
diff --git a/Core/Src/u_inbox.c b/Core/Src/u_inbox.c
index c48ed7a..e2467e9 100644
--- a/Core/Src/u_inbox.c
+++ b/Core/Src/u_inbox.c
@@ -9,9 +9,11 @@ void inbox_can(can_msg_t *message) {
             statemachine_handleIMDMessage(message);
             break;
         case BMS_LIGHTNING_OKAY_MSG_ID:
-            PRINTLN_INFO("can - receieved the bms lightning message");
             statemachine_handleBMSMessage(message);
             break;
+        case RESET_LATCHING_MSG_ID:
+            statemachine_handleResetLatchMessage(message);
+            break;
         default:
             PRINTLN_WARNING("Unknown Inbox Message. ID: 0x%X", message->id);
             break;
diff --git a/Core/Src/u_statemachine.c b/Core/Src/u_statemachine.c
index d0caa28..fb02a26 100644
--- a/Core/Src/u_statemachine.c
+++ b/Core/Src/u_statemachine.c
@@ -34,6 +34,7 @@ static _Atomic bool has_imd_made_contact = false;
 /* "Okay" Statuses. */
 static _Atomic bool bms_error; // Is the BMS okay? false = bms is okay, true = bms is NOT okay.
 static _Atomic bool imd_error; // Is the IMD okay? false = imd is okay, true = imd is NOT okay.
+static _Atomic bool fault_latched = false; // Is a latched fault active? false = faults are still latchde, true = no latching fault / they were reset
 // These values are updated via CAN messages that are sent from the BMS and IMD.
 // As explained in the "first contact trackers" section, these bools are not used by the statemachine until at least one "okay" message has been received from each board.
 
@@ -93,6 +94,16 @@ void statemachine_handleIMDMessage(can_msg_t* message) {
 
     /* Update `has_imd_made_contact`, since we have made contact if this has been called. */
     has_imd_made_contact = true;
+    fault_latched = true;
+}
+
+void statemachine_handleResetLatchMessage(can_msg_t *message) {
+    reset_latching_fault_t data = { 0 };
+    receive_reset_latching_fault(message, &data);
+    PRINTLN_INFO("Latching Fault Reset=%d", data.reset_latching);
+    if (data.reset_latching) {
+        fault_latched = false;
+    }
 }
 
 /* Handles the BMS status message. */
@@ -102,17 +113,17 @@ void statemachine_handleBMSMessage(can_msg_t* message) {
     PRINTLN_INFO("bms critically faulted=%d", data.critically_faulted);
     bms_error = data.critically_faulted;
     has_bms_made_contact = true;
+    fault_latched = true;
 }
 
 Lightning_Board_Light_Status statemachine_getState() {
-    PRINTLN_INFO("grace_period = %d", grace_period);
     /* If we haven't made first contact yet from either board, or we are still in our grace period, just return LIGHT_OFF. */
     if(!has_bms_made_contact || !has_imd_made_contact || grace_period) {
         return LIGHT_OFF;
     }
     
     /* If either the BMS or IMD has an error, return LIGHT_RED. */
-    if(bms_error || imd_error) {
+    if(fault_latched || bms_error || imd_error) {
         return LIGHT_RED;
     }
 
diff --git a/Core/Src/u_threads.c b/Core/Src/u_threads.c
index 6d81ae0..4c8e7f5 100644
--- a/Core/Src/u_threads.c
+++ b/Core/Src/u_threads.c
@@ -139,7 +139,7 @@ static thread_t _gpio_lights_thread = {
     .priority   = 0,                         /* Priority */
     .threshold  = 0,                         /* Preemption Threshold */
     .time_slice = TX_NO_TIME_SLICE,          /* Time Slice */
-    .auto_start = TX_AUTO_START,             /* Auto Start */
+    .auto_start = TX_AUTO_START,                 /* Auto Start */
     .sleep      = 10,                        /* Sleep (in ticks) */
     .function   = gpio_lights_thread         /* Thread Function */
 };
diff --git a/Drivers/Odyssey-Definitions b/Drivers/Odyssey-Definitions
index 9b517cc..20dcdc2 160000
--- a/Drivers/Odyssey-Definitions
+++ b/Drivers/Odyssey-Definitions
@@ -1 +1 @@
-Subproject commit 9b517cc993bb3ecac305dba7c1d2b2365db8840a
+Subproject commit 20dcdc2d5a618d11cf713bb89f21f4a7192f1417
diff --git a/Lightning.ioc b/Lightning.ioc
index fc55028..4fead74 100644
--- a/Lightning.ioc
+++ b/Lightning.ioc
@@ -14,7 +14,7 @@ FDCAN2.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,Calculat
 FDCAN2.NominalPrescaler=8
 FDCAN2.NominalTimeSeg1=11
 FDCAN2.NominalTimeSeg2=4
-FDCAN2.StdFiltersNbr=2
+FDCAN2.StdFiltersNbr=4
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
 IWDG.IPParameters=Prescaler