# Diagnostics library test faults
# These faults do not represent real robot faults or reactions
# Highly Confidential and Proprietary Zoox Information. Copyright (c) Zoox.

component: 'MON'
source_enum: kEmuMON
namespace: zoox::mon
can_messages:
  - status_msg: MON_alertStatus
can_import: firmware/common/can/generated/vh6/mon.h
can_namespace: vh6
faults:
  - id: 0
    name: EmuBmuControlStale
    severity: ERROR
    description: MON has not received EMU_BMU_control message within timeout period.
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Verify that EMU and BMU are communicating.
    set_condition:
    clear_condition:
  - id: 1
    name: Epas1RequestStale
    severity: ERROR
    description: MON has not received EPAS1 commands within timeout period.
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Verify EPAS1 state.
    set_condition:
    clear_condition:
  - id: 2
    name: Epas2RequestStale
    severity: ERROR
    description: MON has not received EPAS2 commands within timeout period.
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Verify EPAS2 state.
    set_condition:
    clear_condition:
  - id: 3
    name: Inverter1RequestStale
    severity: ERROR
    description: MON has not received Inverter1 commands within timeout period.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.
    set_condition:
    clear_condition:
  - id: 4
    name: Inverter2RequestStale
    severity: ERROR
    description: MON has not received Inverter2 commands within timeout period.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.
    set_condition:
    clear_condition:
  - id: 5
    name: Reserved
    severity: INFO
    description: Reserved.
    troubleshooting_steps:
  - id: 6
    name: EmuBrakeRequestStale
    severity: ERROR
    description: MON has not received brake commands within timeout period.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.
    set_condition:
    clear_condition:
  - id: 7
    name: OverspeedFault
    severity: ERROR
    description: MON has detected vehicle to be over max speed.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.
    set_condition:
    clear_condition:
  - id: 8
    name: SpeedMismatchFault
    severity: ERROR
    description: MON wheel speeds from two different sources does match within limits.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Verify ESP and EPAS systems are communicating.
    set_condition:
    clear_condition:
  - id: 9
    name: SpeedReadWarning
    severity: WARNING
    description: MON did not receive the second fastest wheel speed.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Validate all ESP quadrants.
    set_condition:
    clear_condition:
  - id: 10
    name: FrontSteeringRackPosFault
    severity: ERROR
    description: Front steering rack exceeded ODD position limits.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Check ODD settings and inspect steering rack.
    set_condition:
    clear_condition:
  - id: 11
    name: FrontSteeringRackRateFault
    severity: ERROR
    description: Front steering rack rate has exceeded ODD limits.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Check ODD settings and inspect steering rack.
    set_condition:
    clear_condition:
  - id: 12
    name: RearSteeringRackPositionFault
    severity: ERROR
    description: Rear steering rack exceeded ODD position limits.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Check ODD settings and inspect steering rack.
    set_condition:
    clear_condition:
  - id: 13
    name: BmuEstopFault
    severity: ERROR
    description: BMU estop is active.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect estop components and validate the BMU functioning.
    set_condition:
    clear_condition:
  - id: 14
    name: MovingWhileNotDriving
    severity: ERROR
    description: MON has detected vehicle motion when it should be stationary.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the CAN logs and verify the vehicle stationary alert against wheel movement.
    set_condition:
    clear_condition:
  - id: 15
    name: BodyCan1BusError
    severity: ERROR
    description: Body CAN 1 bus error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the body CAN 1 bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 16
    name: BodyCan1TxError
    severity: ERROR
    description: Body CAN 1 transmit error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the body CAN 1 bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 17
    name: BodyCan1RxError
    severity: ERROR
    description: Body CAN 1 receive error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the body CAN 1 bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 18
    name: AiCanBusError
    severity: ERROR
    description: AI CAN bus error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the AI bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 19
    name: AiCanTxError
    severity: ERROR
    description: AI CAN transmit error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the AI bus from the EMU-COM and its signals.
    set_condition:
    clear_condition:
  - id: 20
    name: AiCanRxError
    severity: ERROR
    description: AI CAN bus receive error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the AI bus from the EMU-COM and its signals.
    set_condition:
    clear_condition:
  - id: 21
    name: EmuCanBusError
    severity: ERROR
    description: EMU CAN bus error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the EMU CAN bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 22
    name: EmuCanTxError
    severity: ERROR
    description: EMU CAN transmit error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the EMU CAN bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 23
    name: EmuCanRxError
    severity: ERROR
    description: EMU CAN receive error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the EMU CAN bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 24
    name: UiCanBusError
    severity: ERROR
    description: UI CAN bus error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the UI CAN bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 25
    name: UiCanBusTxError
    severity: ERROR
    description: UI CAN transmit error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the UI CAN bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 26
    name: UiCanBuxRxError
    severity: ERROR
    description: UI CAN receive error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the UI CAN bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 27
    name: DrCan1BusError
    severity: ERROR
    description: DR CAN 1 bus error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the DR CAN 1 bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 28
    name: DrCan1BusTxError
    severity: ERROR
    description: DR CAN 1 transmit error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the DR CAN 1 bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 29
    name: DrCan1BusRxError
    severity: ERROR
    description: DR CAN 1 receive error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the DR CAN 1 bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 30
    name: DrCan2BusError
    severity: ERROR
    description: DR CAN 2 bus error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Inspect the DR CAN 2 bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 31
    name: DrCan2BusTxError
    severity: ERROR
    description: DR CAN 2 transmit error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the DR CAN 2 bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 32
    name: DrCan2BusRxError
    severity: ERROR
    description: DR CAN 2 receive error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the DR CAN 2 bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 33
    name: AppEarlyInitFailure
    severity: ERROR
    description: MON failed to start.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the EMU CAN logs.
    set_condition:
    clear_condition:
  - id: 34
    name: RSteeringRackRateFault
    severity: ERROR
    description: Rear steering rack rate fault.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the rear steering rack.
    set_condition:
    clear_condition:
  - id: 35
    name: PrimSteerRouteFault
    severity: ERROR
    description: Primary steering route fault.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the primary steering rack.
    set_condition:
    clear_condition:
  - id: 36
    name: PrimSteerRouteStale
    severity: ERROR
    description: Primary steering route stale.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the primary steering rack.
    set_condition:
    clear_condition:
  - id: 37
    name: RedSteerRouteFault
    severity: ERROR
    description: Redundant steer route fault.
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Inspect the redundant steering rack.
    set_condition:
    clear_condition:
  - id: 38
    name: RedSteerRouteStale
    severity: ERROR
    description: Redundant steer route stale.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the redundant steering rack.
    set_condition:
    clear_condition:
  - id: 39
    name: FSteeringRackTickFault
    severity: ERROR
    description: Front steering rack tick fault.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the front steering rack.
    set_condition:
    clear_condition:
  - id: 40
    name: RSteeringRackTickFault
    severity: ERROR
    description: Rear steering rack tick fault.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the rear steering rack.
    set_condition:
    clear_condition:
  - id: 41
    name: V4DrCan1BusError
    severity: ERROR
    description: VH6B DR CAN1 bus error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the DR CAN 1 bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 42
    name: V4DrCan1TxError
    severity: ERROR
    description: VH6B DR CAN1 transmit error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Inspect the DR CAN 1 bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 43
    name: V4DrCan1RxError
    severity: ERROR
    description: VH6B DR CAN1 receive error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the DR CAN 1 bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 44
    name: V4DrCan2BusError
    severity: ERROR
    description: VH6B DR CAN2 bus error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the DR CAN 2 bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 45
    name: V4DrCan2TxError
    severity: ERROR
    description: VH6B DR CAN2 transmit error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the DR CAN 2 bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 46
    name: V4DrCan2RxError
    severity: ERROR
    description: VH6B DR CAN2 receive error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the DR CAN 2 bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 47
    name: V4BdyCan1BusError
    severity: ERROR
    description: VH6B BDY CAN1 bus error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the body CAN 1 bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 48
    name: V4BdyCan1TxError
    severity: ERROR
    description: VH6B BDY CAN1 transmit error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the body CAN 1 bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 49
    name: V4BdyCan1RxError
    severity: ERROR
    description: VH6B BDY CAN1 receive error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the body CAN 1 bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 50
    name: V4EmuBdyCan2BusError
    severity: ERROR
    description: VH6B EMU BDY CAN2 bus error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the body CAN 2 bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 51
    name: V4EmuBdyCan2TxError
    severity: ERROR
    description: VH6B EMU BDY CAN2 transmit error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the body CAN 2 bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 52
    name: V4EmuBdyCan2RxError
    severity: ERROR
    description: VH6B EMU BDY CAN2 receive error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the body CAN 2 bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 53
    name: V4EmuDrCan3BusError
    severity: ERROR
    description: VH6B EMU DR CAN3 bus error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the DR CAN 3 bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 54
    name: V4EmuDrCan3TxError
    severity: ERROR
    description: VH6B EMU DR CAN3 transmit error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the DR CAN 3 bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 55
    name: V4EmuDrCan3RxError
    severity: ERROR
    description: VH6B EMU DR CAN3 receive error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the DR CAN 3 bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 56
    name: V4EmuDrCan4BusError
    severity: ERROR
    description: VH6B EMU DR CAN4 bus error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the DR CAN 4 bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 57
    name: V4EmuDrCan4TxError
    severity: ERROR
    description: VH6B EMU DR CAN4 transmit error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the DR CAN 4 bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 58
    name: V4EmuDrCan4RxError
    severity: ERROR
    description: VH6B EMU DR CAN4 receive error.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the DR CAN 4 bus and verify its signals.
    set_condition:
    clear_condition:
  - id: 59
    name: BmuControlEmuDr4Stale
    severity: ERROR
    description: EMU_BMU_control message is stale on DR CAN 4.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect EMU_BMU_control signals and validate their timing on DR CAN bus 4.
    set_condition:
    clear_condition:
  - id: 60
    name: BmuControlDr2Stale
    severity: ERROR
    description: EMU_BMU_control message is stale on DR CAN 2.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect EMU_BMU_control signals and validate their timing on DR CAN bus 2.
    set_condition:
    clear_condition:
  - id: 61
    name: Epas1RequestEmuDr3Stale
    severity: ERROR
    description: EMU_EPAS1_request message is stale on DR CAN 3.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect EPAS1 signals and validate their timing on DR CAN 3.
    set_condition:
    clear_condition:
  - id: 62
    name: Epas2RequestEmuDr4Stale
    severity: ERROR
    description: EMU_EPAS2_request message is stale on DR CAN 4.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect EPAS2 signals and validate their timing on DR CAN 4.
    set_condition:
    clear_condition:
  - id: 63
    name: EmuBrakeCmdDr2Stale
    severity: ERROR
    description: EMU_brakeCommand message is stale on DR CAN 2.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect EMU_brakeCommand signal on DR CAN 2 and inspect its rate.
    set_condition:
    clear_condition:
  - id: 64
    name: EmuBrakeCmdEmuDr3Stale
    severity: ERROR
    description: EMU_brakeCommand message is stale on DR CAN 3.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect EMU_brakeCommand signal on DR CAN 3 and inspect its rate.
    set_condition:
    clear_condition:
  - id: 65
    name: BmsCmdDr1Stale
    severity: ERROR
    description: EMU_BMS_command message is stale on DR CAN 1.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect EMU_BMS_command signal on DR CAN 1 and inspect its rate.
    set_condition:
    clear_condition:
  - id: 66
    name: BmsdEmuDr4Stale
    description: EMU_BMS_command message is stale on DR CAN 4.
    severity: ERROR
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect EMU_BMS_command signal on DR CAN 4 and inspect its rate.
    set_condition:
    clear_condition:
  - id: 67
    name: MotorTorqueOobFault
    description: Motor torque requests are out-of-bounds fault.
    severity: ERROR
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect motor torque command values.
    set_condition:
    clear_condition:
  - id: 68
    name: WheelTorqueRequestFault
    description: Received motor torque while doors are not closed.
    severity: ERROR
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Verify DCU state and inspect motor torque commands.
    set_condition:
    clear_condition:
  - id: 69
    name: DoorOpenRequestFault
    description: Door open request when motor not stationary.
    severity: ERROR
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect CAN logs and verify vehicle stationary status when door request sent.
    set_condition:
    clear_condition:
  - id: 70
    name: UnsafeDoorRequestFault
    description: Alerts if doors request made when EPBs are unclamped.
    severity: ERROR
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect CAN logs for door request and status of brakes at time of request.
    set_condition:
    clear_condition:

  - id: 71
    name: V4ethRxErr0
    description: Eth Rx 0 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 72
    name: V4ethRxErr1
    description: Eth Rx 1 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 73
    name: V4ethRxErr2
    description: Eth Rx 2 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 74
    name: V4ethRxErr3
    description: Eth Rx 3 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 75
    name: V4ethRxErr4
    description: Eth Rx 4 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 76
    name: V4ethRxErr5
    description: Eth Rx 5 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 77
    name: V4ethRxErr6
    description: Eth Rx 6 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 78
    name: V4ethRxErr7
    description: Eth Rx 7 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 79
    name: V4ethRxErr8
    description: Eth Rx 8 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 80
    name: V4ethRxErr9
    description: Eth Rx 9 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 81
    name: V4ethRxErr10
    description: Eth Rx 10 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 82
    name: V4ethRxErr11
    description: Eth Rx 11 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 83
    name: V4ethRxErr12
    description: Eth Rx 12 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 84
    name: V4ethRxErr13
    description: Eth Rx 13 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 85
    name: V4ethRxErr14
    description: Eth Rx 14 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 86
    name: V4ethRxErr15
    description: Eth Rx 15 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 87
    name: V4ethRxErr16
    description: Eth Rx 16 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 88
    name: V4ethRxErr17
    description: Eth Rx 17 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 89
    name: V4ethRxErr18
    description: Eth Rx 18 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 90
    name: V4ethRxErr19
    description: Eth Rx 19 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 91
    name: V4ethRxErr20
    description: Eth Rx 20 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 92
    name: V4ethRxErr21
    description: Eth Rx 21 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 93
    name: V4ethRxErr22
    description: Eth Rx 22 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 94
    name: V4ethRxErr23
    description: Eth Rx 23 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 95
    name: V4ethRxErr24
    description: Eth Rx 24 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 96
    name: V4ethRxErr25
    description: Eth Rx 25 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 97
    name: V4ethRxErr26
    description: Eth Rx 26 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 98
    name: V4ethRxErr27
    description: Eth Rx 27 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 99
    name: V4ethRxErr28
    description: Eth Rx 28 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 100
    name: V4ethRxErr29
    description: Eth Rx 29 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 101
    name: V4ethRxErr30
    description: Eth Rx 30 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 102
    name: V4ethRxErr31
    description: Eth Rx 31 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 103
    name: V4ethRxErr32
    description: Eth Rx 32 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 104
    name: V4ethRxErr33
    description: Eth Rx 33 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 105
    name: V4ethRxErr34
    description: Eth Rx 34 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 106
    name: V4ethRxErr35
    description: Eth Rx 35 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 107
    name: V4ethRxErr36
    description: Eth Rx 36 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 108
    name: V4ethRxErr37
    description: Eth Rx 37 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 109
    name: V4ethRxErr38
    description: Eth Rx 38 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 110
    name: V4ethRxErr39
    description: Eth Rx 39 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 111
    name: V4ethRxErr40
    description: Eth Rx 40 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 112
    name: V4ethRxErr41
    description: Eth Rx 41 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 113
    name: V4ethRxErr42
    description: Eth Rx 42 Error Log
    severity: INFO
    troubleshooting_steps:
  - id: 114
    name: V4ethRxErr43
    description: Eth Rx 43 Error Log
    severity: INFO
    troubleshooting_steps:

  - id: 115
    name: SteerRouteOutputStale
    description: One of the steering ECUs is stale.
    severity: ERROR
    troubleshooting_steps: Critical monitor fault; contact Firmware support.  Inspect the status of the steering primary and secondary steering ECUs.
    set_condition:  Either primary or redundant steering ECU has not transmitted in the allotted time.
    clear_condition:
  - id: 116
    name: MdiRawBrakeCorrMonitor
    severity: ERROR
    description: MDI brake pedal voltage correlation safety monitor fault (SM1).
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Ensure MDI is connected, and ODD is set correctly.
    set_condition: The raw brake pedal voltages from the MDI do not match on the primary and secondary CAN buses.
    clear_condition:
  - id: 117
    name: MdiSteeringCorrMonitor
    severity: ERROR
    description: MDI 3-way steering correlation monitor safety monitor fault (SM2).
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Ensure MDI is connected, and ODD is set correctly.
    set_condition: The two Helm steering sensors and Turck encoder from the MDI do not match correctly.
    clear_condition:
  - id: 118
    name: MdiRawAccelCorrMonitor
    severity: ERROR
    description: MDI accelerator pedal voltage correlation safety monitor fault (SM3).
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Ensure MDI is connected, and ODD is set correctly.
    set_condition: The raw accelerator pedal voltages from the MDI do not match on the primary and secondary CAN buses.
    clear_condition:
  - id: 119
    name: HelmSyncMdiTimeoutMonitor
    severity: ERROR
    description: MDI steering synchronization timeout safety monitor fault (SM29). Triggers a COM self-stop. See requirement L5-PRD-12004.
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Ensure MDI is connected, and ODD is set correctly.
    set_condition: The steering synchronization flag from the MDI was not received within the required time interval from the sync request.
    clear_condition:
  - id: 120
    name: MdiSteeringStaleMonitor
    severity: ERROR
    description: MDI steering data staleness safety monitor fault (SM31).
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Ensure MDI is connected, updated to the latest Motohawk firmware, and ODD is set correctly.
    set_condition: The steering CAN data from the MDI is stale on either the primary and secondary CAN bus.
    clear_condition:
  - id: 121
    name: MdiAccelStaleMonitor
    severity: ERROR
    description: MDI accelerator pedal data staleness safety monitor fault (SM32).
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Ensure MDI is connected, updated to the latest Motohawk firmware, and ODD is set correctly.
    set_condition: The accelerator pedal CAN data from the MDI is stale on either the primary and secondary CAN bus.
    clear_condition:
  - id: 122
    name: MdiBrakeStaleMonitor
    severity: ERROR
    description: MDI brake pedal data staleness safety monitor fault (SM33).
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Ensure MDI is connected, updated to the latest Motohawk firmware, and ODD is set correctly.
    set_condition: The brake pedal CAN data from the MDI is stale on either the primary and secondary CAN bus.
    clear_condition:
  - id: 123
    name: MdiLongitudinalMonitor
    severity: ERROR
    description: Longitudinal vehicle control safety monitor fault (SM34).
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Ensure MDI is connected, and ODD is set correctly.
    set_condition: The COM did not command vehicle deceleration as expected.
    clear_condition:
  - id: 124
    name: MdiLateralMonitor
    severity: ERROR
    description: Lateral vehicle control safety monitor fault (SM35).
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Ensure MDI is connected, and ODD is set correctly.
    set_condition: The COM did not command vehicle steering as expected based on the MDI's input.
    clear_condition:
  - id: 125
    name: OddMonitor
    severity: ERROR
    description: ODD safety monitor fault (SM39).
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Ensure ODD is set correctly.
    set_condition: ODD mismatch between the EMU COM and EMU MON, or ODD changed unexpectedly while not stationary.
    clear_condition:
  - id: 126
    name: VehicleStateMonitor
    severity: ERROR
    description: Vehicle state consistency safety monitor fault (SM44).
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Send CAN logs to Firmware support.
    set_condition: Vehicle motion detected while not in a driving state.
    clear_condition:
  - id: 127
    name: DriveManagerMonitor
    severity: ERROR
    description: Drive manager transition safety monitor fault (SM45).
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Send CAN logs to Firmware support.
    set_condition: Forbidden drive manager state transition detected on the EMU COM.
    clear_condition:
  - id: 128
    name: MdiRawBrakeRangeMonitor
    severity: ERROR
    description: MDI brake pedal voltage limits safety monitor fault (SM46).
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Ensure MDI is connected, and ODD is set correctly.
    set_condition: The raw brake pedal voltages from the MDI are out of the valid range on the primary or secondary CAN bus.
    clear_condition:
  - id: 129
    name: MdiBrakeCorrMonitor
    severity: ERROR
    description: MDI brake pedal percentage correlation safety monitor fault (SM47).
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Ensure MDI is connected, and ODD is set correctly.
    set_condition: The processed brake pedal percentages from the MDI do not match on the primary and secondary CAN buses.
    clear_condition:
  - id: 130
    name: MdiRawAccelRangeMonitor
    severity: ERROR
    description: MDI accelerator pedal voltage limits safety monitor fault (SM48).
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Ensure MDI is connected, and ODD is set correctly.
    set_condition: The raw accelerator pedal voltages from the MDI are out of the valid range on the primary or secondary CAN bus.
    clear_condition:
  - id: 131
    name: MdiAccelCorrMonitor
    severity: ERROR
    description: MDI accelerator pedal percentage correlation safety monitor fault (SM49).
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Ensure MDI is connected, and ODD is set correctly.
    set_condition: The processed accelerator pedal percentages from the MDI do not match on the primary and secondary CAN buses.
    clear_condition:
  - id: 132
    name: StopRequestMonitor
    severity: ERROR
    description: Stop request safety monitor fault (SM50).
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Ensure MDI is connected, and ODD is set correctly.
    set_condition: The EMU MON requested a vehicle stop, but the EMU COM did not correctly transition to a stopping state.
    clear_condition:
  - id: 133
    name: MdiAngleOrderMonitor
    severity: ERROR
    description: MDI angle order steering correlation safety monitor fault (SM51).
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Ensure MDI is connected, and ODD is set correctly.
    set_condition: The Helm angle order steering value and Turck encoder from the MDI do not match correctly.
    clear_condition:
  - id: 134
    name: AutonomousSteeringMonitor
    severity: ERROR
    description: Autonomous steering control monitor (SM52).
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Ensure MDI is connected, and ODD is set correctly.
    set_condition: The COM did not command vehicle steering as expected based on the AI's input.
    clear_condition:
  - id: 135
    name: HelmSyncAngleOrderMonitor
    severity: ERROR
    description: MDI helm angle order synchronization safety monitor fault (SM29). Triggers a COM self stop. See requirement L5-PRD-12334.
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Ensure MDI is connected, and ODD is set correctly.
    set_condition: The MDI steering angle (angle order) and the COM steering angle do not match after a MDI steering sync.
    clear_condition:
  - id: 136
    name: HelmSyncEmuTimeoutMonitor
    severity: ERROR
    description: COM steering synchronization timeout safety monitor (SM29). Triggers BMU backup control. See requirement L5-PRD-12007.
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Ensure MDI is connected, and ODD is set correctly.
    set_condition: The EMU COM did not command MDI steering synchronization after transitioning to the Manual Stopping state.
    clear_condition:
  - id: 137
    name: HelmSyncRackPositionMonitor
    severity: ERROR
    description: COM-EPAS steering sync safety monitor fault (SM29). Triggers BMU backup control. See requirement L5-PRD-12458.
    troubleshooting_steps: Critical monitor fault; contact Firmware support. Ensure MDI is connected, and ODD is set correctly.
    set_condition: The EMU COM's steering position sync command to the MDI did not match the EPAS steering position.
    clear_condition:
  - id: 138
    name: AutonomousSteeringMonitorDisabled
    severity: ERROR
    description: A critical monitor has been disabled by a CAN message. This is expected on Dynobot and testers, but not on vehicle.
    troubleshooting_steps: Critical monitor fault; contact Firmware support if you did not intentionally disable this monitor.
    set_condition: CAN gain sent to disable SM52
    clear_condition: CAN gain sent to enable SM52
  - id: 139
    name: ComReportingEstop
    severity: INFO
    description:  EMU-COM is in the EMERGENCY_STOPPING state. Check EMU-COM's diagnostics for the root cause.
    troubleshooting_steps:
    set_condition:
    clear_condition:
  - id: 140
    name: HwEstopActive
    severity: WARNING
    description: HW estop is active while vehicle is moving. Expected if an observer pressed the red estop button.
    troubleshooting_steps: Check that Rovebot and WES are in range and not pressed.
    set_condition: HW estop line on EMU or BMU becomes active while vehicle is moving
    clear_condition:
  - id: 141
    name: HwEstopUnarmed
    severity: ERROR
    description: HW estop is unarmed while vehicle is moving.
    troubleshooting_steps: Check that Rovebot and WES are in range. Reset and rearm the estop box.
    set_condition: Armed line from estop box becomes inactive while vehicle is moving
    clear_condition:
  - id: 142
    name: RemoteInvalidOdd
    severity: ERROR
    description: ODD is not Baseops while MON is in the Remote state.
    troubleshooting_steps: Critical monitor fault; contact Firmware support.
    set_condition:
    clear_condition:
