diff --git a/components/bms_boss/include/CANIO_componentSpecific.h b/components/bms_boss/include/CANIO_componentSpecific.h
index 9127b4ca..7e9dc4e4 100644
--- a/components/bms_boss/include/CANIO_componentSpecific.h
+++ b/components/bms_boss/include/CANIO_componentSpecific.h
@@ -59,5 +59,7 @@ CAN_prechargeContactorState_E CANIO_tx_getContactorState(void);
 #define set_elconMaxChargeCurrent(m,b,n,s) set(m,b,n,s, BMS.pack_charge_limit)
 #define set_elconControlByte(m,b,n,s) set(m,b,n,s, CANIO_tx_getElconControlByte())
 #define transmit_BMSB_elconChargeCommand (SYS_SFT_checkElconChargerTimeout() == false)
-
-#include "TemporaryStubbing.h"
+#define transmit_BMSB_currentLimit (SYS_SFT_checkMCTimeout() == false)
+#define set_maxCharge(m,b,n,s) set(m,b,n,s, BMS.pack_charge_limit);
+#define set_maxDischarge(m,b,n,s) set(m,b,n,s, BMS.pack_discharge_limit);
+#include "TemporaryStubbing.h"
\ No newline at end of file
diff --git a/network/NetworkGen/NetworkGen.py b/network/NetworkGen/NetworkGen.py
index 9d67262f..5c7f47c8 100644
--- a/network/NetworkGen/NetworkGen.py
+++ b/network/NetworkGen/NetworkGen.py
@@ -42,6 +42,7 @@
     "description": str,
     "onBuses": Or(str, list[str]),
     Optional("duplicateNode"): int,
+    Optional("baseId"): int,
 })
 
 SIGNAL_SCHEMA = Schema({
@@ -58,6 +59,7 @@
     Optional("description"): str,
     Optional("cycleTimeMs"): int,
     Optional("id"): int,
+    Optional("idOffset"): int,
     Optional("lengthBytes"): int,
     Optional("sourceBuses"): Or(str, list[str]),
     Optional("signals"): dict,
@@ -357,30 +359,25 @@ def process_node(node: CanNode):
             MESSAGE_SCHEMA.validate(definition)
             if "lengthBytes" in definition and (definition["lengthBytes"] < 1 or definition["lengthBytes"] > 8):
                 raise Exception("Message length must be greater than 0 and less than or equal to 8")
-            if "id" not in definition:
-                raise Exception("Message must have a specified 'id'")
+            if "id" not in definition and "idOffset" not in definition:
+                raise Exception("Message must have a specified 'id' or 'idOffset'")
+            elif "id" in definition and "idOffset" in definition:
+                raise Exception("Message cannot have an 'id' and 'idOffset' at the same time")
         except Exception as e:
             print(f"CAN message definition for '{name}' in node '{node.name}' is invalid.")
             print(f"Message Schema Error: {e}")
             error = True
             continue
 
-        definition["id"] = definition["id"] + node.offset;
-        if "sourceBuses" in definition:
-            ls = []
-            if type(definition["sourceBuses"]) is str:
-                ls.append(definition["sourceBuses"])
-            else: 
-                ls = definition["sourceBuses"]
-            for bus in ls:
-                if bus not in can_bus_defs:
-                    print(f"Message '{msg_name}' has an undefined bus '{bus}'.")
-                    ERROR = True
-                    break
-                if bus not in node.on_buses:
-                    print(f"Message '{msg_name}' is on bus '{bus}' but node '{node.name}' is not on that bus.")
-                    ERROR = True
-                    break
+        if "idOffset" in definition:
+            if node.baseId is None:
+                print(f"Message '{name}' has a 'idOffset' specified and {node.name} does not have a 'baseId' specified")
+                ERROR = True
+                break
+            else:
+                definition["id"] = definition["idOffset"] + node.baseId + node.offset
+        else:
+            definition["id"] = definition["id"] + node.offset
 
         for existing_node in can_nodes:
             for msg in can_nodes[existing_node].messages:
diff --git a/network/NetworkGen/classes/Can.py b/network/NetworkGen/classes/Can.py
index fd81d666..5463325c 100644
--- a/network/NetworkGen/classes/Can.py
+++ b/network/NetworkGen/classes/Can.py
@@ -430,7 +430,6 @@ def validate_msg(self):
                         signal.start_bit + signal.native_representation.bit_width
                     )
                 except Exception as e:
-                    breakpoint()
                     raise Exception(e)
 
         # validate validationRoles of signals
@@ -507,7 +506,7 @@ def __init__(self, name, node_def):
             self.duplicateNode = True
             self.alias = self.name + str(self.offset)
             self.total_duplicates = get_if_exists(node_def, "duplicateNode", int, 1)
-
+        self.baseId = get_if_exists(node_def, "baseId", int, None)
         self.def_files = node_def["def_files"]
         self.description: str = get_if_exists(node_def, "description", str, "")
         self.messages: Dict[str, CanMessage] = {}
diff --git a/network/NetworkGen/classes/Types.py b/network/NetworkGen/classes/Types.py
index dcd9e093..315b416e 100644
--- a/network/NetworkGen/classes/Types.py
+++ b/network/NetworkGen/classes/Types.py
@@ -92,6 +92,11 @@ class Units(Enum):
     amps = "A"
     rpm = "RPM"
     pct = "%"
+    Nm = "Nm"
+    deg = "deg"
+    Hz = "Hz"
+    Wb = "Wb"
+    
 
 
 class ValidationRole(Enum):
diff --git a/network/definition/data/components/bmsb/bmsb-message.yaml b/network/definition/data/components/bmsb/bmsb-message.yaml
index e00d37cc..6b269176 100644
--- a/network/definition/data/components/bmsb/bmsb-message.yaml
+++ b/network/definition/data/components/bmsb/bmsb-message.yaml
@@ -56,3 +56,12 @@ messages:
       elconMaxChargeVoltage:
       elconMaxChargeCurrent:
       elconControlByte:      
+
+  currentLimit:
+    description: BMS Torque limit
+    id: 0x202
+    cycleTimeMs: 100
+    sourceBuses: veh
+    signals:
+      maxDischarge:
+      maxCharge:
\ No newline at end of file
diff --git a/network/definition/data/components/bmsb/bmsb-signals.yaml b/network/definition/data/components/bmsb/bmsb-signals.yaml
index 5ccdbe9d..05f76de9 100644
--- a/network/definition/data/components/bmsb/bmsb-signals.yaml
+++ b/network/definition/data/components/bmsb/bmsb-signals.yaml
@@ -131,3 +131,29 @@ signals:
         min: 0
         max: 25
     continuous: true
+
+  maxDischarge:
+    unit: 'A'
+    description: BMS Limit Discharge Current
+    nativeRepresentation:
+      endianness: little
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: 0
+        max: 1000
+      signedness: unsigned
+    continuous: true
+
+  maxCharge:
+    unit: 'A'
+    description: BMS Limit Charge Current
+    nativeRepresentation:
+      endianness: little
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: 0
+        max: 75
+      signedness: unsigned
+    continuous: true
\ No newline at end of file
diff --git a/network/definition/data/components/pm100dx/pm100dx-message.yaml b/network/definition/data/components/pm100dx/pm100dx-message.yaml
index 4b17bbf2..b6292029 100644
--- a/network/definition/data/components/pm100dx/pm100dx-message.yaml
+++ b/network/definition/data/components/pm100dx/pm100dx-message.yaml
@@ -1,9 +1,253 @@
 messages:
+
+  temps1:
+    cycleTimeMs: 100
+    description: PM100DXR Temperatures 1
+    idOffset: 0xA0
+    lengthBytes: 8 
+    signals:
+      tempModuleA:
+      tempModuleB:
+      tempModuleC:
+      tempGateDriver:
+
+  temps2:
+    cycleTimeMs: 100
+    description: PM100DXR Temperatures 2
+    idOffset: 0xA1
+    lengthBytes: 8 
+    signals:
+      controlBoardTemp:
+      rtdTemp1:
+      rtdTemp2:
+      rtdTemp3:
+
+  temps3AndTorqueShudder:
+    cycleTimeMs: 100
+    description: PM100DXR Temperatures 3 & Torque Shudder 
+    idOffset: 0xA2
+    lengthBytes: 8 
+    signals:
+      rtdTemp4:
+      rtdTemp5:
+      motorTemp:
+      torqueShudder:
+
+  analogInputVoltages:
+    cycleTimeMs: 10
+    description: PM100DXR Analog Input Voltages 
+    idOffset: 0xA3
+    lengthBytes: 8
+    signals:
+      analogInputVoltage1:
+      analogInputVoltage2:
+      analogInputVoltage3:
+      analogInputVoltage4:
+           startBit: 32
+      analogInputVoltage5:
+      analogInputVoltage6:
+
+  digitalInputStatus:
+    cycleTimeMs: 10
+    description: PM100DXR Digital Input Status
+    idOffset: 0xA4
+    lengthBytes: 8
+    signals:
+      forwardSwitchStatus:
+      reverseSwitchStatus:
+      brakeSwitchStatus:
+      regenDisableSwitchStatus:
+      ignitionSwitchStatus:
+      startSwitchStatus:
+      valetModeStatus:
+      digitalInput8Status:
+
+  motorPositionInfo:
+    cycleTimeMs: 10
+    description: PM100DXR Motor Position Information
+    idOffset: 0xA5
+    lengthBytes: 8
+    signals:
+      electricalMotorAngle:
+      motorSpeed:
+      electricalOutputFreq:
+      deltaResolverFiltered:
+
+  currentInfo:
+    cycleTimeMs: 10
+    description: PM100DXR Current Info
+    idOffset: 0xA6
+    lengthBytes: 8
+    signals:
+      currentPhaseA:
+      currentPhaseB:
+      currentPhaseC:
+      dcBusCurrent:
+
+  voltageInfo:
+    cycleTimeMs: 10
+    description: PM100DXR Voltage Info
+    idOffset: 0xA7
+    lengthBytes: 8
+    signals:
+      dcBusVoltage: 
+      outputVoltage:
+      voltageVAB:
+      voltageVBC:
+
+  fluxInfo:
+    cycleTimeMs: 10
+    description: PM100DXR Flux Info
+    idOffset: 0xA8
+    lengthBytes: 8
+    signals:
+      fluxCommand:
+      fluxFeedback:
+      idFeedback:
+      iqFeedback:
+
+  internalVoltages:
+    cycleTimeMs: 100
+    description: PM100DXR Internal Voltages
+    idOffset: 0xA9
+    lengthBytes: 8
+    signals:
+      refVoltage1.5V: 
+      refVoltage2.5V:
+      refVoltage5V:
+      systemVoltage12V:
+
+  internalStates:
+    cycleTimeMs: 10
+    description: PM100DXR Internal States
+    idOffset: 0xAA
+    lengthBytes: 8
+    signals: 
+      vsmState:
+      pwmFrequency:
+      inverterState:
+      relayStatus1:
+      inverterRunMode:
+      selfSensingAssistEnable:
+      inverterActiveDischargeState:
+      inverterCommandMode:
+      rollingCounter:
+      inverterEnableState:
+      burstModelMode:
+      startModeActive:
+      inverterEnableLockout:
+      directionCommand:
+      bmsActive:
+      bmsLimitingTorque:
+      limitMaxSpeed:
+      limitHotSpot:
+      lowSpeedLimiting:
+      coolantTemperatureLimiting:
+      limitStallBurstModel:
+
+  faultCodes:
+    cycleTimeMs: 10
+    description: PM100DXR POST & Run Fault Codes
+    idOffset: 0xAB
+    lengthBytes: 8
+    signals:
+        postHWGateFault:
+        postHWOverCurrentFault:
+        postAcceleratorShorted:
+        postAcceleratorOpen:
+        postCurrentSensorLo:
+        postCurrentSensorHi:
+        postModuleTempLo:
+        postModuleTempHi:
+        postControlPCBTempLo:
+        postControlPCBTempHi:
+        postGateDrivePCBTempLo:
+        postGateDrivePCBTempHi:
+        post5vSenseVoltageLo:
+        post5vSenseVoltageHi:
+        post12vSenseVoltageLo:
+        post12vSenseVoltageHi:
+        post2.5vSenseVoltageLo:
+        post2.5vSenseVoltageHi:
+        post1.5vSenseVoltageLo:
+        post1.5vSenseVoltageHi:
+        postDCBusVoltageHi:
+        postDCBusVoltageLo:
+        postPreChargeTimeOut:
+        postPreChargeVoltageFailure:
+        postEepromChecksumInvalid:
+        postEepromDataOutOfRange:
+        postEepromUpdateRequired:
+        postHWDCBusOverVoltageDuringInit: 
+        postBrakeShorted:
+          startBit: 30
+        postBrakeOpen:
+        runMotorOverSpeedFault:
+        runOverCurrentFault:
+        runOverVoltageFault:
+        runInverterOverTempFault:
+        runAcceleratorInputShortedFault:
+        runAcceleratorInputOpenFault:
+        runDirectionCommandFault:
+        runInverterResponseTimeOutFault:
+        runHWGateFault:
+        runHWOverCurrentFault:
+        runUnderVoltageFault:
+        runCanCommandMessageLostFault:
+        runMotorOverTempFault:
+        runBrakeInputShortedFault:
+          startBit: 48
+        runBrakeInputOpenFault:
+        runModuleAOverTempFault:
+        runModuleBOverTempFault:
+        runModuleCOverTempFault:
+        runPcbOverTempFault:
+        runGateDriveBoard1OverTempFault:
+        runGateDriveBoard2OverTempFault:
+        runGateDriveBoard3OverTempFault:
+        runCurrentSensorFault: 
+        runHwDCBusOverVoltageFault:
+          startBit: 59
+        runResolverNotConnected:
+          startBit: 62
+
+  torqueAndTimerInfo:
+    cycleTimeMs: 10
+    description: Torque and Timer Info
+    idOffset: 0xAC
+    lengthBytes: 8
+    signals:
+      commandedTorque:
+      feedbackTorque:
+      powerOnTimer:
+
+  modulationIndexAndFluxWeakeningOutputInfo:
+    cycleTimeMs: 10
+    description: Modulation Index and Flux Weakening Output Info
+    idOffset: 0xAD
+    lengthBytes: 8
+    signals:
+      modulationIndex:
+      fluxWeakeningOutput:
+      idCommand:
+      iqCommand:
+
+
   criticalData:
+    cycleTimeMs: 3
     description: PM100DXR Critical Data
+    idOffset: 0xB0
+    lengthBytes: 8
+    signals:
+      torqueCommand:
+      torqueFeedback:
+      motorSpeed:
+      tractiveSystemVoltage: #DC bus voltage
+
+  torqueCapability:
     cycleTimeMs: 10
-    id: 0x11
+    description: Motor Controller Torque Capability
+    idOffset: 0xB1
     lengthBytes: 8
     signals:
-      tractiveSystemVoltage:
-        startBit: 48
+      torqueCapability:
\ No newline at end of file
diff --git a/network/definition/data/components/pm100dx/pm100dx-rx.yaml b/network/definition/data/components/pm100dx/pm100dx-rx.yaml
index 5c496e08..e5bf1706 100644
--- a/network/definition/data/components/pm100dx/pm100dx-rx.yaml
+++ b/network/definition/data/components/pm100dx/pm100dx-rx.yaml
@@ -1,2 +1,3 @@
 messages:
+  BMSB_currentLimit:
 signals:
diff --git a/network/definition/data/components/pm100dx/pm100dx-signals.yaml b/network/definition/data/components/pm100dx/pm100dx-signals.yaml
index 6cc92200..f9e5e106 100644
--- a/network/definition/data/components/pm100dx/pm100dx-signals.yaml
+++ b/network/definition/data/components/pm100dx/pm100dx-signals.yaml
@@ -1,11 +1,1018 @@
 signals:
+
+  tempModuleA:
+    description: Module A Temperature 
+    unit: degC
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+    
+  tempModuleB:
+    description: Module B Temperature 
+    unit: degC
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  tempModuleC:
+    description: Module C Temperature
+    unit: degC 
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  tempGateDriver:
+    description: Gate Driver Board Temperature
+    unit: degC
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  controlBoardTemp:
+    description: Temperature of Control Board
+    unit: degC
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  rtdTemp1:
+    description: Temperature from RTD Input 1
+    unit: degC
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  rtdTemp2:
+    description: Temperature from RTD Input 2
+    unit: degC
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  rtdTemp3:
+    description: Temperature from RTD Input 3
+    unit: degC
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  rtdTemp4:
+    description: Temperature from RTD Input 4
+    unit: degC
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  rtdTemp5:
+    description: Temperature from RTD Input 5
+    unit: degC
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  motorTemp:
+    description: Motor Temperature
+    unit: degC
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  torqueShudder:
+    description: Torque Shudder Compensation
+    unit: Nm
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  analogInputVoltage1:
+    description: Voltage on Analog Input Voltage 1
+    unit: V
+    nativeRepresentation:
+      bitWidth: 10
+      resolution: 0.01
+      range:
+        min: -327.68
+        max: 327.67
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  analogInputVoltage2:
+    description: Voltage on Analog Input Voltage 2
+    unit: V
+    nativeRepresentation:
+      bitWidth: 10
+      resolution: 0.01
+      range:
+        min: -327.68
+        max: 327.67
+      endianness: big
+      signedness: signed
+    continuous: true
+
+
+  analogInputVoltage3:
+    description: Voltage on Analog Input Voltage 3
+    unit: V
+    nativeRepresentation:
+      bitWidth: 10
+      resolution: 0.01
+      range:
+        min: -327.68
+        max: 327.67
+      endianness: big
+      signedness: signed
+    continuous: true
+
+
+  analogInputVoltage4:
+    description: Voltage on Analog Input Voltage 4
+    unit: V
+    nativeRepresentation:
+      bitWidth: 10
+      resolution: 0.01
+      range:
+        min: -327.68
+        max: 327.67
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  analogInputVoltage5:
+    description: Voltage on Analog Input Voltage 5
+    unit: V
+    nativeRepresentation:
+      bitWidth: 10
+      resolution: 0.01
+      range:
+        min: -327.68
+        max: 327.67
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  analogInputVoltage6:
+    description: Voltage on Analog Input Voltage 6
+    unit: V
+    nativeRepresentation:
+      bitWidth: 10
+      resolution: 0.01
+      range:
+        min: -327.68
+        max: 327.67
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  forwardSwitchStatus:
+    description: Forward Switch Status
+    discreteValues: inputStatus
+
+  reverseSwitchStatus:
+    description: Reverse Switch Status
+    discreteValues: inputStatus
+
+  brakeSwitchStatus:
+    description: Brake Switch Status
+    discreteValues: inputStatus
+
+  regenDisableSwitchStatus:
+    description: Regen Disable Switch Status
+    discreteValues: inputStatus
+
+  ignitionSwitchStatus:
+    description: Ignition Switch Status
+    discreteValues: inputStatus
+
+  startSwitchStatus:
+    description: Start Switch Status
+    discreteValues: inputStatus
+
+  valetModeStatus:
+    description: Valet Mode Status
+    discreteValues: inputStatus
+
+  digitalInput8Status:
+    description: Digital Input 8 Status
+    discreteValues: inputStatus
+
+  electricalMotorAngle:
+    description: Electrical Motor Angle
+    unit: deg
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: 0.0
+        max: 359.9
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  motorSpeed:
+    description: Motor Speed
+    unit: RPM
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -32768
+        max: 32767
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  electricalOutputFreq:
+    description: Electrical Output Frequency
+    unit: Hz
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  deltaResolverFiltered:
+    description: Delta Resolver Filtered
+    unit: deg
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: 0
+        max: 359.9
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  currentPhaseA:
+    description: Measured Current of Phase A
+    unit: A
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  currentPhaseB:
+    description: Measured Current of Phase B
+    unit: A
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  currentPhaseC:
+    description: Measured Current of Phase C
+    unit: A
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+
+
+  dcBusCurrent:
+    description: Calculated DC Bus Current
+    unit: A
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  dcBusVoltage: 
+    description: Measured DC Bus Voltage
+    unit: V
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range: 
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  outputVoltage:
+    description: Calculated Output Voltage (Peak-Neutral)
+    unit: V
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range: 
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+    
+  voltageVAB:
+    description: Phase A - Phase B Voltage
+    unit: V
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range: 
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+    
+  voltageVBC:
+    description: Phase B - Phase C Voltage
+    unit: V
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range: 
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+    
+  fluxCommand:
+    description: Commanded Flux
+    unit: Wb
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.001
+      range:
+        min: -32.768
+        max: 32.767
+      endianness: big
+      signedness: signed
+    continuous: true
+    
+  fluxFeedback:
+    description: Estimated Flux
+    unit: Wb
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.001
+      range:
+        min: -32.768
+        max: 32.767
+      endianness: big
+      signedness: signed
+    continuous: true
+    
+
+  idFeedback:
+    description: D-Axis Current Feedback
+    unit: A
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+ 
+  iqFeedback:
+    description: Q-Axis Current Feedback
+    unit: A
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+ 
+  refVoltage1.5V: 
+    description: 1.5V Reference Voltage
+    unit: V
+    nativeRepresentation: 
+      bitWidth: 16
+      resolution: 0.01
+      range:
+        min: -327.68
+        max: 327.67
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  refVoltage2.5V:
+    description: 2.5V Reference Voltage
+    unit: V
+    nativeRepresentation: 
+      bitWidth: 16
+      resolution: 0.01
+      range:
+        min: -327.68
+        max: 327.67
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  refVoltage5V:
+    description: 5V Reference Voltage
+    unit: V
+    nativeRepresentation: 
+      bitWidth: 16
+      resolution: 0.01
+      range:
+        min: -327.68
+        max: 327.67
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  systemVoltage12V:
+    description: 12V Reference Voltage
+    unit: V
+    nativeRepresentation: 
+      bitWidth: 16
+      resolution: 0.01
+      range:
+        min: -327.68
+        max: 327.67
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  vsmState: 
+    description: VSM State
+    unit: ""
+    discreteValues: vsmState
+
+  pwmFrequency:
+    description: PWM Frequency (=0 for PMxxx)
+    unit: Hz
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 1
+      range:
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  inverterState:
+    description: Inverter State 
+    unit: ""
+    discreteValues: inverterState
+
+  relayStatus1:
+    description: Relay 1 Status
+    discreteValues: activeStatus
+
+  inverterRunMode:
+    description: Inverter Run Mode
+    discreteValues: outputState
+
+  selfSensingAssistEnable:  
+    description: Self-Sensing Assist Enable
+    discreteValues: outputState
+
+  inverterActiveDischargeState:
+    description: Inverter Active Discharge State
+    unit: ""
+    discreteValues: inverterActiveDischargeState
+
+  inverterCommandMode:
+    description: Inverter Command Mode
+    discreteValues: outputState
+
+  rollingCounter:
+    description: Only For Gen 5
+    unit: ""
+    nativeRepresentation:
+      bitWidth: 8 
+      resolution: 1
+      range:
+        min: 0
+        max: 15
+      endianness: big
+      signedness: unsigned
+    continuous: true
+
+
+  inverterEnableState:  
+    description: Inverter Enable State
+    discreteValues: outputState
+
+  burstModelMode:
+    description: Only for Gen 5
+    discreteValues: outputState
+
+  startModeActive:
+    description: Start Mode Active
+    discreteValues: outputState
+
+  inverterEnableLockout:
+    description: Inverter Enable Lockout
+    discreteValues: outputState
+
+  directionCommand:
+    description: Inverter Direction Command
+    discreteValues: directionCommand
+
+  bmsActive:
+    description: BMS Active
+    discreteValues: bmsActive
+
+  bmsLimitingTorque:
+    description: BMS Limiting Torque
+    discreteValues: isLimited
+
+  limitMaxSpeed:
+    description: Only for Gen 5
+    discreteValues: isLimited
+
+  limitHotSpot:
+    description: Only for Gen 5
+    discreteValues: isLimited
+
+  lowSpeedLimiting:
+    description: Only for Gen 5
+    discreteValues: isLimited
+
+  coolantTemperatureLimiting:
+    description: Only for Gen 5
+    discreteValues: isLimited
+
+  limitStallBurstModel:
+    description: Only for Gen 5
+    discreteValues: isLimited
+
+
+  #POST Fault Lo
+  postHWGateFault:
+    description: POST HW Gate Fault
+    discreteValues: faultStatus
+
+  postHWOverCurrentFault:
+    description: POST HW Overcurrent Fault
+    discreteValues: faultStatus
+
+  postAcceleratorShorted:
+    description: POST HW Accelerator Shorted Fault
+    discreteValues: faultStatus
+
+  postAcceleratorOpen:
+    description: POST HW Accelerator Open Fault
+    discreteValues: faultStatus
+
+  postCurrentSensorLo:
+    description: POST Current Sensor Low Fault
+    discreteValues: faultStatus
+
+  postCurrentSensorHi:
+    description: POST Current Sensor High Fault
+    discreteValues: faultStatus
+
+  postModuleTempLo:
+    description: POST Module Temp Low Fault
+    discreteValues: faultStatus
+
+  postModuleTempHi:
+    description: POST Module Temp High Fault
+    discreteValues: faultStatus
+
+  postControlPCBTempLo:
+    description: POST Control PCB Temp Low Fault
+    discreteValues: faultStatus
+
+  postControlPCBTempHi:
+    description: POST Control PCB Temp High Fault
+    discreteValues: faultStatus
+
+  postGateDrivePCBTempLo:
+    description: POST Gate Drive PCB Temp Low Fault
+    discreteValues: faultStatus
+
+  postGateDrivePCBTempHi:
+    description: POST Gate Drive PCB Temp High Fault
+    discreteValues: faultStatus
+
+  post5vSenseVoltageLo:
+    description: POST 5V Sense Voltage Low Fault
+    discreteValues: faultStatus
+
+  post5vSenseVoltageHi:
+    description: POST 5V Sense Voltage High Fault
+    discreteValues: faultStatus
+
+  post12vSenseVoltageLo:
+    description: POST 12V Sense Voltage Low Fault
+    discreteValues: faultStatus
+
+  post12vSenseVoltageHi:
+    description: POST 12V Sense Voltage High Fault
+    discreteValues: faultStatus
+
+  #POST Fault Hi
+  post2.5vSenseVoltageLo:
+    description: POST 2.5V Sense Voltage Low Fault
+    discreteValues: faultStatus
+
+  post2.5vSenseVoltageHi:
+    description: POST 2.5V Sense Voltage High Fault
+    discreteValues: faultStatus
+
+  post1.5vSenseVoltageLo:
+    description: POST 1.5V Sense Voltage Low Fault
+    discreteValues: faultStatus
+
+  post1.5vSenseVoltageHi:
+    description: POST 1.5V Sense Voltage High Fault
+    discreteValues: faultStatus
+
+  postDCBusVoltageHi:
+    description: POST DC Bus Votlage High Fault
+    discreteValues: faultStatus
+
+  postDCBusVoltageLo:
+    description: POST DC Bus Voltage Low Fault
+    discreteValues: faultStatus
+
+  postPreChargeTimeOut:
+    description: POST Precharge Timeout Fault
+    discreteValues: faultStatus
+
+  postPreChargeVoltageFailure:
+    description: POST Precharge Voltage Failure Fault
+    discreteValues: faultStatus
+
+  postEepromChecksumInvalid:
+    description: POST EEPROM Checksum Invalid Fault
+    discreteValues: faultStatus
+
+  postEepromDataOutOfRange:
+    description: POST EEPROM Data Out of Range Fault
+    discreteValues: faultStatus
+
+  postEepromUpdateRequired:
+    description: POST EEPROM Update Required Fault
+    discreteValues: faultStatus
+
+  postHWDCBusOverVoltageDuringInit:
+    description: POST HW DC Bus Over Voltage During Init Fault
+    discreteValues: faultStatus
+
+  postBrakeShorted:
+    description: POST Brake Shorted Fault
+    discreteValues: faultStatus
+
+  postBrakeOpen:
+    description: POST Brake Open Fault
+    discreteValues: faultStatus
+
+  runMotorOverSpeedFault:
+    description: RUN Motor Over Speed Fault
+    discreteValues: faultStatus
+
+  runOverCurrentFault:
+    description: RUN Over Current Fault
+    discreteValues: faultStatus
+
+  runOverVoltageFault:
+    description: RUN Over Voltage Fault
+    discreteValues: faultStatus
+
+  runInverterOverTempFault:
+    description: RUN Inverter Over Temperature Fault
+    discreteValues: faultStatus
+
+  runAcceleratorInputShortedFault:
+    description: RUN Accelerator Input Shorted Fault
+    discreteValues: faultStatus
+
+  runAcceleratorInputOpenFault:
+    description: RUN Accelerator Input Open Fault
+    discreteValues: faultStatus
+
+  runDirectionCommandFault:
+    description: RUN Direction Command Fault
+    discreteValues: faultStatus
+
+  runInverterResponseTimeOutFault:
+    description: RUN Inverter Response Timeout Fault
+    discreteValues: faultStatus
+
+  runHWGateFault:
+    description: RUN HW Gate Fault
+    discreteValues: faultStatus
+
+  runHWOverCurrentFault:
+    description: RUN HW Over Current Fault
+    discreteValues: faultStatus
+
+  runUnderVoltageFault:
+    description: RUN Under Voltage Fault
+    discreteValues: faultStatus
+
+  runCanCommandMessageLostFault:
+    description: RUN CAN Command Message Lost Fault
+    discreteValues: faultStatus
+
+  runMotorOverTempFault:
+    description: RUN Motor Over Temp Fault
+    discreteValues: faultStatus
+
+  runBrakeInputShortedFault:
+    description: RUN Brake Input Shorted Fault
+    discreteValues: faultStatus
+
+  runBrakeInputOpenFault:
+    description: RUN Brake Input Open Fault
+    discreteValues: faultStatus
+
+  runModuleAOverTempFault:
+    description: RUN Module A Over Temp Fault
+    discreteValues: faultStatus
+
+  runModuleBOverTempFault:
+    description: RUN Module B Over Temp Fault
+    discreteValues: faultStatus
+
+  runModuleCOverTempFault:
+    description: RUN Module C Over Temp Fault
+    discreteValues: faultStatus
+
+  runPcbOverTempFault:
+    description: RUN PCB Over Temp Fault
+    discreteValues: faultStatus
+
+  runGateDriveBoard1OverTempFault:
+    description: RUN Gate Drive Board 1 Over Temp Fault
+    discreteValues: faultStatus
+
+  runGateDriveBoard2OverTempFault:
+    description: RUN Gate Drive Board 2 Over Temp Fault
+    discreteValues: faultStatus
+
+  runGateDriveBoard3OverTempFault:
+    description: RUN Gate Drive Board 3 Over Temp Fault
+    discreteValues: faultStatus
+
+  runCurrentSensorFault:
+    description: RUN Current Sensor Fault
+    discreteValues: faultStatus
+
+  runHwDCBusOverVoltageFault:
+    description: RUN HW DC Bus Over Voltage Fault
+    discreteValues: faultStatus
+ 
+  runResolverNotConnected:
+    description: RUN Resolver Not Connected Fault
+    discreteValues: faultStatus
+
+  commandedTorque:
+    description: Commanded Torque
+    unit: Nm
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  feedbackTorque:
+    description: Torque Feedback
+    unit: Nm
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+    
+  powerOnTimer:
+    description: Power On Timer
+    unit: "s"
+    nativeRepresentation:
+      bitWidth: 32
+      resolution: 3000
+      range:
+        min: 0
+        max: 4294967295
+      endianness: big
+      signedness: unsigned
+    continuous: true
+    
+
+  modulationIndex:
+    description: Modulation Index
+    unit: ""
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.01
+      range:
+        min: 0
+        max: 65535
+      endianness: big
+      signedness: signed
+    continuous: true
+
+
+  fluxWeakeningOutput:
+    description: Flux Weakening Output
+    unit: A
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  idCommand:
+    description: Commanded D-Axis Current
+    unit: A
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  iqCommand:
+    description: Commanded Q-Axis Current
+    unit: A
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  torqueCommand:
+    unit: Nm
+    description: Commanded Torque
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  torqueFeedback:
+    unit: Nm
+    description: Estimated Motor Torque
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  motorSpeed:
+    unit: RPM
+    description: Measured Motor Speed
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -32768
+        max: 32767
+      endianness: big
+      signedness: signed
+    continuous: true
+
   tractiveSystemVoltage:
-    unit: 'V'
+    unit: V
     description: Motor Controller DC Bus Voltage
     nativeRepresentation:
       bitWidth: 16
       resolution: 0.1
       range:
-        min: 0
-        max: 450
+        min: -3276.8
+        max: 3276.7
+      endianness: big
+      signedness: signed
+    continuous: true
+
+  torqueCapability:
+    unit: Nm
+    description: Inverter Available Torque
+    nativeRepresentation:
+      bitWidth: 16
+      resolution: 0.1
+      range:
+        min: -32768
+        max: 32767
+      endianness: big
+      signedness: signed
     continuous: true
diff --git a/network/definition/data/components/pm100dx/pm100dx.yaml b/network/definition/data/components/pm100dx/pm100dx.yaml
index 2b7a7a14..751efb09 100644
--- a/network/definition/data/components/pm100dx/pm100dx.yaml
+++ b/network/definition/data/components/pm100dx/pm100dx.yaml
@@ -1,3 +1,4 @@
 description: "Cascadia Motion PM100DX/DXR Motor Controller"
 onBuses:
   - "veh"
+baseId: 0x01
diff --git a/network/definition/discrete_values.yaml b/network/definition/discrete_values.yaml
index c003b827..23ed641e 100644
--- a/network/definition/discrete_values.yaml
+++ b/network/definition/discrete_values.yaml
@@ -6,6 +6,10 @@ switchStatus:
   "OFF": 0
   "ON": 1
 
+inputStatus:
+  "FALSE": 0
+  "TRUE": 1
+
 flag:
   "CLEARED": 0
   "SET": 1
@@ -16,3 +20,73 @@ prechargeContactorState:
   "CONTACTORS_PRECHARGE_CLOSED": 2
   "CONTACTORS_PRECHARGE_HVP_CLOSED": 3
   "CONTACTORS_HVP_CLOSED": 4
+
+vsmState:
+  "VSM_START": 0
+  "PRECHARGE_INIT": 1
+  "PRECHARGE_ACTIVE": 2
+  "PRECHARGE_COMPLETE": 3
+  "VSM_WAIT": 4
+  "VSM_READY": 5
+  "MOTOR_RUNNING": 6
+  "BLINK_FAULT": 7
+  "SHUTDOWN_IN_PROCESS": 14
+  "RECYCLE_POWER_STATE": 15
+
+inverterState:
+  "POWER_ON": 0
+  "STOP": 1
+  "OPEN_LOOP": 2
+  "CLOSED_LOOP": 3
+  "WAIT": 4
+  "IDLE_RUN": 8
+  "IDLE_STOP": 9
+  
+activeStatus:
+  "ACTIVE": 1
+  "INACTIVE": 0
+
+inverterRunMode:
+  "TORQUE_MODE": 0
+  "SPEED_MODE": 1
+
+enableState:
+  "DISABLED": 0
+  "ENABLED": 1
+
+inverterActiveDischargeState:
+  "DISCHARGE_DISABLED": 0
+  "DISCHARGE_ENABLED_WAITING": 1
+  "SPEED_CHECK": 2
+  "DISCHARGE_OCCURRING": 3
+  "DISCHARGE_COMPLETED": 4
+  
+inverterCommandMode:
+  "CAN_MODE": 0
+  "VSM_MODE": 1
+
+burstModelMode:
+  "STALL": 0
+  "HIGH_SPEED": 1
+
+inverterLockoutState:
+  "CAN_BE_ENABLED": 0
+  "CANNOT_BE_ENABLED": 1
+
+# 0= Reverse if inverter enabled & 0= stopped if inverter disabled.
+# I'm not sure how to implement that condition in yaml
+directionCommand:
+  "FORWARD": 1
+  "REVERSE": 0
+
+bmsActive:
+  "BMS_NOT_RECEIVED": 0
+  "BMS_RECEIVED": 1
+
+isLimited:
+  "NOT_LIMITED": 0
+  "LIMITED": 1
+
+faultStatus:
+  "OK": 0
+  "FAULT": 1
\ No newline at end of file