Index: Common.h
===================================================================
diff -u -rf4ee38d0f7a18e47e6e4980360a7eac9220d244a -rdbc7d6c6b4f59a74282875928cf9ee087f42344d
--- Common.h	(.../Common.h)	(revision f4ee38d0f7a18e47e6e4980360a7eac9220d244a)
+++ Common.h	(.../Common.h)	(revision dbc7d6c6b4f59a74282875928cf9ee087f42344d)
@@ -19,24 +19,6 @@
 
 #include "hal_stdtypes.h"
 
-// ********** build switches **********
-
-#ifndef _VECTORCAST_
-//    #define RM46_EVAL_BOARD_TARGET          1
-//    #define SIMULATE_UI                     1
-    #define DEBUG_ENABLED                   1
-//    #define ACK_NOT_IMPLEMENTED             1
-    #define UF_TEST_ENABLED                 1
-    #define DISABLE_CRC_ERROR               1
-    #define DISABLE_MOTOR_CURRENT_ERRORS    1
-    #define SHOW_RAW_FLOW_VALUES            1
-
-    #ifdef DEBUG_ENABLED
-        #include <stdio.h>
-        #include <strings.h>
-    #endif
-#endif
-
 /**
  *  @defgroup CommonHeader CommonHeader
  *  @brief Provides commonly used definitions and macros.
@@ -123,6 +105,8 @@
 
 // **** Common Macros ****
 
+#define ABS(v)                          ((v) < 0 ? (v) * -1 : (v))
+#define FABS(v)                         ((v) < 0.0 ? (v) * -1.0 : (v))
 #define FLOAT_TO_INT_WITH_ROUND(f)      ((f) < 0.0 ? (S32)((f) - FLOAT_TO_INT_ROUNDUP_OFFSET) : (S32)((f) + FLOAT_TO_INT_ROUNDUP_OFFSET))   ///< Macro converts a floating point value to an integer.
 #define CAP(v, u)                       ((v) > (u) ? (u) : (v))                                 ///< Macro caps a value to a maximum.
 #define RANGE(v, l, u)                  ((v) > (u) ? (u) : ((v) < (l) ? (l) : (v)))             ///< Macro enforces a range on a value.
@@ -150,7 +134,8 @@
     activateAlarm1Data( a, dat1 ); \
 }
 
-/// Macro to set a specific alarm with 1 piece of unsigned floating point alarm data.
+/// Macro to set a specific alarm with 1 piece of floating point alarm data.
+
 #define SET_ALARM_WITH_1_F32_DATA(a,d1)   { \
     ALARM_DATA_T dat1; \
     dat1.dataType = ALARM_DATA_TYPE_F32; \
@@ -169,26 +154,36 @@
     activateAlarm2Data( a, dat1, dat2 ); \
 }
 
+/// Macro to set a specific alarm with 2 pieces of floating point alarm data.
+#define SET_ALARM_WITH_2_F32_DATA(a,d1,d2)   { \
+    ALARM_DATA_T dat1; \
+    ALARM_DATA_T dat2; \
+    dat1.dataType = ALARM_DATA_TYPE_F32; \
+    dat1.data.flt.data = (F32)(d1); \
+    dat2.dataType = ALARM_DATA_TYPE_F32; \
+    dat2.data.flt.data = (F32)(d2); \
+    activateAlarm2Data( a, dat1, dat2 ); \
+}
+
 // **** VectorCAST Definitions ****
 
 #ifdef _VECTORCAST_
 
     #define _enable_IRQ()
     #define _disable_IRQ()
     #define _enable_FIQ()
-    #ifndef _MINGW_
-        #pragma WEAK(can1LowLevelInterrupt)
-            void can1LowLevelInterrupt(void) {}
-        #pragma WEAK(can1HighLevelInterrupt)
-            void can1HighLevelInterrupt(void) {}
-    #endif
+    #define _disable_FIQ()
+
     #define fabs(v)     ((v) < 0.0 ? ((v) * -1.0) : (v))
 
 #endif
 
-// include alarm mgmt header
+// include alarm mgmt header so any module can trigger an alarm
 #include "AlarmMgmt.h"
 
+// include Message definitions header for access to system message IDs
+#include "MsgDefs.h"
+
 // include test support definitions and macros
 #include "TestSupport.h"