Index: Common.h
===================================================================
diff -u -rf4ee38d0f7a18e47e6e4980360a7eac9220d244a -rd352b607eeb20a7f06c32d776e5db2e35932ede2
--- Common.h	(.../Common.h)	(revision f4ee38d0f7a18e47e6e4980360a7eac9220d244a)
+++ Common.h	(.../Common.h)	(revision d352b607eeb20a7f06c32d776e5db2e35932ede2)
@@ -25,11 +25,11 @@
 //    #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_CRC_ERROR               1
     #define DISABLE_MOTOR_CURRENT_ERRORS    1
     #define SHOW_RAW_FLOW_VALUES            1
+//    #define CAN_TEST                        1
 
     #ifdef DEBUG_ENABLED
         #include <stdio.h>
@@ -123,6 +123,8 @@
 
 // **** 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.
Index: RTC.c
===================================================================
diff -u -r02f990b33c415985dcd9c765c49604226cb371e3 -rd352b607eeb20a7f06c32d776e5db2e35932ede2
--- RTC.c	(.../RTC.c)	(revision 02f990b33c415985dcd9c765c49604226cb371e3)
+++ RTC.c	(.../RTC.c)	(revision d352b607eeb20a7f06c32d776e5db2e35932ede2)
@@ -353,7 +353,6 @@
         case RTC_EXEC_STATE_FAULT:
 
             // Something failed set the alarms
-            // TODO: set the alarms and stuff
             break;
 
         default:
@@ -917,7 +916,7 @@
     }
     else if  ( RTCSelfTestState == RTC_SELF_TEST_STATE_COMPLETE )
     {
-        result = RTC_EXEC_STATE_FAULT;
+        result = RTC_EXEC_STATE_IDLE;
     }
 
     return result;