diff --git a/Core/Inc/state_machine.h b/Core/Inc/state_machine.h
index b7726f3..b08e0ce 100644
--- a/Core/Inc/state_machine.h
+++ b/Core/Inc/state_machine.h
@@ -5,6 +5,7 @@
 #include <stdbool.h>
 #include "ADBMS_LL_Driver.h"
 #include "AMS_HighLevel.h"
+#include "errors.h"
 #include "PWM_control.h"
 #include "TMP1075.h"
 #include <math.h>
@@ -23,6 +24,7 @@
 // Time to wait between closing relays
 #define RELAY_CLOSE_WAIT 10 // ms
 
+#warning 
 typedef enum {              //  states -> 3 bit. valid transitions: (all could transition to error)
   STATE_INACTIVE,           // INACTIVE   ->  PRECHARGE, CHARGING, ERROR  
   STATE_PRECHARGE,          // PRECHARGE  ->  INACTIVE, READY, DISCHARGE, ERROR
@@ -35,21 +37,16 @@ typedef enum {              //  states -> 3 bit. valid transitions: (all could t
 } State;
   
 typedef struct {  
-  uint16_t bms_timeout : 1;
-  uint16_t bms_overtemp : 1;
-  uint16_t bms_fault : 1;
 
+  uint16_t bms_timeout : 1;
+  uint16_t bms_fault : 1;
   uint16_t temperature_error : 1;
   uint16_t current_error : 1;
-  uint16_t voltage_error : 1;
-
-  uint16_t temperature_sensor_missing : 1;
   uint16_t current_sensor_missing : 1;
+  uint16_t voltage_error : 1;
   uint16_t voltage_missing : 1;
-  uint16_t battery_missing : 1;
-  uint16_t relay_missing : 1;
-
   uint16_t state_transition_fail : 1;
+
 } ErrorKind;
 
 //typedef enum {} WarningKind;
@@ -67,6 +64,8 @@ static bool precharge_closed = 0;
 extern int16_t RELAY_BAT_SIDE_VOLTAGE;
 extern int16_t RELAY_ESC_SIDE_VOLTAGE;
 extern int16_t CURRENT_MEASUREMENT;
+extern uint8_t powerground_status;
+
 
 void sm_init();
 void sm_update();
@@ -84,12 +83,14 @@ typedef enum { RELAY_MAIN, RELAY_PRECHARGE } Relay;
 void sm_set_relay_positions(State state);
 void sm_set_relay(Relay relay, bool closed);
 void sm_check_charging();
-void sm_check_cell_temps(int8_t* id, int16_t* temp);
+void sm_check_battery_temperature(int8_t* id, int16_t* temp);
+
+int16_t sm_return_cell_temperature(int id);
+int16_t sm_return_cell_voltage(int id);
 
 void sm_handle_ams_in(const uint8 *data);
 void sm_check_errors();
 void sm_set_error(ErrorKind error_kind, bool is_errored);
-
 void sm_test_cycle_states();
 
 #endif /* "INC_STATE_MACHINE_H" */
\ No newline at end of file
diff --git a/Core/Src/state_machine.c b/Core/Src/state_machine.c
index 60856a5..aacb4d2 100644
--- a/Core/Src/state_machine.c
+++ b/Core/Src/state_machine.c
@@ -1,10 +1,16 @@
 #include "state_machine.h"
+#include "AMS_HighLevel.h"
+#include "TMP1075.h"
+#include "errors.h"
 #include "stm32f3xx_hal.h"
+#include <stdint.h>
 
 StateHandle state;
 int16_t RELAY_BAT_SIDE_VOLTAGE;
 int16_t RELAY_ESC_SIDE_VOLTAGE;
 int16_t CURRENT_MEASUREMENT;
+uint8_t powerground_status;
+
 uint32_t timestamp;
 
 void sm_init(){
@@ -14,6 +20,8 @@ void sm_init(){
 }
 
 void sm_update(){
+  sm_check_errors();
+
   RELAY_BAT_SIDE_VOLTAGE = module.auxVoltages[0] * 12.42;     // the calculation says the factor is 11.989. 12.42 yields the better result
   RELAY_ESC_SIDE_VOLTAGE = module.auxVoltages[1] * 12.42;
   CURRENT_MEASUREMENT = module.auxVoltages[2] / 2.2;
@@ -197,14 +205,24 @@ void sm_check_charging(){
     state.target_state = STATE_CHARGING_PRECHARGE;
 }
 
-void sm_check_cell_temps(int8_t *id, int16_t *temp){
+/* returns the ID and temperature of the hottest cell */
+void sm_check_battery_temperature(int8_t *id, int16_t *temp){
   for (int i = 0; i < N_TEMP_SENSORS; i++) {
     if (tmp1075_temps[i] > *temp){
       *id = i;
+      *temp = tmp1075_temps[i];
     }
   }
 }
 
+int16_t sm_return_cell_temperature(int id){
+  return tmp1075_temps[id];
+}
+
+int16_t sm_return_cell_voltage(int id){
+  return module.cellVoltages[id];
+}
+
 void sm_handle_ams_in(const uint8_t *data){  
   switch (data[0]) {
     case 0x00:
@@ -235,11 +253,38 @@ void sm_set_error(ErrorKind error_kind, bool is_errored){}
 
 #warning TODO: add error checking for everything here
 void sm_check_errors(){
-  if (module.status.THSD == 1) {
-    state.error_type.bms_overtemp = 1;
+  switch (error_data.data_kind) {
+    case SEK_OVERTEMP:
+    case SEK_UNDERTEMP:
+    case SEK_TOO_FEW_TEMPS:
+      state.error_type.temperature_error = 1;
+    case SEK_OVERVOLT:
+    case SEK_UNDERVOLT:
+    case SEK_OPENWIRE:
+    case SEK_EEPROM_ERR:
+    case SEK_INTERNAL_BMS_TIMEOUT:
+      state.error_type.bms_timeout = 1;
+    case SEK_INTERNAL_BMS_CHECKSUM_FAIL:
+    case SEK_INTERNAL_BMS_OVERTEMP:
+    case SEK_INTERNAL_BMS_FAULT:
+      state.error_type.bms_fault = 1;
+      break;
   }
-  if (RELAY_BAT_SIDE_VOLTAGE < 40){
-    state.error_source = (1 << 10);
+
+  if (1){
+    state.error_type.current_error = 1;
+  }
+
+  if (1){
+    state.error_type.current_sensor_missing = 1;
+  }
+
+  if (RELAY_BAT_SIDE_VOLTAGE < 30000){
+    state.error_type.voltage_error = 1;
+  }
+
+  if (1){
+    state.error_type.voltage_missing = 1;
   }
 }