diff --git a/Software/Core/Inc/mappings.h b/Software/Core/Inc/mappings.h
index 89a8fac..6ce96fe 100644
--- a/Software/Core/Inc/mappings.h
+++ b/Software/Core/Inc/mappings.h
@@ -4,11 +4,12 @@
 // CHOOSE ONE, comment the other or comment both and use -D SN_FRONT
 //#define SN_FRONT
 #define SN_REAR
+// #define DEBUG
 
-#ifdef SN_FRONT
-#ifdef SN_REAR
-#error "Choose to either #define SN_FRONT or SN_REAR, not both!"
-#endif
+#if (defined(SN_FRONT) && defined(SN_REAR)) || \
+    (defined(SN_FRONT) && defined(DEBUG))   || \
+    (defined(SN_REAR) && defined(DEBUG))
+#error "Choose only one of #define SN_FRONT, #define SN_REAR, or #define DEBUG!"
 #endif
 
 #include <stdint.h>
@@ -189,6 +190,58 @@ static can_pkt_t CAN_SIGNAL_MAP[NUM_TX_PKT] = {
 
 #endif
 
+#ifdef DEBUG
+
+static can_pkt_t CAN_SIGNAL_MAP[NUM_TX_PKT] = {
+    {
+        .can_id = 0x044, .dlc = 6, .num_signals = 9, .period = 100,  .signals = {
+            { .type = DIN, .channel = L9, .start =  0, .length =  1, .factor = 1., .name = "" },
+            { .type = DIN, .channel = LA, .start =  1, .length =  1, .factor = 1., .name = "" },
+            { .type = DIN, .channel = LC, .start =  2, .length =  1, .factor = 1., .name = "" },
+            { .type = DIN, .channel = R5, .start =  3, .length =  1, .factor = 1., .name = "" },
+            { .type = DIN, .channel = R6, .start =  4, .length =  1, .factor = 1., .name = "" },
+            { .type = DIN, .channel = R7, .start =  5, .length =  1, .factor = 1., .name = "" },
+
+            { .type = AIN, .channel = L1, .start =  6+12*0, .length =  12, .factor = 1., .name = "" },
+            { .type = AIN, .channel = L2, .start =  6+12*1, .length =  12, .factor = 1., .name = "" },
+            { .type = AIN, .channel = L3, .start =  6+12*2, .length =  12, .factor = 1., .name = "" },
+        }
+    },
+    {
+        .can_id = 0x045, .dlc = 8, .num_signals = 5, .period = 100,  .signals = {
+            { .type = AIN, .channel = L4, .start =  12*0, .length =  12, .factor = 1., .name = "" },
+            { .type = AIN, .channel = L5, .start =  12*1, .length =  12, .factor = 1., .name = "" },
+            { .type = AIN, .channel = L6, .start =  12*2, .length =  12, .factor = 1., .name = "" },
+            { .type = AIN, .channel = L7, .start =  12*3, .length =  12, .factor = 1., .name = "" },
+            { .type = AIN, .channel = L8, .start =  12*4, .length =  12, .factor = 1., .name = "" },
+        }
+    },
+    {
+        .can_id = 0x046, .dlc = 8, .num_signals = 5, .period = 100,  .signals = {
+            { .type = AIN, .channel = R9, .start =  12*0, .length =  12, .factor = 1., .name = "" },
+            { .type = AIN, .channel = RA, .start =  12*1, .length =  12, .factor = 1., .name = "" },
+            { .type = AIN, .channel = RB, .start =  12*2, .length =  12, .factor = 1., .name = "" },
+            { .type = AIN, .channel = RC, .start =  12*3, .length =  12, .factor = 1., .name = "" },
+            { .type = AIN, .channel = RD, .start =  12*4, .length =  12, .factor = 1., .name = "" },
+        }
+    },
+    {
+        .can_id = 0x047, .dlc = 3, .num_signals = 2, .period = 100,  .signals = {
+            { .type = AIN, .channel = RE, .start =  12*0, .length =  12, .factor = 1., .name = "" },
+            { .type = AIN, .channel = RF, .start =  12*1, .length =  12, .factor = 1., .name = "" },
+            { .type = AIN, .channel = R0, .start =  12*2, .length =  12, .factor = 1., .name = "" },
+
+        }
+    },
+};
+
+#define CAN_PWM_DC_ID 0x0DA // UNUSED
+#define CAN_PWM_CONF_ID 0x0DB // UNUSED
+#define CAN_PWM_BASE_ID CAN_PWM_DC_ID
+#define CAN_PWM_FILTER_MASK 0x7FE // Match both
+
+#endif
+
 /* user needs
 TIM_HandleTypeDef* PWM_TIM_MAP[3] = {&htim1, &htim4, &htim3};
 */
diff --git a/Software/debug_dbc_entries.txt b/Software/debug_dbc_entries.txt
new file mode 100644
index 0000000..b11a074
--- /dev/null
+++ b/Software/debug_dbc_entries.txt
@@ -0,0 +1,29 @@
+BO_ 68 Sensornode_Debug_1: 6 Sensornode_F
+   SG_ Sensornode_Debug_L9 : 0|1@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_LA : 1|1@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_LC : 2|1@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_R5 : 3|1@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_R6 : 4|1@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_R7 : 5|1@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_L1 : 6|12@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_L2 : 18|12@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_L3 : 30|12@1+ (1,0) [0|1] "" Vector__XXX
+
+BO_ 69 Sensornode_Debug_2: 8 Sensornode_F
+   SG_ Sensornode_Debug_L4 : 0|12@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_L5 : 12|12@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_L6 : 24|12@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_L7 : 36|12@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_L8 : 48|12@1+ (1,0) [0|1] "" Vector__XXX
+
+BO_ 70 Sensornode_Debug_3: 8 Sensornode_F
+   SG_ Sensornode_Debug_R9 : 0|12@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_RA : 12|12@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_RB : 24|12@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_RC : 36|12@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_RD : 48|12@1+ (1,0) [0|1] "" Vector__XXX
+
+BO_ 71 Sensornode_Debug_4: 3 Sensornode_F
+   SG_ Sensornode_Debug_RE : 0|12@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_RF : 12|12@1+ (1,0) [0|1] "" Vector__XXX
+   SG_ Sensornode_Debug_R0 : 24|12@1+ (1,0) [0|1] "" Vector__XXX
\ No newline at end of file