diff --git a/Firmware/Board/v3/Src/freertos.c b/Firmware/Board/v3/Src/freertos.c
index 42ff9751..b2d49e55 100644
--- a/Firmware/Board/v3/Src/freertos.c
+++ b/Firmware/Board/v3/Src/freertos.c
@@ -89,14 +89,14 @@ osSemaphoreId sem_usb_tx;
 osSemaphoreId sem_can;
 
 osThreadId usb_irq_thread;
-const uint32_t stack_size_usb_irq_thread = 1024; // Bytes
+const uint32_t stack_size_usb_irq_thread = 2048; // Bytes
 
 // Place FreeRTOS heap in core coupled memory for better performance
 __attribute__((section(".ccmram")))
 uint8_t ucHeap[configTOTAL_HEAP_SIZE];
 /* USER CODE END Variables */
 osThreadId defaultTaskHandle;
-const uint32_t stack_size_default_task = 1024; // Bytes
+const uint32_t stack_size_default_task = 2048; // Bytes
 
 /* Private function prototypes -----------------------------------------------*/
 /* USER CODE BEGIN FunctionPrototypes */
diff --git a/Firmware/MotorControl/axis.hpp b/Firmware/MotorControl/axis.hpp
index 18d76eee..50e72d00 100644
--- a/Firmware/MotorControl/axis.hpp
+++ b/Firmware/MotorControl/axis.hpp
@@ -234,7 +234,7 @@ public:
     Endstop& max_endstop_;
 
     osThreadId thread_id_;
-    const uint32_t stack_size_ = 1024; // Bytes
+    const uint32_t stack_size_ = 2048; // Bytes
     volatile bool thread_id_valid_ = false;
 
     // variables exposed on protocol
diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp
index dbcbab4f..a226e905 100644
--- a/Firmware/MotorControl/encoder.cpp
+++ b/Firmware/MotorControl/encoder.cpp
@@ -328,11 +328,13 @@ bool Encoder::abs_spi_init(){
     spi->Init.CLKPhase = SPI_PHASE_2EDGE;
     spi->Init.NSS = SPI_NSS_SOFT;
     spi->Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
-    spi->Init.FirstBit = SPI_FIRSTBIT_MSB;
-    spi->Init.TIMode = SPI_TIMODE_DISABLE;
-    spi->Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
-    spi->Init.CRCPolynomial = 10;
-
+    spi->Init.FirstBit          = SPI_FIRSTBIT_MSB;
+    spi->Init.TIMode            = SPI_TIMODE_DISABLE;
+    spi->Init.CRCCalculation    = SPI_CRCCALCULATION_DISABLE;
+    spi->Init.CRCPolynomial     = 10;
+    if (config_.mode == MODE_SPI_ABS_AEAT) {
+        spi->Init.CLKPolarity   = SPI_POLARITY_HIGH;
+    }
     HAL_SPI_DeInit(spi);
     HAL_SPI_Init(spi);
     //stash our configuration
@@ -374,16 +376,19 @@ void Encoder::abs_spi_cb(){
         parity_calc = parity(abs_spi_dma_rx_[0]&0x7FFF);
         parity_bit = abs_spi_dma_rx_[0] >>15;
 
-        if(parity_calc == parity_bit){
-            pos_abs_ = abs_spi_dma_rx_[0] & 0x3FFF;
-            // We are going to ignore values all high or low
-            // This might happen in normal operation, but its unlikely
-            // The filter will handle these cases
-            if(pos_abs_ != 0  && pos_abs_ != 0x3FFF)
-                abs_spi_pos_updated_ = true;
-        }
-        }break;
-
+            if (parity_calc == parity_bit) {
+                pos_abs_ = abs_spi_dma_rx_[0] & 0x3FFF;
+                // We are going to ignore values all high or low
+                // This might happen in normal operation, but its unlikely
+                // The filter will handle these cases
+                if (pos_abs_ != 0 && pos_abs_ != 0x3FFF)
+                    abs_spi_pos_updated_ = true;
+            }
+        } break;
+        case MODE_SPI_ABS_AEAT: {
+            pos_abs_ = abs_spi_dma_rx_[0];
+            abs_spi_pos_updated_ = true;
+        } break;
         default: {
            set_error(ERROR_UNSUPPORTED_ENCODER_MODE);
         } break;
@@ -448,8 +453,9 @@ bool Encoder::update() {
         } break;
         
         case MODE_SPI_ABS_AMS:
-        case MODE_SPI_ABS_CUI:{
-            if (!abs_spi_pos_updated_ && abs_spi_pos_init_once_) {
+        case MODE_SPI_ABS_CUI: 
+        case MODE_SPI_ABS_AEAT: {
+            if (abs_spi_pos_updated_ == false && abs_spi_pos_init_once_) {
                 // Low pass filter the error
                 spi_error_rate_ += current_meas_period * (1.0f - spi_error_rate_);
                 if (spi_error_rate_ > 0.005f)
diff --git a/Firmware/MotorControl/encoder.hpp b/Firmware/MotorControl/encoder.hpp
index 58eea584..bcc11b40 100644
--- a/Firmware/MotorControl/encoder.hpp
+++ b/Firmware/MotorControl/encoder.hpp
@@ -26,6 +26,7 @@ public:
         MODE_SINCOS,
         MODE_SPI_ABS_CUI = 0x100,
         MODE_SPI_ABS_AMS = 0x101,
+        MODE_SPI_ABS_AEAT = 0x102,
     };
     const uint32_t MODE_FLAG_ABS = 0x100;
 
diff --git a/Firmware/MotorControl/main.cpp b/Firmware/MotorControl/main.cpp
index 93af6cc4..d31bbd13 100644
--- a/Firmware/MotorControl/main.cpp
+++ b/Firmware/MotorControl/main.cpp
@@ -180,6 +180,10 @@ extern "C" int construct_objects(){
 extern "C" {
 int odrive_main(void);
 void vApplicationStackOverflowHook(xTaskHandle *pxTask, signed portCHAR *pcTaskName) {
+    for(auto& axis : axes){
+        safety_critical_disarm_motor_pwm(axis->motor_);
+    }
+        safety_critical_disarm_brake_resistor();
     for (;;); // TODO: safe action
 }
 void vApplicationIdleHook(void) {
diff --git a/Firmware/communication/communication.cpp b/Firmware/communication/communication.cpp
index 9a436c1b..a5cd4bcb 100644
--- a/Firmware/communication/communication.cpp
+++ b/Firmware/communication/communication.cpp
@@ -64,7 +64,7 @@ const uint8_t fw_version_revision = FW_VERSION_REVISION;
 const uint8_t fw_version_unreleased = FW_VERSION_UNRELEASED; // 0 for official releases, 1 otherwise
 
 osThreadId comm_thread;
-const uint32_t stack_size_comm_thread = 2048; // Bytes
+const uint32_t stack_size_comm_thread = 4096; // Bytes
 volatile bool endpoint_list_valid = false;
 
 static uint32_t test_property = 0;
diff --git a/Firmware/communication/interface_uart.cpp b/Firmware/communication/interface_uart.cpp
index dc8a4ce6..f1bb5e0d 100644
--- a/Firmware/communication/interface_uart.cpp
+++ b/Firmware/communication/interface_uart.cpp
@@ -22,7 +22,7 @@ static uint32_t dma_last_rcv_idx;
 // static thread_local uint32_t deadline_ms = 0;
 
 osThreadId uart_thread;
-const uint32_t stack_size_uart_thread = 2048;  // Bytes
+const uint32_t stack_size_uart_thread = 4096;  // Bytes
 
 
 class UART4Sender : public StreamSink {
diff --git a/Firmware/communication/interface_usb.cpp b/Firmware/communication/interface_usb.cpp
index 7f49c0b5..c52fe5ca 100644
--- a/Firmware/communication/interface_usb.cpp
+++ b/Firmware/communication/interface_usb.cpp
@@ -14,7 +14,7 @@
 #include <odrive_main.h>
 
 osThreadId usb_thread;
-const uint32_t stack_size_usb_thread = 2048; // Bytes
+const uint32_t stack_size_usb_thread = 4096; // Bytes
 USBStats_t usb_stats_ = {0};
 
 class USBSender : public PacketSink {
diff --git a/tools/odrive/enums.py b/tools/odrive/enums.py
index f015cb60..4d401755 100644
--- a/tools/odrive/enums.py
+++ b/tools/odrive/enums.py
@@ -93,3 +93,4 @@ ENCODER_MODE_HALL = 0x01
 ENCODER_MODE_SINCOS = 0x02
 #ENCODER_MODE_SPI_ABS_CUI = 0x100 # currently not functional
 ENCODER_MODE_SPI_ABS_AMS = 0x101
+ENCODER_MODE_SPI_ABS_AEAT = 0x102
diff --git a/tools/odrive/utils.py b/tools/odrive/utils.py
index 8cbb704a..2b2901a7 100755
--- a/tools/odrive/utils.py
+++ b/tools/odrive/utils.py
@@ -50,15 +50,15 @@ def dump_errors(odrv, clear=False):
         for name, remote_obj, errorcodes in module_decode_map:
             prefix = ' '*2 + name + ": "
             if (remote_obj.error != errorcodes.ERROR_NONE):
+                foundError = False
                 print(prefix + _VT100Colors['red'] + "Error(s):" + _VT100Colors['default'])
                 errorcodes_tup = [(name, val) for name, val in errorcodes.__dict__.items() if 'ERROR_' in name]
                 for codename, codeval in errorcodes_tup:
-                    if remote_obj.error:
-                        print("    ", end='')
-                    if codeval != 0:
-                        print(codename)
-                    else:
-                        print("UNKNOWN_ERROR!")
+                    if remote_obj.error & codeval != 0:
+                        foundError = True
+                        print("    " + codename)
+                if not foundError:
+                    print("    " + 'UNKNOWN ERROR!')
                 if clear:
                     remote_obj.error = errorcodes.ERROR_NONE
             else: