diff --git a/src/main.cpp b/src/main.cpp
index 958b6f9..e4e5c48 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -37,6 +37,9 @@ uint64_t time_last_heartbeat = 0;       /* Timestamp of last heartbeat message t
 #define CAN_ID_CRITICAL_FAULT 0x000  /* CAN ID of critical fault message (not using any Module ID) */
 #define CAN_ID_APPS_BPPS      0x110  /* CAN ID of APPS and BPPS values (not using Module ID of APPS/BPPS) */
 #define CAN_ID_BOOT_SEQ       0x090  /* CAN ID of Boot Sequence Status (for RTD) values (using Module ID of ECU for safety) */
+#define CAN_ID_TC_INFO_GEN    0x480  /* CAN ID of TC general information */
+#define CAN_ID_TC_INFO_ERPM   0x490  /* CAN ID of TC ERPM information */
+#define CAN_ID_TC_INFO_TEMP   0x4A0  /* CAN ID of TC temperature information */
 
 /* Torque Controller variables */
 #define TC_OK         0b0
@@ -74,7 +77,10 @@ char mcl_enabled, mcr_enabled;
 char mcl_limits_1, mcr_limits_1;
 char mcl_limits_2, mcr_limits_2;
 uint8_t mcl_can_version, mcr_can_version;
+#define MC_CAN_DATA_TIMEOUT 500  /* If no data received for this time, enter safe state */
 uint32_t time_last_mcl_data = 0, time_last_mcr_data = 0;
+#define CAN_TC_SUMMARY_PERIOD 500  /* Period of the information broadcasting on the LV can */
+uint32_t time_last_tc_summary = 0;
 
 /* Fault IDs (used in 2nd data field of Critical Fault message on LV CAN) */
 #define CAN_FAULT_ID              0x05  /* Fault ID for D0 field of Critical Fault message, signifies that this is a TC fault */
@@ -91,6 +97,7 @@ uint32_t time_last_mcl_data = 0, time_last_mcr_data = 0;
 #define FAULT_INV_ANALOG_INPUT    0x0A  /* Fault from invertor: analog input error */
 #define FAULT_RTD_TIMEOUT         0x11  /* Did not receive RTD state in short enough time, assume data loss */
 #define FAULT_APPS_BPPS_TIMEOUT   0x12  /* Did not receive APPS/BPPS values in short enough time, assume data loss */
+#define FAULT_INV_TIMEOUT         0x13  /* Did not receive INV values in short enough time, assume data loss */
 
 /* SAFETY */
 void enter_safe_state(char fault_id) {
@@ -295,6 +302,64 @@ void check_heartbeat() {
 	time_last_heartbeat = millis();
 }
 
+/* Subroutine to analyse drive data and check safety stuff */
+void analyse_drive_data() {
+	if (time_last_mcl_data == 0 || time_last_mcr_data == 0) return; /* No data yet :( */
+
+	/* Check timeouts */
+	if (millis() > time_last_mcl_data + MC_CAN_DATA_TIMEOUT) enter_safe_state(FAULT_INV_TIMEOUT);
+	if (millis() > time_last_mcr_data + MC_CAN_DATA_TIMEOUT) enter_safe_state(FAULT_INV_TIMEOUT);
+
+	/* TODO: check value boundaries */
+
+	/* Check faults */
+	if (mcl_fault_code != 0x00) {
+		/* Fault in left drive */
+		enter_safe_state(mcl_fault_code);
+	}
+	if (mcr_fault_code != 0x00) {
+		/* Fault in right drive */
+		enter_safe_state(mcr_fault_code);
+	}
+
+	/* Create summary and send on LV CAN */
+	if (millis() < time_last_tc_summary + CAN_TC_SUMMARY_PERIOD) return;
+
+	CAN_message_t msg_gen;
+	msg_gen.id = CAN_ID_TC_INFO_GEN | CAN_MODULE_ID;
+	msg_gen.buf[0] = mcl_fault_code;
+	msg_gen.buf[1] = mcr_fault_code;
+	msg_gen.buf[2] = mcl_enabled;
+	msg_gen.buf[3] = mcr_enabled;
+	can_lv.write(msg_gen);
+
+	CAN_message_t msg_erpm;
+	msg_erpm.id = CAN_ID_TC_INFO_ERPM | CAN_MODULE_ID;
+	msg_erpm.buf[0] = (mcl_erpm > 24) & 0xff;
+	msg_erpm.buf[1] = (mcl_erpm > 16) & 0xff;
+	msg_erpm.buf[2] = (mcl_erpm > 8) & 0xff;
+	msg_erpm.buf[3] = mcl_erpm & 0xff;
+	msg_erpm.buf[4] = (mcr_erpm > 24) & 0xff;
+	msg_erpm.buf[5] = (mcr_erpm > 16) & 0xff;
+	msg_erpm.buf[6] = (mcr_erpm > 8) & 0xff;
+	msg_erpm.buf[7] = mcr_erpm & 0xff;
+	can_lv.write(msg_erpm);
+
+	CAN_message_t msg_temp;
+	msg_temp.id = CAN_ID_TC_INFO_TEMP | CAN_MODULE_ID;
+	msg_temp.buf[0] = (mcl_ctrl_temp > 8) & 0xff;
+	msg_temp.buf[1] = mcl_ctrl_temp & 0xff;
+	msg_temp.buf[2] = (mcr_ctrl_temp > 8) & 0xff;
+	msg_temp.buf[3] = mcr_ctrl_temp & 0xff;
+	msg_temp.buf[4] = (mcl_motor_temp > 8) & 0xff;
+	msg_temp.buf[5] = mcl_motor_temp & 0xff;
+	msg_temp.buf[6] = (mcr_motor_temp > 8) & 0xff;
+	msg_temp.buf[7] = mcr_motor_temp & 0xff;
+	can_lv.write(msg_temp);
+
+	time_last_tc_summary = millis();
+}
+
 /* Subroutine to update invertors */
 void update_drives() {
 	/* Check timeouts */
@@ -333,10 +398,11 @@ void setup() {
 
 void loop() {
 	/* Main event loop */
-	can_lv.events();    /* Handle CAN LV events */
-	can_mc.events();    /* Handle CAN MC events */
-	check_heartbeat();  /* Do heartbeat stuffz */
-	update_drives();    /* Do motorcontroller shit */
+	can_lv.events();      /* Handle CAN LV events */
+	can_mc.events();      /* Handle CAN MC events */
+	check_heartbeat();    /* Do heartbeat stuffz */
+	analyse_drive_data(); /* Analyse the data from the drives duh */
+	update_drives();      /* Do motorcontroller shit */
 
 	/* TODO: check drive faults */
 }