diff --git a/src/logic/hw_sanity.cpp b/src/logic/hw_sanity.cpp
index 180be5f..f39ad79 100644
--- a/src/logic/hw_sanity.cpp
+++ b/src/logic/hw_sanity.cpp
@@ -64,7 +64,7 @@ void HWSanity::PrepareAxis(config::Axis axis) {
 bool HWSanity::StepInner() {
     switch (state) {
     case ProgressCode::HWTestBegin:
-        //auto& driver = mm::motion.DriverForAxis(config::Axis::Pulley);
+        error = ErrorCode::RUNNING;
         test_step = 0;
         state = ProgressCode::HWTestIdler;
         break;
@@ -101,7 +101,7 @@ bool HWSanity::StepInner() {
                 ml::leds.SetMode(i, ml::off);
             }
         }
-        /* FALLTHRU */
+        [[fallthrough]];
     case ProgressCode::HWTestExec: {
         auto params = mm::axisParams[axis].params;
         auto &driver = mm::motion.MMU_NEEDS_ATTENTION_DriverForAxis(axis);
diff --git a/src/logic/hw_sanity.h b/src/logic/hw_sanity.h
index 1456433..a97a71e 100644
--- a/src/logic/hw_sanity.h
+++ b/src/logic/hw_sanity.h
@@ -15,9 +15,7 @@ namespace logic {
 class HWSanity : public CommandBase {
 public:
     inline HWSanity()
-        : CommandBase() {
-        Reset(0);
-    }
+        : CommandBase() {}
 
     /// Restart the automaton
     bool Reset(uint8_t param) override;
diff --git a/src/modules/motion.h b/src/modules/motion.h
index f65b872..250452c 100644
--- a/src/modules/motion.h
+++ b/src/modules/motion.h
@@ -340,9 +340,9 @@ public:
         return axisData[axis].drv;
     }
 
-    /// @returns the (non-const) TMC213 driver associated with the particular axis.
-    /// Do not use unless you know exactly what you're doing, currently the only valid usage
-    /// is in the hw sanity module.
+    /// @returns the (non-const) TMC2130 driver associated with the particular axis.
+    /// Do not use unless you know exactly what you're doing, (i.e., nothing else can possibly be using
+    /// the axis. Currently the only valid usage is in the hw sanity module.
     inline hal::tmc2130::TMC2130 &MMU_NEEDS_ATTENTION_DriverForAxis(Axis axis) {
         return axisData[axis].drv;
     }