diff --git a/hal/src/main/native/athena/HAL.cpp b/hal/src/main/native/athena/HAL.cpp
index 149e708f45..5c47e0dfe3 100644
--- a/hal/src/main/native/athena/HAL.cpp
+++ b/hal/src/main/native/athena/HAL.cpp
@@ -213,6 +213,8 @@ const char* HAL_GetErrorMessage(int32_t code) {
       return ERR_FRCSystem_NetCommNotResponding_MESSAGE;
     case ERR_FRCSystem_NoDSConnection:
       return ERR_FRCSystem_NoDSConnection_MESSAGE;
+    case HAL_CAN_BUFFER_OVERRUN:
+      return HAL_CAN_BUFFER_OVERRUN_MESSAGE;
     default:
       return "Unknown error status";
   }
diff --git a/hal/src/main/native/include/hal/Errors.h b/hal/src/main/native/include/hal/Errors.h
index 761c2cfb1d..1f2e68ed6f 100644
--- a/hal/src/main/native/include/hal/Errors.h
+++ b/hal/src/main/native/include/hal/Errors.h
@@ -120,6 +120,10 @@
 #define HAL_SIM_NOT_SUPPORTED -1155
 #define HAL_SIM_NOT_SUPPORTED_MESSAGE "HAL: Method not supported in sim"
 
+#define HAL_CAN_BUFFER_OVERRUN -35007
+#define HAL_CAN_BUFFER_OVERRUN_MESSAGE \
+  "HAL: CAN Output Buffer Full. Ensure a device is attached"
+
 #define VI_ERROR_SYSTEM_ERROR_MESSAGE "HAL - VISA: System Error";
 #define VI_ERROR_INV_OBJECT_MESSAGE "HAL - VISA: Invalid Object"
 #define VI_ERROR_RSRC_LOCKED_MESSAGE "HAL - VISA: Resource Locked"
diff --git a/hal/src/main/native/sim/HAL.cpp b/hal/src/main/native/sim/HAL.cpp
index bc86c93907..633e243131 100644
--- a/hal/src/main/native/sim/HAL.cpp
+++ b/hal/src/main/native/sim/HAL.cpp
@@ -203,6 +203,8 @@ const char* HAL_GetErrorMessage(int32_t code) {
       return HAL_CAN_TIMEOUT_MESSAGE;
     case HAL_SIM_NOT_SUPPORTED:
       return HAL_SIM_NOT_SUPPORTED_MESSAGE;
+    case HAL_CAN_BUFFER_OVERRUN:
+      return HAL_CAN_BUFFER_OVERRUN_MESSAGE;
     default:
       return "Unknown error status";
   }