update the new FPGA (17.6.19) addresses and the function Change_Motor_SPI_Direction

7 files changed, 81 insertions, 70 deletions

diff --git a/Software/Embedded_SW/Embedded/Communication/Container.c b/Software/Embedded_SW/Embedded/Communication/Container.c
index 86e1b06c4..a920aa5b8 100644
--- a/Software/Embedded_SW/Embedded/Communication/Container.c
+++ b/Software/Embedded_SW/Embedded/Communication/Container.c
@@ -53,12 +53,11 @@
 /*uint16_t TxmsgId[MAX_CONT_LOG+1] = {0};
 uint16_t TxLength[MAX_CONT_LOG+1] = {0};
 uint32_t TxAddr[MAX_CONT_LOG+1] = {0};
-uint16_t Txindex = 0;
+uint16_t Txindex = 0;*/
 uint32_t msgId[MAX_CONT_LOG+1] = {0};
 uint32_t Length[MAX_CONT_LOG+1] = {0};
 uint32_t DataLength[MAX_CONT_LOG+1] = {0};
-byte RxIndex = 0;*/
-
+byte RxIndex = 0;
 
 MessageContainer createContainer(MessageType type, char* token, protobuf_c_boolean completed, void* response, size_t (*packPtr)(void*, uint8_t*), size_t (*sizePtr)(void*))
 {
@@ -137,11 +136,11 @@ void receive_callback(char* buffer, size_t length)
         REPORT_MSG(requestContainer->type,"Message received");
     }
     KeepAliveOneSecondCounter = 0;
-     /*msgId[RxIndex] = requestContainer->type;
+     msgId[RxIndex] = requestContainer->type;
      Length[RxIndex] = length;
      DataLength[RxIndex] = msec_millisecondCounter;
      if (RxIndex++>=MAX_CONT_LOG)
-         RxIndex = 0;*/
+         RxIndex = 0;
      switch(requestContainer->type)
      {
          case MESSAGE_TYPE__CalculateRequest:
diff --git a/Software/Embedded_SW/Embedded/DataDef.h b/Software/Embedded_SW/Embedded/DataDef.h
index 768538971..0abb4bac3 100644
--- a/Software/Embedded_SW/Embedded/DataDef.h
+++ b/Software/Embedded_SW/Embedded/DataDef.h
@@ -152,6 +152,11 @@ typedef enum
     Voltage = 0x00,
 }MOTDRIVER_MODE;
 
+typedef enum
+{
+    Combinrd = 0x00,
+    Current_Or_Voltage = 0x01,
+}SPI_MOT_DRIVER_DIRECTION;
 
 typedef enum
 {
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_Comm.h b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_Comm.h
index 65803ba6e..ab73637f8 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_Comm.h
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_Comm.h
@@ -270,6 +270,9 @@
 #define F1_MOTO_LPIVOT1_A1_RX_01               (*((volatile short  *)(FPGA1_BASE | 0x306)))    //The 16 Lsb bits of the shifted in data.
 #define F1_MOTO_LPIVOT1_A1_WORDS               (*((volatile short  *)(FPGA1_BASE | 0x308)))    //The amount of spi words (usually byte sized) per transmission.
 
+#define F1_Moto_Driver_SPI_DIRECTION1          (*((volatile short  *)(FPGA1_BASE | 0x380)))    //
+#define F1_Moto_Driver_SPI_DIRECTION2          (*((volatile short  *)(FPGA1_BASE | 0x390)))    //
+
 //FPGA VER 050219
 #define F1_gpo_cnt_A_reg                       (*((volatile short  *)(FPGA1_BASE | 0x3B0)))    //This Register stores the costumer Tacho counter A to A  (  F1_gpo_cnt_A_reg must be greater than 1 =>  F1_gpo_cnt_A_reg>=1)
 
@@ -376,6 +379,8 @@
 //Watchdog
 #define F2_Watchdog_reg                        (*((volatile short  *)(FPGA2_BASE | 0x140)))//Watchdog enable bit, watchdog value
 
+#define F2_Moto_Driver_SPI_DIRECTION1          (*((volatile short  *)(FPGA2_BASE | 0x150)))    //
+
 //read SSR1 - SSR9
 #define F2_CTRL_bus1_reg                       (*((volatile short  *)(FPGA2_BASE | 0x170))) //This Register stores the ssr with n_heater_wd_expire value - read of the value of SSR1 - SSR9
 
@@ -695,6 +700,8 @@
 #define F3_SPARE2_ROTENC_DATA_p_2_RX_msb       (*((volatile short  *)(FPGA3_BASE | 0x2D2))) //16 bit MSB if nessesary
 #define F3_SPARE2_ROTENC_DATA_p_2_TX           (*((volatile short  *)(FPGA3_BASE | 0x2DE))) //This register triggers a TX transmission
 
+#define F3_Moto_Driver_SPI_DIRECTION1          (*((volatile short  *)(FPGA3_BASE | 0x380)))    //
+
 //PWM LEDS FPGA VER 050219
 #define  F3_low_var_LED1                       (*((volatile short  *)(FPGA3_BASE | 0x390))) //Parameter for prescaler divisions - 8bit low duty cycle value for pmw
 #define  F3_high_var_LED1                      (*((volatile short  *)(FPGA3_BASE | 0x392))) //Parameter for prescaler divisions - 8bit  high duty cycle value for pmw
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
index 07625d314..8ad5e7762 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
@@ -103,7 +103,7 @@ static FpgaMotMap_t FpgaMotMap[NUM_OF_MOTORS] =
  //MOTOR_SPARE2_2 - Spare
  {&F3_MOTO_SPARE2_2_A1_TX_00, &F3_MOTO_SPARE2_2_A1_TX_01, &F3_MOTO_SPARE2_2_A1_RX_00 ,&F3_MOTO_SPARE2_2_A1_RX_01 ,&F3_MOTO_SPARE2_2_A1_WORDS ,&F3_Moto_Driver_NBUSY1_D, &F3_SPI_Busy1_D},
   //MOTOR_SPARE3_1 - Spare
- {&F3_MOTO_SPARE3_1_A1_TX_00, &F3_MOTO_SPARE3_1_A1_TX_01, &F3_MOTO_SPARE3_1_A1_RX_00 ,&F3_MOTO_SPARE3_1_A1_RX_01 ,&F3_MOTO_SPARE3_1_A1_WORDS ,&F3_Moto_Driver_NBUSY1_D, &F3_SPI_Busy1_D},
+ //{&F3_MOTO_SPARE3_1_A1_TX_00, &F3_MOTO_SPARE3_1_A1_TX_01, &F3_MOTO_SPARE3_1_A1_RX_00 ,&F3_MOTO_SPARE3_1_A1_RX_01 ,&F3_MOTO_SPARE3_1_A1_WORDS ,&F3_Moto_Driver_NBUSY1_D, &F3_SPI_Busy1_D},
 
 };
 
@@ -154,50 +154,46 @@ uint32_t Read_Motors_Driver_Type(TimerMotors_t i)
 {
     uint32_t status = OK;
 
-    MotorDriverResponse[i].DriverType = UnKnownMotDriver;
 
-    uint8_t counter = 0;
+    //First communicate with powerSTEP01
+    Read_Motors_Driver_ADC(i);
 
-    do
+    if((MotorDriverResponse[i].ADC >= 22) && (MotorDriverResponse[i].ADC < 26)) // //(powerSTEP01, ADC = 24)
     {
-        counter = counter++;
-
+        MotorDriverResponse[i].DriverType = CombinrdMotDriver;
+        //default for dispensers, dryer-LID and DH-LID Voltage mode, for other motors Current mode
+        if(((i >= HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1) && (i <= HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8)) || (i == HARDWARE_MOTOR_TYPE__MOTO_DH_LID) || (i == HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID))
+            MotorDriverResponse[i].DriverMode = Voltage;
+        else
+            MotorDriverResponse[i].DriverMode = Current;
+    }
+    else
+    {
+        //Change the SPI direction and check if this driver is Current or Voltage
+        Change_Motor_SPI_Direction(i,Current_Or_Voltage);
+        delayms(5);
         Read_Motors_Driver_ADC(i);
 
-        if(MotorDriverResponse[i].ADC < 14)
+        if((MotorDriverResponse[i].ADC >= 9) && (MotorDriverResponse[i].ADC < 13))
         {
             MotorDriverResponse[i].DriverType = CurrentMotDriver; //(L6472, ADC = 11)
             MotorDriverResponse[i].DriverMode = Current;
         }
         else
-        if((MotorDriverResponse[i].ADC >= 14) && (MotorDriverResponse[i].ADC < 20))
+        if((MotorDriverResponse[i].ADC >= 15) && (MotorDriverResponse[i].ADC < 19))
         {
             MotorDriverResponse[i].DriverType = VoltageMotDriver; //(L6470, ADC = 17)
             MotorDriverResponse[i].DriverMode = Voltage;
         }
         else
-        if(MotorDriverResponse[i].ADC >= 20) // //(powerSTEP01, ADC = 24)
-        {
-            MotorDriverResponse[i].DriverType = CombinrdMotDriver;
-            //default for dispensers- Voltage mode, for other motors Current mode
-            if((i >= HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1) && (i <= HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8))
-                MotorDriverResponse[i].DriverMode = Voltage;
-            else
-                MotorDriverResponse[i].DriverMode = Current;
-        }
-        else
         {
-            Change_Motor_SPI_Direction(i);
-            delayms(5);
-
+            //UnKnownMotDriver
+            MotorDriverResponse[i].DriverType = UnKnownMotDriver;
+            LOG_ERROR (i, "Unable to recognize the motor's driver type");
+            status = ERROR;
         }
     }
-    while((counter < 2) && (MotorDriverResponse[i].DriverType == UnKnownMotDriver));
 
-    if(MotorDriverResponse[i].DriverType == UnKnownMotDriver)
-    {
-        status = ERROR;
-    }
 
     return status;
 }
@@ -1669,148 +1665,150 @@ int SPIGetFPGAResponse(TEMPERATURE_SENSOR_ID_ENUM SensorId,uint32_t *Data)  //re
     return Status;
 }
 ////////////////////////////////////////////////////////////////
-
+/*
 //temporary till the FPGA change:
 unsigned short F1_Moto_Driver_SPI_DIRECTION1 = 0;
 unsigned short F1_Moto_Driver_SPI_DIRECTION2 = 0;
 unsigned short F2_Moto_Driver_SPI_DIRECTION1 = 0;
 unsigned short F3_Moto_Driver_SPI_DIRECTION1 = 0;
+*/
 
+F1_SPI_DIRECTION1 F1_SPI_Direction1;
+F1_SPI_DIRECTION2 F1_SPI_Direction2;
+F2_SPI_DIRECTION1 F2_SPI_Direction1;
+F3_SPI_DIRECTION1 F3_SPI_Direction1;
 
-void Change_Motor_SPI_Direction(TimerMotors_t _motorId)
+void Change_Motor_SPI_Direction(TimerMotors_t _motorId, SPI_MOT_DRIVER_DIRECTION Spi_Direction)
 {
-    F1_SPI_DIRECTION1 F1_SPI_Direction1;
-    F1_SPI_DIRECTION2 F1_SPI_Direction2;
-    F2_SPI_DIRECTION1 F2_SPI_Direction1;
-    F3_SPI_DIRECTION1 F3_SPI_Direction1;
 
+/*
     //read direction registers
     F1_SPI_Direction1.ushort = F1_Moto_Driver_SPI_DIRECTION1;
     F1_SPI_Direction2.ushort = F1_Moto_Driver_SPI_DIRECTION2;
     F2_SPI_Direction1.ushort = F2_Moto_Driver_SPI_DIRECTION1;
     F3_SPI_Direction1.ushort = F3_Moto_Driver_SPI_DIRECTION1;
-
+*/
     //change direction
     switch(_motorId)
     {
         case HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD:
                 //MOTOR_DH_CLEANHEAD - Cleaning head motor
-                F1_SPI_Direction1.bits.F1_MOTO_DH_CLEANHEAD ^= 1;
+                F1_SPI_Direction1.bits.F1_MOTO_DH_CLEANHEAD = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH:
                 //MOTOR_DH_CLEANMECH - Cleaning mechanism
-                F1_SPI_Direction1.bits.F1_MOTO_DH_CLEANMECH ^= 1;
+                F1_SPI_Direction1.bits.F1_MOTO_DH_CLEANMECH = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_DH_LID:
                 //MOTOR_DH_LID - Dyeing head lid
-                F1_SPI_Direction1.bits.F1_MOTO_DH_LID ^= 1;
+                F1_SPI_Direction1.bits.F1_MOTO_DH_LID = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING:
                 //MOTOR_DRYER_DRIVING - Dryer main motor
-                F1_SPI_Direction1.bits.F1_MOTO_DRYER_DRIVING ^= 1;
+                F1_SPI_Direction1.bits.F1_MOTO_DRYER_DRIVING = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID:
                 //MOTOR_DRYER_LID - Drier lid
-                F1_SPI_Direction1.bits.F1_MOTO_DRYER_LID ^= 1;
+                F1_SPI_Direction1.bits.F1_MOTO_DRYER_LID = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM:
                 //MOTOR_DRYER_LOADARM - Drier thread loading arm
-                F1_SPI_Direction1.bits.F1_MOTO_DRYER_LOADARM ^= 1;
+                F1_SPI_Direction1.bits.F1_MOTO_DRYER_LOADARM = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1:
                 //MOTOR_DISPENSER_1 - Dispenser
-                F2_SPI_Direction1.bits.F2_MOTO_DISPENSER_1 ^= 1;
+                F2_SPI_Direction1.bits.F2_MOTO_DISPENSER_1 = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2:
                 //MOTOR_DISPENSER_2 - Dispenser
-                F2_SPI_Direction1.bits.F2_MOTO_DISPENSER_2 ^= 1;
+                F2_SPI_Direction1.bits.F2_MOTO_DISPENSER_2 = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3:
                 //MOTOR_DISPENSER_3 - Dispenser
-                F2_SPI_Direction1.bits.F2_MOTO_DISPENSER_3 ^= 1;
+                F2_SPI_Direction1.bits.F2_MOTO_DISPENSER_3 = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4:
                 //MOTOR_DISPENSER_4 - Dispenser
-                F2_SPI_Direction1.bits.F2_MOTO_DISPENSER_4 ^= 1;
+                F2_SPI_Direction1.bits.F2_MOTO_DISPENSER_4 = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5:
                 //MOTOR_DISPENSER_5 - Dispenser
-                F2_SPI_Direction1.bits.F2_MOTO_DISPENSER_5 ^= 1;
+                F2_SPI_Direction1.bits.F2_MOTO_DISPENSER_5 = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6:
                 //MOTOR_DISPENSER_6 - Dispenser
-                F2_SPI_Direction1.bits.F2_MOTO_DISPENSER_6 ^= 1;
+                F2_SPI_Direction1.bits.F2_MOTO_DISPENSER_6 = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7:
                 //MOTOR_DISPENSER_7 - Dispenser
-                F2_SPI_Direction1.bits.F2_MOTO_DISPENSER_7 ^= 1;
+                F2_SPI_Direction1.bits.F2_MOTO_DISPENSER_7 = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8:
                 //MOTOR_DISPENSER_8 - Dispenser
-                F2_SPI_Direction1.bits.F2_MOTO_DISPENSER_8 ^= 1;
+                F2_SPI_Direction1.bits.F2_MOTO_DISPENSER_8 = Spi_Direction;
         case HARDWARE_MOTOR_TYPE__MOTO_SCREW:
                 //MOTOR_SCREW - Winder screw
-                F1_SPI_Direction2.bits.F1_MOTO_SCREW ^= 1;
+                F1_SPI_Direction2.bits.F1_MOTO_SCREW = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_WINDER:
                 //MOTOR_WINDER - Winder
-                F1_SPI_Direction2.bits.F1_MOTO_WINDER ^= 1;
+                F1_SPI_Direction2.bits.F1_MOTO_WINDER = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_LDANCER1:
                 //MOTOR_LDANCER1 -Pooler Dancer adjustment
-                F1_SPI_Direction1.bits.F1_MOTO_LDANCER1 ^= 1;
+                F1_SPI_Direction1.bits.F1_MOTO_LDANCER1 = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_LDANCER2:
                 //MOTOR_LDANCER2 -  Winder Dancer adjustment #1
-                F1_SPI_Direction1.bits.F1_MOTO_LDANCER2 ^= 1;
+                F1_SPI_Direction1.bits.F1_MOTO_LDANCER2 = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_LDRIVING:
                 //MOTOR_LDRIVING - Pooler:
-                F1_SPI_Direction1.bits.F1_MOTO_LDRIVING ^= 1;
+                F1_SPI_Direction1.bits.F1_MOTO_LDRIVING = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_LLOADING:
                 //MOTOR_LLOADING - Pooler loading
-                F1_SPI_Direction1.bits.F1_MOTO_LLOADING ^= 1;
+                F1_SPI_Direction1.bits.F1_MOTO_LLOADING = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_LPIVOT1:
                 //MOTOR_LPIVOT1 - Pooler loading pivot arm
-                F1_SPI_Direction1.bits.F1_MOTO_LPIVOT1 ^= 1;
+                F1_SPI_Direction1.bits.F1_MOTO_LPIVOT1 = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_RDANCER:
                 //MOTOR_RDANCER - Feeder dancer adjustment:
-                F1_SPI_Direction2.bits.F1_MOTO_RDANCER ^= 1;
+                F1_SPI_Direction2.bits.F1_MOTO_RDANCER = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_RDRIVING:
                 //MOTOR_RDRIVING - Feeder:
-                F1_SPI_Direction2.bits.F1_MOTO_RDRIVING ^= 1;
+                F1_SPI_Direction2.bits.F1_MOTO_RDRIVING = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_RLOADARM:
                 //MOTOR_RLOADARM - Right loading arm:
-                F1_SPI_Direction2.bits.F1_MOTO_RLOADARM ^= 1;
+                F1_SPI_Direction2.bits.F1_MOTO_RLOADARM = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_RLOADING:
                 //MOTOR_RLOADING - Right Loading
-                F1_SPI_Direction2.bits.F1_MOTO_RLOADING ^= 1;
+                F1_SPI_Direction2.bits.F1_MOTO_RLOADING = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_SPARE1_1:
                 //MOTOR_RLOADING - Right Loading
-                F3_SPI_Direction1.bits.F3_MOTO_SPARE1_1 ^= 1;
+                F3_SPI_Direction1.bits.F3_MOTO_SPARE1_1 = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_SPARE1_2:
                 //MOTOR_RLOADING - Right Loading
-                F3_SPI_Direction1.bits.F3_MOTO_SPARE1_2 ^= 1;
+                F3_SPI_Direction1.bits.F3_MOTO_SPARE1_2 = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_SPARE2_1:
                 //MOTOR_RLOADING - Right Loading
-                F3_SPI_Direction1.bits.F3_MOTO_SPARE2_1 ^= 1;
+                F3_SPI_Direction1.bits.F3_MOTO_SPARE2_1 = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_SPARE2_2:
                 //MOTOR_RLOADING - Right Loading
-                F3_SPI_Direction1.bits.F3_MOTO_SPARE2_2 ^= 1;
+                F3_SPI_Direction1.bits.F3_MOTO_SPARE2_2 = Spi_Direction;
             break;
         case HARDWARE_MOTOR_TYPE__MOTO_SPARE3_1:
                 //MOTOR_RLOADING - Right Loading
-                F3_SPI_Direction1.bits.F3_MOTO_SPARE3_1 ^= 1;
+                F3_SPI_Direction1.bits.F3_MOTO_SPARE3_1 = Spi_Direction;
             break;
         default:
             break;
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.h b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.h
index 40dbe3948..366485c95 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.h
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.h
@@ -42,7 +42,7 @@ void FPGA_SetMotHome(TimerMotors_t  _motorId);
 extern SPI Fpga_Spi[NUM_OF_MOTORS];
 void FPGA_SetGoToPosition(TimerMotors_t _motorId);//GoTo
 
-void Change_Motor_SPI_Direction(TimerMotors_t _motorId);
+void Change_Motor_SPI_Direction(TimerMotors_t _motorId, SPI_MOT_DRIVER_DIRECTION Spi_Direction);
 
 void FPGA_SetMotPowerStwp01GateCfg(TimerMotors_t _motorId);
 void FPGA_SetGoToDirPosition(TimerMotors_t _motorId);//GoTo_DIR command
diff --git a/Software/Embedded_SW/Embedded/Drivers/Flash_Memory/FATFS/Control_File_System.c b/Software/Embedded_SW/Embedded/Drivers/Flash_Memory/FATFS/Control_File_System.c
index c58be6664..4f644bc90 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Flash_Memory/FATFS/Control_File_System.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Flash_Memory/FATFS/Control_File_System.c
@@ -94,6 +94,7 @@ static FATFS g_sFatFs;
 
 char FlashReadstring [35];
 char FlashReadstring1 [35];
+extern Semaphore_Handle FFS_Sem;
 
 FRESULT Init_Flash_File_System(bool Need_mkfs)
 {
@@ -105,6 +106,7 @@ FRESULT Init_Flash_File_System(bool Need_mkfs)
         //in C:\TI\TivaWare_C_Series-2.1.2.111\third_party\fatfs\src\ffconf.h
     #endif
 
+    Semaphore_post(FFS_Sem);
     // Mount the file system, using logical disk 0.
     iFResult = f_mount(0, &g_sFatFs);
     if(iFResult != FR_OK)
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
index 0c547142c..ee64fb9d8 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
@@ -21,7 +21,7 @@
 
 
 //#define NUM_OF_MOTORS  (HARDWARE_MOTOR_TYPE__MOTO_RLOADING + 1) // TODO After the integration with mulbery change to:
-#define NUM_OF_MOTORS  HARDWARE_MOTOR_TYPE__MOTO_SPARE3_1+1
+#define NUM_OF_MOTORS  HARDWARE_MOTOR_TYPE__MOTO_SPARE2_2+1
 #define MINIMAL_MOTOR_SPEED 0.2
 
 //typedef enum