Merge branch 'master' of https://twinetfs.visualstudio.com/_git/Tango

6 files changed, 50 insertions, 146 deletions

diff --git a/Software/Embedded_SW/Embedded/Drivers/Danser_SSI/SSI_Comm.c b/Software/Embedded_SW/Embedded/Drivers/Danser_SSI/SSI_Comm.c
index af60ca52c..1060328a2 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Danser_SSI/SSI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Danser_SSI/SSI_Comm.c
@@ -230,10 +230,10 @@ uint32_t Read_Dancer_Position (HardwareDancerType DancerId)
         SSIDisable(SSI1_BASE);
         return SSI_enc.Position;
     #else
-        // must call FPGA_SSI_Transnit first!
+        // must call FPGA_SSI_Transmit first!
         HardwareDancerType Dancer_Id = (HardwareDancerType)DancerId;//to remove warning
         FPGA_SSI_Receive(Dancer_Id);
-        FPGA_SSI_Transnit(Dancer_Id);
+        FPGA_SSI_Transmit(Dancer_Id);
         return DANCER_ENC[Dancer_Id].Position;
     #endif
 }
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 ee1387b85..5b7bd182d 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
@@ -204,146 +204,46 @@ void FPGA_GetBusy()
     F2_SPI_BUSY2.ushort = F2_SPI_Busy2_D;
     //F3_SPI_BUSY1.ushort = F3_SPI_Busy1_D;  - for spare motors
 
-    for(i=0; i<NUM_OF_MOTORS;i++)
-    {
-        switch(i)
-        {
-            case HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD:
-                    MotorDriverResponse[i].Busy = (F1_MOT_NBUSY1.bits.F1_MOTO_DH_CLEANHEAD_A1_NBUSY)  | F1_SPI_BUSY1.bits.F1_MOTO_DH_CLEANHEAD_A1_SDI_busy;
-                break;
-            case HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH:
-                    MotorDriverResponse[i].Busy = (F1_MOT_NBUSY1.bits.F1_MOTO_DH_CLEANMECH_A1_NBUSY)  | F1_SPI_BUSY1.bits.F1_MOTO_DH_CLEANMECH_A1_SDI_busy;
-                break;
-            case HARDWARE_MOTOR_TYPE__MOTO_DH_LID:
-                    MotorDriverResponse[i].Busy = (F1_MOT_NBUSY1.bits.F1_MOTO_DH_LID_A1_NBUSY)        | F1_SPI_BUSY2.bits.F1_MOTO_DH_LID_A1_SDI_busy;
-                break;
-            case HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING:
-                    MotorDriverResponse[i].Busy = (F1_MOT_NBUSY1.bits.F1_MOTO_DRYER_DRIVING_A1_NBUSY) | F1_SPI_BUSY1.bits.F1_MOTO_DRYER_DRIVING_A1_SDI_busy;
-                break;
-            case HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID:
-                    MotorDriverResponse[i].Busy = (F1_MOT_NBUSY1.bits.F1_MOTO_DRYER_LID_A1_NBUSY)     | F1_SPI_BUSY1.bits.F1_MOTO_DRYER_LID_A1_SDI_busy;
-                break;
-            case HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM:
-                    MotorDriverResponse[i].Busy = (F1_MOT_NBUSY1.bits.F1_MOTO_DRYER_LOADARM_A1_NBUSY) | F1_SPI_BUSY2.bits.F1_MOTO_DRYER_LOADARM_A1_SDI_busy;
-                break;
-            case HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1:
-                    MotorDriverResponse[i].Busy = (F2_MOT_NBUSY1.bits.F2_MOTO_DISPENSER_A1_1_NBUSY)   | F2_SPI_BUSY2.bits.F2_MOTO_DISPENSER_A1_1_BUSY;
-                break;
-            case HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2:
-                    MotorDriverResponse[i].Busy = (F2_MOT_NBUSY1.bits.F2_MOTO_DISPENSER_A1_2_NBUSY)   | F2_SPI_BUSY2.bits.F2_MOTO_DISPENSER_A1_1_BUSY;
-                break;
-            case HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3:
-                    MotorDriverResponse[i].Busy = (F2_MOT_NBUSY1.bits.F2_MOTO_DISPENSER_A1_3_NBUSY)   | F2_SPI_BUSY2.bits.F2_MOTO_DISPENSER_A1_1_BUSY;
-                break;
-            case HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4:
-                    MotorDriverResponse[i].Busy = (F2_MOT_NBUSY1.bits.F2_MOTO_DISPENSER_A1_4_NBUSY)   | F2_SPI_BUSY2.bits.F2_MOTO_DISPENSER_A1_1_BUSY;
-                break;
-            case HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5:
-                    MotorDriverResponse[i].Busy = (F2_MOT_NBUSY1.bits.F2_MOTO_DISPENSER_A1_5_NBUSY)   | F2_SPI_BUSY2.bits.F2_MOTO_DISPENSER_A1_1_BUSY;
-                break;
-            case HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6:
-                    MotorDriverResponse[i].Busy = (F2_MOT_NBUSY1.bits.F2_MOTO_DISPENSER_A1_6_NBUSY)   | F2_SPI_BUSY2.bits.F2_MOTO_DISPENSER_A1_1_BUSY;
-                break;
-            case HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7:
-                    MotorDriverResponse[i].Busy = (F2_MOT_NBUSY1.bits.F2_MOTO_DISPENSER_A1_7_NBUSY)   | F2_SPI_BUSY2.bits.F2_MOTO_DISPENSER_A1_1_BUSY;
-                break;
-            case HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8:
-                    MotorDriverResponse[i].Busy = (F2_MOT_NBUSY1.bits.F2_MOTO_DISPENSER_A1_8_NBUSY)   | F2_SPI_BUSY2.bits.F2_MOTO_DISPENSER_A1_1_BUSY;
-                break;
-            case HARDWARE_MOTOR_TYPE__MOTO_SCREW:
-                    MotorDriverResponse[i].Busy = (F1_MOT_NBUSY2.bits.F1_MOTO_SCREW_A1_NBUSY)         | F1_SPI_BUSY2.bits.F1_MOTO_SCREW_A1_SDI_busy;
-                break;
-            case HARDWARE_MOTOR_TYPE__MOTO_WINDER:
-                    MotorDriverResponse[i].Busy = (F1_MOT_NBUSY2.bits.F1_MOTO_WINDER_A1_NBUSY)        | F1_SPI_BUSY1.bits.F1_MOTO_WINDER_A1_SDI_busy;
-                break;
-            case HARDWARE_MOTOR_TYPE__MOTO_LDANCER2:
-                    MotorDriverResponse[i].Busy = (F1_MOT_NBUSY1.bits.F1_MOTO_LDANCER2_A1_NBUSY)      | F1_SPI_BUSY1.bits.F1_MOTO_LDANCER2_A1_SDI_busy;
-                break;
-            case HARDWARE_MOTOR_TYPE__MOTO_LDRIVING:
-                    MotorDriverResponse[i].Busy = (F1_MOT_NBUSY1.bits.F1_MOTO_LDRIVING_A1_NBUSY)      | F1_SPI_BUSY1.bits.F1_MOTO_LDRIVING_A1_SDI_busy;
-                break;
-            case HARDWARE_MOTOR_TYPE__MOTO_LLOADING:
-                    MotorDriverResponse[i].Busy = (F1_MOT_NBUSY1.bits.F1_MOTO_LLOADING_A1_NBUSY)      | F1_SPI_BUSY1.bits.F1_MOTO_LLOADING_A1_SDI_busy;
-                break;
-            case HARDWARE_MOTOR_TYPE__MOTO_LPIVOT1:
-                    MotorDriverResponse[i].Busy = (F1_MOT_NBUSY1.bits.F1_MOTO_LPIVOT1_A1_NBUSY)       | F1_SPI_BUSY2.bits.F1_MOTO_LPIVOT1_A1_SDI_busy;
-                break;
-            case HARDWARE_MOTOR_TYPE__MOTO_RDANCER:
-                    MotorDriverResponse[i].Busy = (F1_MOT_NBUSY2.bits.F1_MOTO_RDANCER_A1_NBUSY)       | F1_SPI_BUSY2.bits.F1_MOTO_RDANCER_A1_SDI_busy;
-                break;
-            case HARDWARE_MOTOR_TYPE__MOTO_RDRIVING:
-                    MotorDriverResponse[i].Busy = (F1_MOT_NBUSY2.bits.F1_MOTO_RDRIVING_A1_NBUSY)      | F1_SPI_BUSY1.bits.F1_MOTO_RDRIVING_A1_SDI_busy;
-                break;
-            case HARDWARE_MOTOR_TYPE__MOTO_RLOADING:
-                    MotorDriverResponse[i].Busy = (F1_MOT_NBUSY2.bits.F1_MOTO_RLOADING_A1_NBUSY)      | F1_SPI_BUSY1.bits.F1_MOTO_RLOADING_A1_SDI_busy;
-                break;
-            default:
-                break;
-        }
-    }
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD].Busy = (F1_MOT_NBUSY1.bits.F1_MOTO_DH_CLEANHEAD_A1_NBUSY)  | F1_SPI_BUSY1.bits.F1_MOTO_DH_CLEANHEAD_A1_SDI_busy;
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH].Busy = (F1_MOT_NBUSY1.bits.F1_MOTO_DH_CLEANMECH_A1_NBUSY)  | F1_SPI_BUSY1.bits.F1_MOTO_DH_CLEANMECH_A1_SDI_busy;
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_DH_LID].Busy = (F1_MOT_NBUSY1.bits.F1_MOTO_DH_LID_A1_NBUSY)        | F1_SPI_BUSY2.bits.F1_MOTO_DH_LID_A1_SDI_busy;
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING].Busy = (F1_MOT_NBUSY1.bits.F1_MOTO_DRYER_DRIVING_A1_NBUSY) | F1_SPI_BUSY1.bits.F1_MOTO_DRYER_DRIVING_A1_SDI_busy;
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID].Busy = (F1_MOT_NBUSY1.bits.F1_MOTO_DRYER_LID_A1_NBUSY)     | F1_SPI_BUSY1.bits.F1_MOTO_DRYER_LID_A1_SDI_busy;
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].Busy = (F1_MOT_NBUSY1.bits.F1_MOTO_DRYER_LOADARM_A1_NBUSY) | F1_SPI_BUSY2.bits.F1_MOTO_DRYER_LOADARM_A1_SDI_busy;
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1].Busy = (F2_MOT_NBUSY1.bits.F2_MOTO_DISPENSER_A1_1_NBUSY)   | F2_SPI_BUSY2.bits.F2_MOTO_DISPENSER_A1_1_BUSY;
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2].Busy = (F2_MOT_NBUSY1.bits.F2_MOTO_DISPENSER_A1_2_NBUSY)   | F2_SPI_BUSY2.bits.F2_MOTO_DISPENSER_A1_1_BUSY;
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3].Busy = (F2_MOT_NBUSY1.bits.F2_MOTO_DISPENSER_A1_3_NBUSY)   | F2_SPI_BUSY2.bits.F2_MOTO_DISPENSER_A1_1_BUSY;
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4].Busy = (F2_MOT_NBUSY1.bits.F2_MOTO_DISPENSER_A1_4_NBUSY)   | F2_SPI_BUSY2.bits.F2_MOTO_DISPENSER_A1_1_BUSY;
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5].Busy = (F2_MOT_NBUSY1.bits.F2_MOTO_DISPENSER_A1_5_NBUSY)   | F2_SPI_BUSY2.bits.F2_MOTO_DISPENSER_A1_1_BUSY;
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6].Busy = (F2_MOT_NBUSY1.bits.F2_MOTO_DISPENSER_A1_6_NBUSY)   | F2_SPI_BUSY2.bits.F2_MOTO_DISPENSER_A1_1_BUSY;
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7].Busy = (F2_MOT_NBUSY1.bits.F2_MOTO_DISPENSER_A1_7_NBUSY)   | F2_SPI_BUSY2.bits.F2_MOTO_DISPENSER_A1_1_BUSY;
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8].Busy = (F2_MOT_NBUSY1.bits.F2_MOTO_DISPENSER_A1_8_NBUSY)   | F2_SPI_BUSY2.bits.F2_MOTO_DISPENSER_A1_1_BUSY;
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_SCREW].Busy = (F1_MOT_NBUSY2.bits.F1_MOTO_SCREW_A1_NBUSY)         | F1_SPI_BUSY2.bits.F1_MOTO_SCREW_A1_SDI_busy;
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_WINDER].Busy = (F1_MOT_NBUSY2.bits.F1_MOTO_WINDER_A1_NBUSY)        | F1_SPI_BUSY1.bits.F1_MOTO_WINDER_A1_SDI_busy;
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_LDANCER2].Busy = (F1_MOT_NBUSY1.bits.F1_MOTO_LDANCER2_A1_NBUSY)      | F1_SPI_BUSY1.bits.F1_MOTO_LDANCER2_A1_SDI_busy;
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_LDRIVING].Busy = (F1_MOT_NBUSY1.bits.F1_MOTO_LDRIVING_A1_NBUSY)      | F1_SPI_BUSY1.bits.F1_MOTO_LDRIVING_A1_SDI_busy;
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].Busy = (F1_MOT_NBUSY1.bits.F1_MOTO_LLOADING_A1_NBUSY)      | F1_SPI_BUSY1.bits.F1_MOTO_LLOADING_A1_SDI_busy;
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_LPIVOT1].Busy = (F1_MOT_NBUSY1.bits.F1_MOTO_LPIVOT1_A1_NBUSY)       | F1_SPI_BUSY2.bits.F1_MOTO_LPIVOT1_A1_SDI_busy;
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].Busy = (F1_MOT_NBUSY2.bits.F1_MOTO_RDANCER_A1_NBUSY)       | F1_SPI_BUSY2.bits.F1_MOTO_RDANCER_A1_SDI_busy;
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].Busy = (F1_MOT_NBUSY2.bits.F1_MOTO_RDRIVING_A1_NBUSY)      | F1_SPI_BUSY1.bits.F1_MOTO_RDRIVING_A1_SDI_busy;
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].Busy = (F1_MOT_NBUSY2.bits.F1_MOTO_RLOADING_A1_NBUSY)      | F1_SPI_BUSY1.bits.F1_MOTO_RLOADING_A1_SDI_busy;
 
-    for(i=0; i<MAX_TEMPERATURE_SENSOR_ID;i++)
-    {
-        switch(i)
-        {
-            case TEMP_SENSE_ANALOG_MIXCHIP_TEMP:
-                    TempSensorResponse[i].Busy = F2_SPI_BUSY1.bits.F2_ANALOG_MIXCHIP_TEMP_1_BUSY;
-                break;
-            case TEMP_SENSE_ANALOG_DYEINGH_TEMP1:
-                    TempSensorResponse[i].Busy = F2_SPI_BUSY1.bits.F2_ANALOG_DYEINGH_TEMP1_1_BUSY;
-                break;
-            case TEMP_SENSE_ANALOG_DYEINGH_TEMP2:
-                    TempSensorResponse[i].Busy = F2_SPI_BUSY1.bits.F2_ANALOG_DYEINGH_TEMP2_1_BUSY;
-                break;
-            case TEMP_SENSE_ANALOG_DYEINGH_TEMP3:
-                    TempSensorResponse[i].Busy = F2_SPI_BUSY1.bits.F2_ANALOG_DYEINGH_TEMP3_1_BUSY;
-                break;
-            case TEMP_SENSE_ANALOG_DYEINGH_TEMP4:
-                    TempSensorResponse[i].Busy = F2_SPI_BUSY1.bits.F2_ANALOG_DYEINGH_TEMP4_1_BUSY;
-                break;
-            case TEMP_SENSE_ANALOG_DYEINGH_TEMP5:
-                    TempSensorResponse[i].Busy = F2_SPI_BUSY1.bits.F2_ANALOG_DYEINGH_TEMP5_1_BUSY;
-                break;
-            case TEMP_SENSE_ANALOG_DRYER_TEMP1:
-                    TempSensorResponse[i].Busy = F2_SPI_BUSY1.bits.F2_ANALOG_DRYER_TEMP1_1_BUSY;
-                break;
-            case TEMP_SENSE_ANALOG_DRYER_TEMP2:
-                    TempSensorResponse[i].Busy = F2_SPI_BUSY1.bits.F2_ANALOG_DRYER_TEMP2_1_BUSY;
-                break;
-            case TEMP_SENSE_ANALOG_DRYER_TEMP3:
-                    TempSensorResponse[i].Busy = F2_SPI_BUSY1.bits.F2_ANALOG_DRYER_TEMP3_1_BUSY;
-                break;
-            case TEMP_SENSE_AN_ENCLOSURETEMP1:
-                    TempSensorResponse[i].Busy = F2_SPI_BUSY1.bits.F2_AN_ENCLOSURETEMP1_1_BUSY;
-                break;
-            case TEMP_SENSE_AN_ENCLOSURETEMP2:
-                    TempSensorResponse[i].Busy = F2_SPI_BUSY1.bits.F2_AN_ENCLOSURETEMP2_1_BUSY;
-                break;
-            case TEMP_SENSE_AN_ENCLOSURETEMP3:
-                    TempSensorResponse[i].Busy = F2_SPI_BUSY1.bits.F2_AN_ENCLOSURETEMP3_1_BUSY;
-                break;
-            default:
-                break;
-        }
-    }
+        TempSensorResponse[TEMP_SENSE_ANALOG_MIXCHIP_TEMP].Busy = F2_SPI_BUSY1.bits.F2_ANALOG_MIXCHIP_TEMP_1_BUSY;
+        TempSensorResponse[TEMP_SENSE_ANALOG_DYEINGH_TEMP1].Busy = F2_SPI_BUSY1.bits.F2_ANALOG_DYEINGH_TEMP1_1_BUSY;
+        TempSensorResponse[TEMP_SENSE_ANALOG_DYEINGH_TEMP2].Busy = F2_SPI_BUSY1.bits.F2_ANALOG_DYEINGH_TEMP2_1_BUSY;
+        TempSensorResponse[TEMP_SENSE_ANALOG_DYEINGH_TEMP3].Busy = F2_SPI_BUSY1.bits.F2_ANALOG_DYEINGH_TEMP3_1_BUSY;
+        TempSensorResponse[TEMP_SENSE_ANALOG_DYEINGH_TEMP4].Busy = F2_SPI_BUSY1.bits.F2_ANALOG_DYEINGH_TEMP4_1_BUSY;
+        TempSensorResponse[TEMP_SENSE_ANALOG_DYEINGH_TEMP5].Busy = F2_SPI_BUSY1.bits.F2_ANALOG_DYEINGH_TEMP5_1_BUSY;
+        TempSensorResponse[TEMP_SENSE_ANALOG_DRYER_TEMP1].Busy = F2_SPI_BUSY1.bits.F2_ANALOG_DRYER_TEMP1_1_BUSY;
+        TempSensorResponse[TEMP_SENSE_ANALOG_DRYER_TEMP2].Busy = F2_SPI_BUSY1.bits.F2_ANALOG_DRYER_TEMP2_1_BUSY;
+        TempSensorResponse[TEMP_SENSE_ANALOG_DRYER_TEMP3].Busy = F2_SPI_BUSY1.bits.F2_ANALOG_DRYER_TEMP3_1_BUSY;
+        TempSensorResponse[TEMP_SENSE_AN_ENCLOSURETEMP1].Busy = F2_SPI_BUSY1.bits.F2_AN_ENCLOSURETEMP1_1_BUSY;
+        TempSensorResponse[TEMP_SENSE_AN_ENCLOSURETEMP2].Busy = F2_SPI_BUSY1.bits.F2_AN_ENCLOSURETEMP2_1_BUSY;
+        TempSensorResponse[TEMP_SENSE_AN_ENCLOSURETEMP3].Busy = F2_SPI_BUSY1.bits.F2_AN_ENCLOSURETEMP3_1_BUSY;
 
-        for(i=0; i<NUM_OF_ROTENC;i++)
-        {
-            switch(i)
-            {
-                case HARDWARE_DANCER_TYPE__LeftDancer:
-                        Dancer_Busy[i] = F1_SPI_BUSY1.bits.F1_LDANCER2_ROTENC_DATA_p_busy;
-                    break;
-                case HARDWARE_DANCER_TYPE__MiddleDancer:
-                        Dancer_Busy[i] = F1_SPI_BUSY1.bits.F1_LDANCER1_ROTENC_DATA_p_busy;
-                    break;
-                case HARDWARE_DANCER_TYPE__RightDancer:
-                        Dancer_Busy[i] = F1_SPI_BUSY1.bits.F1_RDANCER_ROTENC_DATA_p_busy;
-                    break;
-                default:
-                    break;
-             }
-        }
+        Dancer_Busy[HARDWARE_DANCER_TYPE__LeftDancer] = F1_SPI_BUSY1.bits.F1_LDANCER2_ROTENC_DATA_p_busy;
+        Dancer_Busy[HARDWARE_DANCER_TYPE__MiddleDancer] = F1_SPI_BUSY1.bits.F1_LDANCER1_ROTENC_DATA_p_busy;
+        Dancer_Busy[HARDWARE_DANCER_TYPE__RightDancer] = F1_SPI_BUSY1.bits.F1_RDANCER_ROTENC_DATA_p_busy;
 
         SpeedSensorResponseS.Busy = F1_SPI_BUSY1.bits.F1_RSPARE_ROTENC_DATA_p_busy;
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SSI_Comm.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SSI_Comm.c
index 8488aebab..cd6643c72 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SSI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SSI_Comm.c
@@ -17,20 +17,22 @@
 
 static FpgaDancerMap_t FpgaRotEncMap[NUM_OF_ROTENC] =
 {
-    {&F1_LDANCER2_ROTENC_DATA_p_TX, &F1_LDANCER2_ROTENC_DATA_p_RX_msb, &F1_LDANCER2_ROTENC_DATA_p_RX_lsb,&F1_SPI_Busy1_D},
-    {&F1_LDANCER1_ROTENC_DATA_p_TX, &F1_LDANCER1_ROTENC_DATA_p_RX_msb, &F1_LDANCER1_ROTENC_DATA_p_RX_lsb,&F1_SPI_Busy1_D},
-    {&F1_RDANCER_ROTENC_DATA_p_TX , &F1_RDANCER_ROTENC_DATA_p_RX_msb , &F1_RDANCER_ROTENC_DATA_p_RX_lsb ,&F1_SPI_Busy1_D},
+     {&F1_LDANCER2_ROTENC_DATA_p_TX, &F1_LDANCER2_ROTENC_DATA_p_RX_msb, &F1_LDANCER2_ROTENC_DATA_p_RX_lsb,&F1_SPI_Busy1_D},
+     {&F1_LDANCER1_ROTENC_DATA_p_TX, &F1_LDANCER1_ROTENC_DATA_p_RX_msb, &F1_LDANCER1_ROTENC_DATA_p_RX_lsb,&F1_SPI_Busy1_D},
+     {&F1_RDANCER_ROTENC_DATA_p_TX , &F1_RDANCER_ROTENC_DATA_p_RX_msb , &F1_RDANCER_ROTENC_DATA_p_RX_lsb ,&F1_SPI_Busy1_D},
 //    {&F1_LSPARE_ROTENC_DATA_p_TX  , &F1_LSPARE_ROTENC_DATA_p_RX_msb  , &F1_LSPARE_ROTENC_DATA_p_RX_lsb  ,&F1_SPI_Busy1_D},
 //    {&F1_RSPARE_ROTENC_DATA_p_TX  , &F1_RSPARE_ROTENC_DATA_p_RX_msb  , &F1_RSPARE_ROTENC_DATA_p_RX_lsb  ,&F1_SPI_Busy1_D},
 };
 
-uint8_t FPGA_SSI_Transnit(HardwareDancerType _RotEncId)
+
+uint8_t FPGA_SSI_Transmit(HardwareDancerType _RotEncId)
 {
     //if(*FpgaRotEncMap[_RotEncId].SSI_Busy == NOTBUSY)
     {
         uint32_t SSI_Dummy_TX= 0x123456; // Dummy
         *FpgaRotEncMap[_RotEncId].TX_Reg = SSI_Dummy_TX ;
     }
+
     return OK;
 }
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SSI_Comm.h b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SSI_Comm.h
index c0a5ffc49..168fa43a1 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SSI_Comm.h
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SSI_Comm.h
@@ -40,7 +40,7 @@ typedef struct
 } FpgaDancerMap_t;
 
 
-uint8_t FPGA_SSI_Transnit(HardwareDancerType _RotEncId);
+uint8_t FPGA_SSI_Transmit(HardwareDancerType _RotEncId);
 
 uint8_t FPGA_SSI_Receive(HardwareDancerType _RotEncId);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c
index 1fc637029..499f227a9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c
@@ -57,7 +57,7 @@ void Stub_DancerPositionRequest(MessageContainer* requestContainer)
 
     if(Dancer_Id < NUM_OF_ROTENC)
     {
-        FPGA_SSI_Transnit(Dancer_Id);
+        FPGA_SSI_Transmit(Dancer_Id);
         SysCtlDelay(1000);
         FPGA_SSI_Receive(Dancer_Id);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 48c985321..4477835d0 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -210,6 +210,8 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     {
         DancerId = ThreadMotorIdToDancerId[index];
         TranslatedReadValue = ReadValue - DancersCfg[DancerId].zeropoint;
+        if (index == POOLER_MOTOR)
+            TranslatedReadValue = (-1*TranslatedReadValue);
         MotorSamples[index][MotorSamplePointer[index]] = TranslatedReadValue;//(-1 * TranslatedReadValue);
         MotorSamplePointer[index]++;
         if (MotorSamplePointer[index] >= MotorsControl[index].pvinputfilterfactormode) MotorSamplePointer[index] = 0;