Use only motor hardware enum + stop using the AMT_OF_Words in the spi communication

5 files changed, 213 insertions, 95 deletions

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 4d4993952..476289568 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
@@ -8,6 +8,7 @@
 #include "Drivers/Motors/Motor.h"
 #include "modules/control/millisecTask.h"
 #include "drivers/Heater/TemperatureSensor.h"
+#include "PMR/Hardware/HardwareMotor.pb-c.h"
 
 extern TempSensorResponseStruct TempSensorResponse[MAX_TEMPERATURE_SENSOR_ID];
 
@@ -102,13 +103,17 @@ uint8_t FPGA_SPI_Transnit(TimerMotors_t _motorId)
 {
     INT2SHORT Int2Short;
 
-    if((*FpgaMotMap[_motorId].NBUSY == NOTBUSY) && (*FpgaMotMap[_motorId].SPI_Busy == NOTBUSY))
+    //*FpgaMotMap[_motorId].WORDS = 4;
+
+    //if((*FpgaMotMap[_motorId].NBUSY == NOTBUSY) && (*FpgaMotMap[_motorId].SPI_Busy == NOTBUSY))
     {
         Int2Short.uint = Fpga_Spi[_motorId].TX_MOSI;
 
         *FpgaMotMap[_motorId].TX_01 = Int2Short.ushort.MSB;
+        //SysCtlDelay(1);
         *FpgaMotMap[_motorId].TX_00 = Int2Short.ushort.LSB;
-        *FpgaMotMap[_motorId].WORDS = Fpga_Spi[_motorId].AMT_OF_Words;
+       // SysCtlDelay(100);
+        //*FpgaMotMap[_motorId].WORDS = Fpga_Spi[_motorId].AMT_OF_Words;
     }
     return OK;
 }
@@ -130,28 +135,32 @@ uint8_t FPGA_SPI_Receive(TimerMotors_t _motorId)
 void FPGA_GetClrMotStat_Cmd(TimerMotors_t _motorId)
 {
     Fpga_Spi[_motorId].TX_MOSI = x_GET_STATUS;
-    Fpga_Spi[_motorId].AMT_OF_Words = 1;
+    Fpga_Spi[_motorId].TX_MOSI = Fpga_Spi[_motorId].TX_MOSI << 8;// move the command to the MSB TODO necessary???
+    //Fpga_Spi[_motorId].AMT_OF_Words = 1;
     FPGA_SPI_Transnit(_motorId);
 }
 
 void FPGA_GetMotSpeed_Cmd(TimerMotors_t _motorId)
 {
     Fpga_Spi[_motorId].TX_MOSI = x_GET_PARAM | x_SPEED;
-    Fpga_Spi[_motorId].AMT_OF_Words = 1;
+    Fpga_Spi[_motorId].TX_MOSI = Fpga_Spi[_motorId].TX_MOSI << 8;// move the command to the MSB TODO necessary???
+    //Fpga_Spi[_motorId].AMT_OF_Words = 1;
     FPGA_SPI_Transnit(_motorId);
 }
 
 void FPGA_GetMotPosition_Cmd(TimerMotors_t _motorId)
 {
     Fpga_Spi[_motorId].TX_MOSI = x_GET_PARAM | x_ABS_POS;
-    Fpga_Spi[_motorId].AMT_OF_Words = 1;
+    Fpga_Spi[_motorId].TX_MOSI = Fpga_Spi[_motorId].TX_MOSI << 8;// move the command to the MSB TODO necessary???
+    //Fpga_Spi[_motorId].AMT_OF_Words = 1;
     FPGA_SPI_Transnit(_motorId);
 }
 
 void FPGA_GetMotMicroSteps_Cmd(TimerMotors_t _motorId)
 {
     Fpga_Spi[_motorId].TX_MOSI = x_GET_PARAM | x_STEP_MODE;
-    Fpga_Spi[_motorId].AMT_OF_Words = 1;
+    Fpga_Spi[_motorId].TX_MOSI = Fpga_Spi[_motorId].TX_MOSI << 8;// move the command to the MSB TODO necessary???
+    //Fpga_Spi[_motorId].AMT_OF_Words = 1;
     FPGA_SPI_Transnit(_motorId);
 }
 
@@ -342,7 +351,7 @@ int MotorSendFPGARequest(TimerMotors_t MotorId,uint32_t Data, uint32_t Length)
 
         *FpgaMotMap[MotorId].TX_01 = Int2Short.ushort.MSB;
         *FpgaMotMap[MotorId].TX_00 = Int2Short.ushort.LSB;
-        *FpgaMotMap[MotorId].WORDS = Length;
+        //*FpgaMotMap[MotorId].WORDS = Length;
 
         return OK;
     }
@@ -380,35 +389,114 @@ uint32_t FPGA_MotorConfig(TimerMotors_t _motorId, MotorDriverConfigStruc *MotorC
     uint32_t temp;
     if( MillisecWriteToMotor(_motorId, x_HARD_HIZ, 1, NULL) < 0 ) return ERROR;
     temp = x_SET_PARAM | x_ACC;
-    temp = temp << 12;
-    temp |= MotorDriverCfg[_motorId].ACC;
-    if( MillisecWriteToMotor(_motorId, temp, 3, NULL) < 0 ) return ERROR;
+    temp = temp << 24;
+    temp |= ((int)(MotorDriverCfg[_motorId].maxchangeslope)<<8);
+    if( MillisecWriteToMotor(_motorId, temp, 4, NULL) < 0 ) return ERROR;
 
     temp = x_SET_PARAM | x_DEC;
-    temp = temp << 12;
-    temp |= MotorDriverCfg[_motorId].DEC;
-    if( MillisecWriteToMotor(_motorId, temp, 3, NULL) < 0 ) return ERROR;
+    temp = temp << 24;
+    temp |= ((int)(MotorDriverCfg[_motorId].maxchangeslope)<<8);
+    if( MillisecWriteToMotor(_motorId, temp, 4, NULL) < 0 ) return ERROR;
 
     temp = x_SET_PARAM | x_MAX_SPEED;
-    temp = temp << 10;
-    temp |= MotorDriverCfg[_motorId].MaxSpeed;
-    if( MillisecWriteToMotor(_motorId, temp, 3, NULL) < 0 ) return ERROR;
+    temp = temp << 24;
+    temp |= MotorDriverCfg[_motorId].maxfrequency<<8;
+    if( MillisecWriteToMotor(_motorId, temp, 4, NULL) < 0 ) return ERROR;
 
-    if(MotorDriverCfg[_motorId].HasMicroStep)
+    if(MotorDriverCfg[_motorId].has_microstep)
     {
         temp = x_SET_PARAM | x_STEP_MODE;
-        temp = temp << 8;
-        temp |= !x_SYNC_EN | MotorDriverCfg[_motorId].Microstep | x_SYNC_SEL_1;
-        if( MillisecWriteToMotor(_motorId, temp, 2, NULL) < 0 ) return ERROR;
+        temp = temp << 24;
+        temp |= (!x_SYNC_EN | MotorDriverCfg[_motorId].microstep | x_SYNC_SEL_1)<<16;
+        if( MillisecWriteToMotor(_motorId, temp, 4, NULL) < 0 ) return ERROR;
     }
 
-    if(MotorDriverCfg[_motorId].HasConfigWord)
+    if(MotorDriverCfg[_motorId].has_configword)
     {
         temp = x_SET_PARAM | x_CONFIG;
         temp = temp << 24;
-        temp |= MotorDriverCfg[_motorId].ConfigWord;
+        temp |= MotorDriverCfg[_motorId].configword<<8;
+        if( MillisecWriteToMotor(_motorId, temp, 4, NULL) < 0 ) return ERROR;
+    }
+    ///////////////////////////////////////////////////////////////
+
+    if(MotorDriverCfg[_motorId].has_kvalhold)
+    {
+        temp = x_SET_PARAM | x_KVAL_HOLD;
+        temp = temp << 24;
+        temp |= MotorDriverCfg[_motorId].kvalhold<<16;
+        if( MillisecWriteToMotor(_motorId, temp, 4, NULL) < 0 ) return ERROR;
+    }
+    if(MotorDriverCfg[_motorId].has_kvalrun)
+    {
+        temp = x_SET_PARAM | x_KVAL_RUN;
+        temp = temp << 24;
+        temp |= MotorDriverCfg[_motorId].kvalrun<<16;
+        if( MillisecWriteToMotor(_motorId, temp, 4, NULL) < 0 ) return ERROR;
+    }
+    if(MotorDriverCfg[_motorId].has_kvalacc)
+    {
+        temp = x_SET_PARAM | x_KVAL_ACC;
+        temp = temp << 24;
+        temp |= MotorDriverCfg[_motorId].kvalacc<<16;
+        if( MillisecWriteToMotor(_motorId, temp, 4, NULL) < 0 ) return ERROR;
+    }
+    if(MotorDriverCfg[_motorId].has_kvaldec)
+    {
+        temp = x_SET_PARAM | x_KVAL_DEC;
+        temp = temp << 24;
+        temp |= MotorDriverCfg[_motorId].kvaldec<<16;
+        if( MillisecWriteToMotor(_motorId, temp, 4, NULL) < 0 ) return ERROR;
+    }
+
+    ///////////////////////////////////////////////////////////////
+    if(MotorDriverCfg[_motorId].has_stslp)
+    {
+        temp = x_SET_PARAM | x_ST_SLP;
+        temp = temp << 24;
+        temp |= MotorDriverCfg[_motorId].stslp<<16;
+        if( MillisecWriteToMotor(_motorId, temp, 4, NULL) < 0 ) return ERROR;
+    }
+    if(MotorDriverCfg[_motorId].has_intspd)
+    {
+        temp = x_SET_PARAM | x_INT_SPD;
+        temp = temp << 24;
+        temp |= MotorDriverCfg[_motorId].intspd<<8;
+        if( MillisecWriteToMotor(_motorId, temp, 4, NULL) < 0 ) return ERROR;
+    }
+    if(MotorDriverCfg[_motorId].has_fnslpacc)
+    {
+        temp = x_SET_PARAM | x_FN_SLP_ACC;
+        temp = temp << 24;
+        temp |= MotorDriverCfg[_motorId].fnslpacc<<16;
+        if( MillisecWriteToMotor(_motorId, temp, 4, NULL) < 0 ) return ERROR;
+    }
+    if(MotorDriverCfg[_motorId].has_fnslpdec)
+    {
+        temp = x_SET_PARAM | x_FN_SLP_DEC;
+        temp = temp << 24;
+        temp |= MotorDriverCfg[_motorId].fnslpdec<<16;
         if( MillisecWriteToMotor(_motorId, temp, 4, NULL) < 0 ) return ERROR;
     }
+        if(MotorDriverCfg[_motorId].has_overcurrentthreshold)
+    {
+        temp = x_SET_PARAM | x_OCD_TH;
+        temp = temp << 24;
+        temp |= MotorDriverCfg[_motorId].overcurrentthreshold<<16;
+        if( MillisecWriteToMotor(_motorId, temp, 4, NULL) < 0 ) return ERROR;
+    }
+
+    ///////////////////////////////////////////////////////////////
+/*
+  protobuf_c_boolean has_overcurrentthreshold;
+  int32_t overcurrentthreshold;
+  protobuf_c_boolean has_stallthreshold;
+  int32_t stallthreshold;
+  protobuf_c_boolean has_thermalcompensationfactor;
+  int32_t thermalcompensationfactor;
+  protobuf_c_boolean has_lowspeedoptimization;
+  protobuf_c_boolean lowspeedoptimization;
+*/
 return OK;
 }
 
@@ -424,8 +512,8 @@ void FPGA_SetMotSpeed(TimerMotors_t _motorId)//Run
         MotorDriverRequest[_motorId].Speed = 0xFFFFF;
 
     temp |= MotorDriverRequest[_motorId].Speed;
-    Fpga_Spi[_motorId].TX_MOSI = temp;
-    Fpga_Spi[_motorId].AMT_OF_Words = 4;
+    Fpga_Spi[_motorId].TX_MOSI = temp;//<<8;
+    //Fpga_Spi[_motorId].AMT_OF_Words = 4;
 
     FPGA_SPI_Transnit(_motorId);
 }
@@ -442,7 +530,7 @@ void FPGA_SetMotPosition(TimerMotors_t _motorId)//Mov
 
     temp |= MotorDriverRequest[_motorId].Position;
     Fpga_Spi[_motorId].TX_MOSI = temp;
-    Fpga_Spi[_motorId].AMT_OF_Words = 4;
+    //Fpga_Spi[_motorId].AMT_OF_Words = 4;
 
     FPGA_SPI_Transnit(_motorId);
 }
@@ -451,7 +539,8 @@ void FPGA_SetGoMotHome(TimerMotors_t _motorId)
 {
 
     Fpga_Spi[_motorId].TX_MOSI = x_GO_HOME; //TODO to check how to set the number of bytes to send
-    Fpga_Spi[_motorId].AMT_OF_Words = 1;
+    Fpga_Spi[_motorId].TX_MOSI = Fpga_Spi[_motorId].TX_MOSI << 8;// move the command to the MSB TODO necessary???
+    //Fpga_Spi[_motorId].AMT_OF_Words = 1;
 
     FPGA_SPI_Transnit(_motorId);
 }
@@ -459,8 +548,6 @@ void FPGA_SetGoMotHome(TimerMotors_t _motorId)
 void FPGA_SetMotStop(TimerMotors_t _motorId)
 {
 
-    Fpga_Spi[_motorId].TX_MOSI = x_GO_HOME; //TODO to check how to set the number of bytes to send
-
     switch(MotorDriverRequest[_motorId].Stop)
     {
         case Hard_Stop:
@@ -480,8 +567,8 @@ void FPGA_SetMotStop(TimerMotors_t _motorId)
             break;
     }
 
-    Fpga_Spi[_motorId].TX_MOSI = Fpga_Spi[_motorId].TX_MOSI << 8;// move the command to the MSB TODO necessary???
-    Fpga_Spi[_motorId].AMT_OF_Words = 1;//TODO ?
+    Fpga_Spi[_motorId].TX_MOSI = Fpga_Spi[_motorId].TX_MOSI << 24;// move the command to the MSB TODO necessary???
+    //Fpga_Spi[_motorId].AMT_OF_Words = 1;//TODO ?
 
     FPGA_SPI_Transnit(_motorId);
 }
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
index 310bbd2af..86dd570b1 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
@@ -10,6 +10,7 @@
 #include "include.h"
 //#include "Modules/thread/thread.h"
 #include "PMR/Hardware/HardwareMotorType.pb-c.h"
+#include "PMR/Hardware/HardwareMotor.pb-c.h"
 
 #include <stdint.h>
 #include <stdbool.h>
@@ -46,7 +47,7 @@
 //  double hightimeoutusec;
 //}MotorDriverConfigStruc;
 
-typedef struct
+/*typedef struct
 {
   uint32_t ACC; //set
   uint32_t DEC;  //set
@@ -55,19 +56,33 @@ typedef struct
   uint32_t Microstep; //set
   bool HasConfigWord;
   uint16_t ConfigWord; //set
-  uint32_t Min_Speed_LSPD_OPT;
-  bool Has_Min_Speed_LSPD_OPT;
-  uint32_t KVAL_HOLD         ;
-  uint32_t KVAL_RUN          ;
-  uint32_t KVAL_ACC          ;
-  uint32_t KVAL_DEC          ;
-  uint32_t ST_SLP            ;
-  uint32_t INT_SPD           ;
-  uint32_t FN_SLP_ACC        ;
-  uint32_t FN_SLP_DEC        ;
-
+  bool has_kvalhold;
+  int32_t kvalhold;
+  bool has_kvalrun;
+  int32_t kvalrun;
+  bool has_kvalacc;
+  int32_t kvalacc;
+  bool has_kvaldec;
+  int32_t kvaldec;
+  bool has_overcurrentthreshold;
+  int32_t overcurrentthreshold;
+  bool has_stallthreshold;
+  int32_t stallthreshold;
+  bool has_thermalcompensationfactor;
+  int32_t thermalcompensationfactor;
+  bool has_lowspeedoptimization;
+  bool lowspeedoptimization;
+  bool has_stslp;
+  int32_t stslp;
+  bool has_intspd;
+  int32_t intspd;
+  bool has_fnslpacc;
+  int32_t fnslpacc;
+  bool has_fnslpdec;
+  int32_t fnslpdec;
 }MotorDriverConfigStruc;
-
+*/
+#define MotorDriverConfigStruc HardwareMotor
 typedef struct
 {
   bool Direction;
diff --git a/Software/Embedded_SW/Embedded/Drivers/SPI/SPI_Comm.c b/Software/Embedded_SW/Embedded/Drivers/SPI/SPI_Comm.c
index efc9b932c..111799bce 100644
--- a/Software/Embedded_SW/Embedded/Drivers/SPI/SPI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/SPI/SPI_Comm.c
@@ -14,6 +14,7 @@
 
 //#include "graphics_adapter.h"
 #include "drivers/FPGA/Moters_Driver/L6470.h"
+#include "PMR/Hardware/HardwareMotor.pb-c.h"
 
 //#include "drivers/FPGA/FPGA_Comm.h"
 
@@ -431,11 +432,11 @@ void setup(MotorDriverConfigStruc *MotorConfig)
             }
         }
 
-        if(MotorConfig->HasMicroStep)
+        if(MotorConfig->has_microstep)
         {
             SetParam(x_STEP_MODE,
                 !x_SYNC_EN |
-                MotorConfig->Microstep |
+                MotorConfig->microstep |
                 x_SYNC_SEL_1);
         }
         else
@@ -481,9 +482,9 @@ void setup(MotorDriverConfigStruc *MotorConfig)
             }
         }
 
-    if(MotorConfig->MaxSpeed !=0)
+    if(MotorConfig->maxfrequency !=0)
     {
-        SetParam(x_MAX_SPEED, MaxSpdCalc(MotorConfig->MaxSpeed));
+        SetParam(x_MAX_SPEED, MaxSpdCalc(MotorConfig->maxfrequency));
     }
     else
     {
@@ -568,8 +569,8 @@ void setup(MotorDriverConfigStruc *MotorConfig)
     }
     // ACC + DEC writable only when motor is stopped
 
-    if(MotorConfig->ACC != 0)
-        SetParam(x_ACC, MotorConfig->ACC);//roll-over after 0x7F - 7 bit ??? (should be 12 bit) AVI
+    if(MotorConfig->maxchangeslope != 0)
+        SetParam(x_ACC, MotorConfig->maxchangeslope);//roll-over after 0x7F - 7 bit ??? (should be 12 bit) AVI
     else
         SetParam(x_ACC, 0x0FF);
 /*    if(request->set_acc)
@@ -594,8 +595,8 @@ void setup(MotorDriverConfigStruc *MotorConfig)
     }
 
 
-    if(MotorConfig->DEC != 0)
-        SetParam(x_DEC, MotorConfig->DEC);//roll-over after 0x7F - 7 bit ??? (should be 12 bit) AVI
+    if(MotorConfig->maxchangeslope != 0)
+        SetParam(x_DEC, MotorConfig->maxchangeslope);//roll-over after 0x7F - 7 bit ??? (should be 12 bit) AVI
     else
         SetParam(x_DEC, 0x0FF);
 
@@ -610,7 +611,7 @@ void setup(MotorDriverConfigStruc *MotorConfig)
     }
 */
 
-    if(MotorConfig->HasConfigWord)
+    if(MotorConfig->has_configword)
     {
         //while(SSIBusy(SSI2_BASE)){};
         timeout = SSI_SPI_TIMEOUT;
@@ -624,7 +625,7 @@ void setup(MotorDriverConfigStruc *MotorConfig)
             }
         }
 
-        SetParam(x_CONFIG, MotorConfig->ConfigWord);//roll-over after 0x7F - 7 bit ??? (should be 12 bit) AVI
+        SetParam(x_CONFIG, MotorConfig->configword);//roll-over after 0x7F - 7 bit ??? (should be 12 bit) AVI
     }
 
     // Configure the overcurrent detection threshold. The constants
@@ -641,7 +642,13 @@ void setup(MotorDriverConfigStruc *MotorConfig)
         }
     }
 
-    SetParam(x_OCD_TH, x_OCD_TH_3000mA);
+	if(MotorConfig->has_overcurrentthreshold)
+    {
+        while(SSIBusy(SSI2_BASE)){};
+        SetParam(x_OCD_TH, MotorConfig->overcurrentthreshold);
+    }
+	else
+    	SetParam(x_OCD_TH, x_OCD_TH_3000mA);
 
     // Set up the CONFIG register as follows:
     //  PWM frequency divisor = 1
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
index fef551748..e6c47597a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
@@ -48,11 +48,13 @@
 #include "Modules/thread/thread.h"
 #include "Drivers/Motors/Motor.h"
 
+#include "drivers/FPGA/FPGA_SPI_Comm.h"
+
 
 extern unsigned long Run_Value ;
 extern unsigned long Pos_Value ;
 extern bool Direction ;
-unsigned char Stop_Command = 0 ;
+STOP_TYPE_ENUM Stop_Command;
 
 int Global_EVB_Motor_Id;
 
@@ -71,30 +73,51 @@ void Stub_MotorInitRequest(MessageContainer* requestContainer)
     init_BUSY_Pin();
     //while(SSIBusy(SSI2_BASE)){};
     //init_BUSY_Pin();
-/*
- * typedef struct
-{
-  uint32_t ACC; //set
-  uint32_t DEC;  //set
-  uint32_t MaxSpeed; //set
-  bool HasMicroStep;
-  uint32_t Microstep; //set
-  bool HasConfigWord;
-  uint16_t ConfigWord; //set
-}MotorDriverConfigStruc;
- * */
+
+#else
+
+    MotorsInit();
+    SysCtlDelay(20000);
+    //MotorConfig(request->motor_id, &MotorConfig);
+
+#endif
+
 //  MotorsConfigMessage already calls setup!!!!!!!!!
      MotorDriverConfigStruc MotorDriverConfig;
-    MotorDriverConfig.ACC = request->acc;
-    MotorDriverConfig.DEC = request->dec;
-    MotorDriverConfig.MaxSpeed = request->max_speed;
-    MotorDriverConfig.HasMicroStep = request->has_micro_steps;
-    MotorDriverConfig.HasConfigWord = false;
-    if ( MotorDriverConfig.HasMicroStep)
-        MotorDriverConfig.Microstep = request->micro_steps;
+    MotorDriverConfig.maxchangeslope = request->acc;
+    MotorDriverConfig.maxchangeslope = request->dec;
+    MotorDriverConfig.maxfrequency = request->max_speed;
+    MotorDriverConfig.has_setmicrostep = request->has_micro_steps;
+
+    if ( MotorDriverConfig.has_setmicrostep)
+        MotorDriverConfig.microstep = request->micro_steps;
 //    else
 //        MotorDriverConfig.Microstep = 2;
+    //MotorDriverConfig.HasConfigWord = false;
+
+
+    MotorDriverConfig.has_configword =  request->has_config;
+    MotorDriverConfig.configword =  request->config;
+    MotorDriverConfig.has_lowspeedoptimization =  request->has_min_speed_lspd_opt;
+    MotorDriverConfig.lowspeedoptimization =  request->has_min_speed_lspd_opt;
+    MotorDriverConfig.kvalhold =  request->kval_hold;
+    MotorDriverConfig.kvalrun =   request->kval_run;
+    MotorDriverConfig.kvalacc =    request->kval_acc;
+    MotorDriverConfig.kvaldec =    request->kval_dec;
+    MotorDriverConfig.stslp =      request->st_slp;
+    MotorDriverConfig.intspd =     request->int_spd;
+    MotorDriverConfig.fnslpacc =  request->fn_slp_acc;
+    MotorDriverConfig.fnslpdec =  request->fn_slp_dec;
+
+
+#ifdef EVALUATION_BOARD
+    Global_EVB_Motor_Id = request->motor_id;
     setup(&MotorDriverConfig);
+#else
+    TimerMotors_t MotorId =(TimerMotors_t) request->motor_id;
+
+    //MotorConfig(MotorId, &MotorDriverConfig); ------------------------------ to open !!!!!!!!!!!!!!!!!!!!!!1
+#endif
 
     //setup();
 
@@ -116,19 +139,10 @@ void Stub_MotorInitRequest(MessageContainer* requestContainer)
     //SPI_Control();
 
     //temp_init_spi2();
-#endif
-
-
-#ifndef EVALUATION_BOARD
-
-MotorsInit();
-SysCtlDelay(20000);
-//MotorConfig(request->motor_id, &MotorConfig);
-
-#endif
 
 
 
+/*
     HardwareMotor MotorConfig;
 
     HardwareMotorType Motor_Id  = (HardwareMotorType)request->motor_id;
@@ -137,8 +151,8 @@ SysCtlDelay(20000);
     MotorConfig.maxfrequency = request->max_speed;
     MotorConfig.microstep = request->micro_steps;
     MotorsConfigMessage(&MotorConfig);
+*/
 
-    Global_EVB_Motor_Id = request->motor_id;
 
 
 
@@ -197,6 +211,9 @@ void Stub_MotorRunRequest(MessageContainer* requestContainer)
     //status = FPGA_ReadVersion((unsigned char)request->fpgaid, &Version, &Year, &Month, &Day);
 #else
     TimerMotors_t Motor_Id  = (TimerMotors_t)request->motor_id; //to remove warning
+
+    FPGA_GetBusy();
+
     MotorSetDirection(Motor_Id,Direction);
     MotorSetSpeed(Motor_Id, Run_Value, 1);
 #endif
@@ -270,7 +287,7 @@ void Stub_MotorStopRequest(MessageContainer* requestContainer)
     StubMotorStopRequest* request = stub_motor_stop_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
     
-    Stop_Command = request->stop_cmd;
+    Stop_Command = (STOP_TYPE_ENUM)request->stop_cmd;
 
 #ifdef EVALUATION_BOARD
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 5a8c3df76..0e276fe92 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -51,7 +51,6 @@ uint32_t MotorsConfigMessage(HardwareMotor * request)
 {
     uint32_t status = PASSED;
     TimerMotors_t Motor_i;
-    MotorDriverConfigStruc MotorDriverConfig;
     Motor_i = request->hardwaremotortype;
     /*for (i=0;i<MAX_THREAD_MOTORS_NUM;i++)
     {
@@ -69,15 +68,8 @@ uint32_t MotorsConfigMessage(HardwareMotor * request)
     //if (Motor_i< MAX_THREAD_MOTORS_NUM)
     //{
         memcpy (&MotorsCfg[Motor_i],request,sizeof(HardwareMotor));
-        MotorDriverConfig.ACC = MotorsCfg[Motor_i].maxchangeslope;
-        MotorDriverConfig.DEC = MotorsCfg[Motor_i].maxchangeslope;
-        MotorDriverConfig.MaxSpeed = MotorsCfg[Motor_i].maxfrequency;
-        MotorDriverConfig.HasMicroStep = MotorsCfg[Motor_i].has_microstep;
-        MotorDriverConfig.Microstep = MotorsCfg[Motor_i].microstep;
-        MotorDriverConfig.HasConfigWord = MotorsCfg[Motor_i].has_configword;
-        MotorDriverConfig.ConfigWord = MotorsCfg[Motor_i].configword;
 
-        status = MotorConfig( Motor_i,  &MotorDriverConfig);
+        status = MotorConfig( Motor_i,  &MotorsCfg[Motor_i]);
 //        if (Motor_i == MOTOR_RDRIVING)
 //            ThreadInitialTestStub(request);