11 files changed, 18 insertions, 6 deletions
diff --git a/Software/Embedded_SW/.jxbrowser-data/32428_0.lock b/Software/Embedded_SW/.jxbrowser-data/32428_0.lock
deleted file mode 100644
index 2f3445234..000000000
--- a/Software/Embedded_SW/.jxbrowser-data/32428_0.lock
+++ /dev/null
@@ -1 +0,0 @@
-1523349396308
diff --git a/Software/Embedded_SW/.jxbrowser-data/Cache/data_0 b/Software/Embedded_SW/.jxbrowser-data/Cache/data_0
index ec9c428a8..8716a58fa 100644
--- a/Software/Embedded_SW/.jxbrowser-data/Cache/data_0
+++ b/Software/Embedded_SW/.jxbrowser-data/Cache/data_0
diff --git a/Software/Embedded_SW/.jxbrowser-data/Cache/data_1 b/Software/Embedded_SW/.jxbrowser-data/Cache/data_1
index 16707656f..060d5488b 100644
--- a/Software/Embedded_SW/.jxbrowser-data/Cache/data_1
+++ b/Software/Embedded_SW/.jxbrowser-data/Cache/data_1
diff --git a/Software/Embedded_SW/.jxbrowser-data/Cache/data_2 b/Software/Embedded_SW/.jxbrowser-data/Cache/data_2
index 250140fe2..5b0b07a21 100644
--- a/Software/Embedded_SW/.jxbrowser-data/Cache/data_2
+++ b/Software/Embedded_SW/.jxbrowser-data/Cache/data_2
diff --git a/Software/Embedded_SW/.jxbrowser-data/Cache/data_3 b/Software/Embedded_SW/.jxbrowser-data/Cache/data_3
index dde531635..5ff3b43be 100644
--- a/Software/Embedded_SW/.jxbrowser-data/Cache/data_3
+++ b/Software/Embedded_SW/.jxbrowser-data/Cache/data_3
diff --git a/Software/Embedded_SW/.jxbrowser-data/GPUCache/data_1 b/Software/Embedded_SW/.jxbrowser-data/GPUCache/data_1
index c80c63cb6..c21660337 100644
--- a/Software/Embedded_SW/.jxbrowser-data/GPUCache/data_1
+++ b/Software/Embedded_SW/.jxbrowser-data/GPUCache/data_1
diff --git a/Software/Embedded_SW/.jxbrowser-data/History b/Software/Embedded_SW/.jxbrowser-data/History
index a7a8e77c5..8c820291b 100644
--- a/Software/Embedded_SW/.jxbrowser-data/History
+++ b/Software/Embedded_SW/.jxbrowser-data/History
diff --git a/Software/Embedded_SW/.jxbrowser-data/History-journal b/Software/Embedded_SW/.jxbrowser-data/History-journal
index eeb90a8df..e69de29bb 100644
--- a/Software/Embedded_SW/.jxbrowser-data/History-journal
+++ b/Software/Embedded_SW/.jxbrowser-data/History-journal
diff --git a/Software/Embedded_SW/.jxbrowser-data/Local Storage - EXT/http_127.0.0.1.localstorage b/Software/Embedded_SW/.jxbrowser-data/Local Storage - EXT/http_127.0.0.1.localstorage
index e7c51132e..95a2b7a0d 100644
--- a/Software/Embedded_SW/.jxbrowser-data/Local Storage - EXT/http_127.0.0.1.localstorage
+++ b/Software/Embedded_SW/.jxbrowser-data/Local Storage - EXT/http_127.0.0.1.localstorage
@@ -1,4 +1,4 @@
-#Tue Apr 10 16:21:42 IDT 2018
+#Wed Apr 11 16:43:16 IDT 2018
 viewsData-storage={"ti.sysbios.knl.Task.Basic"\:{"columnStates"\:[{"name"\:"address","checked"\:true,"hasFormat"\:true,"format"\:"Hex"},{"name"\:"label","checked"\:true,"hasFormat"\:false,"format"\:null},{"name"\:"priority","checked"\:true,"hasFormat"\:true,"format"\:"Decimal"},{"name"\:"mode","checked"\:true,"hasFormat"\:false,"format"\:null},{"name"\:"fxn","checked"\:true,"hasFormat"\:false,"format"\:null},{"name"\:"arg0","checked"\:true,"hasFormat"\:true,"format"\:"Hex"},{"name"\:"arg1","checked"\:true,"hasFormat"\:true,"format"\:"Hex"},{"name"\:"stackSize","checked"\:true,"hasFormat"\:true,"format"\:"Decimal"},{"name"\:"stackBase","checked"\:true,"hasFormat"\:true,"format"\:"Hex"},{"name"\:"curCoreId","checked"\:true,"hasFormat"\:false,"format"\:null},{"name"\:"affinity","checked"\:true,"hasFormat"\:false,"format"\:null}],"hasFormats"\:true},"ti.sysbios.knl.Task"\:{"defaultViewName"\:"Detailed"},"ti.sysbios.family.arm.m3.Hwi.Basic"\:{"columnStates"\:[{"name"\:"address","checked"\:true,"hasFormat"\:true,"format"\:"Hex"},{"name"\:"halHwiHandle","checked"\:true,"hasFormat"\:false,"format"\:null},{"name"\:"label","checked"\:true,"hasFormat"\:false,"format"\:null},{"name"\:"type","checked"\:true,"hasFormat"\:false,"format"\:null},{"name"\:"intNum","checked"\:true,"hasFormat"\:true,"format"\:"Decimal"},{"name"\:"priority","checked"\:true,"hasFormat"\:true,"format"\:"Decimal"},{"name"\:"group","checked"\:true,"hasFormat"\:true,"format"\:"Decimal"},{"name"\:"subPriority","checked"\:true,"hasFormat"\:true,"format"\:"Decimal"},{"name"\:"fxn","checked"\:true,"hasFormat"\:false,"format"\:null},{"name"\:"arg","checked"\:true,"hasFormat"\:true,"format"\:"Hex"}],"hasFormats"\:true},"ti.sysbios.family.arm.m3.Hwi"\:{"defaultViewName"\:"Exception"},"ti.sysbios.knl.Task.Detailed"\:{"columnStates"\:[{"name"\:"address","checked"\:true,"hasFormat"\:true,"format"\:"Hex"},{"name"\:"label","checked"\:true,"hasFormat"\:false,"format"\:null},{"name"\:"priority","checked"\:true,"hasFormat"\:true,"format"\:"Decimal"},{"name"\:"mode","checked"\:true,"hasFormat"\:false,"format"\:null},{"name"\:"fxn","checked"\:true,"hasFormat"\:false,"format"\:null},{"name"\:"arg0","checked"\:true,"hasFormat"\:true,"format"\:"Hex"},{"name"\:"arg1","checked"\:true,"hasFormat"\:true,"format"\:"Hex"},{"name"\:"stackPeak","checked"\:true,"hasFormat"\:true,"format"\:"Decimal"},{"name"\:"stackSize","checked"\:true,"hasFormat"\:true,"format"\:"Decimal"},{"name"\:"stackBase","checked"\:true,"hasFormat"\:true,"format"\:"Hex"},{"name"\:"curCoreId","checked"\:true,"hasFormat"\:false,"format"\:null},{"name"\:"affinity","checked"\:true,"hasFormat"\:false,"format"\:null},{"name"\:"blockedOn","checked"\:true,"hasFormat"\:false,"format"\:null}],"hasFormats"\:true}}
 rovSettings-storage={"exeMrus"\:["C\:/Tango/Software/Embedded_SW/Embedded/Debug/Embedded.out"]}
 rovInit-storage={"progressInfo"\:{"min"\:0,"max"\:7,"step"\:1,"notifyCount"\:6,"average"\:6,"numLoads"\:3},"autoConnectChecked"\:false,"exe"\:"<Use the program currently being debugged>","commLink"\:"Debugger","autoConnect"\:false,"noExe"\:true,"showIntro"\:true}
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 26cb3654c..c07908be3 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
@@ -103,16 +103,29 @@ static FpgaMotMap_t FpgaMotMap[NUM_OF_MOTORS] =
 
 SPI spi;
 
+SPI Fpga_Spi[NUM_OF_MOTORS];
+
 uint8_t SPI_Transnit(SPI Spi)
 {
 
     INT2SHORT Int2Short;
 
+
+
+    ///////////////////////////////////////////////////////////////////////////////
+    if(*FpgaMotMap[Spi.MotID].NBUSY == NOTBUSY)
+    {
+        Int2Short.uint = Spi.TX_MOSI;
+
+        *FpgaMotMap[Spi.MotID].TX_01 = Int2Short.ushort.MSB;
+        *FpgaMotMap[Spi.MotID].TX_00 = Int2Short.ushort.LSB;
+    }
+    ///////////////////////////////////////////////////////////////////////////////
+
+
     //Check Busy register and see if the SPI desired is available
     while((F1_SPI_Busy1_D != NOTBUSY ) || (F1_SPI_Busy2_D != NOTBUSY ));
 
-    Int2Short.uint = Spi.TX_MOSI;
-
     switch(Spi.MotID)
     {
         case MOTOR_RLOADING:
diff --git a/Software/Embedded_SW/Embedded/Drivers/SPI/SPI_Comm.c b/Software/Embedded_SW/Embedded/Drivers/SPI/SPI_Comm.c
index e1e91962e..614663c6b 100644
--- a/Software/Embedded_SW/Embedded/Drivers/SPI/SPI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/SPI/SPI_Comm.c
@@ -423,7 +423,7 @@ void setup(StubMotorInitRequest* request)
     //  this register; to disable full-step switching, you can pass
     //  0x3FF to this register.
     while(SSIBusy(SSI2_BASE)){};
-    SetParam(x_FS_SPD, FSCalc(0x3FF));
+    SetParam(x_FS_SPD, FSCalc(0x3FF));//h3FF (max.) the system always works in microstepping mode
 
     //STALL threshold
     while(SSIBusy(SSI2_BASE)){};
@@ -478,7 +478,7 @@ void setup(StubMotorInitRequest* request)
     // Configure the overcurrent detection threshold. The constants
     //  for this are defined in the L6470.h file.
     while(SSIBusy(SSI2_BASE)){};
-    SetParam(x_OCD_TH, x_OCD_TH_1500mA);
+    SetParam(x_OCD_TH, x_OCD_TH_3000mA);
 
     // Set up the CONFIG register as follows:
     //  PWM frequency divisor = 1