From b0823127f152fe97a6e8fce29e427c7f3db9cf5a Mon Sep 17 00:00:00 2001
From: Avi Levkovich <avi@twine-s.com>
Date: Tue, 20 Feb 2018 16:43:17 +0200
Subject: MERGE

---
 Software/Code_Composer/twine_usblib_demo/.cproject |    2 +
 .../PMR/Common/MessageType.pb-c.c                  |   68 +-
 .../PMR/Common/MessageType.pb-c.h                  |   26 +
 .../twine_usblib_demo/PMR/Jobs/Job.pb-c.h          |    4 +
 .../PMR/Stubs/StubFPGAReadBackRegRequest.pb-c.c    |  105 ++
 .../PMR/Stubs/StubFPGAReadBackRegRequest.pb-c.h    |   80 ++
 .../PMR/Stubs/StubFPGAReadBackRegResponse.pb-c.c   |  132 +++
 .../PMR/Stubs/StubFPGAReadBackRegResponse.pb-c.h   |   89 ++
 .../PMR/Stubs/StubFPGAReadVersionRequest.pb-c.c    |   92 ++
 .../PMR/Stubs/StubFPGAReadVersionRequest.pb-c.h    |   75 ++
 .../PMR/Stubs/StubFPGAReadVersionResponse.pb-c.c   |  170 ++++
 .../PMR/Stubs/StubFPGAReadVersionResponse.pb-c.h   |   92 ++
 .../PMR/Stubs/StubL6470DriverRequest.pb-c.c        |  339 +++++++
 .../PMR/Stubs/StubL6470DriverRequest.pb-c.h        |  110 +++
 .../PMR/Stubs/StubL6470DriverResponse.pb-c.c       |  274 ++++++
 .../PMR/Stubs/StubL6470DriverResponse.pb-c.h       |  105 ++
 .../PMR/Stubs/StubMotorInitRequest.pb-c.c          |  196 ++++
 .../PMR/Stubs/StubMotorInitRequest.pb-c.h          |   91 ++
 .../PMR/Stubs/StubMotorInitResponse.pb-c.c         |  105 ++
 .../PMR/Stubs/StubMotorInitResponse.pb-c.h         |   74 ++
 .../PMR/Stubs/StubMotorMovRequest.pb-c.c           |  118 +++
 .../PMR/Stubs/StubMotorMovRequest.pb-c.h           |   76 ++
 .../PMR/Stubs/StubMotorMovResponse.pb-c.c          |  170 ++++
 .../PMR/Stubs/StubMotorMovResponse.pb-c.h          |   90 ++
 .../PMR/Stubs/StubMotorPositionRequest.pb-c.c      |   92 ++
 .../PMR/Stubs/StubMotorPositionRequest.pb-c.h      |   72 ++
 .../PMR/Stubs/StubMotorPositionResponse.pb-c.c     |  105 ++
 .../PMR/Stubs/StubMotorPositionResponse.pb-c.h     |   74 ++
 .../PMR/Stubs/StubMotorRunRequest.pb-c.c           |  118 +++
 .../PMR/Stubs/StubMotorRunRequest.pb-c.h           |   76 ++
 .../PMR/Stubs/StubMotorRunResponse.pb-c.c          |  170 ++++
 .../PMR/Stubs/StubMotorRunResponse.pb-c.h          |   90 ++
 .../PMR/Stubs/StubMotorSpeedRequest.pb-c.c         |   92 ++
 .../PMR/Stubs/StubMotorSpeedRequest.pb-c.h         |   72 ++
 .../PMR/Stubs/StubMotorSpeedResponse.pb-c.c        |  105 ++
 .../PMR/Stubs/StubMotorSpeedResponse.pb-c.h        |   74 ++
 .../PMR/Stubs/StubMotorStatusRequest.pb-c.c        |  105 ++
 .../PMR/Stubs/StubMotorStatusRequest.pb-c.h        |   74 ++
 .../PMR/Stubs/StubMotorStatusResponse.pb-c.c       |  287 ++++++
 .../PMR/Stubs/StubMotorStatusResponse.pb-c.h       |  102 ++
 .../PMR/Stubs/StubMotorStopRequest.pb-c.c          |  105 ++
 .../PMR/Stubs/StubMotorStopRequest.pb-c.h          |   77 ++
 .../PMR/Stubs/StubMotorStopResponse.pb-c.c         |  118 +++
 .../PMR/Stubs/StubMotorStopResponse.pb-c.h         |   82 ++
 .../twine_usblib_demo/Stubs_Handler/Calculate.c    |    5 +-
 .../twine_usblib_demo/Stubs_Handler/Container.c    |   34 +
 .../twine_usblib_demo/Stubs_Handler/DataDef.h      |   70 +-
 .../twine_usblib_demo/Stubs_Handler/Progress.c     |    5 +-
 .../Stubs_Handler/Stub_Cartridge.c                 |    9 +-
 .../Stubs_Handler/Stub_Dispenser.c                 |    5 +-
 .../Stubs_Handler/Stub_ExtFlash.c                  |   10 +-
 .../Stubs_Handler/Stub_FPGAReadBackReg.c           |   69 ++
 .../Stubs_Handler/Stub_FPGAReadBackReg.h           |   11 +
 .../Stubs_Handler/Stub_FPGAReadVersion.c           |   81 ++
 .../Stubs_Handler/Stub_FPGAReadVersion.h           |    6 +
 .../twine_usblib_demo/Stubs_Handler/Stub_GPIO.c    |   25 +-
 .../twine_usblib_demo/Stubs_Handler/Stub_Heater.c  |    5 +-
 .../twine_usblib_demo/Stubs_Handler/Stub_L6470.c   |  133 +++
 .../twine_usblib_demo/Stubs_Handler/Stub_L6470.h   |    3 +
 .../twine_usblib_demo/Stubs_Handler/Stub_Motor.c   |  448 +++++++++
 .../twine_usblib_demo/Stubs_Handler/Stub_Motor.h   |    7 +
 .../Stubs_Handler/Stub_MotorEncoder.c              |    5 +-
 .../Stubs_Handler/Stub_OptLimitSwitch.c            |    5 +-
 .../Stubs_Handler/Stub_SteperMotor.c               |    5 +-
 .../twine_usblib_demo/Stubs_Handler/Stub_Valve.c   |    5 +-
 .../Stubs_Handler/temperature_sensor.c             |  263 +++++
 .../Stubs_Handler/temperature_sensor.h             |    1 +
 .../twine_usblib_demo/drivers/ADC_Sampling/ADC.c   |  295 ++++++
 .../twine_usblib_demo/drivers/ADC_Sampling/ADC.h   |   40 +
 .../twine_usblib_demo/drivers/FPGA/FPGA.c          |   88 ++
 .../twine_usblib_demo/drivers/FPGA/FPGA.h          |    9 +
 .../twine_usblib_demo/drivers/FPGA/FPGA_Comm.h     |  731 ++++++++++++++
 .../twine_usblib_demo/drivers/FPGA/FPGA_SPI_Comm.c |  281 ++++++
 .../drivers/FPGA/Moters_Driver/L6470.c             |  706 ++++++++++++++
 .../drivers/FPGA/Moters_Driver/L6470.h             |  338 +++++++
 .../drivers/I2C_Communication/I2C.h                |   31 +
 .../twine_usblib_demo/drivers/SPI/SPI_Comm.c       | 1031 ++++++++++++++++++++
 .../twine_usblib_demo/drivers/SPI/SPI_Comm.h       |   16 +
 .../twine_usblib_demo/drivers/SPI/spi_master.c     |  519 ++++++++++
 .../twine_usblib_demo/drivers/SPI/spi_master.h     |    1 +
 Software/Code_Composer/twine_usblib_demo/main.c    |   28 +
 .../twine_usblib_demo/tm4c129xnczad_startup_ccs.c  |    3 +-
 82 files changed, 10029 insertions(+), 71 deletions(-)
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadBackRegRequest.pb-c.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadBackRegRequest.pb-c.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadBackRegResponse.pb-c.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadBackRegResponse.pb-c.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadVersionRequest.pb-c.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadVersionRequest.pb-c.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadVersionResponse.pb-c.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadVersionResponse.pb-c.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubL6470DriverRequest.pb-c.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubL6470DriverRequest.pb-c.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubL6470DriverResponse.pb-c.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubL6470DriverResponse.pb-c.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorInitRequest.pb-c.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorInitRequest.pb-c.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorInitResponse.pb-c.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorInitResponse.pb-c.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorMovRequest.pb-c.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorMovRequest.pb-c.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorMovResponse.pb-c.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorMovResponse.pb-c.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorPositionRequest.pb-c.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorPositionRequest.pb-c.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorPositionResponse.pb-c.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorPositionResponse.pb-c.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunRequest.pb-c.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunRequest.pb-c.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunResponse.pb-c.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunResponse.pb-c.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorSpeedRequest.pb-c.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorSpeedRequest.pb-c.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorSpeedResponse.pb-c.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorSpeedResponse.pb-c.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStatusRequest.pb-c.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStatusRequest.pb-c.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStatusResponse.pb-c.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStatusResponse.pb-c.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStopRequest.pb-c.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStopRequest.pb-c.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStopResponse.pb-c.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStopResponse.pb-c.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_FPGAReadBackReg.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_FPGAReadBackReg.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_FPGAReadVersion.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_FPGAReadVersion.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_L6470.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_L6470.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Motor.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Motor.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/Stubs_Handler/temperature_sensor.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/Stubs_Handler/temperature_sensor.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/drivers/ADC_Sampling/ADC.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/drivers/ADC_Sampling/ADC.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/drivers/FPGA/FPGA.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/drivers/FPGA/FPGA.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/drivers/FPGA/FPGA_Comm.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/drivers/FPGA/FPGA_SPI_Comm.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/drivers/FPGA/Moters_Driver/L6470.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/drivers/FPGA/Moters_Driver/L6470.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/drivers/I2C_Communication/I2C.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/drivers/SPI/SPI_Comm.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/drivers/SPI/SPI_Comm.h
 create mode 100644 Software/Code_Composer/twine_usblib_demo/drivers/SPI/spi_master.c
 create mode 100644 Software/Code_Composer/twine_usblib_demo/drivers/SPI/spi_master.h

(limited to 'Software/Code_Composer')

diff --git a/Software/Code_Composer/twine_usblib_demo/.cproject b/Software/Code_Composer/twine_usblib_demo/.cproject
index c6812f5ac..b1256533d 100644
--- a/Software/Code_Composer/twine_usblib_demo/.cproject
+++ b/Software/Code_Composer/twine_usblib_demo/.cproject
@@ -52,6 +52,8 @@
 								<option id="com.ti.ccstudio.buildDefinitions.TMS470_16.3.compilerID.LITTLE_ENDIAN.572182054" name="Little endian code [See 'General' page to edit] (--little_endian, -me)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_16.3.compilerID.LITTLE_ENDIAN" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 								<option id="com.ti.ccstudio.buildDefinitions.TMS470_16.3.compilerID.INCLUDE_PATH.411074002" name="Add dir to #include search path (--include_path, -I)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_16.3.compilerID.INCLUDE_PATH" useByScannerDiscovery="false" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/twine_usblib}&quot;"/>
+									<listOptionValue builtIn="false" value="C:\ti\tirtos_tivac_2_16_00_08\products\bios_6_45_01_29\packages"/>
+									<listOptionValue builtIn="false" value="C:\ti\xdctools_3_32_00_06_core\packages"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/grlib}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/twine_graphicslib}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;C:/ti/TivaWare_C_Series-2.1.4.178/examples/boards/dk-tm4c129x&quot;"/>
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Common/MessageType.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Common/MessageType.pb-c.c
index a9684e855..02bf45004 100644
--- a/Software/Code_Composer/twine_usblib_demo/PMR/Common/MessageType.pb-c.c
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Common/MessageType.pb-c.c
@@ -7,7 +7,7 @@
 #endif
 
 #include "MessageType.pb-c.h"
-static const ProtobufCEnumValue message_type__enum_values_by_number[46] =
+static const ProtobufCEnumValue message_type__enum_values_by_number[66] =
 {
   { "RGB", "MESSAGE_TYPE__RGB", 0 },
   { "Job", "MESSAGE_TYPE__Job", 1 },
@@ -46,6 +46,26 @@ static const ProtobufCEnumValue message_type__enum_values_by_number[46] =
   { "StubExtFlashReadResponse", "MESSAGE_TYPE__StubExtFlashReadResponse", 34 },
   { "StubExtFlashWriteRequest", "MESSAGE_TYPE__StubExtFlashWriteRequest", 35 },
   { "StubExtFlashWriteResponse", "MESSAGE_TYPE__StubExtFlashWriteResponse", 36 },
+  { "StubFPGAReadBackRegRequest", "MESSAGE_TYPE__StubFPGAReadBackRegRequest", 37 },
+  { "StubFPGAReadBackRegResponse", "MESSAGE_TYPE__StubFPGAReadBackRegResponse", 38 },
+  { "StubFPGAReadVersionRequest", "MESSAGE_TYPE__StubFPGAReadVersionRequest", 39 },
+  { "StubFPGAReadVersionResponse", "MESSAGE_TYPE__StubFPGAReadVersionResponse", 40 },
+  { "StubL6470DriverRequest", "MESSAGE_TYPE__StubL6470DriverRequest", 41 },
+  { "StubL6470DriverResponse", "MESSAGE_TYPE__StubL6470DriverResponse", 42 },
+  { "StubMotorInitRequest", "MESSAGE_TYPE__StubMotorInitRequest", 43 },
+  { "StubMotorInitResponse", "MESSAGE_TYPE__StubMotorInitResponse", 44 },
+  { "StubMotorRunRequest", "MESSAGE_TYPE__StubMotorRunRequest", 45 },
+  { "StubMotorRunResponse", "MESSAGE_TYPE__StubMotorRunResponse", 46 },
+  { "StubMotorStopRequest", "MESSAGE_TYPE__StubMotorStopRequest", 47 },
+  { "StubMotorStopResponse", "MESSAGE_TYPE__StubMotorStopResponse", 48 },
+  { "StubMotorStatusRequest", "MESSAGE_TYPE__StubMotorStatusRequest", 49 },
+  { "StubMotorStatusResponse", "MESSAGE_TYPE__StubMotorStatusResponse", 50 },
+  { "StubMotorMovRequest", "MESSAGE_TYPE__StubMotorMovRequest", 51 },
+  { "StubMotorMovResponse", "MESSAGE_TYPE__StubMotorMovResponse", 52 },
+  { "StubMotorSpeedRequest", "MESSAGE_TYPE__StubMotorSpeedRequest", 53 },
+  { "StubMotorSpeedResponse", "MESSAGE_TYPE__StubMotorSpeedResponse", 54 },
+  { "StubMotorPositionRequest", "MESSAGE_TYPE__StubMotorPositionRequest", 55 },
+  { "StubMotorPositionResponse", "MESSAGE_TYPE__StubMotorPositionResponse", 56 },
   { "ExternalBridgeUdpDiscoveryPacket", "MESSAGE_TYPE__ExternalBridgeUdpDiscoveryPacket", 1000 },
   { "ExternalClientLoginRequest", "MESSAGE_TYPE__ExternalClientLoginRequest", 1001 },
   { "ExternalClientLoginResponse", "MESSAGE_TYPE__ExternalClientLoginResponse", 1002 },
@@ -57,22 +77,22 @@ static const ProtobufCEnumValue message_type__enum_values_by_number[46] =
   { "KeepAliveResponse", "MESSAGE_TYPE__KeepAliveResponse", 1008 },
 };
 static const ProtobufCIntRange message_type__value_ranges[] = {
-{0, 0},{1000, 37},{0, 46}
+{0, 0},{1000, 57},{0, 66}
 };
-static const ProtobufCEnumValueIndex message_type__enum_values_by_name[46] =
+static const ProtobufCEnumValueIndex message_type__enum_values_by_name[66] =
 {
   { "CalculateRequest", 3 },
   { "CalculateResponse", 4 },
-  { "DirectSynchronizationRequest", 40 },
-  { "DirectSynchronizationResponse", 41 },
-  { "ExternalBridgeUdpDiscoveryPacket", 37 },
-  { "ExternalClientLoginRequest", 38 },
-  { "ExternalClientLoginResponse", 39 },
+  { "DirectSynchronizationRequest", 60 },
+  { "DirectSynchronizationResponse", 61 },
+  { "ExternalBridgeUdpDiscoveryPacket", 57 },
+  { "ExternalClientLoginRequest", 58 },
+  { "ExternalClientLoginResponse", 59 },
   { "Job", 1 },
-  { "KeepAliveRequest", 44 },
-  { "KeepAliveResponse", 45 },
-  { "OverrideDataBaseRequest", 42 },
-  { "OverrideDataBaseResponse", 43 },
+  { "KeepAliveRequest", 64 },
+  { "KeepAliveResponse", 65 },
+  { "OverrideDataBaseRequest", 62 },
+  { "OverrideDataBaseResponse", 63 },
   { "ProgressRequest", 5 },
   { "ProgressResponse", 6 },
   { "RGB", 0 },
@@ -87,6 +107,10 @@ static const ProtobufCEnumValueIndex message_type__enum_values_by_name[46] =
   { "StubExtFlashReadResponse", 34 },
   { "StubExtFlashWriteRequest", 35 },
   { "StubExtFlashWriteResponse", 36 },
+  { "StubFPGAReadBackRegRequest", 37 },
+  { "StubFPGAReadBackRegResponse", 38 },
+  { "StubFPGAReadVersionRequest", 39 },
+  { "StubFPGAReadVersionResponse", 40 },
   { "StubGPIOInputSetupRequest", 13 },
   { "StubGPIOInputSetupResponse", 14 },
   { "StubGPIOReadBitRequest", 15 },
@@ -99,8 +123,24 @@ static const ProtobufCEnumValueIndex message_type__enum_values_by_name[46] =
   { "StubGPIOWriteByteResponse", 22 },
   { "StubHeaterRequest", 23 },
   { "StubHeaterResponse", 24 },
+  { "StubL6470DriverRequest", 41 },
+  { "StubL6470DriverResponse", 42 },
   { "StubMotorEncoderRequest", 25 },
   { "StubMotorEncoderResponse", 26 },
+  { "StubMotorInitRequest", 43 },
+  { "StubMotorInitResponse", 44 },
+  { "StubMotorMovRequest", 51 },
+  { "StubMotorMovResponse", 52 },
+  { "StubMotorPositionRequest", 55 },
+  { "StubMotorPositionResponse", 56 },
+  { "StubMotorRunRequest", 45 },
+  { "StubMotorRunResponse", 46 },
+  { "StubMotorSpeedRequest", 53 },
+  { "StubMotorSpeedResponse", 54 },
+  { "StubMotorStatusRequest", 49 },
+  { "StubMotorStatusResponse", 50 },
+  { "StubMotorStopRequest", 47 },
+  { "StubMotorStopResponse", 48 },
   { "StubOptLimitSwitchRequest", 27 },
   { "StubOptLimitSwitchResponse", 28 },
   { "StubSteperMotorRequest", 29 },
@@ -115,9 +155,9 @@ const ProtobufCEnumDescriptor message_type__descriptor =
   "MessageType",
   "MessageType",
   "",
-  46,
+  66,
   message_type__enum_values_by_number,
-  46,
+  66,
   message_type__enum_values_by_name,
   2,
   message_type__value_ranges,
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Common/MessageType.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Common/MessageType.pb-c.h
index b5040d4d1..04e3336f2 100644
--- a/Software/Code_Composer/twine_usblib_demo/PMR/Common/MessageType.pb-c.h
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Common/MessageType.pb-c.h
@@ -23,6 +23,9 @@ typedef enum _MessageType {
   MESSAGE_TYPE__RGB = 0,
   MESSAGE_TYPE__Job = 1,
   MESSAGE_TYPE__Segment = 2,
+  /*
+   *Stubs
+   */
   MESSAGE_TYPE__CalculateRequest = 3,
   MESSAGE_TYPE__CalculateResponse = 4,
   MESSAGE_TYPE__ProgressRequest = 5,
@@ -57,6 +60,29 @@ typedef enum _MessageType {
   MESSAGE_TYPE__StubExtFlashReadResponse = 34,
   MESSAGE_TYPE__StubExtFlashWriteRequest = 35,
   MESSAGE_TYPE__StubExtFlashWriteResponse = 36,
+  MESSAGE_TYPE__StubFPGAReadBackRegRequest = 37,
+  MESSAGE_TYPE__StubFPGAReadBackRegResponse = 38,
+  MESSAGE_TYPE__StubFPGAReadVersionRequest = 39,
+  MESSAGE_TYPE__StubFPGAReadVersionResponse = 40,
+  MESSAGE_TYPE__StubL6470DriverRequest = 41,
+  MESSAGE_TYPE__StubL6470DriverResponse = 42,
+  MESSAGE_TYPE__StubMotorInitRequest = 43,
+  MESSAGE_TYPE__StubMotorInitResponse = 44,
+  MESSAGE_TYPE__StubMotorRunRequest = 45,
+  MESSAGE_TYPE__StubMotorRunResponse = 46,
+  MESSAGE_TYPE__StubMotorStopRequest = 47,
+  MESSAGE_TYPE__StubMotorStopResponse = 48,
+  MESSAGE_TYPE__StubMotorStatusRequest = 49,
+  MESSAGE_TYPE__StubMotorStatusResponse = 50,
+  MESSAGE_TYPE__StubMotorMovRequest = 51,
+  MESSAGE_TYPE__StubMotorMovResponse = 52,
+  MESSAGE_TYPE__StubMotorSpeedRequest = 53,
+  MESSAGE_TYPE__StubMotorSpeedResponse = 54,
+  MESSAGE_TYPE__StubMotorPositionRequest = 55,
+  MESSAGE_TYPE__StubMotorPositionResponse = 56,
+  /*
+   *Integration
+   */
   MESSAGE_TYPE__ExternalBridgeUdpDiscoveryPacket = 1000,
   MESSAGE_TYPE__ExternalClientLoginRequest = 1001,
   MESSAGE_TYPE__ExternalClientLoginResponse = 1002,
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Jobs/Job.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Jobs/Job.pb-c.h
index dbb1f8046..4e6718ca9 100644
--- a/Software/Code_Composer/twine_usblib_demo/PMR/Jobs/Job.pb-c.h
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Jobs/Job.pb-c.h
@@ -44,6 +44,10 @@ struct  _Job
    */
   protobuf_c_boolean has_distancetospoollength;
   uint32_t distancetospoollength;
+  /*
+   *repeated temperatureSensorsSetting[Dryer,Head, Mixer]; //temp sensor wanted temperaure in celzius
+   *SCREW:
+   */
   protobuf_c_boolean has_startoffsetpulses;
   uint32_t startoffsetpulses;
   protobuf_c_boolean has_spoolbackingrate;
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadBackRegRequest.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadBackRegRequest.pb-c.c
new file mode 100644
index 000000000..60519632e
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadBackRegRequest.pb-c.c
@@ -0,0 +1,105 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubFPGAReadBackRegRequest.proto */
+
+/* Do not generate deprecated warnings for self */
+#ifndef PROTOBUF_C__NO_DEPRECATED
+#define PROTOBUF_C__NO_DEPRECATED
+#endif
+
+#include "StubFPGAReadBackRegRequest.pb-c.h"
+void   stub_fpgaread_back_reg_request__init
+                     (StubFPGAReadBackRegRequest         *message)
+{
+  static const StubFPGAReadBackRegRequest init_value = STUB_FPGAREAD_BACK_REG_REQUEST__INIT;
+  *message = init_value;
+}
+size_t stub_fpgaread_back_reg_request__get_packed_size
+                     (const StubFPGAReadBackRegRequest *message)
+{
+  assert(message->base.descriptor == &stub_fpgaread_back_reg_request__descriptor);
+  return protobuf_c_message_get_packed_size ((const ProtobufCMessage*)(message));
+}
+size_t stub_fpgaread_back_reg_request__pack
+                     (const StubFPGAReadBackRegRequest *message,
+                      uint8_t       *out)
+{
+  assert(message->base.descriptor == &stub_fpgaread_back_reg_request__descriptor);
+  return protobuf_c_message_pack ((const ProtobufCMessage*)message, out);
+}
+size_t stub_fpgaread_back_reg_request__pack_to_buffer
+                     (const StubFPGAReadBackRegRequest *message,
+                      ProtobufCBuffer *buffer)
+{
+  assert(message->base.descriptor == &stub_fpgaread_back_reg_request__descriptor);
+  return protobuf_c_message_pack_to_buffer ((const ProtobufCMessage*)message, buffer);
+}
+StubFPGAReadBackRegRequest *
+       stub_fpgaread_back_reg_request__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data)
+{
+  return (StubFPGAReadBackRegRequest *)
+     protobuf_c_message_unpack (&stub_fpgaread_back_reg_request__descriptor,
+                                allocator, len, data);
+}
+void   stub_fpgaread_back_reg_request__free_unpacked
+                     (StubFPGAReadBackRegRequest *message,
+                      ProtobufCAllocator *allocator)
+{
+  if(!message)
+    return;
+  assert(message->base.descriptor == &stub_fpgaread_back_reg_request__descriptor);
+  protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
+}
+static const ProtobufCFieldDescriptor stub_fpgaread_back_reg_request__field_descriptors[2] =
+{
+  {
+    "FPGAId",
+    1,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubFPGAReadBackRegRequest, has_fpgaid),
+    offsetof(StubFPGAReadBackRegRequest, fpgaid),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Value",
+    2,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubFPGAReadBackRegRequest, has_value),
+    offsetof(StubFPGAReadBackRegRequest, value),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+};
+static const unsigned stub_fpgaread_back_reg_request__field_indices_by_name[] = {
+  0,   /* field[0] = FPGAId */
+  1,   /* field[1] = Value */
+};
+static const ProtobufCIntRange stub_fpgaread_back_reg_request__number_ranges[1 + 1] =
+{
+  { 1, 0 },
+  { 0, 2 }
+};
+const ProtobufCMessageDescriptor stub_fpgaread_back_reg_request__descriptor =
+{
+  PROTOBUF_C__MESSAGE_DESCRIPTOR_MAGIC,
+  "StubFPGAReadBackRegRequest",
+  "StubFPGAReadBackRegRequest",
+  "StubFPGAReadBackRegRequest",
+  "",
+  sizeof(StubFPGAReadBackRegRequest),
+  2,
+  stub_fpgaread_back_reg_request__field_descriptors,
+  stub_fpgaread_back_reg_request__field_indices_by_name,
+  1,  stub_fpgaread_back_reg_request__number_ranges,
+  (ProtobufCMessageInit) stub_fpgaread_back_reg_request__init,
+  NULL,NULL,NULL    /* reserved[123] */
+};
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadBackRegRequest.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadBackRegRequest.pb-c.h
new file mode 100644
index 000000000..e4ae69f1f
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadBackRegRequest.pb-c.h
@@ -0,0 +1,80 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubFPGAReadBackRegRequest.proto */
+
+#ifndef PROTOBUF_C_StubFPGAReadBackRegRequest_2eproto__INCLUDED
+#define PROTOBUF_C_StubFPGAReadBackRegRequest_2eproto__INCLUDED
+
+#include <protobuf-c/protobuf-c.h>
+
+PROTOBUF_C__BEGIN_DECLS
+
+#if PROTOBUF_C_VERSION_NUMBER < 1003000
+# error This file was generated by a newer version of protoc-c which is incompatible with your libprotobuf-c headers. Please update your headers.
+#elif 1003000 < PROTOBUF_C_MIN_COMPILER_VERSION
+# error This file was generated by an older version of protoc-c which is incompatible with your libprotobuf-c headers. Please regenerate this file with a newer version of protoc-c.
+#endif
+
+
+typedef struct _StubFPGAReadBackRegRequest StubFPGAReadBackRegRequest;
+
+
+/* --- enums --- */
+
+
+/* --- messages --- */
+
+struct  _StubFPGAReadBackRegRequest
+{
+  ProtobufCMessage base;
+  /*
+   * 0..2
+   */
+  protobuf_c_boolean has_fpgaid;
+  uint32_t fpgaid;
+  /*
+   * 16 bit
+   */
+  protobuf_c_boolean has_value;
+  uint32_t value;
+};
+#define STUB_FPGAREAD_BACK_REG_REQUEST__INIT \
+ { PROTOBUF_C_MESSAGE_INIT (&stub_fpgaread_back_reg_request__descriptor) \
+    , 0, 0, 0, 0 }
+
+
+/* StubFPGAReadBackRegRequest methods */
+void   stub_fpgaread_back_reg_request__init
+                     (StubFPGAReadBackRegRequest         *message);
+size_t stub_fpgaread_back_reg_request__get_packed_size
+                     (const StubFPGAReadBackRegRequest   *message);
+size_t stub_fpgaread_back_reg_request__pack
+                     (const StubFPGAReadBackRegRequest   *message,
+                      uint8_t             *out);
+size_t stub_fpgaread_back_reg_request__pack_to_buffer
+                     (const StubFPGAReadBackRegRequest   *message,
+                      ProtobufCBuffer     *buffer);
+StubFPGAReadBackRegRequest *
+       stub_fpgaread_back_reg_request__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data);
+void   stub_fpgaread_back_reg_request__free_unpacked
+                     (StubFPGAReadBackRegRequest *message,
+                      ProtobufCAllocator *allocator);
+/* --- per-message closures --- */
+
+typedef void (*StubFPGAReadBackRegRequest_Closure)
+                 (const StubFPGAReadBackRegRequest *message,
+                  void *closure_data);
+
+/* --- services --- */
+
+
+/* --- descriptors --- */
+
+extern const ProtobufCMessageDescriptor stub_fpgaread_back_reg_request__descriptor;
+
+PROTOBUF_C__END_DECLS
+
+
+#endif  /* PROTOBUF_C_StubFPGAReadBackRegRequest_2eproto__INCLUDED */
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadBackRegResponse.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadBackRegResponse.pb-c.c
new file mode 100644
index 000000000..e222b3b24
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadBackRegResponse.pb-c.c
@@ -0,0 +1,132 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubFPGAReadBackRegResponse.proto */
+
+/* Do not generate deprecated warnings for self */
+#ifndef PROTOBUF_C__NO_DEPRECATED
+#define PROTOBUF_C__NO_DEPRECATED
+#endif
+
+#include "StubFPGAReadBackRegResponse.pb-c.h"
+void   stub_fpgaread_back_reg_response__init
+                     (StubFPGAReadBackRegResponse         *message)
+{
+  static const StubFPGAReadBackRegResponse init_value = STUB_FPGAREAD_BACK_REG_RESPONSE__INIT;
+  *message = init_value;
+}
+size_t stub_fpgaread_back_reg_response__get_packed_size
+                     (const StubFPGAReadBackRegResponse *message)
+{
+  assert(message->base.descriptor == &stub_fpgaread_back_reg_response__descriptor);
+  return protobuf_c_message_get_packed_size ((const ProtobufCMessage*)(message));
+}
+size_t stub_fpgaread_back_reg_response__pack
+                     (const StubFPGAReadBackRegResponse *message,
+                      uint8_t       *out)
+{
+  assert(message->base.descriptor == &stub_fpgaread_back_reg_response__descriptor);
+  return protobuf_c_message_pack ((const ProtobufCMessage*)message, out);
+}
+size_t stub_fpgaread_back_reg_response__pack_to_buffer
+                     (const StubFPGAReadBackRegResponse *message,
+                      ProtobufCBuffer *buffer)
+{
+  assert(message->base.descriptor == &stub_fpgaread_back_reg_response__descriptor);
+  return protobuf_c_message_pack_to_buffer ((const ProtobufCMessage*)message, buffer);
+}
+StubFPGAReadBackRegResponse *
+       stub_fpgaread_back_reg_response__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data)
+{
+  return (StubFPGAReadBackRegResponse *)
+     protobuf_c_message_unpack (&stub_fpgaread_back_reg_response__descriptor,
+                                allocator, len, data);
+}
+void   stub_fpgaread_back_reg_response__free_unpacked
+                     (StubFPGAReadBackRegResponse *message,
+                      ProtobufCAllocator *allocator)
+{
+  if(!message)
+    return;
+  assert(message->base.descriptor == &stub_fpgaread_back_reg_response__descriptor);
+  protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
+}
+static const ProtobufCFieldDescriptor stub_fpgaread_back_reg_response__field_descriptors[4] =
+{
+  {
+    "FPGAId",
+    1,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubFPGAReadBackRegResponse, has_fpgaid),
+    offsetof(StubFPGAReadBackRegResponse, fpgaid),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "ReadBackValue",
+    2,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubFPGAReadBackRegResponse, has_readbackvalue),
+    offsetof(StubFPGAReadBackRegResponse, readbackvalue),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Status",
+    4,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_STRING,
+    0,   /* quantifier_offset */
+    offsetof(StubFPGAReadBackRegResponse, status),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "StatusWord",
+    5,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubFPGAReadBackRegResponse, has_statusword),
+    offsetof(StubFPGAReadBackRegResponse, statusword),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+};
+static const unsigned stub_fpgaread_back_reg_response__field_indices_by_name[] = {
+  0,   /* field[0] = FPGAId */
+  1,   /* field[1] = ReadBackValue */
+  2,   /* field[2] = Status */
+  3,   /* field[3] = StatusWord */
+};
+static const ProtobufCIntRange stub_fpgaread_back_reg_response__number_ranges[2 + 1] =
+{
+  { 1, 0 },
+  { 4, 2 },
+  { 0, 4 }
+};
+const ProtobufCMessageDescriptor stub_fpgaread_back_reg_response__descriptor =
+{
+  PROTOBUF_C__MESSAGE_DESCRIPTOR_MAGIC,
+  "StubFPGAReadBackRegResponse",
+  "StubFPGAReadBackRegResponse",
+  "StubFPGAReadBackRegResponse",
+  "",
+  sizeof(StubFPGAReadBackRegResponse),
+  4,
+  stub_fpgaread_back_reg_response__field_descriptors,
+  stub_fpgaread_back_reg_response__field_indices_by_name,
+  2,  stub_fpgaread_back_reg_response__number_ranges,
+  (ProtobufCMessageInit) stub_fpgaread_back_reg_response__init,
+  NULL,NULL,NULL    /* reserved[123] */
+};
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadBackRegResponse.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadBackRegResponse.pb-c.h
new file mode 100644
index 000000000..234017433
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadBackRegResponse.pb-c.h
@@ -0,0 +1,89 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubFPGAReadBackRegResponse.proto */
+
+#ifndef PROTOBUF_C_StubFPGAReadBackRegResponse_2eproto__INCLUDED
+#define PROTOBUF_C_StubFPGAReadBackRegResponse_2eproto__INCLUDED
+
+#include <protobuf-c/protobuf-c.h>
+
+PROTOBUF_C__BEGIN_DECLS
+
+#if PROTOBUF_C_VERSION_NUMBER < 1003000
+# error This file was generated by a newer version of protoc-c which is incompatible with your libprotobuf-c headers. Please update your headers.
+#elif 1003000 < PROTOBUF_C_MIN_COMPILER_VERSION
+# error This file was generated by an older version of protoc-c which is incompatible with your libprotobuf-c headers. Please regenerate this file with a newer version of protoc-c.
+#endif
+
+
+typedef struct _StubFPGAReadBackRegResponse StubFPGAReadBackRegResponse;
+
+
+/* --- enums --- */
+
+
+/* --- messages --- */
+
+struct  _StubFPGAReadBackRegResponse
+{
+  ProtobufCMessage base;
+  /*
+   * 0..2
+   */
+  protobuf_c_boolean has_fpgaid;
+  uint32_t fpgaid;
+  /*
+   * 16 bit
+   */
+  protobuf_c_boolean has_readbackvalue;
+  uint32_t readbackvalue;
+  /*
+   * Passed/Failed
+   */
+  char *status;
+  /*
+   * Error number/bit when the status is Failed
+   */
+  protobuf_c_boolean has_statusword;
+  uint32_t statusword;
+};
+#define STUB_FPGAREAD_BACK_REG_RESPONSE__INIT \
+ { PROTOBUF_C_MESSAGE_INIT (&stub_fpgaread_back_reg_response__descriptor) \
+    , 0, 0, 0, 0, NULL, 0, 0 }
+
+
+/* StubFPGAReadBackRegResponse methods */
+void   stub_fpgaread_back_reg_response__init
+                     (StubFPGAReadBackRegResponse         *message);
+size_t stub_fpgaread_back_reg_response__get_packed_size
+                     (const StubFPGAReadBackRegResponse   *message);
+size_t stub_fpgaread_back_reg_response__pack
+                     (const StubFPGAReadBackRegResponse   *message,
+                      uint8_t             *out);
+size_t stub_fpgaread_back_reg_response__pack_to_buffer
+                     (const StubFPGAReadBackRegResponse   *message,
+                      ProtobufCBuffer     *buffer);
+StubFPGAReadBackRegResponse *
+       stub_fpgaread_back_reg_response__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data);
+void   stub_fpgaread_back_reg_response__free_unpacked
+                     (StubFPGAReadBackRegResponse *message,
+                      ProtobufCAllocator *allocator);
+/* --- per-message closures --- */
+
+typedef void (*StubFPGAReadBackRegResponse_Closure)
+                 (const StubFPGAReadBackRegResponse *message,
+                  void *closure_data);
+
+/* --- services --- */
+
+
+/* --- descriptors --- */
+
+extern const ProtobufCMessageDescriptor stub_fpgaread_back_reg_response__descriptor;
+
+PROTOBUF_C__END_DECLS
+
+
+#endif  /* PROTOBUF_C_StubFPGAReadBackRegResponse_2eproto__INCLUDED */
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadVersionRequest.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadVersionRequest.pb-c.c
new file mode 100644
index 000000000..5381c462a
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadVersionRequest.pb-c.c
@@ -0,0 +1,92 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubFPGAReadVersionRequest.proto */
+
+/* Do not generate deprecated warnings for self */
+#ifndef PROTOBUF_C__NO_DEPRECATED
+#define PROTOBUF_C__NO_DEPRECATED
+#endif
+
+#include "StubFPGAReadVersionRequest.pb-c.h"
+void   stub_fpgaread_version_request__init
+                     (StubFPGAReadVersionRequest         *message)
+{
+  static const StubFPGAReadVersionRequest init_value = STUB_FPGAREAD_VERSION_REQUEST__INIT;
+  *message = init_value;
+}
+size_t stub_fpgaread_version_request__get_packed_size
+                     (const StubFPGAReadVersionRequest *message)
+{
+  assert(message->base.descriptor == &stub_fpgaread_version_request__descriptor);
+  return protobuf_c_message_get_packed_size ((const ProtobufCMessage*)(message));
+}
+size_t stub_fpgaread_version_request__pack
+                     (const StubFPGAReadVersionRequest *message,
+                      uint8_t       *out)
+{
+  assert(message->base.descriptor == &stub_fpgaread_version_request__descriptor);
+  return protobuf_c_message_pack ((const ProtobufCMessage*)message, out);
+}
+size_t stub_fpgaread_version_request__pack_to_buffer
+                     (const StubFPGAReadVersionRequest *message,
+                      ProtobufCBuffer *buffer)
+{
+  assert(message->base.descriptor == &stub_fpgaread_version_request__descriptor);
+  return protobuf_c_message_pack_to_buffer ((const ProtobufCMessage*)message, buffer);
+}
+StubFPGAReadVersionRequest *
+       stub_fpgaread_version_request__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data)
+{
+  return (StubFPGAReadVersionRequest *)
+     protobuf_c_message_unpack (&stub_fpgaread_version_request__descriptor,
+                                allocator, len, data);
+}
+void   stub_fpgaread_version_request__free_unpacked
+                     (StubFPGAReadVersionRequest *message,
+                      ProtobufCAllocator *allocator)
+{
+  if(!message)
+    return;
+  assert(message->base.descriptor == &stub_fpgaread_version_request__descriptor);
+  protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
+}
+static const ProtobufCFieldDescriptor stub_fpgaread_version_request__field_descriptors[1] =
+{
+  {
+    "FPGAId",
+    1,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubFPGAReadVersionRequest, has_fpgaid),
+    offsetof(StubFPGAReadVersionRequest, fpgaid),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+};
+static const unsigned stub_fpgaread_version_request__field_indices_by_name[] = {
+  0,   /* field[0] = FPGAId */
+};
+static const ProtobufCIntRange stub_fpgaread_version_request__number_ranges[1 + 1] =
+{
+  { 1, 0 },
+  { 0, 1 }
+};
+const ProtobufCMessageDescriptor stub_fpgaread_version_request__descriptor =
+{
+  PROTOBUF_C__MESSAGE_DESCRIPTOR_MAGIC,
+  "StubFPGAReadVersionRequest",
+  "StubFPGAReadVersionRequest",
+  "StubFPGAReadVersionRequest",
+  "",
+  sizeof(StubFPGAReadVersionRequest),
+  1,
+  stub_fpgaread_version_request__field_descriptors,
+  stub_fpgaread_version_request__field_indices_by_name,
+  1,  stub_fpgaread_version_request__number_ranges,
+  (ProtobufCMessageInit) stub_fpgaread_version_request__init,
+  NULL,NULL,NULL    /* reserved[123] */
+};
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadVersionRequest.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadVersionRequest.pb-c.h
new file mode 100644
index 000000000..54db77bad
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadVersionRequest.pb-c.h
@@ -0,0 +1,75 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubFPGAReadVersionRequest.proto */
+
+#ifndef PROTOBUF_C_StubFPGAReadVersionRequest_2eproto__INCLUDED
+#define PROTOBUF_C_StubFPGAReadVersionRequest_2eproto__INCLUDED
+
+#include <protobuf-c/protobuf-c.h>
+
+PROTOBUF_C__BEGIN_DECLS
+
+#if PROTOBUF_C_VERSION_NUMBER < 1003000
+# error This file was generated by a newer version of protoc-c which is incompatible with your libprotobuf-c headers. Please update your headers.
+#elif 1003000 < PROTOBUF_C_MIN_COMPILER_VERSION
+# error This file was generated by an older version of protoc-c which is incompatible with your libprotobuf-c headers. Please regenerate this file with a newer version of protoc-c.
+#endif
+
+
+typedef struct _StubFPGAReadVersionRequest StubFPGAReadVersionRequest;
+
+
+/* --- enums --- */
+
+
+/* --- messages --- */
+
+struct  _StubFPGAReadVersionRequest
+{
+  ProtobufCMessage base;
+  /*
+   * 0..2
+   */
+  protobuf_c_boolean has_fpgaid;
+  uint32_t fpgaid;
+};
+#define STUB_FPGAREAD_VERSION_REQUEST__INIT \
+ { PROTOBUF_C_MESSAGE_INIT (&stub_fpgaread_version_request__descriptor) \
+    , 0, 0 }
+
+
+/* StubFPGAReadVersionRequest methods */
+void   stub_fpgaread_version_request__init
+                     (StubFPGAReadVersionRequest         *message);
+size_t stub_fpgaread_version_request__get_packed_size
+                     (const StubFPGAReadVersionRequest   *message);
+size_t stub_fpgaread_version_request__pack
+                     (const StubFPGAReadVersionRequest   *message,
+                      uint8_t             *out);
+size_t stub_fpgaread_version_request__pack_to_buffer
+                     (const StubFPGAReadVersionRequest   *message,
+                      ProtobufCBuffer     *buffer);
+StubFPGAReadVersionRequest *
+       stub_fpgaread_version_request__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data);
+void   stub_fpgaread_version_request__free_unpacked
+                     (StubFPGAReadVersionRequest *message,
+                      ProtobufCAllocator *allocator);
+/* --- per-message closures --- */
+
+typedef void (*StubFPGAReadVersionRequest_Closure)
+                 (const StubFPGAReadVersionRequest *message,
+                  void *closure_data);
+
+/* --- services --- */
+
+
+/* --- descriptors --- */
+
+extern const ProtobufCMessageDescriptor stub_fpgaread_version_request__descriptor;
+
+PROTOBUF_C__END_DECLS
+
+
+#endif  /* PROTOBUF_C_StubFPGAReadVersionRequest_2eproto__INCLUDED */
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadVersionResponse.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadVersionResponse.pb-c.c
new file mode 100644
index 000000000..79c25d9a5
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadVersionResponse.pb-c.c
@@ -0,0 +1,170 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubFPGAReadVersionResponse.proto */
+
+/* Do not generate deprecated warnings for self */
+#ifndef PROTOBUF_C__NO_DEPRECATED
+#define PROTOBUF_C__NO_DEPRECATED
+#endif
+
+#include "StubFPGAReadVersionResponse.pb-c.h"
+void   stub_fpgaread_version_response__init
+                     (StubFPGAReadVersionResponse         *message)
+{
+  static const StubFPGAReadVersionResponse init_value = STUB_FPGAREAD_VERSION_RESPONSE__INIT;
+  *message = init_value;
+}
+size_t stub_fpgaread_version_response__get_packed_size
+                     (const StubFPGAReadVersionResponse *message)
+{
+  assert(message->base.descriptor == &stub_fpgaread_version_response__descriptor);
+  return protobuf_c_message_get_packed_size ((const ProtobufCMessage*)(message));
+}
+size_t stub_fpgaread_version_response__pack
+                     (const StubFPGAReadVersionResponse *message,
+                      uint8_t       *out)
+{
+  assert(message->base.descriptor == &stub_fpgaread_version_response__descriptor);
+  return protobuf_c_message_pack ((const ProtobufCMessage*)message, out);
+}
+size_t stub_fpgaread_version_response__pack_to_buffer
+                     (const StubFPGAReadVersionResponse *message,
+                      ProtobufCBuffer *buffer)
+{
+  assert(message->base.descriptor == &stub_fpgaread_version_response__descriptor);
+  return protobuf_c_message_pack_to_buffer ((const ProtobufCMessage*)message, buffer);
+}
+StubFPGAReadVersionResponse *
+       stub_fpgaread_version_response__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data)
+{
+  return (StubFPGAReadVersionResponse *)
+     protobuf_c_message_unpack (&stub_fpgaread_version_response__descriptor,
+                                allocator, len, data);
+}
+void   stub_fpgaread_version_response__free_unpacked
+                     (StubFPGAReadVersionResponse *message,
+                      ProtobufCAllocator *allocator)
+{
+  if(!message)
+    return;
+  assert(message->base.descriptor == &stub_fpgaread_version_response__descriptor);
+  protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
+}
+static const ProtobufCFieldDescriptor stub_fpgaread_version_response__field_descriptors[7] =
+{
+  {
+    "FPGAId",
+    1,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubFPGAReadVersionResponse, has_fpgaid),
+    offsetof(StubFPGAReadVersionResponse, fpgaid),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Day",
+    2,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubFPGAReadVersionResponse, has_day),
+    offsetof(StubFPGAReadVersionResponse, day),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Month",
+    3,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubFPGAReadVersionResponse, has_month),
+    offsetof(StubFPGAReadVersionResponse, month),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Year",
+    4,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubFPGAReadVersionResponse, has_year),
+    offsetof(StubFPGAReadVersionResponse, year),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Ver_num",
+    5,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubFPGAReadVersionResponse, has_ver_num),
+    offsetof(StubFPGAReadVersionResponse, ver_num),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Status",
+    6,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_STRING,
+    0,   /* quantifier_offset */
+    offsetof(StubFPGAReadVersionResponse, status),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "StatusWord",
+    7,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubFPGAReadVersionResponse, has_statusword),
+    offsetof(StubFPGAReadVersionResponse, statusword),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+};
+static const unsigned stub_fpgaread_version_response__field_indices_by_name[] = {
+  1,   /* field[1] = Day */
+  0,   /* field[0] = FPGAId */
+  2,   /* field[2] = Month */
+  5,   /* field[5] = Status */
+  6,   /* field[6] = StatusWord */
+  4,   /* field[4] = Ver_num */
+  3,   /* field[3] = Year */
+};
+static const ProtobufCIntRange stub_fpgaread_version_response__number_ranges[1 + 1] =
+{
+  { 1, 0 },
+  { 0, 7 }
+};
+const ProtobufCMessageDescriptor stub_fpgaread_version_response__descriptor =
+{
+  PROTOBUF_C__MESSAGE_DESCRIPTOR_MAGIC,
+  "StubFPGAReadVersionResponse",
+  "StubFPGAReadVersionResponse",
+  "StubFPGAReadVersionResponse",
+  "",
+  sizeof(StubFPGAReadVersionResponse),
+  7,
+  stub_fpgaread_version_response__field_descriptors,
+  stub_fpgaread_version_response__field_indices_by_name,
+  1,  stub_fpgaread_version_response__number_ranges,
+  (ProtobufCMessageInit) stub_fpgaread_version_response__init,
+  NULL,NULL,NULL    /* reserved[123] */
+};
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadVersionResponse.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadVersionResponse.pb-c.h
new file mode 100644
index 000000000..360f7faac
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubFPGAReadVersionResponse.pb-c.h
@@ -0,0 +1,92 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubFPGAReadVersionResponse.proto */
+
+#ifndef PROTOBUF_C_StubFPGAReadVersionResponse_2eproto__INCLUDED
+#define PROTOBUF_C_StubFPGAReadVersionResponse_2eproto__INCLUDED
+
+#include <protobuf-c/protobuf-c.h>
+
+PROTOBUF_C__BEGIN_DECLS
+
+#if PROTOBUF_C_VERSION_NUMBER < 1003000
+# error This file was generated by a newer version of protoc-c which is incompatible with your libprotobuf-c headers. Please update your headers.
+#elif 1003000 < PROTOBUF_C_MIN_COMPILER_VERSION
+# error This file was generated by an older version of protoc-c which is incompatible with your libprotobuf-c headers. Please regenerate this file with a newer version of protoc-c.
+#endif
+
+
+typedef struct _StubFPGAReadVersionResponse StubFPGAReadVersionResponse;
+
+
+/* --- enums --- */
+
+
+/* --- messages --- */
+
+struct  _StubFPGAReadVersionResponse
+{
+  ProtobufCMessage base;
+  /*
+   * 0..2
+   */
+  protobuf_c_boolean has_fpgaid;
+  uint32_t fpgaid;
+  protobuf_c_boolean has_day;
+  uint32_t day;
+  protobuf_c_boolean has_month;
+  uint32_t month;
+  protobuf_c_boolean has_year;
+  uint32_t year;
+  protobuf_c_boolean has_ver_num;
+  uint32_t ver_num;
+  /*
+   * Passed/Failed
+   */
+  char *status;
+  /*
+   * Error number/bit when the status is Failed
+   */
+  protobuf_c_boolean has_statusword;
+  uint32_t statusword;
+};
+#define STUB_FPGAREAD_VERSION_RESPONSE__INIT \
+ { PROTOBUF_C_MESSAGE_INIT (&stub_fpgaread_version_response__descriptor) \
+    , 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, NULL, 0, 0 }
+
+
+/* StubFPGAReadVersionResponse methods */
+void   stub_fpgaread_version_response__init
+                     (StubFPGAReadVersionResponse         *message);
+size_t stub_fpgaread_version_response__get_packed_size
+                     (const StubFPGAReadVersionResponse   *message);
+size_t stub_fpgaread_version_response__pack
+                     (const StubFPGAReadVersionResponse   *message,
+                      uint8_t             *out);
+size_t stub_fpgaread_version_response__pack_to_buffer
+                     (const StubFPGAReadVersionResponse   *message,
+                      ProtobufCBuffer     *buffer);
+StubFPGAReadVersionResponse *
+       stub_fpgaread_version_response__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data);
+void   stub_fpgaread_version_response__free_unpacked
+                     (StubFPGAReadVersionResponse *message,
+                      ProtobufCAllocator *allocator);
+/* --- per-message closures --- */
+
+typedef void (*StubFPGAReadVersionResponse_Closure)
+                 (const StubFPGAReadVersionResponse *message,
+                  void *closure_data);
+
+/* --- services --- */
+
+
+/* --- descriptors --- */
+
+extern const ProtobufCMessageDescriptor stub_fpgaread_version_response__descriptor;
+
+PROTOBUF_C__END_DECLS
+
+
+#endif  /* PROTOBUF_C_StubFPGAReadVersionResponse_2eproto__INCLUDED */
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubL6470DriverRequest.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubL6470DriverRequest.pb-c.c
new file mode 100644
index 000000000..3771b60a9
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubL6470DriverRequest.pb-c.c
@@ -0,0 +1,339 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubL6470DriverRequest.proto */
+
+/* Do not generate deprecated warnings for self */
+#ifndef PROTOBUF_C__NO_DEPRECATED
+#define PROTOBUF_C__NO_DEPRECATED
+#endif
+
+#include "StubL6470DriverRequest.pb-c.h"
+void   stub_l6470_driver_request__init
+                     (StubL6470DriverRequest         *message)
+{
+  static const StubL6470DriverRequest init_value = STUB_L6470_DRIVER_REQUEST__INIT;
+  *message = init_value;
+}
+size_t stub_l6470_driver_request__get_packed_size
+                     (const StubL6470DriverRequest *message)
+{
+  assert(message->base.descriptor == &stub_l6470_driver_request__descriptor);
+  return protobuf_c_message_get_packed_size ((const ProtobufCMessage*)(message));
+}
+size_t stub_l6470_driver_request__pack
+                     (const StubL6470DriverRequest *message,
+                      uint8_t       *out)
+{
+  assert(message->base.descriptor == &stub_l6470_driver_request__descriptor);
+  return protobuf_c_message_pack ((const ProtobufCMessage*)message, out);
+}
+size_t stub_l6470_driver_request__pack_to_buffer
+                     (const StubL6470DriverRequest *message,
+                      ProtobufCBuffer *buffer)
+{
+  assert(message->base.descriptor == &stub_l6470_driver_request__descriptor);
+  return protobuf_c_message_pack_to_buffer ((const ProtobufCMessage*)message, buffer);
+}
+StubL6470DriverRequest *
+       stub_l6470_driver_request__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data)
+{
+  return (StubL6470DriverRequest *)
+     protobuf_c_message_unpack (&stub_l6470_driver_request__descriptor,
+                                allocator, len, data);
+}
+void   stub_l6470_driver_request__free_unpacked
+                     (StubL6470DriverRequest *message,
+                      ProtobufCAllocator *allocator)
+{
+  if(!message)
+    return;
+  assert(message->base.descriptor == &stub_l6470_driver_request__descriptor);
+  protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
+}
+static const ProtobufCFieldDescriptor stub_l6470_driver_request__field_descriptors[20] =
+{
+  {
+    "Run_Value",
+    1,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubL6470DriverRequest, has_run_value),
+    offsetof(StubL6470DriverRequest, run_value),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Mov_Value",
+    2,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubL6470DriverRequest, has_mov_value),
+    offsetof(StubL6470DriverRequest, mov_value),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Direction",
+    3,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubL6470DriverRequest, has_direction),
+    offsetof(StubL6470DriverRequest, direction),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Time_2_Change_Direction",
+    4,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubL6470DriverRequest, has_time_2_change_direction),
+    offsetof(StubL6470DriverRequest, time_2_change_direction),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Display_Tx_ON_LCD",
+    5,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubL6470DriverRequest, has_display_tx_on_lcd),
+    offsetof(StubL6470DriverRequest, display_tx_on_lcd),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Display_Rx_on_LCD",
+    6,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubL6470DriverRequest, has_display_rx_on_lcd),
+    offsetof(StubL6470DriverRequest, display_rx_on_lcd),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Init_MicroStep",
+    7,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubL6470DriverRequest, has_init_microstep),
+    offsetof(StubL6470DriverRequest, init_microstep),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Init_Acc",
+    8,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubL6470DriverRequest, has_init_acc),
+    offsetof(StubL6470DriverRequest, init_acc),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Init_Dec",
+    9,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubL6470DriverRequest, has_init_dec),
+    offsetof(StubL6470DriverRequest, init_dec),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "TestBool_1",
+    10,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubL6470DriverRequest, has_testbool_1),
+    offsetof(StubL6470DriverRequest, testbool_1),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "TestBool_2",
+    11,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubL6470DriverRequest, has_testbool_2),
+    offsetof(StubL6470DriverRequest, testbool_2),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "TestBool_3",
+    12,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubL6470DriverRequest, has_testbool_3),
+    offsetof(StubL6470DriverRequest, testbool_3),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "TestBool_4",
+    13,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubL6470DriverRequest, has_testbool_4),
+    offsetof(StubL6470DriverRequest, testbool_4),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "TestBool_5",
+    14,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubL6470DriverRequest, has_testbool_5),
+    offsetof(StubL6470DriverRequest, testbool_5),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "TestUint32_1",
+    15,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubL6470DriverRequest, has_testuint32_1),
+    offsetof(StubL6470DriverRequest, testuint32_1),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "TestUint32_2",
+    16,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubL6470DriverRequest, has_testuint32_2),
+    offsetof(StubL6470DriverRequest, testuint32_2),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "TestUint32_3",
+    17,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubL6470DriverRequest, has_testuint32_3),
+    offsetof(StubL6470DriverRequest, testuint32_3),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "TestUint32_4",
+    18,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubL6470DriverRequest, has_testuint32_4),
+    offsetof(StubL6470DriverRequest, testuint32_4),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "TestUint32_5",
+    19,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubL6470DriverRequest, has_testuint32_5),
+    offsetof(StubL6470DriverRequest, testuint32_5),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "TestUint32_6",
+    20,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubL6470DriverRequest, has_testuint32_6),
+    offsetof(StubL6470DriverRequest, testuint32_6),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+};
+static const unsigned stub_l6470_driver_request__field_indices_by_name[] = {
+  2,   /* field[2] = Direction */
+  5,   /* field[5] = Display_Rx_on_LCD */
+  4,   /* field[4] = Display_Tx_ON_LCD */
+  7,   /* field[7] = Init_Acc */
+  8,   /* field[8] = Init_Dec */
+  6,   /* field[6] = Init_MicroStep */
+  1,   /* field[1] = Mov_Value */
+  0,   /* field[0] = Run_Value */
+  9,   /* field[9] = TestBool_1 */
+  10,   /* field[10] = TestBool_2 */
+  11,   /* field[11] = TestBool_3 */
+  12,   /* field[12] = TestBool_4 */
+  13,   /* field[13] = TestBool_5 */
+  14,   /* field[14] = TestUint32_1 */
+  15,   /* field[15] = TestUint32_2 */
+  16,   /* field[16] = TestUint32_3 */
+  17,   /* field[17] = TestUint32_4 */
+  18,   /* field[18] = TestUint32_5 */
+  19,   /* field[19] = TestUint32_6 */
+  3,   /* field[3] = Time_2_Change_Direction */
+};
+static const ProtobufCIntRange stub_l6470_driver_request__number_ranges[1 + 1] =
+{
+  { 1, 0 },
+  { 0, 20 }
+};
+const ProtobufCMessageDescriptor stub_l6470_driver_request__descriptor =
+{
+  PROTOBUF_C__MESSAGE_DESCRIPTOR_MAGIC,
+  "StubL6470DriverRequest",
+  "StubL6470DriverRequest",
+  "StubL6470DriverRequest",
+  "",
+  sizeof(StubL6470DriverRequest),
+  20,
+  stub_l6470_driver_request__field_descriptors,
+  stub_l6470_driver_request__field_indices_by_name,
+  1,  stub_l6470_driver_request__number_ranges,
+  (ProtobufCMessageInit) stub_l6470_driver_request__init,
+  NULL,NULL,NULL    /* reserved[123] */
+};
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubL6470DriverRequest.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubL6470DriverRequest.pb-c.h
new file mode 100644
index 000000000..ee4e261c9
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubL6470DriverRequest.pb-c.h
@@ -0,0 +1,110 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubL6470DriverRequest.proto */
+
+#ifndef PROTOBUF_C_StubL6470DriverRequest_2eproto__INCLUDED
+#define PROTOBUF_C_StubL6470DriverRequest_2eproto__INCLUDED
+
+#include <protobuf-c/protobuf-c.h>
+
+PROTOBUF_C__BEGIN_DECLS
+
+#if PROTOBUF_C_VERSION_NUMBER < 1003000
+# error This file was generated by a newer version of protoc-c which is incompatible with your libprotobuf-c headers. Please update your headers.
+#elif 1003000 < PROTOBUF_C_MIN_COMPILER_VERSION
+# error This file was generated by an older version of protoc-c which is incompatible with your libprotobuf-c headers. Please regenerate this file with a newer version of protoc-c.
+#endif
+
+
+typedef struct _StubL6470DriverRequest StubL6470DriverRequest;
+
+
+/* --- enums --- */
+
+
+/* --- messages --- */
+
+struct  _StubL6470DriverRequest
+{
+  ProtobufCMessage base;
+  protobuf_c_boolean has_run_value;
+  uint32_t run_value;
+  protobuf_c_boolean has_mov_value;
+  uint32_t mov_value;
+  protobuf_c_boolean has_direction;
+  protobuf_c_boolean direction;
+  protobuf_c_boolean has_time_2_change_direction;
+  uint32_t time_2_change_direction;
+  protobuf_c_boolean has_display_tx_on_lcd;
+  protobuf_c_boolean display_tx_on_lcd;
+  protobuf_c_boolean has_display_rx_on_lcd;
+  protobuf_c_boolean display_rx_on_lcd;
+  protobuf_c_boolean has_init_microstep;
+  uint32_t init_microstep;
+  protobuf_c_boolean has_init_acc;
+  uint32_t init_acc;
+  protobuf_c_boolean has_init_dec;
+  uint32_t init_dec;
+  protobuf_c_boolean has_testbool_1;
+  protobuf_c_boolean testbool_1;
+  protobuf_c_boolean has_testbool_2;
+  protobuf_c_boolean testbool_2;
+  protobuf_c_boolean has_testbool_3;
+  protobuf_c_boolean testbool_3;
+  protobuf_c_boolean has_testbool_4;
+  protobuf_c_boolean testbool_4;
+  protobuf_c_boolean has_testbool_5;
+  protobuf_c_boolean testbool_5;
+  protobuf_c_boolean has_testuint32_1;
+  uint32_t testuint32_1;
+  protobuf_c_boolean has_testuint32_2;
+  uint32_t testuint32_2;
+  protobuf_c_boolean has_testuint32_3;
+  uint32_t testuint32_3;
+  protobuf_c_boolean has_testuint32_4;
+  uint32_t testuint32_4;
+  protobuf_c_boolean has_testuint32_5;
+  uint32_t testuint32_5;
+  protobuf_c_boolean has_testuint32_6;
+  uint32_t testuint32_6;
+};
+#define STUB_L6470_DRIVER_REQUEST__INIT \
+ { PROTOBUF_C_MESSAGE_INIT (&stub_l6470_driver_request__descriptor) \
+    , 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }
+
+
+/* StubL6470DriverRequest methods */
+void   stub_l6470_driver_request__init
+                     (StubL6470DriverRequest         *message);
+size_t stub_l6470_driver_request__get_packed_size
+                     (const StubL6470DriverRequest   *message);
+size_t stub_l6470_driver_request__pack
+                     (const StubL6470DriverRequest   *message,
+                      uint8_t             *out);
+size_t stub_l6470_driver_request__pack_to_buffer
+                     (const StubL6470DriverRequest   *message,
+                      ProtobufCBuffer     *buffer);
+StubL6470DriverRequest *
+       stub_l6470_driver_request__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data);
+void   stub_l6470_driver_request__free_unpacked
+                     (StubL6470DriverRequest *message,
+                      ProtobufCAllocator *allocator);
+/* --- per-message closures --- */
+
+typedef void (*StubL6470DriverRequest_Closure)
+                 (const StubL6470DriverRequest *message,
+                  void *closure_data);
+
+/* --- services --- */
+
+
+/* --- descriptors --- */
+
+extern const ProtobufCMessageDescriptor stub_l6470_driver_request__descriptor;
+
+PROTOBUF_C__END_DECLS
+
+
+#endif  /* PROTOBUF_C_StubL6470DriverRequest_2eproto__INCLUDED */
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubL6470DriverResponse.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubL6470DriverResponse.pb-c.c
new file mode 100644
index 000000000..b129bb930
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubL6470DriverResponse.pb-c.c
@@ -0,0 +1,274 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubL6470DriverResponse.proto */
+
+/* Do not generate deprecated warnings for self */
+#ifndef PROTOBUF_C__NO_DEPRECATED
+#define PROTOBUF_C__NO_DEPRECATED
+#endif
+
+#include "StubL6470DriverResponse.pb-c.h"
+void   stub_l6470_driver_response__init
+                     (StubL6470DriverResponse         *message)
+{
+  static const StubL6470DriverResponse init_value = STUB_L6470_DRIVER_RESPONSE__INIT;
+  *message = init_value;
+}
+size_t stub_l6470_driver_response__get_packed_size
+                     (const StubL6470DriverResponse *message)
+{
+  assert(message->base.descriptor == &stub_l6470_driver_response__descriptor);
+  return protobuf_c_message_get_packed_size ((const ProtobufCMessage*)(message));
+}
+size_t stub_l6470_driver_response__pack
+                     (const StubL6470DriverResponse *message,
+                      uint8_t       *out)
+{
+  assert(message->base.descriptor == &stub_l6470_driver_response__descriptor);
+  return protobuf_c_message_pack ((const ProtobufCMessage*)message, out);
+}
+size_t stub_l6470_driver_response__pack_to_buffer
+                     (const StubL6470DriverResponse *message,
+                      ProtobufCBuffer *buffer)
+{
+  assert(message->base.descriptor == &stub_l6470_driver_response__descriptor);
+  return protobuf_c_message_pack_to_buffer ((const ProtobufCMessage*)message, buffer);
+}
+StubL6470DriverResponse *
+       stub_l6470_driver_response__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data)
+{
+  return (StubL6470DriverResponse *)
+     protobuf_c_message_unpack (&stub_l6470_driver_response__descriptor,
+                                allocator, len, data);
+}
+void   stub_l6470_driver_response__free_unpacked
+                     (StubL6470DriverResponse *message,
+                      ProtobufCAllocator *allocator)
+{
+  if(!message)
+    return;
+  assert(message->base.descriptor == &stub_l6470_driver_response__descriptor);
+  protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
+}
+static const ProtobufCFieldDescriptor stub_l6470_driver_response__field_descriptors[15] =
+{
+  {
+    "Run_Value",
+    1,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubL6470DriverResponse, has_run_value),
+    offsetof(StubL6470DriverResponse, run_value),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Mov_Value",
+    2,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubL6470DriverResponse, has_mov_value),
+    offsetof(StubL6470DriverResponse, mov_value),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "TestBool_1",
+    3,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubL6470DriverResponse, has_testbool_1),
+    offsetof(StubL6470DriverResponse, testbool_1),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "TestBool_2",
+    4,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubL6470DriverResponse, has_testbool_2),
+    offsetof(StubL6470DriverResponse, testbool_2),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "TestBool_3",
+    5,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubL6470DriverResponse, has_testbool_3),
+    offsetof(StubL6470DriverResponse, testbool_3),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "TestBool_4",
+    6,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubL6470DriverResponse, has_testbool_4),
+    offsetof(StubL6470DriverResponse, testbool_4),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "TestBool_5",
+    7,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubL6470DriverResponse, has_testbool_5),
+    offsetof(StubL6470DriverResponse, testbool_5),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "TestUint32_1",
+    8,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubL6470DriverResponse, has_testuint32_1),
+    offsetof(StubL6470DriverResponse, testuint32_1),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "TestUint32_2",
+    9,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubL6470DriverResponse, has_testuint32_2),
+    offsetof(StubL6470DriverResponse, testuint32_2),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "TestUint32_3",
+    10,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubL6470DriverResponse, has_testuint32_3),
+    offsetof(StubL6470DriverResponse, testuint32_3),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "TestUint32_4",
+    11,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubL6470DriverResponse, has_testuint32_4),
+    offsetof(StubL6470DriverResponse, testuint32_4),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "TestUint32_5",
+    12,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubL6470DriverResponse, has_testuint32_5),
+    offsetof(StubL6470DriverResponse, testuint32_5),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "TestUint32_6",
+    13,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubL6470DriverResponse, has_testuint32_6),
+    offsetof(StubL6470DriverResponse, testuint32_6),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Status",
+    14,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_STRING,
+    0,   /* quantifier_offset */
+    offsetof(StubL6470DriverResponse, status),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "StatusWord",
+    15,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubL6470DriverResponse, has_statusword),
+    offsetof(StubL6470DriverResponse, statusword),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+};
+static const unsigned stub_l6470_driver_response__field_indices_by_name[] = {
+  1,   /* field[1] = Mov_Value */
+  0,   /* field[0] = Run_Value */
+  13,   /* field[13] = Status */
+  14,   /* field[14] = StatusWord */
+  2,   /* field[2] = TestBool_1 */
+  3,   /* field[3] = TestBool_2 */
+  4,   /* field[4] = TestBool_3 */
+  5,   /* field[5] = TestBool_4 */
+  6,   /* field[6] = TestBool_5 */
+  7,   /* field[7] = TestUint32_1 */
+  8,   /* field[8] = TestUint32_2 */
+  9,   /* field[9] = TestUint32_3 */
+  10,   /* field[10] = TestUint32_4 */
+  11,   /* field[11] = TestUint32_5 */
+  12,   /* field[12] = TestUint32_6 */
+};
+static const ProtobufCIntRange stub_l6470_driver_response__number_ranges[1 + 1] =
+{
+  { 1, 0 },
+  { 0, 15 }
+};
+const ProtobufCMessageDescriptor stub_l6470_driver_response__descriptor =
+{
+  PROTOBUF_C__MESSAGE_DESCRIPTOR_MAGIC,
+  "StubL6470DriverResponse",
+  "StubL6470DriverResponse",
+  "StubL6470DriverResponse",
+  "",
+  sizeof(StubL6470DriverResponse),
+  15,
+  stub_l6470_driver_response__field_descriptors,
+  stub_l6470_driver_response__field_indices_by_name,
+  1,  stub_l6470_driver_response__number_ranges,
+  (ProtobufCMessageInit) stub_l6470_driver_response__init,
+  NULL,NULL,NULL    /* reserved[123] */
+};
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubL6470DriverResponse.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubL6470DriverResponse.pb-c.h
new file mode 100644
index 000000000..ca18da2a9
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubL6470DriverResponse.pb-c.h
@@ -0,0 +1,105 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubL6470DriverResponse.proto */
+
+#ifndef PROTOBUF_C_StubL6470DriverResponse_2eproto__INCLUDED
+#define PROTOBUF_C_StubL6470DriverResponse_2eproto__INCLUDED
+
+#include <protobuf-c/protobuf-c.h>
+
+PROTOBUF_C__BEGIN_DECLS
+
+#if PROTOBUF_C_VERSION_NUMBER < 1003000
+# error This file was generated by a newer version of protoc-c which is incompatible with your libprotobuf-c headers. Please update your headers.
+#elif 1003000 < PROTOBUF_C_MIN_COMPILER_VERSION
+# error This file was generated by an older version of protoc-c which is incompatible with your libprotobuf-c headers. Please regenerate this file with a newer version of protoc-c.
+#endif
+
+
+typedef struct _StubL6470DriverResponse StubL6470DriverResponse;
+
+
+/* --- enums --- */
+
+
+/* --- messages --- */
+
+struct  _StubL6470DriverResponse
+{
+  ProtobufCMessage base;
+  protobuf_c_boolean has_run_value;
+  uint32_t run_value;
+  protobuf_c_boolean has_mov_value;
+  uint32_t mov_value;
+  protobuf_c_boolean has_testbool_1;
+  protobuf_c_boolean testbool_1;
+  protobuf_c_boolean has_testbool_2;
+  protobuf_c_boolean testbool_2;
+  protobuf_c_boolean has_testbool_3;
+  protobuf_c_boolean testbool_3;
+  protobuf_c_boolean has_testbool_4;
+  protobuf_c_boolean testbool_4;
+  protobuf_c_boolean has_testbool_5;
+  protobuf_c_boolean testbool_5;
+  protobuf_c_boolean has_testuint32_1;
+  uint32_t testuint32_1;
+  protobuf_c_boolean has_testuint32_2;
+  uint32_t testuint32_2;
+  protobuf_c_boolean has_testuint32_3;
+  uint32_t testuint32_3;
+  protobuf_c_boolean has_testuint32_4;
+  uint32_t testuint32_4;
+  protobuf_c_boolean has_testuint32_5;
+  uint32_t testuint32_5;
+  protobuf_c_boolean has_testuint32_6;
+  uint32_t testuint32_6;
+  /*
+   * Passed/Failed
+   */
+  char *status;
+  /*
+   * Error number/bit when the status is Failed
+   */
+  protobuf_c_boolean has_statusword;
+  uint32_t statusword;
+};
+#define STUB_L6470_DRIVER_RESPONSE__INIT \
+ { PROTOBUF_C_MESSAGE_INIT (&stub_l6470_driver_response__descriptor) \
+    , 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, NULL, 0, 0 }
+
+
+/* StubL6470DriverResponse methods */
+void   stub_l6470_driver_response__init
+                     (StubL6470DriverResponse         *message);
+size_t stub_l6470_driver_response__get_packed_size
+                     (const StubL6470DriverResponse   *message);
+size_t stub_l6470_driver_response__pack
+                     (const StubL6470DriverResponse   *message,
+                      uint8_t             *out);
+size_t stub_l6470_driver_response__pack_to_buffer
+                     (const StubL6470DriverResponse   *message,
+                      ProtobufCBuffer     *buffer);
+StubL6470DriverResponse *
+       stub_l6470_driver_response__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data);
+void   stub_l6470_driver_response__free_unpacked
+                     (StubL6470DriverResponse *message,
+                      ProtobufCAllocator *allocator);
+/* --- per-message closures --- */
+
+typedef void (*StubL6470DriverResponse_Closure)
+                 (const StubL6470DriverResponse *message,
+                  void *closure_data);
+
+/* --- services --- */
+
+
+/* --- descriptors --- */
+
+extern const ProtobufCMessageDescriptor stub_l6470_driver_response__descriptor;
+
+PROTOBUF_C__END_DECLS
+
+
+#endif  /* PROTOBUF_C_StubL6470DriverResponse_2eproto__INCLUDED */
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorInitRequest.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorInitRequest.pb-c.c
new file mode 100644
index 000000000..0f01b16d4
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorInitRequest.pb-c.c
@@ -0,0 +1,196 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorInitRequest.proto */
+
+/* Do not generate deprecated warnings for self */
+#ifndef PROTOBUF_C__NO_DEPRECATED
+#define PROTOBUF_C__NO_DEPRECATED
+#endif
+
+#include "StubMotorInitRequest.pb-c.h"
+void   stub_motor_init_request__init
+                     (StubMotorInitRequest         *message)
+{
+  static const StubMotorInitRequest init_value = STUB_MOTOR_INIT_REQUEST__INIT;
+  *message = init_value;
+}
+size_t stub_motor_init_request__get_packed_size
+                     (const StubMotorInitRequest *message)
+{
+  assert(message->base.descriptor == &stub_motor_init_request__descriptor);
+  return protobuf_c_message_get_packed_size ((const ProtobufCMessage*)(message));
+}
+size_t stub_motor_init_request__pack
+                     (const StubMotorInitRequest *message,
+                      uint8_t       *out)
+{
+  assert(message->base.descriptor == &stub_motor_init_request__descriptor);
+  return protobuf_c_message_pack ((const ProtobufCMessage*)message, out);
+}
+size_t stub_motor_init_request__pack_to_buffer
+                     (const StubMotorInitRequest *message,
+                      ProtobufCBuffer *buffer)
+{
+  assert(message->base.descriptor == &stub_motor_init_request__descriptor);
+  return protobuf_c_message_pack_to_buffer ((const ProtobufCMessage*)message, buffer);
+}
+StubMotorInitRequest *
+       stub_motor_init_request__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data)
+{
+  return (StubMotorInitRequest *)
+     protobuf_c_message_unpack (&stub_motor_init_request__descriptor,
+                                allocator, len, data);
+}
+void   stub_motor_init_request__free_unpacked
+                     (StubMotorInitRequest *message,
+                      ProtobufCAllocator *allocator)
+{
+  if(!message)
+    return;
+  assert(message->base.descriptor == &stub_motor_init_request__descriptor);
+  protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
+}
+static const ProtobufCFieldDescriptor stub_motor_init_request__field_descriptors[9] =
+{
+  {
+    "Motor_ID",
+    1,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorInitRequest, has_motor_id),
+    offsetof(StubMotorInitRequest, motor_id),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Micro_Steps",
+    2,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorInitRequest, has_micro_steps),
+    offsetof(StubMotorInitRequest, micro_steps),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Set_Micro_Steps",
+    3,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorInitRequest, has_set_micro_steps),
+    offsetof(StubMotorInitRequest, set_micro_steps),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "ACC",
+    4,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorInitRequest, has_acc),
+    offsetof(StubMotorInitRequest, acc),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Set_ACC",
+    5,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorInitRequest, has_set_acc),
+    offsetof(StubMotorInitRequest, set_acc),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "DEC",
+    6,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorInitRequest, has_dec),
+    offsetof(StubMotorInitRequest, dec),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Set_Dec",
+    7,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorInitRequest, has_set_dec),
+    offsetof(StubMotorInitRequest, set_dec),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Max_Speed",
+    8,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorInitRequest, has_max_speed),
+    offsetof(StubMotorInitRequest, max_speed),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Set_Max_Speed",
+    9,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorInitRequest, has_set_max_speed),
+    offsetof(StubMotorInitRequest, set_max_speed),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+};
+static const unsigned stub_motor_init_request__field_indices_by_name[] = {
+  3,   /* field[3] = ACC */
+  5,   /* field[5] = DEC */
+  7,   /* field[7] = Max_Speed */
+  1,   /* field[1] = Micro_Steps */
+  0,   /* field[0] = Motor_ID */
+  4,   /* field[4] = Set_ACC */
+  6,   /* field[6] = Set_Dec */
+  8,   /* field[8] = Set_Max_Speed */
+  2,   /* field[2] = Set_Micro_Steps */
+};
+static const ProtobufCIntRange stub_motor_init_request__number_ranges[1 + 1] =
+{
+  { 1, 0 },
+  { 0, 9 }
+};
+const ProtobufCMessageDescriptor stub_motor_init_request__descriptor =
+{
+  PROTOBUF_C__MESSAGE_DESCRIPTOR_MAGIC,
+  "StubMotorInitRequest",
+  "StubMotorInitRequest",
+  "StubMotorInitRequest",
+  "",
+  sizeof(StubMotorInitRequest),
+  9,
+  stub_motor_init_request__field_descriptors,
+  stub_motor_init_request__field_indices_by_name,
+  1,  stub_motor_init_request__number_ranges,
+  (ProtobufCMessageInit) stub_motor_init_request__init,
+  NULL,NULL,NULL    /* reserved[123] */
+};
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorInitRequest.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorInitRequest.pb-c.h
new file mode 100644
index 000000000..29b1f6036
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorInitRequest.pb-c.h
@@ -0,0 +1,91 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorInitRequest.proto */
+
+#ifndef PROTOBUF_C_StubMotorInitRequest_2eproto__INCLUDED
+#define PROTOBUF_C_StubMotorInitRequest_2eproto__INCLUDED
+
+#include <protobuf-c/protobuf-c.h>
+
+PROTOBUF_C__BEGIN_DECLS
+
+#if PROTOBUF_C_VERSION_NUMBER < 1003000
+# error This file was generated by a newer version of protoc-c which is incompatible with your libprotobuf-c headers. Please update your headers.
+#elif 1003000 < PROTOBUF_C_MIN_COMPILER_VERSION
+# error This file was generated by an older version of protoc-c which is incompatible with your libprotobuf-c headers. Please regenerate this file with a newer version of protoc-c.
+#endif
+
+
+typedef struct _StubMotorInitRequest StubMotorInitRequest;
+
+
+/* --- enums --- */
+
+
+/* --- messages --- */
+
+struct  _StubMotorInitRequest
+{
+  ProtobufCMessage base;
+  protobuf_c_boolean has_motor_id;
+  uint32_t motor_id;
+  /*
+   * 1/2/4/8/16/32/64/128
+   */
+  protobuf_c_boolean has_micro_steps;
+  uint32_t micro_steps;
+  protobuf_c_boolean has_set_micro_steps;
+  protobuf_c_boolean set_micro_steps;
+  protobuf_c_boolean has_acc;
+  uint32_t acc;
+  protobuf_c_boolean has_set_acc;
+  protobuf_c_boolean set_acc;
+  protobuf_c_boolean has_dec;
+  uint32_t dec;
+  protobuf_c_boolean has_set_dec;
+  protobuf_c_boolean set_dec;
+  protobuf_c_boolean has_max_speed;
+  uint32_t max_speed;
+  protobuf_c_boolean has_set_max_speed;
+  protobuf_c_boolean set_max_speed;
+};
+#define STUB_MOTOR_INIT_REQUEST__INIT \
+ { PROTOBUF_C_MESSAGE_INIT (&stub_motor_init_request__descriptor) \
+    , 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }
+
+
+/* StubMotorInitRequest methods */
+void   stub_motor_init_request__init
+                     (StubMotorInitRequest         *message);
+size_t stub_motor_init_request__get_packed_size
+                     (const StubMotorInitRequest   *message);
+size_t stub_motor_init_request__pack
+                     (const StubMotorInitRequest   *message,
+                      uint8_t             *out);
+size_t stub_motor_init_request__pack_to_buffer
+                     (const StubMotorInitRequest   *message,
+                      ProtobufCBuffer     *buffer);
+StubMotorInitRequest *
+       stub_motor_init_request__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data);
+void   stub_motor_init_request__free_unpacked
+                     (StubMotorInitRequest *message,
+                      ProtobufCAllocator *allocator);
+/* --- per-message closures --- */
+
+typedef void (*StubMotorInitRequest_Closure)
+                 (const StubMotorInitRequest *message,
+                  void *closure_data);
+
+/* --- services --- */
+
+
+/* --- descriptors --- */
+
+extern const ProtobufCMessageDescriptor stub_motor_init_request__descriptor;
+
+PROTOBUF_C__END_DECLS
+
+
+#endif  /* PROTOBUF_C_StubMotorInitRequest_2eproto__INCLUDED */
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorInitResponse.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorInitResponse.pb-c.c
new file mode 100644
index 000000000..17c436fa3
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorInitResponse.pb-c.c
@@ -0,0 +1,105 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorInitResponse.proto */
+
+/* Do not generate deprecated warnings for self */
+#ifndef PROTOBUF_C__NO_DEPRECATED
+#define PROTOBUF_C__NO_DEPRECATED
+#endif
+
+#include "StubMotorInitResponse.pb-c.h"
+void   stub_motor_init_response__init
+                     (StubMotorInitResponse         *message)
+{
+  static const StubMotorInitResponse init_value = STUB_MOTOR_INIT_RESPONSE__INIT;
+  *message = init_value;
+}
+size_t stub_motor_init_response__get_packed_size
+                     (const StubMotorInitResponse *message)
+{
+  assert(message->base.descriptor == &stub_motor_init_response__descriptor);
+  return protobuf_c_message_get_packed_size ((const ProtobufCMessage*)(message));
+}
+size_t stub_motor_init_response__pack
+                     (const StubMotorInitResponse *message,
+                      uint8_t       *out)
+{
+  assert(message->base.descriptor == &stub_motor_init_response__descriptor);
+  return protobuf_c_message_pack ((const ProtobufCMessage*)message, out);
+}
+size_t stub_motor_init_response__pack_to_buffer
+                     (const StubMotorInitResponse *message,
+                      ProtobufCBuffer *buffer)
+{
+  assert(message->base.descriptor == &stub_motor_init_response__descriptor);
+  return protobuf_c_message_pack_to_buffer ((const ProtobufCMessage*)message, buffer);
+}
+StubMotorInitResponse *
+       stub_motor_init_response__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data)
+{
+  return (StubMotorInitResponse *)
+     protobuf_c_message_unpack (&stub_motor_init_response__descriptor,
+                                allocator, len, data);
+}
+void   stub_motor_init_response__free_unpacked
+                     (StubMotorInitResponse *message,
+                      ProtobufCAllocator *allocator)
+{
+  if(!message)
+    return;
+  assert(message->base.descriptor == &stub_motor_init_response__descriptor);
+  protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
+}
+static const ProtobufCFieldDescriptor stub_motor_init_response__field_descriptors[2] =
+{
+  {
+    "Motor_ID",
+    1,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorInitResponse, has_motor_id),
+    offsetof(StubMotorInitResponse, motor_id),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Status",
+    2,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorInitResponse, has_status),
+    offsetof(StubMotorInitResponse, status),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+};
+static const unsigned stub_motor_init_response__field_indices_by_name[] = {
+  0,   /* field[0] = Motor_ID */
+  1,   /* field[1] = Status */
+};
+static const ProtobufCIntRange stub_motor_init_response__number_ranges[1 + 1] =
+{
+  { 1, 0 },
+  { 0, 2 }
+};
+const ProtobufCMessageDescriptor stub_motor_init_response__descriptor =
+{
+  PROTOBUF_C__MESSAGE_DESCRIPTOR_MAGIC,
+  "StubMotorInitResponse",
+  "StubMotorInitResponse",
+  "StubMotorInitResponse",
+  "",
+  sizeof(StubMotorInitResponse),
+  2,
+  stub_motor_init_response__field_descriptors,
+  stub_motor_init_response__field_indices_by_name,
+  1,  stub_motor_init_response__number_ranges,
+  (ProtobufCMessageInit) stub_motor_init_response__init,
+  NULL,NULL,NULL    /* reserved[123] */
+};
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorInitResponse.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorInitResponse.pb-c.h
new file mode 100644
index 000000000..c4f825818
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorInitResponse.pb-c.h
@@ -0,0 +1,74 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorInitResponse.proto */
+
+#ifndef PROTOBUF_C_StubMotorInitResponse_2eproto__INCLUDED
+#define PROTOBUF_C_StubMotorInitResponse_2eproto__INCLUDED
+
+#include <protobuf-c/protobuf-c.h>
+
+PROTOBUF_C__BEGIN_DECLS
+
+#if PROTOBUF_C_VERSION_NUMBER < 1003000
+# error This file was generated by a newer version of protoc-c which is incompatible with your libprotobuf-c headers. Please update your headers.
+#elif 1003000 < PROTOBUF_C_MIN_COMPILER_VERSION
+# error This file was generated by an older version of protoc-c which is incompatible with your libprotobuf-c headers. Please regenerate this file with a newer version of protoc-c.
+#endif
+
+
+typedef struct _StubMotorInitResponse StubMotorInitResponse;
+
+
+/* --- enums --- */
+
+
+/* --- messages --- */
+
+struct  _StubMotorInitResponse
+{
+  ProtobufCMessage base;
+  protobuf_c_boolean has_motor_id;
+  uint32_t motor_id;
+  protobuf_c_boolean has_status;
+  uint32_t status;
+};
+#define STUB_MOTOR_INIT_RESPONSE__INIT \
+ { PROTOBUF_C_MESSAGE_INIT (&stub_motor_init_response__descriptor) \
+    , 0, 0, 0, 0 }
+
+
+/* StubMotorInitResponse methods */
+void   stub_motor_init_response__init
+                     (StubMotorInitResponse         *message);
+size_t stub_motor_init_response__get_packed_size
+                     (const StubMotorInitResponse   *message);
+size_t stub_motor_init_response__pack
+                     (const StubMotorInitResponse   *message,
+                      uint8_t             *out);
+size_t stub_motor_init_response__pack_to_buffer
+                     (const StubMotorInitResponse   *message,
+                      ProtobufCBuffer     *buffer);
+StubMotorInitResponse *
+       stub_motor_init_response__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data);
+void   stub_motor_init_response__free_unpacked
+                     (StubMotorInitResponse *message,
+                      ProtobufCAllocator *allocator);
+/* --- per-message closures --- */
+
+typedef void (*StubMotorInitResponse_Closure)
+                 (const StubMotorInitResponse *message,
+                  void *closure_data);
+
+/* --- services --- */
+
+
+/* --- descriptors --- */
+
+extern const ProtobufCMessageDescriptor stub_motor_init_response__descriptor;
+
+PROTOBUF_C__END_DECLS
+
+
+#endif  /* PROTOBUF_C_StubMotorInitResponse_2eproto__INCLUDED */
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorMovRequest.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorMovRequest.pb-c.c
new file mode 100644
index 000000000..ed5152830
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorMovRequest.pb-c.c
@@ -0,0 +1,118 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorMovRequest.proto */
+
+/* Do not generate deprecated warnings for self */
+#ifndef PROTOBUF_C__NO_DEPRECATED
+#define PROTOBUF_C__NO_DEPRECATED
+#endif
+
+#include "StubMotorMovRequest.pb-c.h"
+void   stub_motor_mov_request__init
+                     (StubMotorMovRequest         *message)
+{
+  static const StubMotorMovRequest init_value = STUB_MOTOR_MOV_REQUEST__INIT;
+  *message = init_value;
+}
+size_t stub_motor_mov_request__get_packed_size
+                     (const StubMotorMovRequest *message)
+{
+  assert(message->base.descriptor == &stub_motor_mov_request__descriptor);
+  return protobuf_c_message_get_packed_size ((const ProtobufCMessage*)(message));
+}
+size_t stub_motor_mov_request__pack
+                     (const StubMotorMovRequest *message,
+                      uint8_t       *out)
+{
+  assert(message->base.descriptor == &stub_motor_mov_request__descriptor);
+  return protobuf_c_message_pack ((const ProtobufCMessage*)message, out);
+}
+size_t stub_motor_mov_request__pack_to_buffer
+                     (const StubMotorMovRequest *message,
+                      ProtobufCBuffer *buffer)
+{
+  assert(message->base.descriptor == &stub_motor_mov_request__descriptor);
+  return protobuf_c_message_pack_to_buffer ((const ProtobufCMessage*)message, buffer);
+}
+StubMotorMovRequest *
+       stub_motor_mov_request__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data)
+{
+  return (StubMotorMovRequest *)
+     protobuf_c_message_unpack (&stub_motor_mov_request__descriptor,
+                                allocator, len, data);
+}
+void   stub_motor_mov_request__free_unpacked
+                     (StubMotorMovRequest *message,
+                      ProtobufCAllocator *allocator)
+{
+  if(!message)
+    return;
+  assert(message->base.descriptor == &stub_motor_mov_request__descriptor);
+  protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
+}
+static const ProtobufCFieldDescriptor stub_motor_mov_request__field_descriptors[3] =
+{
+  {
+    "Motor_ID",
+    1,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorMovRequest, has_motor_id),
+    offsetof(StubMotorMovRequest, motor_id),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Direction",
+    2,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorMovRequest, has_direction),
+    offsetof(StubMotorMovRequest, direction),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Position",
+    3,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorMovRequest, has_position),
+    offsetof(StubMotorMovRequest, position),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+};
+static const unsigned stub_motor_mov_request__field_indices_by_name[] = {
+  1,   /* field[1] = Direction */
+  0,   /* field[0] = Motor_ID */
+  2,   /* field[2] = Position */
+};
+static const ProtobufCIntRange stub_motor_mov_request__number_ranges[1 + 1] =
+{
+  { 1, 0 },
+  { 0, 3 }
+};
+const ProtobufCMessageDescriptor stub_motor_mov_request__descriptor =
+{
+  PROTOBUF_C__MESSAGE_DESCRIPTOR_MAGIC,
+  "StubMotorMovRequest",
+  "StubMotorMovRequest",
+  "StubMotorMovRequest",
+  "",
+  sizeof(StubMotorMovRequest),
+  3,
+  stub_motor_mov_request__field_descriptors,
+  stub_motor_mov_request__field_indices_by_name,
+  1,  stub_motor_mov_request__number_ranges,
+  (ProtobufCMessageInit) stub_motor_mov_request__init,
+  NULL,NULL,NULL    /* reserved[123] */
+};
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorMovRequest.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorMovRequest.pb-c.h
new file mode 100644
index 000000000..8957b336a
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorMovRequest.pb-c.h
@@ -0,0 +1,76 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorMovRequest.proto */
+
+#ifndef PROTOBUF_C_StubMotorMovRequest_2eproto__INCLUDED
+#define PROTOBUF_C_StubMotorMovRequest_2eproto__INCLUDED
+
+#include <protobuf-c/protobuf-c.h>
+
+PROTOBUF_C__BEGIN_DECLS
+
+#if PROTOBUF_C_VERSION_NUMBER < 1003000
+# error This file was generated by a newer version of protoc-c which is incompatible with your libprotobuf-c headers. Please update your headers.
+#elif 1003000 < PROTOBUF_C_MIN_COMPILER_VERSION
+# error This file was generated by an older version of protoc-c which is incompatible with your libprotobuf-c headers. Please regenerate this file with a newer version of protoc-c.
+#endif
+
+
+typedef struct _StubMotorMovRequest StubMotorMovRequest;
+
+
+/* --- enums --- */
+
+
+/* --- messages --- */
+
+struct  _StubMotorMovRequest
+{
+  ProtobufCMessage base;
+  protobuf_c_boolean has_motor_id;
+  uint32_t motor_id;
+  protobuf_c_boolean has_direction;
+  protobuf_c_boolean direction;
+  protobuf_c_boolean has_position;
+  uint32_t position;
+};
+#define STUB_MOTOR_MOV_REQUEST__INIT \
+ { PROTOBUF_C_MESSAGE_INIT (&stub_motor_mov_request__descriptor) \
+    , 0, 0, 0, 0, 0, 0 }
+
+
+/* StubMotorMovRequest methods */
+void   stub_motor_mov_request__init
+                     (StubMotorMovRequest         *message);
+size_t stub_motor_mov_request__get_packed_size
+                     (const StubMotorMovRequest   *message);
+size_t stub_motor_mov_request__pack
+                     (const StubMotorMovRequest   *message,
+                      uint8_t             *out);
+size_t stub_motor_mov_request__pack_to_buffer
+                     (const StubMotorMovRequest   *message,
+                      ProtobufCBuffer     *buffer);
+StubMotorMovRequest *
+       stub_motor_mov_request__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data);
+void   stub_motor_mov_request__free_unpacked
+                     (StubMotorMovRequest *message,
+                      ProtobufCAllocator *allocator);
+/* --- per-message closures --- */
+
+typedef void (*StubMotorMovRequest_Closure)
+                 (const StubMotorMovRequest *message,
+                  void *closure_data);
+
+/* --- services --- */
+
+
+/* --- descriptors --- */
+
+extern const ProtobufCMessageDescriptor stub_motor_mov_request__descriptor;
+
+PROTOBUF_C__END_DECLS
+
+
+#endif  /* PROTOBUF_C_StubMotorMovRequest_2eproto__INCLUDED */
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorMovResponse.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorMovResponse.pb-c.c
new file mode 100644
index 000000000..e0da6c0b3
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorMovResponse.pb-c.c
@@ -0,0 +1,170 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorMovResponse.proto */
+
+/* Do not generate deprecated warnings for self */
+#ifndef PROTOBUF_C__NO_DEPRECATED
+#define PROTOBUF_C__NO_DEPRECATED
+#endif
+
+#include "StubMotorMovResponse.pb-c.h"
+void   stub_motor_mov_response__init
+                     (StubMotorMovResponse         *message)
+{
+  static const StubMotorMovResponse init_value = STUB_MOTOR_MOV_RESPONSE__INIT;
+  *message = init_value;
+}
+size_t stub_motor_mov_response__get_packed_size
+                     (const StubMotorMovResponse *message)
+{
+  assert(message->base.descriptor == &stub_motor_mov_response__descriptor);
+  return protobuf_c_message_get_packed_size ((const ProtobufCMessage*)(message));
+}
+size_t stub_motor_mov_response__pack
+                     (const StubMotorMovResponse *message,
+                      uint8_t       *out)
+{
+  assert(message->base.descriptor == &stub_motor_mov_response__descriptor);
+  return protobuf_c_message_pack ((const ProtobufCMessage*)message, out);
+}
+size_t stub_motor_mov_response__pack_to_buffer
+                     (const StubMotorMovResponse *message,
+                      ProtobufCBuffer *buffer)
+{
+  assert(message->base.descriptor == &stub_motor_mov_response__descriptor);
+  return protobuf_c_message_pack_to_buffer ((const ProtobufCMessage*)message, buffer);
+}
+StubMotorMovResponse *
+       stub_motor_mov_response__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data)
+{
+  return (StubMotorMovResponse *)
+     protobuf_c_message_unpack (&stub_motor_mov_response__descriptor,
+                                allocator, len, data);
+}
+void   stub_motor_mov_response__free_unpacked
+                     (StubMotorMovResponse *message,
+                      ProtobufCAllocator *allocator)
+{
+  if(!message)
+    return;
+  assert(message->base.descriptor == &stub_motor_mov_response__descriptor);
+  protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
+}
+static const ProtobufCFieldDescriptor stub_motor_mov_response__field_descriptors[7] =
+{
+  {
+    "Motor_ID",
+    1,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorMovResponse, has_motor_id),
+    offsetof(StubMotorMovResponse, motor_id),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Position",
+    2,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorMovResponse, has_position),
+    offsetof(StubMotorMovResponse, position),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Status_Reg",
+    3,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorMovResponse, has_status_reg),
+    offsetof(StubMotorMovResponse, status_reg),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Direction",
+    4,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorMovResponse, has_direction),
+    offsetof(StubMotorMovResponse, direction),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Mot_Status",
+    5,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorMovResponse, has_mot_status),
+    offsetof(StubMotorMovResponse, mot_status),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "STEP_LOSS_A",
+    6,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorMovResponse, has_step_loss_a),
+    offsetof(StubMotorMovResponse, step_loss_a),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "STEP_LOSS_B",
+    7,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorMovResponse, has_step_loss_b),
+    offsetof(StubMotorMovResponse, step_loss_b),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+};
+static const unsigned stub_motor_mov_response__field_indices_by_name[] = {
+  3,   /* field[3] = Direction */
+  4,   /* field[4] = Mot_Status */
+  0,   /* field[0] = Motor_ID */
+  1,   /* field[1] = Position */
+  5,   /* field[5] = STEP_LOSS_A */
+  6,   /* field[6] = STEP_LOSS_B */
+  2,   /* field[2] = Status_Reg */
+};
+static const ProtobufCIntRange stub_motor_mov_response__number_ranges[1 + 1] =
+{
+  { 1, 0 },
+  { 0, 7 }
+};
+const ProtobufCMessageDescriptor stub_motor_mov_response__descriptor =
+{
+  PROTOBUF_C__MESSAGE_DESCRIPTOR_MAGIC,
+  "StubMotorMovResponse",
+  "StubMotorMovResponse",
+  "StubMotorMovResponse",
+  "",
+  sizeof(StubMotorMovResponse),
+  7,
+  stub_motor_mov_response__field_descriptors,
+  stub_motor_mov_response__field_indices_by_name,
+  1,  stub_motor_mov_response__number_ranges,
+  (ProtobufCMessageInit) stub_motor_mov_response__init,
+  NULL,NULL,NULL    /* reserved[123] */
+};
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorMovResponse.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorMovResponse.pb-c.h
new file mode 100644
index 000000000..cd80996ed
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorMovResponse.pb-c.h
@@ -0,0 +1,90 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorMovResponse.proto */
+
+#ifndef PROTOBUF_C_StubMotorMovResponse_2eproto__INCLUDED
+#define PROTOBUF_C_StubMotorMovResponse_2eproto__INCLUDED
+
+#include <protobuf-c/protobuf-c.h>
+
+PROTOBUF_C__BEGIN_DECLS
+
+#if PROTOBUF_C_VERSION_NUMBER < 1003000
+# error This file was generated by a newer version of protoc-c which is incompatible with your libprotobuf-c headers. Please update your headers.
+#elif 1003000 < PROTOBUF_C_MIN_COMPILER_VERSION
+# error This file was generated by an older version of protoc-c which is incompatible with your libprotobuf-c headers. Please regenerate this file with a newer version of protoc-c.
+#endif
+
+
+typedef struct _StubMotorMovResponse StubMotorMovResponse;
+
+
+/* --- enums --- */
+
+
+/* --- messages --- */
+
+struct  _StubMotorMovResponse
+{
+  ProtobufCMessage base;
+  protobuf_c_boolean has_motor_id;
+  uint32_t motor_id;
+  protobuf_c_boolean has_position;
+  uint32_t position;
+  protobuf_c_boolean has_status_reg;
+  uint32_t status_reg;
+  /*
+   * Reverse / Forward
+   */
+  protobuf_c_boolean has_direction;
+  protobuf_c_boolean direction;
+  /*
+   *Stopped / Acceleration / Deceleration / Constant speed
+   */
+  protobuf_c_boolean has_mot_status;
+  uint32_t mot_status;
+  protobuf_c_boolean has_step_loss_a;
+  protobuf_c_boolean step_loss_a;
+  protobuf_c_boolean has_step_loss_b;
+  protobuf_c_boolean step_loss_b;
+};
+#define STUB_MOTOR_MOV_RESPONSE__INIT \
+ { PROTOBUF_C_MESSAGE_INIT (&stub_motor_mov_response__descriptor) \
+    , 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }
+
+
+/* StubMotorMovResponse methods */
+void   stub_motor_mov_response__init
+                     (StubMotorMovResponse         *message);
+size_t stub_motor_mov_response__get_packed_size
+                     (const StubMotorMovResponse   *message);
+size_t stub_motor_mov_response__pack
+                     (const StubMotorMovResponse   *message,
+                      uint8_t             *out);
+size_t stub_motor_mov_response__pack_to_buffer
+                     (const StubMotorMovResponse   *message,
+                      ProtobufCBuffer     *buffer);
+StubMotorMovResponse *
+       stub_motor_mov_response__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data);
+void   stub_motor_mov_response__free_unpacked
+                     (StubMotorMovResponse *message,
+                      ProtobufCAllocator *allocator);
+/* --- per-message closures --- */
+
+typedef void (*StubMotorMovResponse_Closure)
+                 (const StubMotorMovResponse *message,
+                  void *closure_data);
+
+/* --- services --- */
+
+
+/* --- descriptors --- */
+
+extern const ProtobufCMessageDescriptor stub_motor_mov_response__descriptor;
+
+PROTOBUF_C__END_DECLS
+
+
+#endif  /* PROTOBUF_C_StubMotorMovResponse_2eproto__INCLUDED */
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorPositionRequest.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorPositionRequest.pb-c.c
new file mode 100644
index 000000000..08f43e778
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorPositionRequest.pb-c.c
@@ -0,0 +1,92 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorPositionRequest.proto */
+
+/* Do not generate deprecated warnings for self */
+#ifndef PROTOBUF_C__NO_DEPRECATED
+#define PROTOBUF_C__NO_DEPRECATED
+#endif
+
+#include "StubMotorPositionRequest.pb-c.h"
+void   stub_motor_position_request__init
+                     (StubMotorPositionRequest         *message)
+{
+  static const StubMotorPositionRequest init_value = STUB_MOTOR_POSITION_REQUEST__INIT;
+  *message = init_value;
+}
+size_t stub_motor_position_request__get_packed_size
+                     (const StubMotorPositionRequest *message)
+{
+  assert(message->base.descriptor == &stub_motor_position_request__descriptor);
+  return protobuf_c_message_get_packed_size ((const ProtobufCMessage*)(message));
+}
+size_t stub_motor_position_request__pack
+                     (const StubMotorPositionRequest *message,
+                      uint8_t       *out)
+{
+  assert(message->base.descriptor == &stub_motor_position_request__descriptor);
+  return protobuf_c_message_pack ((const ProtobufCMessage*)message, out);
+}
+size_t stub_motor_position_request__pack_to_buffer
+                     (const StubMotorPositionRequest *message,
+                      ProtobufCBuffer *buffer)
+{
+  assert(message->base.descriptor == &stub_motor_position_request__descriptor);
+  return protobuf_c_message_pack_to_buffer ((const ProtobufCMessage*)message, buffer);
+}
+StubMotorPositionRequest *
+       stub_motor_position_request__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data)
+{
+  return (StubMotorPositionRequest *)
+     protobuf_c_message_unpack (&stub_motor_position_request__descriptor,
+                                allocator, len, data);
+}
+void   stub_motor_position_request__free_unpacked
+                     (StubMotorPositionRequest *message,
+                      ProtobufCAllocator *allocator)
+{
+  if(!message)
+    return;
+  assert(message->base.descriptor == &stub_motor_position_request__descriptor);
+  protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
+}
+static const ProtobufCFieldDescriptor stub_motor_position_request__field_descriptors[1] =
+{
+  {
+    "Motor_ID",
+    1,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorPositionRequest, has_motor_id),
+    offsetof(StubMotorPositionRequest, motor_id),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+};
+static const unsigned stub_motor_position_request__field_indices_by_name[] = {
+  0,   /* field[0] = Motor_ID */
+};
+static const ProtobufCIntRange stub_motor_position_request__number_ranges[1 + 1] =
+{
+  { 1, 0 },
+  { 0, 1 }
+};
+const ProtobufCMessageDescriptor stub_motor_position_request__descriptor =
+{
+  PROTOBUF_C__MESSAGE_DESCRIPTOR_MAGIC,
+  "StubMotorPositionRequest",
+  "StubMotorPositionRequest",
+  "StubMotorPositionRequest",
+  "",
+  sizeof(StubMotorPositionRequest),
+  1,
+  stub_motor_position_request__field_descriptors,
+  stub_motor_position_request__field_indices_by_name,
+  1,  stub_motor_position_request__number_ranges,
+  (ProtobufCMessageInit) stub_motor_position_request__init,
+  NULL,NULL,NULL    /* reserved[123] */
+};
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorPositionRequest.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorPositionRequest.pb-c.h
new file mode 100644
index 000000000..439a0f31d
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorPositionRequest.pb-c.h
@@ -0,0 +1,72 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorPositionRequest.proto */
+
+#ifndef PROTOBUF_C_StubMotorPositionRequest_2eproto__INCLUDED
+#define PROTOBUF_C_StubMotorPositionRequest_2eproto__INCLUDED
+
+#include <protobuf-c/protobuf-c.h>
+
+PROTOBUF_C__BEGIN_DECLS
+
+#if PROTOBUF_C_VERSION_NUMBER < 1003000
+# error This file was generated by a newer version of protoc-c which is incompatible with your libprotobuf-c headers. Please update your headers.
+#elif 1003000 < PROTOBUF_C_MIN_COMPILER_VERSION
+# error This file was generated by an older version of protoc-c which is incompatible with your libprotobuf-c headers. Please regenerate this file with a newer version of protoc-c.
+#endif
+
+
+typedef struct _StubMotorPositionRequest StubMotorPositionRequest;
+
+
+/* --- enums --- */
+
+
+/* --- messages --- */
+
+struct  _StubMotorPositionRequest
+{
+  ProtobufCMessage base;
+  protobuf_c_boolean has_motor_id;
+  uint32_t motor_id;
+};
+#define STUB_MOTOR_POSITION_REQUEST__INIT \
+ { PROTOBUF_C_MESSAGE_INIT (&stub_motor_position_request__descriptor) \
+    , 0, 0 }
+
+
+/* StubMotorPositionRequest methods */
+void   stub_motor_position_request__init
+                     (StubMotorPositionRequest         *message);
+size_t stub_motor_position_request__get_packed_size
+                     (const StubMotorPositionRequest   *message);
+size_t stub_motor_position_request__pack
+                     (const StubMotorPositionRequest   *message,
+                      uint8_t             *out);
+size_t stub_motor_position_request__pack_to_buffer
+                     (const StubMotorPositionRequest   *message,
+                      ProtobufCBuffer     *buffer);
+StubMotorPositionRequest *
+       stub_motor_position_request__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data);
+void   stub_motor_position_request__free_unpacked
+                     (StubMotorPositionRequest *message,
+                      ProtobufCAllocator *allocator);
+/* --- per-message closures --- */
+
+typedef void (*StubMotorPositionRequest_Closure)
+                 (const StubMotorPositionRequest *message,
+                  void *closure_data);
+
+/* --- services --- */
+
+
+/* --- descriptors --- */
+
+extern const ProtobufCMessageDescriptor stub_motor_position_request__descriptor;
+
+PROTOBUF_C__END_DECLS
+
+
+#endif  /* PROTOBUF_C_StubMotorPositionRequest_2eproto__INCLUDED */
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorPositionResponse.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorPositionResponse.pb-c.c
new file mode 100644
index 000000000..4354eb2da
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorPositionResponse.pb-c.c
@@ -0,0 +1,105 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorPositionResponse.proto */
+
+/* Do not generate deprecated warnings for self */
+#ifndef PROTOBUF_C__NO_DEPRECATED
+#define PROTOBUF_C__NO_DEPRECATED
+#endif
+
+#include "StubMotorPositionResponse.pb-c.h"
+void   stub_motor_position_response__init
+                     (StubMotorPositionResponse         *message)
+{
+  static const StubMotorPositionResponse init_value = STUB_MOTOR_POSITION_RESPONSE__INIT;
+  *message = init_value;
+}
+size_t stub_motor_position_response__get_packed_size
+                     (const StubMotorPositionResponse *message)
+{
+  assert(message->base.descriptor == &stub_motor_position_response__descriptor);
+  return protobuf_c_message_get_packed_size ((const ProtobufCMessage*)(message));
+}
+size_t stub_motor_position_response__pack
+                     (const StubMotorPositionResponse *message,
+                      uint8_t       *out)
+{
+  assert(message->base.descriptor == &stub_motor_position_response__descriptor);
+  return protobuf_c_message_pack ((const ProtobufCMessage*)message, out);
+}
+size_t stub_motor_position_response__pack_to_buffer
+                     (const StubMotorPositionResponse *message,
+                      ProtobufCBuffer *buffer)
+{
+  assert(message->base.descriptor == &stub_motor_position_response__descriptor);
+  return protobuf_c_message_pack_to_buffer ((const ProtobufCMessage*)message, buffer);
+}
+StubMotorPositionResponse *
+       stub_motor_position_response__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data)
+{
+  return (StubMotorPositionResponse *)
+     protobuf_c_message_unpack (&stub_motor_position_response__descriptor,
+                                allocator, len, data);
+}
+void   stub_motor_position_response__free_unpacked
+                     (StubMotorPositionResponse *message,
+                      ProtobufCAllocator *allocator)
+{
+  if(!message)
+    return;
+  assert(message->base.descriptor == &stub_motor_position_response__descriptor);
+  protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
+}
+static const ProtobufCFieldDescriptor stub_motor_position_response__field_descriptors[2] =
+{
+  {
+    "Motor_ID",
+    1,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorPositionResponse, has_motor_id),
+    offsetof(StubMotorPositionResponse, motor_id),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Position",
+    2,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorPositionResponse, has_position),
+    offsetof(StubMotorPositionResponse, position),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+};
+static const unsigned stub_motor_position_response__field_indices_by_name[] = {
+  0,   /* field[0] = Motor_ID */
+  1,   /* field[1] = Position */
+};
+static const ProtobufCIntRange stub_motor_position_response__number_ranges[1 + 1] =
+{
+  { 1, 0 },
+  { 0, 2 }
+};
+const ProtobufCMessageDescriptor stub_motor_position_response__descriptor =
+{
+  PROTOBUF_C__MESSAGE_DESCRIPTOR_MAGIC,
+  "StubMotorPositionResponse",
+  "StubMotorPositionResponse",
+  "StubMotorPositionResponse",
+  "",
+  sizeof(StubMotorPositionResponse),
+  2,
+  stub_motor_position_response__field_descriptors,
+  stub_motor_position_response__field_indices_by_name,
+  1,  stub_motor_position_response__number_ranges,
+  (ProtobufCMessageInit) stub_motor_position_response__init,
+  NULL,NULL,NULL    /* reserved[123] */
+};
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorPositionResponse.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorPositionResponse.pb-c.h
new file mode 100644
index 000000000..13c7c3c95
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorPositionResponse.pb-c.h
@@ -0,0 +1,74 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorPositionResponse.proto */
+
+#ifndef PROTOBUF_C_StubMotorPositionResponse_2eproto__INCLUDED
+#define PROTOBUF_C_StubMotorPositionResponse_2eproto__INCLUDED
+
+#include <protobuf-c/protobuf-c.h>
+
+PROTOBUF_C__BEGIN_DECLS
+
+#if PROTOBUF_C_VERSION_NUMBER < 1003000
+# error This file was generated by a newer version of protoc-c which is incompatible with your libprotobuf-c headers. Please update your headers.
+#elif 1003000 < PROTOBUF_C_MIN_COMPILER_VERSION
+# error This file was generated by an older version of protoc-c which is incompatible with your libprotobuf-c headers. Please regenerate this file with a newer version of protoc-c.
+#endif
+
+
+typedef struct _StubMotorPositionResponse StubMotorPositionResponse;
+
+
+/* --- enums --- */
+
+
+/* --- messages --- */
+
+struct  _StubMotorPositionResponse
+{
+  ProtobufCMessage base;
+  protobuf_c_boolean has_motor_id;
+  uint32_t motor_id;
+  protobuf_c_boolean has_position;
+  uint32_t position;
+};
+#define STUB_MOTOR_POSITION_RESPONSE__INIT \
+ { PROTOBUF_C_MESSAGE_INIT (&stub_motor_position_response__descriptor) \
+    , 0, 0, 0, 0 }
+
+
+/* StubMotorPositionResponse methods */
+void   stub_motor_position_response__init
+                     (StubMotorPositionResponse         *message);
+size_t stub_motor_position_response__get_packed_size
+                     (const StubMotorPositionResponse   *message);
+size_t stub_motor_position_response__pack
+                     (const StubMotorPositionResponse   *message,
+                      uint8_t             *out);
+size_t stub_motor_position_response__pack_to_buffer
+                     (const StubMotorPositionResponse   *message,
+                      ProtobufCBuffer     *buffer);
+StubMotorPositionResponse *
+       stub_motor_position_response__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data);
+void   stub_motor_position_response__free_unpacked
+                     (StubMotorPositionResponse *message,
+                      ProtobufCAllocator *allocator);
+/* --- per-message closures --- */
+
+typedef void (*StubMotorPositionResponse_Closure)
+                 (const StubMotorPositionResponse *message,
+                  void *closure_data);
+
+/* --- services --- */
+
+
+/* --- descriptors --- */
+
+extern const ProtobufCMessageDescriptor stub_motor_position_response__descriptor;
+
+PROTOBUF_C__END_DECLS
+
+
+#endif  /* PROTOBUF_C_StubMotorPositionResponse_2eproto__INCLUDED */
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunRequest.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunRequest.pb-c.c
new file mode 100644
index 000000000..30cf9ccf2
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunRequest.pb-c.c
@@ -0,0 +1,118 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorRunRequest.proto */
+
+/* Do not generate deprecated warnings for self */
+#ifndef PROTOBUF_C__NO_DEPRECATED
+#define PROTOBUF_C__NO_DEPRECATED
+#endif
+
+#include "StubMotorRunRequest.pb-c.h"
+void   stub_motor_run_request__init
+                     (StubMotorRunRequest         *message)
+{
+  static const StubMotorRunRequest init_value = STUB_MOTOR_RUN_REQUEST__INIT;
+  *message = init_value;
+}
+size_t stub_motor_run_request__get_packed_size
+                     (const StubMotorRunRequest *message)
+{
+  assert(message->base.descriptor == &stub_motor_run_request__descriptor);
+  return protobuf_c_message_get_packed_size ((const ProtobufCMessage*)(message));
+}
+size_t stub_motor_run_request__pack
+                     (const StubMotorRunRequest *message,
+                      uint8_t       *out)
+{
+  assert(message->base.descriptor == &stub_motor_run_request__descriptor);
+  return protobuf_c_message_pack ((const ProtobufCMessage*)message, out);
+}
+size_t stub_motor_run_request__pack_to_buffer
+                     (const StubMotorRunRequest *message,
+                      ProtobufCBuffer *buffer)
+{
+  assert(message->base.descriptor == &stub_motor_run_request__descriptor);
+  return protobuf_c_message_pack_to_buffer ((const ProtobufCMessage*)message, buffer);
+}
+StubMotorRunRequest *
+       stub_motor_run_request__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data)
+{
+  return (StubMotorRunRequest *)
+     protobuf_c_message_unpack (&stub_motor_run_request__descriptor,
+                                allocator, len, data);
+}
+void   stub_motor_run_request__free_unpacked
+                     (StubMotorRunRequest *message,
+                      ProtobufCAllocator *allocator)
+{
+  if(!message)
+    return;
+  assert(message->base.descriptor == &stub_motor_run_request__descriptor);
+  protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
+}
+static const ProtobufCFieldDescriptor stub_motor_run_request__field_descriptors[3] =
+{
+  {
+    "Motor_ID",
+    1,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorRunRequest, has_motor_id),
+    offsetof(StubMotorRunRequest, motor_id),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Direction",
+    2,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorRunRequest, has_direction),
+    offsetof(StubMotorRunRequest, direction),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Speed",
+    3,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_DOUBLE,
+    offsetof(StubMotorRunRequest, has_speed),
+    offsetof(StubMotorRunRequest, speed),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+};
+static const unsigned stub_motor_run_request__field_indices_by_name[] = {
+  1,   /* field[1] = Direction */
+  0,   /* field[0] = Motor_ID */
+  2,   /* field[2] = Speed */
+};
+static const ProtobufCIntRange stub_motor_run_request__number_ranges[1 + 1] =
+{
+  { 1, 0 },
+  { 0, 3 }
+};
+const ProtobufCMessageDescriptor stub_motor_run_request__descriptor =
+{
+  PROTOBUF_C__MESSAGE_DESCRIPTOR_MAGIC,
+  "StubMotorRunRequest",
+  "StubMotorRunRequest",
+  "StubMotorRunRequest",
+  "",
+  sizeof(StubMotorRunRequest),
+  3,
+  stub_motor_run_request__field_descriptors,
+  stub_motor_run_request__field_indices_by_name,
+  1,  stub_motor_run_request__number_ranges,
+  (ProtobufCMessageInit) stub_motor_run_request__init,
+  NULL,NULL,NULL    /* reserved[123] */
+};
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunRequest.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunRequest.pb-c.h
new file mode 100644
index 000000000..5c4ce2efd
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunRequest.pb-c.h
@@ -0,0 +1,76 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorRunRequest.proto */
+
+#ifndef PROTOBUF_C_StubMotorRunRequest_2eproto__INCLUDED
+#define PROTOBUF_C_StubMotorRunRequest_2eproto__INCLUDED
+
+#include <protobuf-c/protobuf-c.h>
+
+PROTOBUF_C__BEGIN_DECLS
+
+#if PROTOBUF_C_VERSION_NUMBER < 1003000
+# error This file was generated by a newer version of protoc-c which is incompatible with your libprotobuf-c headers. Please update your headers.
+#elif 1003000 < PROTOBUF_C_MIN_COMPILER_VERSION
+# error This file was generated by an older version of protoc-c which is incompatible with your libprotobuf-c headers. Please regenerate this file with a newer version of protoc-c.
+#endif
+
+
+typedef struct _StubMotorRunRequest StubMotorRunRequest;
+
+
+/* --- enums --- */
+
+
+/* --- messages --- */
+
+struct  _StubMotorRunRequest
+{
+  ProtobufCMessage base;
+  protobuf_c_boolean has_motor_id;
+  uint32_t motor_id;
+  protobuf_c_boolean has_direction;
+  protobuf_c_boolean direction;
+  protobuf_c_boolean has_speed;
+  double speed;
+};
+#define STUB_MOTOR_RUN_REQUEST__INIT \
+ { PROTOBUF_C_MESSAGE_INIT (&stub_motor_run_request__descriptor) \
+    , 0, 0, 0, 0, 0, 0 }
+
+
+/* StubMotorRunRequest methods */
+void   stub_motor_run_request__init
+                     (StubMotorRunRequest         *message);
+size_t stub_motor_run_request__get_packed_size
+                     (const StubMotorRunRequest   *message);
+size_t stub_motor_run_request__pack
+                     (const StubMotorRunRequest   *message,
+                      uint8_t             *out);
+size_t stub_motor_run_request__pack_to_buffer
+                     (const StubMotorRunRequest   *message,
+                      ProtobufCBuffer     *buffer);
+StubMotorRunRequest *
+       stub_motor_run_request__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data);
+void   stub_motor_run_request__free_unpacked
+                     (StubMotorRunRequest *message,
+                      ProtobufCAllocator *allocator);
+/* --- per-message closures --- */
+
+typedef void (*StubMotorRunRequest_Closure)
+                 (const StubMotorRunRequest *message,
+                  void *closure_data);
+
+/* --- services --- */
+
+
+/* --- descriptors --- */
+
+extern const ProtobufCMessageDescriptor stub_motor_run_request__descriptor;
+
+PROTOBUF_C__END_DECLS
+
+
+#endif  /* PROTOBUF_C_StubMotorRunRequest_2eproto__INCLUDED */
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunResponse.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunResponse.pb-c.c
new file mode 100644
index 000000000..ccbd85dbf
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunResponse.pb-c.c
@@ -0,0 +1,170 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorRunResponse.proto */
+
+/* Do not generate deprecated warnings for self */
+#ifndef PROTOBUF_C__NO_DEPRECATED
+#define PROTOBUF_C__NO_DEPRECATED
+#endif
+
+#include "StubMotorRunResponse.pb-c.h"
+void   stub_motor_run_response__init
+                     (StubMotorRunResponse         *message)
+{
+  static const StubMotorRunResponse init_value = STUB_MOTOR_RUN_RESPONSE__INIT;
+  *message = init_value;
+}
+size_t stub_motor_run_response__get_packed_size
+                     (const StubMotorRunResponse *message)
+{
+  assert(message->base.descriptor == &stub_motor_run_response__descriptor);
+  return protobuf_c_message_get_packed_size ((const ProtobufCMessage*)(message));
+}
+size_t stub_motor_run_response__pack
+                     (const StubMotorRunResponse *message,
+                      uint8_t       *out)
+{
+  assert(message->base.descriptor == &stub_motor_run_response__descriptor);
+  return protobuf_c_message_pack ((const ProtobufCMessage*)message, out);
+}
+size_t stub_motor_run_response__pack_to_buffer
+                     (const StubMotorRunResponse *message,
+                      ProtobufCBuffer *buffer)
+{
+  assert(message->base.descriptor == &stub_motor_run_response__descriptor);
+  return protobuf_c_message_pack_to_buffer ((const ProtobufCMessage*)message, buffer);
+}
+StubMotorRunResponse *
+       stub_motor_run_response__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data)
+{
+  return (StubMotorRunResponse *)
+     protobuf_c_message_unpack (&stub_motor_run_response__descriptor,
+                                allocator, len, data);
+}
+void   stub_motor_run_response__free_unpacked
+                     (StubMotorRunResponse *message,
+                      ProtobufCAllocator *allocator)
+{
+  if(!message)
+    return;
+  assert(message->base.descriptor == &stub_motor_run_response__descriptor);
+  protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
+}
+static const ProtobufCFieldDescriptor stub_motor_run_response__field_descriptors[7] =
+{
+  {
+    "Motor_ID",
+    1,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorRunResponse, has_motor_id),
+    offsetof(StubMotorRunResponse, motor_id),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Speed",
+    2,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_DOUBLE,
+    offsetof(StubMotorRunResponse, has_speed),
+    offsetof(StubMotorRunResponse, speed),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Status_Reg",
+    3,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorRunResponse, has_status_reg),
+    offsetof(StubMotorRunResponse, status_reg),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Direction",
+    4,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorRunResponse, has_direction),
+    offsetof(StubMotorRunResponse, direction),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Mot_Status",
+    5,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorRunResponse, has_mot_status),
+    offsetof(StubMotorRunResponse, mot_status),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "STEP_LOSS_A",
+    6,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorRunResponse, has_step_loss_a),
+    offsetof(StubMotorRunResponse, step_loss_a),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "STEP_LOSS_B",
+    7,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorRunResponse, has_step_loss_b),
+    offsetof(StubMotorRunResponse, step_loss_b),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+};
+static const unsigned stub_motor_run_response__field_indices_by_name[] = {
+  3,   /* field[3] = Direction */
+  4,   /* field[4] = Mot_Status */
+  0,   /* field[0] = Motor_ID */
+  5,   /* field[5] = STEP_LOSS_A */
+  6,   /* field[6] = STEP_LOSS_B */
+  1,   /* field[1] = Speed */
+  2,   /* field[2] = Status_Reg */
+};
+static const ProtobufCIntRange stub_motor_run_response__number_ranges[1 + 1] =
+{
+  { 1, 0 },
+  { 0, 7 }
+};
+const ProtobufCMessageDescriptor stub_motor_run_response__descriptor =
+{
+  PROTOBUF_C__MESSAGE_DESCRIPTOR_MAGIC,
+  "StubMotorRunResponse",
+  "StubMotorRunResponse",
+  "StubMotorRunResponse",
+  "",
+  sizeof(StubMotorRunResponse),
+  7,
+  stub_motor_run_response__field_descriptors,
+  stub_motor_run_response__field_indices_by_name,
+  1,  stub_motor_run_response__number_ranges,
+  (ProtobufCMessageInit) stub_motor_run_response__init,
+  NULL,NULL,NULL    /* reserved[123] */
+};
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunResponse.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunResponse.pb-c.h
new file mode 100644
index 000000000..ad4f33de8
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorRunResponse.pb-c.h
@@ -0,0 +1,90 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorRunResponse.proto */
+
+#ifndef PROTOBUF_C_StubMotorRunResponse_2eproto__INCLUDED
+#define PROTOBUF_C_StubMotorRunResponse_2eproto__INCLUDED
+
+#include <protobuf-c/protobuf-c.h>
+
+PROTOBUF_C__BEGIN_DECLS
+
+#if PROTOBUF_C_VERSION_NUMBER < 1003000
+# error This file was generated by a newer version of protoc-c which is incompatible with your libprotobuf-c headers. Please update your headers.
+#elif 1003000 < PROTOBUF_C_MIN_COMPILER_VERSION
+# error This file was generated by an older version of protoc-c which is incompatible with your libprotobuf-c headers. Please regenerate this file with a newer version of protoc-c.
+#endif
+
+
+typedef struct _StubMotorRunResponse StubMotorRunResponse;
+
+
+/* --- enums --- */
+
+
+/* --- messages --- */
+
+struct  _StubMotorRunResponse
+{
+  ProtobufCMessage base;
+  protobuf_c_boolean has_motor_id;
+  uint32_t motor_id;
+  protobuf_c_boolean has_speed;
+  double speed;
+  protobuf_c_boolean has_status_reg;
+  uint32_t status_reg;
+  /*
+   * Reverse / Forward
+   */
+  protobuf_c_boolean has_direction;
+  protobuf_c_boolean direction;
+  /*
+   *Stopped / Acceleration / Deceleration / Constant speed
+   */
+  protobuf_c_boolean has_mot_status;
+  uint32_t mot_status;
+  protobuf_c_boolean has_step_loss_a;
+  protobuf_c_boolean step_loss_a;
+  protobuf_c_boolean has_step_loss_b;
+  protobuf_c_boolean step_loss_b;
+};
+#define STUB_MOTOR_RUN_RESPONSE__INIT \
+ { PROTOBUF_C_MESSAGE_INIT (&stub_motor_run_response__descriptor) \
+    , 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }
+
+
+/* StubMotorRunResponse methods */
+void   stub_motor_run_response__init
+                     (StubMotorRunResponse         *message);
+size_t stub_motor_run_response__get_packed_size
+                     (const StubMotorRunResponse   *message);
+size_t stub_motor_run_response__pack
+                     (const StubMotorRunResponse   *message,
+                      uint8_t             *out);
+size_t stub_motor_run_response__pack_to_buffer
+                     (const StubMotorRunResponse   *message,
+                      ProtobufCBuffer     *buffer);
+StubMotorRunResponse *
+       stub_motor_run_response__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data);
+void   stub_motor_run_response__free_unpacked
+                     (StubMotorRunResponse *message,
+                      ProtobufCAllocator *allocator);
+/* --- per-message closures --- */
+
+typedef void (*StubMotorRunResponse_Closure)
+                 (const StubMotorRunResponse *message,
+                  void *closure_data);
+
+/* --- services --- */
+
+
+/* --- descriptors --- */
+
+extern const ProtobufCMessageDescriptor stub_motor_run_response__descriptor;
+
+PROTOBUF_C__END_DECLS
+
+
+#endif  /* PROTOBUF_C_StubMotorRunResponse_2eproto__INCLUDED */
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorSpeedRequest.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorSpeedRequest.pb-c.c
new file mode 100644
index 000000000..c8acbfdfd
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorSpeedRequest.pb-c.c
@@ -0,0 +1,92 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorSpeedRequest.proto */
+
+/* Do not generate deprecated warnings for self */
+#ifndef PROTOBUF_C__NO_DEPRECATED
+#define PROTOBUF_C__NO_DEPRECATED
+#endif
+
+#include "StubMotorSpeedRequest.pb-c.h"
+void   stub_motor_speed_request__init
+                     (StubMotorSpeedRequest         *message)
+{
+  static const StubMotorSpeedRequest init_value = STUB_MOTOR_SPEED_REQUEST__INIT;
+  *message = init_value;
+}
+size_t stub_motor_speed_request__get_packed_size
+                     (const StubMotorSpeedRequest *message)
+{
+  assert(message->base.descriptor == &stub_motor_speed_request__descriptor);
+  return protobuf_c_message_get_packed_size ((const ProtobufCMessage*)(message));
+}
+size_t stub_motor_speed_request__pack
+                     (const StubMotorSpeedRequest *message,
+                      uint8_t       *out)
+{
+  assert(message->base.descriptor == &stub_motor_speed_request__descriptor);
+  return protobuf_c_message_pack ((const ProtobufCMessage*)message, out);
+}
+size_t stub_motor_speed_request__pack_to_buffer
+                     (const StubMotorSpeedRequest *message,
+                      ProtobufCBuffer *buffer)
+{
+  assert(message->base.descriptor == &stub_motor_speed_request__descriptor);
+  return protobuf_c_message_pack_to_buffer ((const ProtobufCMessage*)message, buffer);
+}
+StubMotorSpeedRequest *
+       stub_motor_speed_request__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data)
+{
+  return (StubMotorSpeedRequest *)
+     protobuf_c_message_unpack (&stub_motor_speed_request__descriptor,
+                                allocator, len, data);
+}
+void   stub_motor_speed_request__free_unpacked
+                     (StubMotorSpeedRequest *message,
+                      ProtobufCAllocator *allocator)
+{
+  if(!message)
+    return;
+  assert(message->base.descriptor == &stub_motor_speed_request__descriptor);
+  protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
+}
+static const ProtobufCFieldDescriptor stub_motor_speed_request__field_descriptors[1] =
+{
+  {
+    "Motor_ID",
+    1,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorSpeedRequest, has_motor_id),
+    offsetof(StubMotorSpeedRequest, motor_id),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+};
+static const unsigned stub_motor_speed_request__field_indices_by_name[] = {
+  0,   /* field[0] = Motor_ID */
+};
+static const ProtobufCIntRange stub_motor_speed_request__number_ranges[1 + 1] =
+{
+  { 1, 0 },
+  { 0, 1 }
+};
+const ProtobufCMessageDescriptor stub_motor_speed_request__descriptor =
+{
+  PROTOBUF_C__MESSAGE_DESCRIPTOR_MAGIC,
+  "StubMotorSpeedRequest",
+  "StubMotorSpeedRequest",
+  "StubMotorSpeedRequest",
+  "",
+  sizeof(StubMotorSpeedRequest),
+  1,
+  stub_motor_speed_request__field_descriptors,
+  stub_motor_speed_request__field_indices_by_name,
+  1,  stub_motor_speed_request__number_ranges,
+  (ProtobufCMessageInit) stub_motor_speed_request__init,
+  NULL,NULL,NULL    /* reserved[123] */
+};
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorSpeedRequest.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorSpeedRequest.pb-c.h
new file mode 100644
index 000000000..537ca4da6
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorSpeedRequest.pb-c.h
@@ -0,0 +1,72 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorSpeedRequest.proto */
+
+#ifndef PROTOBUF_C_StubMotorSpeedRequest_2eproto__INCLUDED
+#define PROTOBUF_C_StubMotorSpeedRequest_2eproto__INCLUDED
+
+#include <protobuf-c/protobuf-c.h>
+
+PROTOBUF_C__BEGIN_DECLS
+
+#if PROTOBUF_C_VERSION_NUMBER < 1003000
+# error This file was generated by a newer version of protoc-c which is incompatible with your libprotobuf-c headers. Please update your headers.
+#elif 1003000 < PROTOBUF_C_MIN_COMPILER_VERSION
+# error This file was generated by an older version of protoc-c which is incompatible with your libprotobuf-c headers. Please regenerate this file with a newer version of protoc-c.
+#endif
+
+
+typedef struct _StubMotorSpeedRequest StubMotorSpeedRequest;
+
+
+/* --- enums --- */
+
+
+/* --- messages --- */
+
+struct  _StubMotorSpeedRequest
+{
+  ProtobufCMessage base;
+  protobuf_c_boolean has_motor_id;
+  uint32_t motor_id;
+};
+#define STUB_MOTOR_SPEED_REQUEST__INIT \
+ { PROTOBUF_C_MESSAGE_INIT (&stub_motor_speed_request__descriptor) \
+    , 0, 0 }
+
+
+/* StubMotorSpeedRequest methods */
+void   stub_motor_speed_request__init
+                     (StubMotorSpeedRequest         *message);
+size_t stub_motor_speed_request__get_packed_size
+                     (const StubMotorSpeedRequest   *message);
+size_t stub_motor_speed_request__pack
+                     (const StubMotorSpeedRequest   *message,
+                      uint8_t             *out);
+size_t stub_motor_speed_request__pack_to_buffer
+                     (const StubMotorSpeedRequest   *message,
+                      ProtobufCBuffer     *buffer);
+StubMotorSpeedRequest *
+       stub_motor_speed_request__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data);
+void   stub_motor_speed_request__free_unpacked
+                     (StubMotorSpeedRequest *message,
+                      ProtobufCAllocator *allocator);
+/* --- per-message closures --- */
+
+typedef void (*StubMotorSpeedRequest_Closure)
+                 (const StubMotorSpeedRequest *message,
+                  void *closure_data);
+
+/* --- services --- */
+
+
+/* --- descriptors --- */
+
+extern const ProtobufCMessageDescriptor stub_motor_speed_request__descriptor;
+
+PROTOBUF_C__END_DECLS
+
+
+#endif  /* PROTOBUF_C_StubMotorSpeedRequest_2eproto__INCLUDED */
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorSpeedResponse.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorSpeedResponse.pb-c.c
new file mode 100644
index 000000000..34d826880
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorSpeedResponse.pb-c.c
@@ -0,0 +1,105 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorSpeedResponse.proto */
+
+/* Do not generate deprecated warnings for self */
+#ifndef PROTOBUF_C__NO_DEPRECATED
+#define PROTOBUF_C__NO_DEPRECATED
+#endif
+
+#include "StubMotorSpeedResponse.pb-c.h"
+void   stub_motor_speed_response__init
+                     (StubMotorSpeedResponse         *message)
+{
+  static const StubMotorSpeedResponse init_value = STUB_MOTOR_SPEED_RESPONSE__INIT;
+  *message = init_value;
+}
+size_t stub_motor_speed_response__get_packed_size
+                     (const StubMotorSpeedResponse *message)
+{
+  assert(message->base.descriptor == &stub_motor_speed_response__descriptor);
+  return protobuf_c_message_get_packed_size ((const ProtobufCMessage*)(message));
+}
+size_t stub_motor_speed_response__pack
+                     (const StubMotorSpeedResponse *message,
+                      uint8_t       *out)
+{
+  assert(message->base.descriptor == &stub_motor_speed_response__descriptor);
+  return protobuf_c_message_pack ((const ProtobufCMessage*)message, out);
+}
+size_t stub_motor_speed_response__pack_to_buffer
+                     (const StubMotorSpeedResponse *message,
+                      ProtobufCBuffer *buffer)
+{
+  assert(message->base.descriptor == &stub_motor_speed_response__descriptor);
+  return protobuf_c_message_pack_to_buffer ((const ProtobufCMessage*)message, buffer);
+}
+StubMotorSpeedResponse *
+       stub_motor_speed_response__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data)
+{
+  return (StubMotorSpeedResponse *)
+     protobuf_c_message_unpack (&stub_motor_speed_response__descriptor,
+                                allocator, len, data);
+}
+void   stub_motor_speed_response__free_unpacked
+                     (StubMotorSpeedResponse *message,
+                      ProtobufCAllocator *allocator)
+{
+  if(!message)
+    return;
+  assert(message->base.descriptor == &stub_motor_speed_response__descriptor);
+  protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
+}
+static const ProtobufCFieldDescriptor stub_motor_speed_response__field_descriptors[2] =
+{
+  {
+    "Motor_ID",
+    1,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorSpeedResponse, has_motor_id),
+    offsetof(StubMotorSpeedResponse, motor_id),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Speed",
+    2,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_DOUBLE,
+    offsetof(StubMotorSpeedResponse, has_speed),
+    offsetof(StubMotorSpeedResponse, speed),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+};
+static const unsigned stub_motor_speed_response__field_indices_by_name[] = {
+  0,   /* field[0] = Motor_ID */
+  1,   /* field[1] = Speed */
+};
+static const ProtobufCIntRange stub_motor_speed_response__number_ranges[1 + 1] =
+{
+  { 1, 0 },
+  { 0, 2 }
+};
+const ProtobufCMessageDescriptor stub_motor_speed_response__descriptor =
+{
+  PROTOBUF_C__MESSAGE_DESCRIPTOR_MAGIC,
+  "StubMotorSpeedResponse",
+  "StubMotorSpeedResponse",
+  "StubMotorSpeedResponse",
+  "",
+  sizeof(StubMotorSpeedResponse),
+  2,
+  stub_motor_speed_response__field_descriptors,
+  stub_motor_speed_response__field_indices_by_name,
+  1,  stub_motor_speed_response__number_ranges,
+  (ProtobufCMessageInit) stub_motor_speed_response__init,
+  NULL,NULL,NULL    /* reserved[123] */
+};
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorSpeedResponse.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorSpeedResponse.pb-c.h
new file mode 100644
index 000000000..d113e02d9
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorSpeedResponse.pb-c.h
@@ -0,0 +1,74 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorSpeedResponse.proto */
+
+#ifndef PROTOBUF_C_StubMotorSpeedResponse_2eproto__INCLUDED
+#define PROTOBUF_C_StubMotorSpeedResponse_2eproto__INCLUDED
+
+#include <protobuf-c/protobuf-c.h>
+
+PROTOBUF_C__BEGIN_DECLS
+
+#if PROTOBUF_C_VERSION_NUMBER < 1003000
+# error This file was generated by a newer version of protoc-c which is incompatible with your libprotobuf-c headers. Please update your headers.
+#elif 1003000 < PROTOBUF_C_MIN_COMPILER_VERSION
+# error This file was generated by an older version of protoc-c which is incompatible with your libprotobuf-c headers. Please regenerate this file with a newer version of protoc-c.
+#endif
+
+
+typedef struct _StubMotorSpeedResponse StubMotorSpeedResponse;
+
+
+/* --- enums --- */
+
+
+/* --- messages --- */
+
+struct  _StubMotorSpeedResponse
+{
+  ProtobufCMessage base;
+  protobuf_c_boolean has_motor_id;
+  uint32_t motor_id;
+  protobuf_c_boolean has_speed;
+  double speed;
+};
+#define STUB_MOTOR_SPEED_RESPONSE__INIT \
+ { PROTOBUF_C_MESSAGE_INIT (&stub_motor_speed_response__descriptor) \
+    , 0, 0, 0, 0 }
+
+
+/* StubMotorSpeedResponse methods */
+void   stub_motor_speed_response__init
+                     (StubMotorSpeedResponse         *message);
+size_t stub_motor_speed_response__get_packed_size
+                     (const StubMotorSpeedResponse   *message);
+size_t stub_motor_speed_response__pack
+                     (const StubMotorSpeedResponse   *message,
+                      uint8_t             *out);
+size_t stub_motor_speed_response__pack_to_buffer
+                     (const StubMotorSpeedResponse   *message,
+                      ProtobufCBuffer     *buffer);
+StubMotorSpeedResponse *
+       stub_motor_speed_response__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data);
+void   stub_motor_speed_response__free_unpacked
+                     (StubMotorSpeedResponse *message,
+                      ProtobufCAllocator *allocator);
+/* --- per-message closures --- */
+
+typedef void (*StubMotorSpeedResponse_Closure)
+                 (const StubMotorSpeedResponse *message,
+                  void *closure_data);
+
+/* --- services --- */
+
+
+/* --- descriptors --- */
+
+extern const ProtobufCMessageDescriptor stub_motor_speed_response__descriptor;
+
+PROTOBUF_C__END_DECLS
+
+
+#endif  /* PROTOBUF_C_StubMotorSpeedResponse_2eproto__INCLUDED */
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStatusRequest.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStatusRequest.pb-c.c
new file mode 100644
index 000000000..21ff45bab
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStatusRequest.pb-c.c
@@ -0,0 +1,105 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorStatusRequest.proto */
+
+/* Do not generate deprecated warnings for self */
+#ifndef PROTOBUF_C__NO_DEPRECATED
+#define PROTOBUF_C__NO_DEPRECATED
+#endif
+
+#include "StubMotorStatusRequest.pb-c.h"
+void   stub_motor_status_request__init
+                     (StubMotorStatusRequest         *message)
+{
+  static const StubMotorStatusRequest init_value = STUB_MOTOR_STATUS_REQUEST__INIT;
+  *message = init_value;
+}
+size_t stub_motor_status_request__get_packed_size
+                     (const StubMotorStatusRequest *message)
+{
+  assert(message->base.descriptor == &stub_motor_status_request__descriptor);
+  return protobuf_c_message_get_packed_size ((const ProtobufCMessage*)(message));
+}
+size_t stub_motor_status_request__pack
+                     (const StubMotorStatusRequest *message,
+                      uint8_t       *out)
+{
+  assert(message->base.descriptor == &stub_motor_status_request__descriptor);
+  return protobuf_c_message_pack ((const ProtobufCMessage*)message, out);
+}
+size_t stub_motor_status_request__pack_to_buffer
+                     (const StubMotorStatusRequest *message,
+                      ProtobufCBuffer *buffer)
+{
+  assert(message->base.descriptor == &stub_motor_status_request__descriptor);
+  return protobuf_c_message_pack_to_buffer ((const ProtobufCMessage*)message, buffer);
+}
+StubMotorStatusRequest *
+       stub_motor_status_request__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data)
+{
+  return (StubMotorStatusRequest *)
+     protobuf_c_message_unpack (&stub_motor_status_request__descriptor,
+                                allocator, len, data);
+}
+void   stub_motor_status_request__free_unpacked
+                     (StubMotorStatusRequest *message,
+                      ProtobufCAllocator *allocator)
+{
+  if(!message)
+    return;
+  assert(message->base.descriptor == &stub_motor_status_request__descriptor);
+  protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
+}
+static const ProtobufCFieldDescriptor stub_motor_status_request__field_descriptors[2] =
+{
+  {
+    "Motor_ID",
+    1,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorStatusRequest, has_motor_id),
+    offsetof(StubMotorStatusRequest, motor_id),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "ClearStatus",
+    2,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorStatusRequest, has_clearstatus),
+    offsetof(StubMotorStatusRequest, clearstatus),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+};
+static const unsigned stub_motor_status_request__field_indices_by_name[] = {
+  1,   /* field[1] = ClearStatus */
+  0,   /* field[0] = Motor_ID */
+};
+static const ProtobufCIntRange stub_motor_status_request__number_ranges[1 + 1] =
+{
+  { 1, 0 },
+  { 0, 2 }
+};
+const ProtobufCMessageDescriptor stub_motor_status_request__descriptor =
+{
+  PROTOBUF_C__MESSAGE_DESCRIPTOR_MAGIC,
+  "StubMotorStatusRequest",
+  "StubMotorStatusRequest",
+  "StubMotorStatusRequest",
+  "",
+  sizeof(StubMotorStatusRequest),
+  2,
+  stub_motor_status_request__field_descriptors,
+  stub_motor_status_request__field_indices_by_name,
+  1,  stub_motor_status_request__number_ranges,
+  (ProtobufCMessageInit) stub_motor_status_request__init,
+  NULL,NULL,NULL    /* reserved[123] */
+};
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStatusRequest.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStatusRequest.pb-c.h
new file mode 100644
index 000000000..84fbd6080
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStatusRequest.pb-c.h
@@ -0,0 +1,74 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorStatusRequest.proto */
+
+#ifndef PROTOBUF_C_StubMotorStatusRequest_2eproto__INCLUDED
+#define PROTOBUF_C_StubMotorStatusRequest_2eproto__INCLUDED
+
+#include <protobuf-c/protobuf-c.h>
+
+PROTOBUF_C__BEGIN_DECLS
+
+#if PROTOBUF_C_VERSION_NUMBER < 1003000
+# error This file was generated by a newer version of protoc-c which is incompatible with your libprotobuf-c headers. Please update your headers.
+#elif 1003000 < PROTOBUF_C_MIN_COMPILER_VERSION
+# error This file was generated by an older version of protoc-c which is incompatible with your libprotobuf-c headers. Please regenerate this file with a newer version of protoc-c.
+#endif
+
+
+typedef struct _StubMotorStatusRequest StubMotorStatusRequest;
+
+
+/* --- enums --- */
+
+
+/* --- messages --- */
+
+struct  _StubMotorStatusRequest
+{
+  ProtobufCMessage base;
+  protobuf_c_boolean has_motor_id;
+  uint32_t motor_id;
+  protobuf_c_boolean has_clearstatus;
+  protobuf_c_boolean clearstatus;
+};
+#define STUB_MOTOR_STATUS_REQUEST__INIT \
+ { PROTOBUF_C_MESSAGE_INIT (&stub_motor_status_request__descriptor) \
+    , 0, 0, 0, 0 }
+
+
+/* StubMotorStatusRequest methods */
+void   stub_motor_status_request__init
+                     (StubMotorStatusRequest         *message);
+size_t stub_motor_status_request__get_packed_size
+                     (const StubMotorStatusRequest   *message);
+size_t stub_motor_status_request__pack
+                     (const StubMotorStatusRequest   *message,
+                      uint8_t             *out);
+size_t stub_motor_status_request__pack_to_buffer
+                     (const StubMotorStatusRequest   *message,
+                      ProtobufCBuffer     *buffer);
+StubMotorStatusRequest *
+       stub_motor_status_request__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data);
+void   stub_motor_status_request__free_unpacked
+                     (StubMotorStatusRequest *message,
+                      ProtobufCAllocator *allocator);
+/* --- per-message closures --- */
+
+typedef void (*StubMotorStatusRequest_Closure)
+                 (const StubMotorStatusRequest *message,
+                  void *closure_data);
+
+/* --- services --- */
+
+
+/* --- descriptors --- */
+
+extern const ProtobufCMessageDescriptor stub_motor_status_request__descriptor;
+
+PROTOBUF_C__END_DECLS
+
+
+#endif  /* PROTOBUF_C_StubMotorStatusRequest_2eproto__INCLUDED */
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStatusResponse.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStatusResponse.pb-c.c
new file mode 100644
index 000000000..9236abdea
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStatusResponse.pb-c.c
@@ -0,0 +1,287 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorStatusResponse.proto */
+
+/* Do not generate deprecated warnings for self */
+#ifndef PROTOBUF_C__NO_DEPRECATED
+#define PROTOBUF_C__NO_DEPRECATED
+#endif
+
+#include "StubMotorStatusResponse.pb-c.h"
+void   stub_motor_status_response__init
+                     (StubMotorStatusResponse         *message)
+{
+  static const StubMotorStatusResponse init_value = STUB_MOTOR_STATUS_RESPONSE__INIT;
+  *message = init_value;
+}
+size_t stub_motor_status_response__get_packed_size
+                     (const StubMotorStatusResponse *message)
+{
+  assert(message->base.descriptor == &stub_motor_status_response__descriptor);
+  return protobuf_c_message_get_packed_size ((const ProtobufCMessage*)(message));
+}
+size_t stub_motor_status_response__pack
+                     (const StubMotorStatusResponse *message,
+                      uint8_t       *out)
+{
+  assert(message->base.descriptor == &stub_motor_status_response__descriptor);
+  return protobuf_c_message_pack ((const ProtobufCMessage*)message, out);
+}
+size_t stub_motor_status_response__pack_to_buffer
+                     (const StubMotorStatusResponse *message,
+                      ProtobufCBuffer *buffer)
+{
+  assert(message->base.descriptor == &stub_motor_status_response__descriptor);
+  return protobuf_c_message_pack_to_buffer ((const ProtobufCMessage*)message, buffer);
+}
+StubMotorStatusResponse *
+       stub_motor_status_response__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data)
+{
+  return (StubMotorStatusResponse *)
+     protobuf_c_message_unpack (&stub_motor_status_response__descriptor,
+                                allocator, len, data);
+}
+void   stub_motor_status_response__free_unpacked
+                     (StubMotorStatusResponse *message,
+                      ProtobufCAllocator *allocator)
+{
+  if(!message)
+    return;
+  assert(message->base.descriptor == &stub_motor_status_response__descriptor);
+  protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
+}
+static const ProtobufCFieldDescriptor stub_motor_status_response__field_descriptors[16] =
+{
+  {
+    "Motor_ID",
+    1,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorStatusResponse, has_motor_id),
+    offsetof(StubMotorStatusResponse, motor_id),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "SCK_MOD",
+    2,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorStatusResponse, has_sck_mod),
+    offsetof(StubMotorStatusResponse, sck_mod),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "STEP_LOSS_B",
+    3,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorStatusResponse, has_step_loss_b),
+    offsetof(StubMotorStatusResponse, step_loss_b),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "STEP_LOSS_A",
+    4,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorStatusResponse, has_step_loss_a),
+    offsetof(StubMotorStatusResponse, step_loss_a),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "OCD",
+    5,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorStatusResponse, has_ocd),
+    offsetof(StubMotorStatusResponse, ocd),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "TH_SD",
+    6,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorStatusResponse, has_th_sd),
+    offsetof(StubMotorStatusResponse, th_sd),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "TH_WRN",
+    7,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorStatusResponse, has_th_wrn),
+    offsetof(StubMotorStatusResponse, th_wrn),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "UVLO",
+    8,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorStatusResponse, has_uvlo),
+    offsetof(StubMotorStatusResponse, uvlo),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "WRONG_CMD",
+    9,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorStatusResponse, has_wrong_cmd),
+    offsetof(StubMotorStatusResponse, wrong_cmd),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "NOTPERF_CMD",
+    10,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorStatusResponse, has_notperf_cmd),
+    offsetof(StubMotorStatusResponse, notperf_cmd),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "MOT_STATUS",
+    11,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorStatusResponse, has_mot_status),
+    offsetof(StubMotorStatusResponse, mot_status),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "DIR",
+    12,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorStatusResponse, has_dir),
+    offsetof(StubMotorStatusResponse, dir),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "SW_EVN",
+    13,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorStatusResponse, has_sw_evn),
+    offsetof(StubMotorStatusResponse, sw_evn),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "SW_F",
+    14,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorStatusResponse, has_sw_f),
+    offsetof(StubMotorStatusResponse, sw_f),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "BUSY",
+    15,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorStatusResponse, has_busy),
+    offsetof(StubMotorStatusResponse, busy),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "HiZ",
+    16,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorStatusResponse, has_hiz),
+    offsetof(StubMotorStatusResponse, hiz),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+};
+static const unsigned stub_motor_status_response__field_indices_by_name[] = {
+  14,   /* field[14] = BUSY */
+  11,   /* field[11] = DIR */
+  15,   /* field[15] = HiZ */
+  10,   /* field[10] = MOT_STATUS */
+  0,   /* field[0] = Motor_ID */
+  9,   /* field[9] = NOTPERF_CMD */
+  4,   /* field[4] = OCD */
+  1,   /* field[1] = SCK_MOD */
+  3,   /* field[3] = STEP_LOSS_A */
+  2,   /* field[2] = STEP_LOSS_B */
+  12,   /* field[12] = SW_EVN */
+  13,   /* field[13] = SW_F */
+  5,   /* field[5] = TH_SD */
+  6,   /* field[6] = TH_WRN */
+  7,   /* field[7] = UVLO */
+  8,   /* field[8] = WRONG_CMD */
+};
+static const ProtobufCIntRange stub_motor_status_response__number_ranges[1 + 1] =
+{
+  { 1, 0 },
+  { 0, 16 }
+};
+const ProtobufCMessageDescriptor stub_motor_status_response__descriptor =
+{
+  PROTOBUF_C__MESSAGE_DESCRIPTOR_MAGIC,
+  "StubMotorStatusResponse",
+  "StubMotorStatusResponse",
+  "StubMotorStatusResponse",
+  "",
+  sizeof(StubMotorStatusResponse),
+  16,
+  stub_motor_status_response__field_descriptors,
+  stub_motor_status_response__field_indices_by_name,
+  1,  stub_motor_status_response__number_ranges,
+  (ProtobufCMessageInit) stub_motor_status_response__init,
+  NULL,NULL,NULL    /* reserved[123] */
+};
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStatusResponse.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStatusResponse.pb-c.h
new file mode 100644
index 000000000..440830b3b
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStatusResponse.pb-c.h
@@ -0,0 +1,102 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorStatusResponse.proto */
+
+#ifndef PROTOBUF_C_StubMotorStatusResponse_2eproto__INCLUDED
+#define PROTOBUF_C_StubMotorStatusResponse_2eproto__INCLUDED
+
+#include <protobuf-c/protobuf-c.h>
+
+PROTOBUF_C__BEGIN_DECLS
+
+#if PROTOBUF_C_VERSION_NUMBER < 1003000
+# error This file was generated by a newer version of protoc-c which is incompatible with your libprotobuf-c headers. Please update your headers.
+#elif 1003000 < PROTOBUF_C_MIN_COMPILER_VERSION
+# error This file was generated by an older version of protoc-c which is incompatible with your libprotobuf-c headers. Please regenerate this file with a newer version of protoc-c.
+#endif
+
+
+typedef struct _StubMotorStatusResponse StubMotorStatusResponse;
+
+
+/* --- enums --- */
+
+
+/* --- messages --- */
+
+struct  _StubMotorStatusResponse
+{
+  ProtobufCMessage base;
+  protobuf_c_boolean has_motor_id;
+  uint32_t motor_id;
+  protobuf_c_boolean has_sck_mod;
+  protobuf_c_boolean sck_mod;
+  protobuf_c_boolean has_step_loss_b;
+  protobuf_c_boolean step_loss_b;
+  protobuf_c_boolean has_step_loss_a;
+  protobuf_c_boolean step_loss_a;
+  protobuf_c_boolean has_ocd;
+  protobuf_c_boolean ocd;
+  protobuf_c_boolean has_th_sd;
+  protobuf_c_boolean th_sd;
+  protobuf_c_boolean has_th_wrn;
+  protobuf_c_boolean th_wrn;
+  protobuf_c_boolean has_uvlo;
+  protobuf_c_boolean uvlo;
+  protobuf_c_boolean has_wrong_cmd;
+  protobuf_c_boolean wrong_cmd;
+  protobuf_c_boolean has_notperf_cmd;
+  protobuf_c_boolean notperf_cmd;
+  protobuf_c_boolean has_mot_status;
+  uint32_t mot_status;
+  protobuf_c_boolean has_dir;
+  protobuf_c_boolean dir;
+  protobuf_c_boolean has_sw_evn;
+  protobuf_c_boolean sw_evn;
+  protobuf_c_boolean has_sw_f;
+  protobuf_c_boolean sw_f;
+  protobuf_c_boolean has_busy;
+  protobuf_c_boolean busy;
+  protobuf_c_boolean has_hiz;
+  protobuf_c_boolean hiz;
+};
+#define STUB_MOTOR_STATUS_RESPONSE__INIT \
+ { PROTOBUF_C_MESSAGE_INIT (&stub_motor_status_response__descriptor) \
+    , 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }
+
+
+/* StubMotorStatusResponse methods */
+void   stub_motor_status_response__init
+                     (StubMotorStatusResponse         *message);
+size_t stub_motor_status_response__get_packed_size
+                     (const StubMotorStatusResponse   *message);
+size_t stub_motor_status_response__pack
+                     (const StubMotorStatusResponse   *message,
+                      uint8_t             *out);
+size_t stub_motor_status_response__pack_to_buffer
+                     (const StubMotorStatusResponse   *message,
+                      ProtobufCBuffer     *buffer);
+StubMotorStatusResponse *
+       stub_motor_status_response__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data);
+void   stub_motor_status_response__free_unpacked
+                     (StubMotorStatusResponse *message,
+                      ProtobufCAllocator *allocator);
+/* --- per-message closures --- */
+
+typedef void (*StubMotorStatusResponse_Closure)
+                 (const StubMotorStatusResponse *message,
+                  void *closure_data);
+
+/* --- services --- */
+
+
+/* --- descriptors --- */
+
+extern const ProtobufCMessageDescriptor stub_motor_status_response__descriptor;
+
+PROTOBUF_C__END_DECLS
+
+
+#endif  /* PROTOBUF_C_StubMotorStatusResponse_2eproto__INCLUDED */
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStopRequest.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStopRequest.pb-c.c
new file mode 100644
index 000000000..1bcdca7be
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStopRequest.pb-c.c
@@ -0,0 +1,105 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorStopRequest.proto */
+
+/* Do not generate deprecated warnings for self */
+#ifndef PROTOBUF_C__NO_DEPRECATED
+#define PROTOBUF_C__NO_DEPRECATED
+#endif
+
+#include "StubMotorStopRequest.pb-c.h"
+void   stub_motor_stop_request__init
+                     (StubMotorStopRequest         *message)
+{
+  static const StubMotorStopRequest init_value = STUB_MOTOR_STOP_REQUEST__INIT;
+  *message = init_value;
+}
+size_t stub_motor_stop_request__get_packed_size
+                     (const StubMotorStopRequest *message)
+{
+  assert(message->base.descriptor == &stub_motor_stop_request__descriptor);
+  return protobuf_c_message_get_packed_size ((const ProtobufCMessage*)(message));
+}
+size_t stub_motor_stop_request__pack
+                     (const StubMotorStopRequest *message,
+                      uint8_t       *out)
+{
+  assert(message->base.descriptor == &stub_motor_stop_request__descriptor);
+  return protobuf_c_message_pack ((const ProtobufCMessage*)message, out);
+}
+size_t stub_motor_stop_request__pack_to_buffer
+                     (const StubMotorStopRequest *message,
+                      ProtobufCBuffer *buffer)
+{
+  assert(message->base.descriptor == &stub_motor_stop_request__descriptor);
+  return protobuf_c_message_pack_to_buffer ((const ProtobufCMessage*)message, buffer);
+}
+StubMotorStopRequest *
+       stub_motor_stop_request__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data)
+{
+  return (StubMotorStopRequest *)
+     protobuf_c_message_unpack (&stub_motor_stop_request__descriptor,
+                                allocator, len, data);
+}
+void   stub_motor_stop_request__free_unpacked
+                     (StubMotorStopRequest *message,
+                      ProtobufCAllocator *allocator)
+{
+  if(!message)
+    return;
+  assert(message->base.descriptor == &stub_motor_stop_request__descriptor);
+  protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
+}
+static const ProtobufCFieldDescriptor stub_motor_stop_request__field_descriptors[2] =
+{
+  {
+    "Motor_ID",
+    1,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorStopRequest, has_motor_id),
+    offsetof(StubMotorStopRequest, motor_id),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Stop_CMD",
+    2,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorStopRequest, has_stop_cmd),
+    offsetof(StubMotorStopRequest, stop_cmd),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+};
+static const unsigned stub_motor_stop_request__field_indices_by_name[] = {
+  0,   /* field[0] = Motor_ID */
+  1,   /* field[1] = Stop_CMD */
+};
+static const ProtobufCIntRange stub_motor_stop_request__number_ranges[1 + 1] =
+{
+  { 1, 0 },
+  { 0, 2 }
+};
+const ProtobufCMessageDescriptor stub_motor_stop_request__descriptor =
+{
+  PROTOBUF_C__MESSAGE_DESCRIPTOR_MAGIC,
+  "StubMotorStopRequest",
+  "StubMotorStopRequest",
+  "StubMotorStopRequest",
+  "",
+  sizeof(StubMotorStopRequest),
+  2,
+  stub_motor_stop_request__field_descriptors,
+  stub_motor_stop_request__field_indices_by_name,
+  1,  stub_motor_stop_request__number_ranges,
+  (ProtobufCMessageInit) stub_motor_stop_request__init,
+  NULL,NULL,NULL    /* reserved[123] */
+};
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStopRequest.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStopRequest.pb-c.h
new file mode 100644
index 000000000..2c89fc185
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStopRequest.pb-c.h
@@ -0,0 +1,77 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorStopRequest.proto */
+
+#ifndef PROTOBUF_C_StubMotorStopRequest_2eproto__INCLUDED
+#define PROTOBUF_C_StubMotorStopRequest_2eproto__INCLUDED
+
+#include <protobuf-c/protobuf-c.h>
+
+PROTOBUF_C__BEGIN_DECLS
+
+#if PROTOBUF_C_VERSION_NUMBER < 1003000
+# error This file was generated by a newer version of protoc-c which is incompatible with your libprotobuf-c headers. Please update your headers.
+#elif 1003000 < PROTOBUF_C_MIN_COMPILER_VERSION
+# error This file was generated by an older version of protoc-c which is incompatible with your libprotobuf-c headers. Please regenerate this file with a newer version of protoc-c.
+#endif
+
+
+typedef struct _StubMotorStopRequest StubMotorStopRequest;
+
+
+/* --- enums --- */
+
+
+/* --- messages --- */
+
+struct  _StubMotorStopRequest
+{
+  ProtobufCMessage base;
+  protobuf_c_boolean has_motor_id;
+  uint32_t motor_id;
+  /*
+   * 1 - Hard_Stop/ 2 - Soft_Stop/ 3 - Hard_Hiz/ 4 - Soft_Hiz
+   */
+  protobuf_c_boolean has_stop_cmd;
+  uint32_t stop_cmd;
+};
+#define STUB_MOTOR_STOP_REQUEST__INIT \
+ { PROTOBUF_C_MESSAGE_INIT (&stub_motor_stop_request__descriptor) \
+    , 0, 0, 0, 0 }
+
+
+/* StubMotorStopRequest methods */
+void   stub_motor_stop_request__init
+                     (StubMotorStopRequest         *message);
+size_t stub_motor_stop_request__get_packed_size
+                     (const StubMotorStopRequest   *message);
+size_t stub_motor_stop_request__pack
+                     (const StubMotorStopRequest   *message,
+                      uint8_t             *out);
+size_t stub_motor_stop_request__pack_to_buffer
+                     (const StubMotorStopRequest   *message,
+                      ProtobufCBuffer     *buffer);
+StubMotorStopRequest *
+       stub_motor_stop_request__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data);
+void   stub_motor_stop_request__free_unpacked
+                     (StubMotorStopRequest *message,
+                      ProtobufCAllocator *allocator);
+/* --- per-message closures --- */
+
+typedef void (*StubMotorStopRequest_Closure)
+                 (const StubMotorStopRequest *message,
+                  void *closure_data);
+
+/* --- services --- */
+
+
+/* --- descriptors --- */
+
+extern const ProtobufCMessageDescriptor stub_motor_stop_request__descriptor;
+
+PROTOBUF_C__END_DECLS
+
+
+#endif  /* PROTOBUF_C_StubMotorStopRequest_2eproto__INCLUDED */
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStopResponse.pb-c.c b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStopResponse.pb-c.c
new file mode 100644
index 000000000..d829d6b68
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStopResponse.pb-c.c
@@ -0,0 +1,118 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorStopResponse.proto */
+
+/* Do not generate deprecated warnings for self */
+#ifndef PROTOBUF_C__NO_DEPRECATED
+#define PROTOBUF_C__NO_DEPRECATED
+#endif
+
+#include "StubMotorStopResponse.pb-c.h"
+void   stub_motor_stop_response__init
+                     (StubMotorStopResponse         *message)
+{
+  static const StubMotorStopResponse init_value = STUB_MOTOR_STOP_RESPONSE__INIT;
+  *message = init_value;
+}
+size_t stub_motor_stop_response__get_packed_size
+                     (const StubMotorStopResponse *message)
+{
+  assert(message->base.descriptor == &stub_motor_stop_response__descriptor);
+  return protobuf_c_message_get_packed_size ((const ProtobufCMessage*)(message));
+}
+size_t stub_motor_stop_response__pack
+                     (const StubMotorStopResponse *message,
+                      uint8_t       *out)
+{
+  assert(message->base.descriptor == &stub_motor_stop_response__descriptor);
+  return protobuf_c_message_pack ((const ProtobufCMessage*)message, out);
+}
+size_t stub_motor_stop_response__pack_to_buffer
+                     (const StubMotorStopResponse *message,
+                      ProtobufCBuffer *buffer)
+{
+  assert(message->base.descriptor == &stub_motor_stop_response__descriptor);
+  return protobuf_c_message_pack_to_buffer ((const ProtobufCMessage*)message, buffer);
+}
+StubMotorStopResponse *
+       stub_motor_stop_response__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data)
+{
+  return (StubMotorStopResponse *)
+     protobuf_c_message_unpack (&stub_motor_stop_response__descriptor,
+                                allocator, len, data);
+}
+void   stub_motor_stop_response__free_unpacked
+                     (StubMotorStopResponse *message,
+                      ProtobufCAllocator *allocator)
+{
+  if(!message)
+    return;
+  assert(message->base.descriptor == &stub_motor_stop_response__descriptor);
+  protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
+}
+static const ProtobufCFieldDescriptor stub_motor_stop_response__field_descriptors[3] =
+{
+  {
+    "Motor_ID",
+    1,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorStopResponse, has_motor_id),
+    offsetof(StubMotorStopResponse, motor_id),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "Mot_Status",
+    2,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_UINT32,
+    offsetof(StubMotorStopResponse, has_mot_status),
+    offsetof(StubMotorStopResponse, mot_status),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "HiZ",
+    3,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(StubMotorStopResponse, has_hiz),
+    offsetof(StubMotorStopResponse, hiz),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+};
+static const unsigned stub_motor_stop_response__field_indices_by_name[] = {
+  2,   /* field[2] = HiZ */
+  1,   /* field[1] = Mot_Status */
+  0,   /* field[0] = Motor_ID */
+};
+static const ProtobufCIntRange stub_motor_stop_response__number_ranges[1 + 1] =
+{
+  { 1, 0 },
+  { 0, 3 }
+};
+const ProtobufCMessageDescriptor stub_motor_stop_response__descriptor =
+{
+  PROTOBUF_C__MESSAGE_DESCRIPTOR_MAGIC,
+  "StubMotorStopResponse",
+  "StubMotorStopResponse",
+  "StubMotorStopResponse",
+  "",
+  sizeof(StubMotorStopResponse),
+  3,
+  stub_motor_stop_response__field_descriptors,
+  stub_motor_stop_response__field_indices_by_name,
+  1,  stub_motor_stop_response__number_ranges,
+  (ProtobufCMessageInit) stub_motor_stop_response__init,
+  NULL,NULL,NULL    /* reserved[123] */
+};
diff --git a/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStopResponse.pb-c.h b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStopResponse.pb-c.h
new file mode 100644
index 000000000..ca3fd9d38
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/PMR/Stubs/StubMotorStopResponse.pb-c.h
@@ -0,0 +1,82 @@
+/* Generated by the protocol buffer compiler.  DO NOT EDIT! */
+/* Generated from: StubMotorStopResponse.proto */
+
+#ifndef PROTOBUF_C_StubMotorStopResponse_2eproto__INCLUDED
+#define PROTOBUF_C_StubMotorStopResponse_2eproto__INCLUDED
+
+#include <protobuf-c/protobuf-c.h>
+
+PROTOBUF_C__BEGIN_DECLS
+
+#if PROTOBUF_C_VERSION_NUMBER < 1003000
+# error This file was generated by a newer version of protoc-c which is incompatible with your libprotobuf-c headers. Please update your headers.
+#elif 1003000 < PROTOBUF_C_MIN_COMPILER_VERSION
+# error This file was generated by an older version of protoc-c which is incompatible with your libprotobuf-c headers. Please regenerate this file with a newer version of protoc-c.
+#endif
+
+
+typedef struct _StubMotorStopResponse StubMotorStopResponse;
+
+
+/* --- enums --- */
+
+
+/* --- messages --- */
+
+struct  _StubMotorStopResponse
+{
+  ProtobufCMessage base;
+  protobuf_c_boolean has_motor_id;
+  uint32_t motor_id;
+  /*
+   * Stopped / Acceleration / Deceleration / Constant speed
+   */
+  protobuf_c_boolean has_mot_status;
+  uint32_t mot_status;
+  /*
+   * 1 - high impedance state.
+   */
+  protobuf_c_boolean has_hiz;
+  protobuf_c_boolean hiz;
+};
+#define STUB_MOTOR_STOP_RESPONSE__INIT \
+ { PROTOBUF_C_MESSAGE_INIT (&stub_motor_stop_response__descriptor) \
+    , 0, 0, 0, 0, 0, 0 }
+
+
+/* StubMotorStopResponse methods */
+void   stub_motor_stop_response__init
+                     (StubMotorStopResponse         *message);
+size_t stub_motor_stop_response__get_packed_size
+                     (const StubMotorStopResponse   *message);
+size_t stub_motor_stop_response__pack
+                     (const StubMotorStopResponse   *message,
+                      uint8_t             *out);
+size_t stub_motor_stop_response__pack_to_buffer
+                     (const StubMotorStopResponse   *message,
+                      ProtobufCBuffer     *buffer);
+StubMotorStopResponse *
+       stub_motor_stop_response__unpack
+                     (ProtobufCAllocator  *allocator,
+                      size_t               len,
+                      const uint8_t       *data);
+void   stub_motor_stop_response__free_unpacked
+                     (StubMotorStopResponse *message,
+                      ProtobufCAllocator *allocator);
+/* --- per-message closures --- */
+
+typedef void (*StubMotorStopResponse_Closure)
+                 (const StubMotorStopResponse *message,
+                  void *closure_data);
+
+/* --- services --- */
+
+
+/* --- descriptors --- */
+
+extern const ProtobufCMessageDescriptor stub_motor_stop_response__descriptor;
+
+PROTOBUF_C__END_DECLS
+
+
+#endif  /* PROTOBUF_C_StubMotorStopResponse_2eproto__INCLUDED */
diff --git a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Calculate.c b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Calculate.c
index 6bd5cb703..cc6841261 100644
--- a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Calculate.c
+++ b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Calculate.c
@@ -1,4 +1,6 @@
 
+#include <PMR/Stubs/CalculateRequest.pb-c.h>
+#include <PMR/Stubs/CalculateResponse.pb-c.h>
 #include <stdbool.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -14,9 +16,6 @@
 #include "usb_serial_adapter.h"
 #include "graphics_adapter.h"
 #include "MessageContainer.pb-c.h"
-#include "CalculateRequest.pb-c.h"
-#include "CalculateResponse.pb-c.h"
-
 #include "Container.h"
 
 void Stub_CalculateRequest(MessageContainer* requestContainer)
diff --git a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Container.c b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Container.c
index 570ead28f..d8627bf1c 100644
--- a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Container.c
+++ b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Container.c
@@ -25,6 +25,10 @@
 #include "Stub_SteperMotor.h"
 #include "Stub_Valve.h"
 #include "Stub_ExtFlash.h"
+#include "Stub_FPGAReadBackReg.h"
+#include "Stub_FPGAReadVersion.h"
+#include "Stub_L6470.h"
+#include "Stub_Motor.h"
 
 MessageContainer createContainer(MessageType type, char* token, protobuf_c_boolean completed, void* response, size_t (*packPtr)(void*, uint8_t*), size_t (*sizePtr)(void*))
 {
@@ -113,6 +117,36 @@ void receive_callback(char* buffer, size_t length)
          case MESSAGE_TYPE__StubExtFlashWriteRequest:
              Stub_ExtFlashWriteRequest(requestContainer);
              break;
+         case MESSAGE_TYPE__StubFPGAReadBackRegRequest:
+             Stub_FPGAReadBackRegRequest(requestContainer);
+             break;
+         case MESSAGE_TYPE__StubFPGAReadVersionRequest:
+             Stub_FPGAReadVersionRequest(requestContainer);
+             break;
+         case MESSAGE_TYPE__StubL6470DriverRequest:
+             Stub_L6470DriverRequest(requestContainer);
+             break;
+         case MESSAGE_TYPE__StubMotorInitRequest:
+             Stub_MotorInitRequest(requestContainer);
+             break;
+         case MESSAGE_TYPE__StubMotorRunRequest:
+             Stub_MotorRunRequest(requestContainer);
+             break;
+         case MESSAGE_TYPE__StubMotorStopRequest:
+             Stub_MotorStopRequest(requestContainer);
+             break;
+         case MESSAGE_TYPE__StubMotorStatusRequest:
+             Stub_MotorStatusRequest(requestContainer);
+             break;
+         case MESSAGE_TYPE__StubMotorPositionRequest:
+             Stub_MotorPositionRequest(requestContainer);
+             break;
+         case MESSAGE_TYPE__StubMotorSpeedRequest:
+             Stub_MotorSpeedRequest(requestContainer);
+             break;
+         case MESSAGE_TYPE__StubMotorMovRequest:
+             Stub_MotorMovRequest(requestContainer);
+             break;
 
          default:
              //unsupported message type !!
diff --git a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/DataDef.h b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/DataDef.h
index 08da87c09..c7e41d2b8 100644
--- a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/DataDef.h
+++ b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/DataDef.h
@@ -4,6 +4,7 @@
 #define EVALUATION_BOARD // to use the LCD only when using the evaluation board
 #define USE_HIGH_SPEED_GPIO // to use AHB GPIO (A..J) ports A-J APB or AHB, ports K-Q on AHB only
 
+
 #define ON  1
 #define OFF 0
 
@@ -25,18 +26,27 @@ enum
 #define NEW  0
 #define USED 1
 
-#define START 1
-#define STOP  0
+#define START 0
+#define STOP  1
+#define NOSTOP     2
+#define CONTINUE   2
+
+#define NOTBUSY 0
+#define BUSY 1
+//
+//#define SPI_BUSY 0
+//#define SPI_NOTBUSY 1
+
 
 // motor direction
-#define CW  1 // clockwise
-#define CCW 0 // counter clockwise
+#define CW  0 // clockwise
+#define CCW 1 // counter clockwise
 
 #define TRUE  1
 #define FALSE 0
 
-#define INPUT  1
-#define OUTPUT 0
+#define INPUT 0x0
+#define OUTPUT 0x1
 
 #define PULLDOWN 0
 #define PULLUP   1
@@ -45,6 +55,54 @@ enum
 #define RX 1
 #define TXRX 2
 
+#define ODD         0
+#define EVEN        1
+
+#define READY       0
+#define NOTREADY    1
+#define WAIT        2
+
+#define LOW  0x0
+#define HIGH 0x1
+
+#define WR          0
+#define RD          1
+
+#define FLAGSTART   1
+#define FLAGSET     1
+#define FLAGCLEAR   0
+
+#define IN              2
+#define OUT             3
+
+#define INIT 1
+#define SKIP_INIT 0
+
+#define byte uint8_t//char
+#define boolean bool
+
+#define SERIAL  0x0
+#define DISPLAY 0x1
+
+#define LSBFIRST 0
+#define MSBFIRST 1
+
+#define CHANGE 1
+#define FALLING 2
+#define RISING 3
+
+//typedef union
+//{
+//    struct
+//    {
+//    unsigned char MSB;
+//    unsigned char 3RD;
+//    unsigned char 2ND;
+//    unsigned char LSB;
+//    }byte;
+//    long LONG;
+//}LONG2BYTE;
+
 //---------------------------------------------------------------------
 #pragma diag_suppress 169 /*  Avoid warnings on VOID * conversions (protobuf issue)
 The warning:
diff --git a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Progress.c b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Progress.c
index efd4c7eac..8d55b2933 100644
--- a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Progress.c
+++ b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Progress.c
@@ -1,4 +1,6 @@
 
+#include <PMR/Stubs/ProgressRequest.pb-c.h>
+#include <PMR/Stubs/ProgressResponse.pb-c.h>
 #include <stdbool.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -14,9 +16,6 @@
 #include "usb_serial_adapter.h"
 #include "graphics_adapter.h"
 #include "MessageContainer.pb-c.h"
-#include "ProgressRequest.pb-c.h"
-#include "ProgressResponse.pb-c.h"
-
 #include "Container.h"
 
 void Stub_ProgressRequest(MessageContainer* requestContainer)
diff --git a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Cartridge.c b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Cartridge.c
index e97831e67..5bb71dd9c 100644
--- a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Cartridge.c
+++ b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Cartridge.c
@@ -1,5 +1,9 @@
 
 
+#include <PMR/Stubs/StubCartridgeReadRequest.pb-c.h>
+#include <PMR/Stubs/StubCartridgeReadResponse.pb-c.h>
+#include <PMR/Stubs/StubCartridgeWriteRequest.pb-c.h>
+#include <PMR/Stubs/StubCartridgeWriteResponse.pb-c.h>
 #include <stdbool.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -17,11 +21,6 @@
 
 #include "MessageContainer.pb-c.h"
 
-#include "StubCartridgeReadResponse.pb-c.h"
-#include "StubCartridgeReadRequest.pb-c.h"
-#include "StubCartridgeWriteResponse.pb-c.h"
-#include "StubCartridgeWriteRequest.pb-c.h"
-
 #include "Container.h"
 #include "Stub_Status.h"
 
diff --git a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Dispenser.c b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Dispenser.c
index bb2ceaea9..cc1f1e4ea 100644
--- a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Dispenser.c
+++ b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Dispenser.c
@@ -1,5 +1,7 @@
 
 
+#include <PMR/Stubs/StubDispenserRequest.pb-c.h>
+#include <PMR/Stubs/StubDispenserResponse.pb-c.h>
 #include <stdbool.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -17,9 +19,6 @@
 
 #include "MessageContainer.pb-c.h"
 
-#include "StubDispenserResponse.pb-c.h"
-#include "StubDispenserRequest.pb-c.h"
-
 #include "Container.h"
 #include "Stub_Status.h"
 
diff --git a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_ExtFlash.c b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_ExtFlash.c
index c7ef4aaa8..4994736e6 100644
--- a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_ExtFlash.c
+++ b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_ExtFlash.c
@@ -1,5 +1,9 @@
 
 #include <drivers/Flash_Memory/Flash_Memory.h>
+#include <PMR/Stubs/StubExtFlashReadRequest.pb-c.h>
+#include <PMR/Stubs/StubExtFlashReadResponse.pb-c.h>
+#include <PMR/Stubs/StubExtFlashWriteRequest.pb-c.h>
+#include <PMR/Stubs/StubExtFlashWriteResponse.pb-c.h>
 #include <stdbool.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -16,12 +20,6 @@
 
 #include "MessageContainer.pb-c.h"
 
-#include "StubExtFlashWriteRequest.pb-c.h"
-#include "StubExtFlashWriteResponse.pb-c.h"
-
-#include "StubExtFlashReadRequest.pb-c.h"
-#include "StubExtFlashReadResponse.pb-c.h"
-
 #include "Container.h"
 #include "Stub_Status.h"
 
diff --git a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_FPGAReadBackReg.c b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_FPGAReadBackReg.c
new file mode 100644
index 000000000..2ca985d12
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_FPGAReadBackReg.c
@@ -0,0 +1,69 @@
+
+#include <PMR/Stubs/StubFPGAReadBackRegRequest.pb-c.h>
+#include <PMR/Stubs/StubFPGAReadBackRegResponse.pb-c.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <string.h>
+#include <Stubs_Handler/DataDef.h>
+#include "inc/hw_memmap.h"
+#include "inc/hw_types.h"
+#include "inc/hw_uart.h"
+
+#include "usb_serial_adapter.h"
+#include "graphics_adapter.h"
+
+#include "MessageContainer.pb-c.h"
+
+#include "Container.h"
+#include "Stub_Status.h"
+#include "drivers/FPGA/FPGA.h"
+
+void Stub_FPGAReadBackRegRequest(MessageContainer* requestContainer)
+{
+    uint32_t status = FAILED;
+
+    unsigned short ReadBack_Value;
+
+    MessageContainer responseContainer;
+
+    StubFPGAReadBackRegRequest* request = stub_fpgaread_back_reg_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    writeLine("ReadBack Request: ");
+
+    writeFloat(request->fpgaid);
+    writeString(", ");
+    writeFloat(request->value);
+
+    status = Test_FPGA_ReadBack((unsigned char) request->fpgaid, (unsigned short) request->value, &ReadBack_Value);
+
+    StubFPGAReadBackRegResponse response =   STUB_FPGAREAD_BACK_REG_RESPONSE__INIT;
+
+    status_response(status,&response.status, &response.statusword ,&response.has_statusword);
+
+    response.fpgaid = request->fpgaid;
+    response.has_fpgaid = true;
+    response.readbackvalue = ReadBack_Value;
+    response.has_readbackvalue = true;
+
+    responseContainer = createContainer(MESSAGE_TYPE__StubFPGAReadBackRegResponse, requestContainer->token, true, &response, &stub_fpgaread_back_reg_response__pack, &stub_fpgaread_back_reg_response__get_packed_size);
+
+    writeLine("Sending Response: ");
+
+    writeFloat(response.fpgaid);
+    writeString(", ");
+    writeFloat(response.readbackvalue);
+    writeString(", ");
+
+    Write_status_response(status);
+
+    free(request);
+    //-------------------------------------------------------------------------------------------
+    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    SendChars((char*)container_buffer, container_size);
+    free(container_buffer);
+    free(requestContainer);
+
+}
diff --git a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_FPGAReadBackReg.h b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_FPGAReadBackReg.h
new file mode 100644
index 000000000..14e245225
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_FPGAReadBackReg.h
@@ -0,0 +1,11 @@
+#ifndef STUB_READBACK_H
+#define STUB_READBACK_H
+
+void Stub_FPGAReadBackRegRequest(MessageContainer* requestContainer);
+
+#endif //STUB_READBACK_H
+
+
+
+
+
diff --git a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_FPGAReadVersion.c b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_FPGAReadVersion.c
new file mode 100644
index 000000000..0861ddb5f
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_FPGAReadVersion.c
@@ -0,0 +1,81 @@
+
+#include <PMR/Stubs/StubFPGAReadVersionResponse.pb-c.h>
+#include <PMR/Stubs/StubFPGAReadVersionRequest.pb-c.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <string.h>
+#include <Stubs_Handler/DataDef.h>
+#include "inc/hw_memmap.h"
+#include "inc/hw_types.h"
+#include "inc/hw_uart.h"
+
+#include "usb_serial_adapter.h"
+#include "graphics_adapter.h"
+
+#include "MessageContainer.pb-c.h"
+
+#include "Container.h"
+#include "Stub_Status.h"
+#include "drivers/FPGA/FPGA.h"
+
+void Stub_FPGAReadVersionRequest(MessageContainer* requestContainer)
+{
+    uint32_t status = FAILED;
+    unsigned char Version;
+    unsigned char Year;
+    unsigned char Month;
+    unsigned char Day;
+
+    MessageContainer responseContainer;
+
+    StubFPGAReadVersionRequest* request = stub_fpgaread_version_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    writeLine("ReadBack Request: ");
+
+    writeFloat(request->fpgaid);
+
+    status = FPGA_ReadVersion((unsigned char)request->fpgaid, &Version, &Year, &Month, &Day);
+
+    StubFPGAReadVersionResponse response =   STUB_FPGAREAD_VERSION_RESPONSE__INIT;
+
+    status_response(status,&response.status, &response.statusword ,&response.has_statusword);
+
+    response.fpgaid = request->fpgaid;
+    response.has_fpgaid = true;
+    response.day = Day;
+    response.has_day = true;
+    response.month = Month;
+    response.has_month = true;
+    response.year = Year;
+    response.has_year = true;
+    response.ver_num = Version;
+    response.has_ver_num = true;
+
+    responseContainer = createContainer(MESSAGE_TYPE__StubFPGAReadVersionResponse, requestContainer->token, true, &response, &stub_fpgaread_version_response__pack, &stub_fpgaread_version_response__get_packed_size);
+
+    writeLine("Sending Response: ");
+
+    writeFloat(response.fpgaid);
+    writeString(", ");
+    writeFloat(response.day);
+    writeString(", ");
+    writeFloat(response.month);
+    writeString(", ");
+    writeFloat(response.year);
+    writeString(", ");
+    writeFloat(response.ver_num);
+    writeString(", ");
+
+    Write_status_response(status);
+
+    free(request);
+    //-------------------------------------------------------------------------------------------
+    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    SendChars((char*)container_buffer, container_size);
+    free(container_buffer);
+    free(requestContainer);
+
+}
diff --git a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_FPGAReadVersion.h b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_FPGAReadVersion.h
new file mode 100644
index 000000000..d9c33b8b8
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_FPGAReadVersion.h
@@ -0,0 +1,6 @@
+#ifndef STUB_FPGAVER_H
+#define STUB_FPGAVER_H
+
+void Stub_FPGAReadVersionRequest(MessageContainer* requestContainer);
+
+#endif //STUB_FPGAVER_H
diff --git a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_GPIO.c b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_GPIO.c
index 0d0896517..b02c79539 100644
--- a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_GPIO.c
+++ b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_GPIO.c
@@ -1,4 +1,14 @@
 
+#include <PMR/Stubs/StubGPIOInputSetupRequest.pb-c.h>
+#include <PMR/Stubs/StubGPIOInputSetupResponse.pb-c.h>
+#include <PMR/Stubs/StubGPIOReadBitRequest.pb-c.h>
+#include <PMR/Stubs/StubGPIOReadBitResponse.pb-c.h>
+#include <PMR/Stubs/StubGPIOReadByteRequest.pb-c.h>
+#include <PMR/Stubs/StubGPIOReadByteResponse.pb-c.h>
+#include <PMR/Stubs/StubGPIOWriteBitRequest.pb-c.h>
+#include <PMR/Stubs/StubGPIOWriteBitResponse.pb-c.h>
+#include <PMR/Stubs/StubGPIOWriteByteRequest.pb-c.h>
+#include <PMR/Stubs/StubGPIOWriteByteResponse.pb-c.h>
 #include <stdbool.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -16,21 +26,6 @@
 
 #include "MessageContainer.pb-c.h"
 
-#include "StubGPIOWriteBitRequest.pb-c.h"
-#include "StubGPIOWriteBitResponse.pb-c.h"
-
-#include "StubGPIOReadByteResponse.pb-c.h"
-#include "StubGPIOReadByteRequest.pb-c.h"
-
-#include "StubGPIOReadBitResponse.pb-c.h"
-#include "StubGPIOReadBitRequest.pb-c.h"
-
-#include "StubGPIOWriteByteResponse.pb-c.h"
-#include "StubGPIOWriteByteRequest.pb-c.h"
-
-#include "StubGPIOInputSetupRequest.pb-c.h"
-#include "StubGPIOInputSetupResponse.pb-c.h"
-
 #include "Container.h"
 #include <Stubs_Handler/User_Leds.h>
 
diff --git a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Heater.c b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Heater.c
index 38193f180..8cc5c515a 100644
--- a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Heater.c
+++ b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Heater.c
@@ -1,5 +1,7 @@
 
 
+#include <PMR/Stubs/StubHeaterRequest.pb-c.h>
+#include <PMR/Stubs/StubHeaterResponse.pb-c.h>
 #include <stdbool.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -17,9 +19,6 @@
 
 #include "MessageContainer.pb-c.h"
 
-#include "StubHeaterResponse.pb-c.h"
-#include "StubHeaterRequest.pb-c.h"
-
 #include "Container.h"
 #include "Stub_Status.h"
 
diff --git a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_L6470.c b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_L6470.c
new file mode 100644
index 000000000..a8be5cd19
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_L6470.c
@@ -0,0 +1,133 @@
+
+#include <PMR/Stubs/StubL6470DriverResponse.pb-c.h>
+#include <PMR/Stubs/StubL6470DriverRequest.pb-c.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <string.h>
+#include <Stubs_Handler/DataDef.h>
+#include "inc/hw_memmap.h"
+#include "inc/hw_types.h"
+#include "inc/hw_uart.h"
+
+#include "usb_serial_adapter.h"
+#include "graphics_adapter.h"
+
+#include "MessageContainer.pb-c.h"
+
+#include "Container.h"
+#include "Stub_Status.h"
+#include "drivers/FPGA/FPGA.h"
+#include "drivers/SPI/SPI_Comm.h"
+
+#include "drivers/FPGA/Moters_Driver/L6470.h"
+
+#include "driverlib/ssi.h"
+
+    unsigned long Run_Value = 136902 ;
+    unsigned long Pos_Value;
+    unsigned long Mov_Value ;
+    bool Direction ;
+    unsigned long Time_2_Change_Direction ;
+    bool Display_Tx_ON_LCD;
+    bool Display_Rx_on_LCD;
+    unsigned long Init_MicroStep ;
+    unsigned long Init_Acc;
+    unsigned long Init_Dec;
+    bool TestBool_1;
+    bool TestBool_2;
+    bool TestBool_3;
+    bool TestBool_4;
+    bool TestBool_5;
+    unsigned long TestUint32_1;
+    unsigned long TestUint32_2;
+    unsigned long TestUint32_3;
+    unsigned long TestUint32_4;
+    unsigned long TestUint32_5;
+    unsigned long TestUint32_6;
+
+void Stub_L6470DriverRequest(MessageContainer* requestContainer)
+{
+    uint32_t status = PASSED;
+
+    MessageContainer responseContainer;
+
+    StubL6470DriverRequest* request = stub_l6470_driver_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    Run_Value = request->run_value;
+    Mov_Value = request->mov_value;
+    Direction = request->direction;
+    Time_2_Change_Direction = request->time_2_change_direction;
+    Display_Tx_ON_LCD = request->display_tx_on_lcd;
+    Display_Rx_on_LCD = request->display_rx_on_lcd;
+    Init_MicroStep = request->init_microstep;
+    Init_Acc = request->init_acc;
+    Init_Dec = request->init_dec;
+    TestBool_1 = request->testbool_1;
+    TestBool_2 = request->testbool_2;
+    TestBool_3 = request->testbool_3;
+    TestBool_4 = request->testbool_4;
+    TestBool_5 = request->testbool_5;
+    TestUint32_1 = request->testuint32_1;
+    TestUint32_2 = request->testuint32_2;
+    TestUint32_3 = request->testuint32_3;
+    TestUint32_4 = request->testuint32_4;
+    TestUint32_5 = request->testuint32_5;
+    TestUint32_6 = request->testuint32_6;
+
+    writeLine("L6470 Request: ");
+
+    writeFloat(request->run_value);
+
+    //status = FPGA_ReadVersion((unsigned char)request->fpgaid, &Version, &Year, &Month, &Day);
+    SPI_Control(INIT);
+
+    //temp_init_spi2();
+
+
+    StubL6470DriverResponse response =   STUB_L6470_DRIVER_RESPONSE__INIT;
+
+    status_response(status,&response.status, &response.statusword ,&response.has_statusword);
+
+    //response.run_value = Get_Param(x_SPEED);
+    /*
+    response.mov_value = ;
+    response.day = Day;
+    response.has_day = true;
+    response.month = Month;
+    response.has_month = true;
+    response.year = Year;
+    response.has_year = true;
+    response.ver_num = Version;
+    response.has_ver_num = true;
+*/
+    responseContainer = createContainer(MESSAGE_TYPE__StubL6470DriverResponse, requestContainer->token, true, &response, &stub_l6470_driver_response__pack, &stub_l6470_driver_response__get_packed_size);
+
+    writeLine("Sending Response: ");
+
+    writeFloat(response.run_value);
+    /*
+    writeString(", ");
+    writeFloat(response.day);
+    writeString(", ");
+    writeFloat(response.month);
+    writeString(", ");
+    writeFloat(response.year);
+    writeString(", ");
+    writeFloat(response.ver_num);
+    writeString(", ");
+*/
+    Write_status_response(status);
+
+    free(request);
+    //-------------------------------------------------------------------------------------------
+    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    SendChars((char*)container_buffer, container_size);
+    free(container_buffer);
+    free(requestContainer);
+
+
+    //StartUSB(ui32SysClock); //todo  to test the USB comm problem after using 6470
+}
diff --git a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_L6470.h b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_L6470.h
new file mode 100644
index 000000000..0b4702861
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_L6470.h
@@ -0,0 +1,3 @@
+void Stub_L6470DriverRequest(MessageContainer* requestContainer);
+
+void temp_init_spi2();
diff --git a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Motor.c b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Motor.c
new file mode 100644
index 000000000..ef77db30d
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Motor.c
@@ -0,0 +1,448 @@
+
+#include <PMR/Stubs/StubMotorInitRequest.pb-c.h>
+#include <PMR/Stubs/StubMotorInitResponse.pb-c.h>
+#include <PMR/Stubs/StubMotorRunRequest.pb-c.h>
+#include <PMR/Stubs/StubMotorRunResponse.pb-c.h>
+#include <PMR/Stubs/StubMotorStopRequest.pb-c.h>
+#include <PMR/Stubs/StubMotorStopResponse.pb-c.h>
+#include <PMR/Stubs/StubMotorStatusRequest.pb-c.h>
+#include <PMR/Stubs/StubMotorStatusResponse.pb-c.h>
+#include <PMR/Stubs/StubMotorSpeedResponse.pb-c.h>
+#include <PMR/Stubs/StubMotorSpeedRequest.pb-c.h>
+#include <PMR/Stubs/StubMotorPositionRequest.pb-c.h>
+#include <PMR/Stubs/StubMotorPositionResponse.pb-c.h>
+#include <PMR/Stubs/StubMotorMovRequest.pb-c.h>
+#include <PMR/Stubs/StubMotorMovResponse.pb-c.h>
+
+#include <stdbool.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <string.h>
+#include <Stubs_Handler/DataDef.h>
+#include "inc/hw_memmap.h"
+#include "inc/hw_types.h"
+#include "inc/hw_uart.h"
+
+#include "usb_serial_adapter.h"
+#include "graphics_adapter.h"
+
+#include "MessageContainer.pb-c.h"
+
+#include "Container.h"
+#include "Stub_Status.h"
+#include "drivers/FPGA/FPGA.h"
+#include "drivers/SPI/SPI_Comm.h"
+
+#include "drivers/FPGA/Moters_Driver/L6470.h"
+
+#include "driverlib/ssi.h"
+
+
+extern unsigned long Run_Value ;
+extern unsigned long Pos_Value ;
+extern bool Direction ;
+unsigned char Stop_Command = 0 ;
+
+
+
+void Stub_MotorInitRequest(MessageContainer* requestContainer)
+{
+    //uint32_t status = FAILED;
+
+    MessageContainer responseContainer;
+
+    StubMotorInitRequest* request = stub_motor_init_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    //SPI_Control(INIT);
+
+    SPI2_Init();
+    init_BUSY_Pin();
+    //while(SSIBusy(SSI2_BASE)){};
+    //init_BUSY_Pin();
+
+
+    setup(request);
+    //setup();
+
+    //init_BUSY_Pin();
+    //while(SSIBusy(SSI2_BASE)){};
+    //ResetPos();
+    //while(SSIBusy(SSI2_BASE)){};
+
+    //Run_Value = request->run_value;
+    //Mov_Value = request->mov_value;
+    //Direction = request->direction;
+
+
+    //writeLine("L6470 Request: ");
+
+    //writeFloat(request->run_value);
+
+    //status = FPGA_ReadVersion((unsigned char)request->fpgaid, &Version, &Year, &Month, &Day);
+    //SPI_Control();
+
+    //temp_init_spi2();
+
+
+    StubMotorInitResponse response =   STUB_MOTOR_INIT_RESPONSE__INIT;
+
+   // status_response(status,&response.status, &response.statusword ,&response.has_statusword);
+
+
+    response.motor_id = request->motor_id;
+    response.has_motor_id = true;
+    response.status = 0;
+
+    responseContainer = createContainer(MESSAGE_TYPE__StubMotorInitResponse, requestContainer->token, true, &response, &stub_motor_init_response__pack, &stub_motor_init_response__get_packed_size);
+
+    writeLine("Sending Response: ");
+
+    writeFloat(response.motor_id);
+    writeString(", ");
+	writeFloat(response.status);
+  
+    //writeString(", ");
+    //
+    //Write_status_response(status);
+
+    free(request);
+    //-------------------------------------------------------------------------------------------
+    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    SendChars((char*)container_buffer, container_size);
+    free(container_buffer);
+    free(requestContainer);
+}
+
+
+void Stub_MotorRunRequest(MessageContainer* requestContainer)
+{
+    //uint32_t status = FAILED;
+
+    uint32_t read_status;
+
+    MessageContainer responseContainer;
+
+    StubMotorRunRequest* request = stub_motor_run_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+   float  temp =  (float)request->speed;
+    Run_Value = SpdCalc(temp);
+    Direction = request->direction;
+	
+	//SPI_Control(SKIP_INIT);
+    Mot_Run();
+
+    //writeLine("L6470 Request: ");
+
+    //writeFloat(request->run_value);
+
+    //status = FPGA_ReadVersion((unsigned char)request->fpgaid, &Version, &Year, &Month, &Day);
+
+
+
+    StubMotorRunResponse response =   STUB_MOTOR_RUN_RESPONSE__INIT;
+
+   // status_response(status,&response.status, &response.statusword ,&response.has_statusword);
+
+
+    response.motor_id = request->motor_id;
+    response.has_motor_id = true;
+
+    read_status = Get_and_Clear_Status();
+
+    response.speed = (double)(CurrentSpdCalc(Get_Param(x_SPEED)));
+    response.has_speed = true;
+
+    response.status_reg = read_status;
+    response.has_status_reg = true;
+
+    response.direction = ((read_status & x_STATUS_DIR)>>4);
+    response.has_direction = true;
+
+    response.step_loss_a = ((read_status & x_STATUS_STEP_LOSS_A)>>13);
+    response.has_step_loss_a = true;
+    response.step_loss_b = ((read_status & x_STATUS_STEP_LOSS_B)>>14);
+    response.has_step_loss_b = true;
+
+
+    response.mot_status = ((read_status & x_STATUS_MOT_STATUS)>>5);
+    response.has_mot_status = true;
+
+
+
+    responseContainer = createContainer(MESSAGE_TYPE__StubMotorRunResponse, requestContainer->token, true, &response, &stub_motor_run_response__pack, &stub_motor_run_response__get_packed_size);
+
+    writeLine("Sending Response: ");
+
+    writeFloat(response.motor_id);
+  
+    //writeString(", ");
+    //writeFloat(response.day);
+    
+    //Write_status_response(status);
+
+    free(request);
+    //-------------------------------------------------------------------------------------------
+    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    SendChars((char*)container_buffer, container_size);
+    free(container_buffer);
+    free(requestContainer);
+}
+
+
+void Stub_MotorStopRequest(MessageContainer* requestContainer)
+{
+    uint32_t read_status;
+    //uint32_t status = FAILED;
+
+    MessageContainer responseContainer;
+
+    StubMotorStopRequest* request = stub_motor_stop_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    
+    Stop_Command = request->stop_cmd;
+	
+	//SPI_Control(SKIP_INIT);
+    Mot_Stop();
+
+    //writeLine("L6470 Request: ");
+
+    //writeFloat(request->run_value);
+
+    //status = FPGA_ReadVersion((unsigned char)request->fpgaid, &Version, &Year, &Month, &Day);
+
+
+
+    StubMotorStopResponse response =   STUB_MOTOR_STOP_RESPONSE__INIT;
+
+   // status_response(status,&response.status, &response.statusword ,&response.has_statusword);
+
+
+    response.motor_id = request->motor_id;
+    response.has_motor_id = true;
+
+    read_status = Get_and_Clear_Status();
+
+    response.mot_status = ((read_status & x_STATUS_MOT_STATUS)>>5);
+    response.has_mot_status = true;
+
+	response.hiz = (read_status & x_STATUS_HIZ);
+	response.has_hiz = true;
+
+    responseContainer = createContainer(MESSAGE_TYPE__StubMotorStopResponse, requestContainer->token, true, &response, &stub_motor_stop_response__pack, &stub_motor_stop_response__get_packed_size);
+
+    writeLine("Sending Response: ");
+
+    writeFloat(response.motor_id);
+  
+    //writeString(", ");
+    //writeFloat(response.day);
+    
+    //Write_status_response(status);
+
+    free(request);
+    //-------------------------------------------------------------------------------------------
+    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    SendChars((char*)container_buffer, container_size);
+    free(container_buffer);
+    free(requestContainer);
+}
+
+
+
+void Stub_MotorStatusRequest(MessageContainer* requestContainer)
+{
+    uint32_t read_status;
+
+    MessageContainer responseContainer;
+
+    StubMotorStatusRequest* request = stub_motor_status_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    
+    if(request->clearstatus)
+	{
+		read_status = Get_and_Clear_Status();
+	}
+	else
+	{
+		read_status = Get_Param(x_STATUS);
+	}
+
+    StubMotorStatusResponse response =   STUB_MOTOR_STATUS_RESPONSE__INIT;
+
+    response.motor_id = request->motor_id;
+    response.has_motor_id = true;
+
+    response.sck_mod = ((read_status & x_STATUS_SCK_MOD)>>15);
+    response.has_sck_mod = true;
+
+    response.step_loss_b = ((read_status & x_STATUS_STEP_LOSS_B)>>14);
+    response.has_step_loss_b = true;
+
+    response.step_loss_a = ((read_status & x_STATUS_STEP_LOSS_A)>>13);
+    response.has_step_loss_a = true;
+
+    response.ocd = ((read_status & x_STATUS_OCD)>>12);
+    response.has_ocd = true;
+
+    response.th_sd = ((read_status & x_STATUS_TH_SD)>>11);
+    response.has_th_sd = true;
+
+    response.th_wrn = ((read_status & x_STATUS_TH_WRN)>>10);
+    response.has_th_wrn = true;
+
+    response.uvlo = ((read_status & x_STATUS_UVLO)>>9);
+    response.has_uvlo = true;
+
+    response.wrong_cmd = ((read_status & x_STATUS_WRONG_CMD)>>8);
+    response.has_wrong_cmd = true;
+
+    response.notperf_cmd = ((read_status & x_STATUS_NOTPERF_CMD)>>7);
+    response.has_notperf_cmd = true;
+
+    response.mot_status = ((read_status & x_STATUS_MOT_STATUS)>>5);
+    response.has_mot_status = true;
+
+    response.dir = ((read_status & x_STATUS_DIR)>>4);
+    response.has_dir = true;
+
+    response.sw_evn = ((read_status & x_STATUS_SW_EVN)>>3);
+    response.has_sw_evn = true;
+
+    response.sw_f = ((read_status & x_STATUS_SW_F)>>2);
+    response.has_sw_f = true;
+
+    response.busy = ((read_status & x_STATUS_BUSY)>>1);
+    response.has_busy = true;
+
+	response.hiz = (read_status & x_STATUS_HIZ);
+	response.has_hiz = true;
+
+    responseContainer = createContainer(MESSAGE_TYPE__StubMotorStatusResponse, requestContainer->token, true, &response, &stub_motor_status_response__pack, &stub_motor_status_response__get_packed_size);
+
+    writeLine("Sending Response: ");
+
+    writeFloat(response.motor_id);
+ 
+
+    free(request);
+    //-------------------------------------------------------------------------------------------
+    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    SendChars((char*)container_buffer, container_size);
+    free(container_buffer);
+    free(requestContainer);
+}
+
+
+void Stub_MotorSpeedRequest(MessageContainer* requestContainer)
+{
+
+    MessageContainer responseContainer;
+
+    StubMotorSpeedRequest* request = stub_motor_speed_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    StubMotorSpeedResponse response =   STUB_MOTOR_SPEED_RESPONSE__INIT;
+
+    response.motor_id = request->motor_id;
+    response.has_motor_id = true;
+
+    //response.speed = Get_Param(x_SPEED);
+    response.speed = (double)(CurrentSpdCalc(Get_Param(x_SPEED)));
+    response.has_speed = true;
+
+    responseContainer = createContainer(MESSAGE_TYPE__StubMotorSpeedResponse, requestContainer->token, true, &response, &stub_motor_speed_response__pack, &stub_motor_speed_response__get_packed_size);
+
+    free(request);
+    //-------------------------------------------------------------------------------------------
+    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    SendChars((char*)container_buffer, container_size);
+    free(container_buffer);
+    free(requestContainer);
+}
+
+
+void Stub_MotorPositionRequest(MessageContainer* requestContainer)
+{
+
+    MessageContainer responseContainer;
+
+    StubMotorPositionRequest* request = stub_motor_position_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    StubMotorPositionResponse response =   STUB_MOTOR_POSITION_RESPONSE__INIT;
+
+    response.motor_id = request->motor_id;
+    response.has_motor_id = true;
+
+    response.position = Get_Param(x_ABS_POS);
+    response.has_position = true;
+
+    responseContainer = createContainer(MESSAGE_TYPE__StubMotorPositionResponse, requestContainer->token, true, &response, &stub_motor_position_response__pack, &stub_motor_position_response__get_packed_size);
+
+    free(request);
+    //-------------------------------------------------------------------------------------------
+    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    SendChars((char*)container_buffer, container_size);
+    free(container_buffer);
+    free(requestContainer);
+}
+
+
+void Stub_MotorMovRequest(MessageContainer* requestContainer)
+{
+    uint32_t read_status;
+
+    MessageContainer responseContainer;
+
+    StubMotorMovRequest* request = stub_motor_mov_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    Pos_Value = request->position;
+    Direction = request->direction;
+
+    Mot_Mov();
+
+    StubMotorMovResponse response =   STUB_MOTOR_MOV_RESPONSE__INIT;
+
+    response.motor_id = request->motor_id;
+    response.has_motor_id = true;
+
+
+    response.position = Get_Param(x_ABS_POS);
+    response.has_position = true;
+
+    while(SSIBusy(SSI2_BASE)){};
+
+    read_status = Get_and_Clear_Status();
+
+
+    response.status_reg = read_status;
+    response.has_status_reg = true;
+
+    response.direction = ((read_status & x_STATUS_DIR)>>4);
+    response.has_direction = true;
+
+    response.step_loss_a = ((read_status & x_STATUS_STEP_LOSS_A)>>13);
+    response.has_step_loss_a = true;
+    response.step_loss_b = ((read_status & x_STATUS_STEP_LOSS_B)>>14);
+    response.has_step_loss_b = true;
+
+
+    response.mot_status = ((read_status & x_STATUS_MOT_STATUS)>>5);
+    response.has_mot_status = true;
+
+    responseContainer = createContainer(MESSAGE_TYPE__StubMotorMovResponse, requestContainer->token, true, &response, &stub_motor_mov_response__pack, &stub_motor_mov_response__get_packed_size);
+
+    free(request);
+    //-------------------------------------------------------------------------------------------
+    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    SendChars((char*)container_buffer, container_size);
+    free(container_buffer);
+    free(requestContainer);
+}
+
diff --git a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Motor.h b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Motor.h
new file mode 100644
index 000000000..95f82353f
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Motor.h
@@ -0,0 +1,7 @@
+void Stub_MotorInitRequest(MessageContainer* requestContainer);
+void Stub_MotorRunRequest(MessageContainer* requestContainer);
+void Stub_MotorStopRequest(MessageContainer* requestContainer);
+void Stub_MotorStatusRequest(MessageContainer* requestContainer);
+void Stub_MotorSpeedRequest(MessageContainer* requestContainer);
+void Stub_MotorPositionRequest(MessageContainer* requestContainer);
+void Stub_MotorMovRequest(MessageContainer* requestContainer);
diff --git a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_MotorEncoder.c b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_MotorEncoder.c
index 9380ec65f..6478e0ca0 100644
--- a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_MotorEncoder.c
+++ b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_MotorEncoder.c
@@ -1,4 +1,6 @@
 
+#include <PMR/Stubs/StubMotorEncoderRequest.pb-c.h>
+#include <PMR/Stubs/StubMotorEncoderResponse.pb-c.h>
 #include <stdbool.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -16,9 +18,6 @@
 
 #include "MessageContainer.pb-c.h"
 
-#include "StubMotorEncoderResponse.pb-c.h"
-#include "StubMotorEncoderRequest.pb-c.h"
-
 #include "Container.h"
 #include "Stub_Status.h"
 
diff --git a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_OptLimitSwitch.c b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_OptLimitSwitch.c
index c7064b0ea..a885cc0c0 100644
--- a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_OptLimitSwitch.c
+++ b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_OptLimitSwitch.c
@@ -1,5 +1,7 @@
 
 
+#include <PMR/Stubs/StubOptLimitSwitchRequest.pb-c.h>
+#include <PMR/Stubs/StubOptLimitSwitchResponse.pb-c.h>
 #include <stdbool.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -17,9 +19,6 @@
 
 #include "MessageContainer.pb-c.h"
 
-#include "StubOptLimitSwitchResponse.pb-c.h"
-#include "StubOptLimitSwitchRequest.pb-c.h"
-
 #include "Container.h"
 #include "Stub_Status.h"
 
diff --git a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_SteperMotor.c b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_SteperMotor.c
index 47ff8a0d5..a54ac9a10 100644
--- a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_SteperMotor.c
+++ b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_SteperMotor.c
@@ -1,5 +1,7 @@
 
 
+#include <PMR/Stubs/StubSteperMotorRequest.pb-c.h>
+#include <PMR/Stubs/StubSteperMotorResponse.pb-c.h>
 #include <stdbool.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -17,9 +19,6 @@
 
 #include "MessageContainer.pb-c.h"
 
-#include "StubSteperMotorRequest.pb-c.h"
-#include "StubSteperMotorResponse.pb-c.h"
-
 #include "Container.h"
 #include "Stub_Status.h"
 
diff --git a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Valve.c b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Valve.c
index 08c74611c..c4fe7b08f 100644
--- a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Valve.c
+++ b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/Stub_Valve.c
@@ -1,4 +1,6 @@
 
+#include <PMR/Stubs/StubValveRequest.pb-c.h>
+#include <PMR/Stubs/StubValveResponse.pb-c.h>
 #include <stdbool.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -16,9 +18,6 @@
 
 #include "MessageContainer.pb-c.h"
 
-#include "StubValveResponse.pb-c.h"
-#include "StubValveRequest.pb-c.h"
-
 #include "Container.h"
 
 #include "Stub_Status.h"
diff --git a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/temperature_sensor.c b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/temperature_sensor.c
new file mode 100644
index 000000000..0d7c95943
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/temperature_sensor.c
@@ -0,0 +1,263 @@
+//*****************************************************************************
+//
+// temperature_sensor.c - Example demonstrating the internal ADC temperature
+//                        sensor.
+//
+// Copyright (c) 2010-2014 Texas Instruments Incorporated.  All rights reserved.
+// Software License Agreement
+//
+//   Redistribution and use in source and binary forms, with or without
+//   modification, are permitted provided that the following conditions
+//   are met:
+//
+//   Redistributions of source code must retain the above copyright
+//   notice, this list of conditions and the following disclaimer.
+//
+//   Redistributions in binary form must reproduce the above copyright
+//   notice, this list of conditions and the following disclaimer in the
+//   documentation and/or other materials provided with the
+//   distribution.
+//
+//   Neither the name of Texas Instruments Incorporated nor the names of
+//   its contributors may be used to endorse or promote products derived
+//   from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// This is part of revision 2.1.0.12573 of the Tiva Firmware Development Package.
+//
+//*****************************************************************************
+/*
+ *  This code was made to show a simple ADC read.
+ *
+ *  It was made from the example provided by TivaWare but it was a some modifications
+ * like the math
+ *
+ *
+ * Lu?s Afonso
+ * https://sites.google.com/site/luiselectronicprojects/tutorials/tiva-tutorials/tiva-adc/internal-temperature-sensor
+ *
+ */
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "stdlib.h"
+#include "inc/hw_ints.h"
+#include "inc/hw_memmap.h"
+#include "inc/hw_uart.h"
+#include "inc/hw_gpio.h"
+#include "inc/hw_pwm.h"
+#include "inc/hw_types.h"
+#include "driverlib/adc.h"
+#include "driverlib/timer.h"
+#include "driverlib/gpio.h"
+#include "driverlib/interrupt.h"
+#include "driverlib/pin_map.h"
+#include "driverlib/rom.h"
+#include "driverlib/rom_map.h"
+#include "driverlib/sysctl.h"
+#include "driverlib/uart.h"
+#include "driverlib/udma.h"
+#include "driverlib/pwm.h"
+#include "driverlib/ssi.h"
+#include "driverlib/systick.h"
+#include "driverlib/adc.h"
+#include "utils/uartstdio.h"
+#include "utils/uartstdio.c"
+#include <string.h>
+
+#include "graphics_adapter.h"
+
+//*****************************************************************************
+//
+// This function sets up UART0 to be used for a console to display information
+// as the example is running.
+//
+//*****************************************************************************
+void
+InitConsole(void)
+{
+    //
+    // Enable GPIO port A which is used for UART0 pins.
+    // TODO: change this to whichever GPIO port you are using.
+    //
+    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
+
+    //
+    // Configure the pin muxing for UART0 functions on port A0 and A1.
+    // This step is not necessary if your part does not support pin muxing.
+    // TODO: change this to select the port/pin you are using.
+    //
+    GPIOPinConfigure(GPIO_PA0_U0RX);
+    GPIOPinConfigure(GPIO_PA1_U0TX);
+
+    //
+    // Enable UART0 so that we can configure the clock.
+    //
+    SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
+
+    //
+    // Use the internal 16MHz oscillator as the UART clock source.
+    //
+    UARTClockSourceSet(UART0_BASE, UART_CLOCK_PIOSC);
+
+    //
+    // Select the alternate (UART) function for these pins.
+    // TODO: change this to select the port/pin you are using.
+    //
+    GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
+
+    //
+    // Initialize the UART for console I/O.
+    //
+    UARTStdioConfig(0, 115200, 16000000);
+}
+
+int temperature_main(){
+      SysCtlClockSet(SYSCTL_SYSDIV_2_5|SYSCTL_USE_PLL|SYSCTL_OSC_MAIN|SYSCTL_XTAL_16MHZ);
+      InitConsole();
+        //
+        // This array is used for storing the data read from the ADC FIFO. It
+        // must be as large as the FIFO for the sequencer in use.  This example
+        // uses sequence 3 which has a FIFO depth of 1.  If another sequence
+        // was used with a deeper FIFO, then the array size must be changed.
+        //
+        uint32_t ADCValues[1];
+
+        //
+        // These variables are used to store the temperature conversions for
+        // Celsius and Fahrenheit.
+        //
+        uint32_t TempValueC ;
+        uint32_t TempValueF ;
+
+
+        //
+        // Display the setup on the console.
+        //
+        UARTprintf("ADC ->\n");
+        UARTprintf("  Type: Internal Temperature Sensor\n");
+        UARTprintf("  Samples: One\n");
+        UARTprintf("  Update Rate: 250ms\n");
+        UARTprintf("  Input Pin: Internal temperature sensor\n\n");
+
+        writeLine("ADC ->\n");
+        writeLine("  Type: Internal Temperature Sensor\n");
+        writeLine("  Samples: One\n");
+        writeLine("  Update Rate: 250ms\n");
+        writeLine("  Input Pin: Internal temperature sensor\n\n");
+
+        //
+        // The ADC0 peripheral must be enabled for use.
+        //
+        SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC0);
+        SysCtlDelay(3);//3 wait cycles after enabling a clock on a peripheral
+
+        //
+        // Enable sample sequence 3 with a processor signal trigger.  Sequence 3
+        // will do a single sample when the processor sends a singal to start the
+        // conversion.  Each ADC module has 4 programmable sequences, sequence 0
+        // to sequence 3.  This example is arbitrarily using sequence 3.
+        //
+        ADCSequenceConfigure(ADC0_BASE, 3, ADC_TRIGGER_PROCESSOR, 0);
+
+        //
+        // Configure step 0 on sequence 3.  Sample the temperature sensor
+        // (ADC_CTL_TS) and configure the interrupt flag (ADC_CTL_IE) to be set
+        // when the sample is done.  Tell the ADC logic that this is the last
+        // conversion on sequence 3 (ADC_CTL_END).  Sequence 3 has only one
+        // programmable step.  Sequence 1 and 2 have 4 steps, and sequence 0 has
+        // 8 programmable steps.  Since we are only doing a single conversion using
+        // sequence 3 we will only configure step 0.  For more information on the
+        // ADC sequences and steps, reference the datasheet.
+        //
+        ADCSequenceStepConfigure(ADC0_BASE, 3, 0, ADC_CTL_TS | ADC_CTL_IE |
+                                 ADC_CTL_END);
+
+        //ADCHardwareOversampleConfigure(ADC0_BASE,64);//This will configure to do averages of 64 values (powers of 2, from 2 to 64 )
+
+        //
+        // Since sample sequence 3 is now configured, it must be enabled.
+        //
+        ADCSequenceEnable(ADC0_BASE, 3);
+
+        //
+        // Clear the interrupt status flag.  This is done to make sure the
+        // interrupt flag is cleared before we sample.
+        //
+        ADCIntClear(ADC0_BASE, 3);
+
+        //
+        // Sample the temperature sensor forever.  Display the value on the
+        // console.
+        //
+        while(1)
+        {
+            //
+            // Trigger the ADC conversion.
+            //
+            ADCProcessorTrigger(ADC0_BASE, 3);
+
+            //
+            // Wait for conversion to be completed.
+            //
+            while(!ADCIntStatus(ADC0_BASE, 3, false))
+            {
+            }
+
+            //
+            // Clear the ADC interrupt flag.
+            //
+            ADCIntClear(ADC0_BASE, 3);
+
+            //
+            // Read ADC Value.
+            //
+            ADCSequenceDataGet(ADC0_BASE, 3, ADCValues);
+
+            //
+            // Use non-calibrated conversion provided in the data sheet. I use floats in intermediate
+            // math but you could use intergers with multiplied by powers of 10 and divide on the end
+            // Make sure you divide last to avoid dropout.
+            //
+            TempValueC = (uint32_t)(147.5 - ((75.0*3.3 *(float)ADCValues[0])) / 4096.0);
+
+            //float Temaraure_C = 147.5 - ((75.0*3.3 *(float)ADCValues[0])) / 4096.0;
+
+            //
+            // Get Fahrenheit value.  Make sure you divide last to avoid dropout.
+            //
+            TempValueF = ((TempValueC * 9) + 160) / 5;
+
+            //
+            // Display the temperature value on the console.
+            //
+            UARTprintf("Temperature = %3d*C or %3d*F\r", TempValueC,
+                    TempValueF);
+
+            writeLine("Temperature(Celsius): ");
+            writeFloat(TempValueC);
+
+            //
+            // This function provides a means of generating a constant length
+            // delay.  The function delay (in cycles) = 3 * parameter.  Delay
+            // 250ms arbitrarily.
+            //
+            SysCtlDelay(80000000 / 12);
+
+            ///SysCtlDelay(80000000);
+        }
+
+
+
+}
diff --git a/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/temperature_sensor.h b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/temperature_sensor.h
new file mode 100644
index 000000000..6368cf744
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/Stubs_Handler/temperature_sensor.h
@@ -0,0 +1 @@
+int temperature_main();
diff --git a/Software/Code_Composer/twine_usblib_demo/drivers/ADC_Sampling/ADC.c b/Software/Code_Composer/twine_usblib_demo/drivers/ADC_Sampling/ADC.c
new file mode 100644
index 000000000..b230f8bf8
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/drivers/ADC_Sampling/ADC.c
@@ -0,0 +1,295 @@
+// *****************************************************************************
+//
+// This is the data acquisition module.  It performs acquisition of data from
+// selected channels, starting and stopping data logging, storing acquired
+// data, and running the strip chart display.
+//
+// *****************************************************************************
+
+#include "ADC.h"
+#include <stdbool.h>
+#include <ti/sysbios/knl/Task.h>
+#include <ti/sysbios/BIOS.h>
+#include <ti/sysbios/knl/Clock.h>
+#include <ti/sysbios/knl/Semaphore.h>
+
+#include <driverlib/adc.h>
+#include <driverlib/rom_map.h>
+#include <driverlib/interrupt.h>
+
+#include <inc/hw_memmap.h>
+#include <inc/hw_ints.h>
+#include "Drivers/I2C_Communication/I2C.h"
+// *****************************************************************************
+//
+// The following defines which ADC channel control should be used for each
+// kind of data item.  Basically it maps how the ADC channels are connected
+// on the board.  This is a hardware pinmap configuration.
+// Physical ADC connected channels in the TIVA
+// *****************************************************************************
+#define CHAN_DISPENSER_TEMP_3   ADC_CTL_CH0
+#define CHAN_DISPENSER_TEMP_1   ADC_CTL_CH1
+#define CHAN_RGB_RED            ADC_CTL_CH2
+#define CHAN_TEMP_3             ADC_CTL_CH3
+#define CHAN_POS_WINDER         ADC_CTL_CH10
+#define CHAN_RGB_GREEN          ADC_CTL_CH12
+#define CHAN_RGB_BLUE           ADC_CTL_CH13
+#define CHAN_DISPENSER_TEMP_5   ADC_CTL_CH16
+#define CHAN_DISPENSER_TEMP_6   ADC_CTL_CH17
+#define CHAN_TEMP_1             ADC_CTL_CH18
+#define CHAN_TEMP_2             ADC_CTL_CH19
+#define CHAN_DISPENSER_TEMP_4   ADC_CTL_CH20
+#define CHAN_POS_POOLER         ADC_CTL_CH21
+#define CHAN_DISPENSER_TEMP_2   ADC_CTL_CH23
+
+// *****************************************************************************
+//
+// The following maps the order that items are acquired and stored by the
+// ADC sequencers.  Note that 16 samples are specified, using 2 of the
+// 8 sample sequencers.  The current is sampled multiple times deliberately
+// because that value tends to bounce around.  It is sampled multiple
+// times and will be averaged.
+//
+// *****************************************************************************
+uint32_t g_pui32ADCSeq[] =
+{
+ CHAN_DISPENSER_TEMP_3, CHAN_DISPENSER_TEMP_1,  CHAN_RGB_RED,       CHAN_TEMP_3,
+ CHAN_POS_POOLER,       CHAN_RGB_GREEN,         CHAN_RGB_BLUE,      CHAN_DISPENSER_TEMP_5,
+ CHAN_DISPENSER_TEMP_6, CHAN_TEMP_1,            CHAN_TEMP_2,        CHAN_DISPENSER_TEMP_4,
+ CHAN_DISPENSER_TEMP_2, CHAN_POS_WINDER
+};
+
+#define NUM_ADC_CHANNELS        (sizeof(g_pui32ADCSeq) /                      \
+                                 sizeof(g_pui32ADCSeq[0]))
+
+#define SAMPLE_ARRAY_SIZE (NUM_ADC_CHANNELS + I2C_NUM_OF_CHANNELS)
+
+static bool isInitialized = false;
+// *****************************************************************************
+//
+// Global _storage for most recent sampaled Sensor Data
+//
+// *****************************************************************************
+//
+// A buffer to hold one set of ADC data that is acquired per sample time.
+//
+// *****************************************************************************
+static uint32_t g_pui32ADCData[SAMPLE_ARRAY_SIZE];
+
+// *****************************************************************************
+//configured in the cfg file and thats why should be defined as extern
+// *****************************************************************************
+extern Semaphore_Handle adcResultSem;
+
+static Clock_Handle adcSampleClock;
+static Clock_Params clkParams;
+static ProcessCallback processCallBack;
+
+// *****************************************************************************
+// ADCClockHandle: clock event handler - initiates trigger for the adc sampaling
+// *****************************************************************************
+// This function starts an ADC Conversion.
+static void ADCClockHandle(UArg arg0)
+{
+    //
+    // Kick off the next ADC acquisition.  When these are done they will
+    // cause an ADC interrupt.
+    //
+    MAP_ADCProcessorTrigger(ADC1_BASE, 0);
+    MAP_ADCProcessorTrigger(ADC0_BASE, 0);
+}
+
+// *****************************************************************************
+//
+// This is the handler for the ADC interrupt.  Even though more than one
+// sequencer is used, they are configured so that this one runs last.
+// Therefor when this ADC sequencer interrupt occurs, we know all of the ADC
+// data has been acquired.
+//
+// *****************************************************************************
+void ADC0SS0Handler(void)
+{
+    //
+    // Clear the interrupts for all ADC sequencers that are used.
+    //
+    MAP_ADCIntClear(ADC0_BASE, 0);
+    MAP_ADCIntClear(ADC1_BASE, 0);
+
+    //
+    // Retrieve the data from all ADC sequencers
+    //
+    MAP_ADCSequenceDataGet(ADC0_BASE, 0, &g_pui32ADCData[0]);
+    //offset in the array calculated as sempeling of 16 channels each one of 16 bits
+    MAP_ADCSequenceDataGet(ADC1_BASE, 0, &g_pui32ADCData[8]);
+
+    //
+    // Release adc result semaphore
+    //
+    Semaphore_post(adcResultSem);
+}
+
+// *****************************************************************************
+//
+// *****************************************************************************
+Void ADCProcessTask(UArg arg0, UArg arg1)
+{
+    while(1)
+    {
+        //
+        // Wait until new ADC data is available
+        //
+        Semaphore_pend(adcResultSem, BIOS_WAIT_FOREVER);
+
+        //
+        // Process the ADC data
+        //
+        if (processCallBack != NULL)
+        {
+            processCallBack(g_pui32ADCData);
+        }
+    }
+}
+
+// *****************************************************************************
+//
+// This function initializes the ADC hardware in preparation for data
+// acquisition.
+//
+// *****************************************************************************
+void ADCAcquireInit(void)
+{
+    uint32_t ui32Chan, ui32Base, ui32Seq;
+
+    //Avaraging 8
+    MAP_ADCHardwareOversampleConfigure(ADC0_BASE, 8);
+    MAP_ADCHardwareOversampleConfigure(ADC1_BASE, 8);
+    //
+    // Initialize both ADC peripherals using sequencer 0 and processor trigger.
+    //
+    MAP_ADCSequenceConfigure(ADC0_BASE, 0, ADC_TRIGGER_PROCESSOR, 0);
+    MAP_ADCSequenceConfigure(ADC1_BASE, 0, ADC_TRIGGER_PROCESSOR, 0);
+
+
+    //
+    // Enter loop to configure all of the ADC sequencer steps needed to
+    // acquire the data for the data logger.  Multiple ADC and sequencers
+    // will be used in order to acquire all the channels.
+    //
+    for(ui32Chan = 0; ui32Chan < NUM_ADC_CHANNELS; ui32Chan++)
+    {
+        //
+        // If this is the first ADC then set the base for ADC0
+        //
+        if(ui32Chan < 8)
+        {
+            ui32Base = ADC0_BASE;
+            ui32Seq = 0;
+        }
+        else if(ui32Chan < 16)
+        {
+            //
+            // Second ADC, set the base for ADC1
+            //
+            ui32Base = ADC1_BASE;
+            ui32Seq = 0;
+        }
+
+        //
+        // Get the channel control for each channel.  Test to see if it is the
+        // last channel for the sequencer, and if so then also set the
+        // interrupt and "end" flags.
+        //
+        uint32_t ui32ChCtl = g_pui32ADCSeq[ui32Chan];
+        //TODO define all the numbers under #define and not here
+        if((ui32Chan == 7) || (ui32Chan == 15) || (ui32Chan == (NUM_ADC_CHANNELS - 1)))
+        {
+            ui32ChCtl |= ADC_CTL_IE | ADC_CTL_END;
+        }
+
+        //
+        // Configure the sequence step
+        //
+        MAP_ADCSequenceStepConfigure(ui32Base, ui32Seq, ui32Chan % 8, ui32ChCtl);
+    }
+
+    if (!isInitialized)
+    {
+        // Create a periodic Clock Instance with _period - triggers the ADC sampling
+        Clock_Params_init(&clkParams);
+        clkParams.period = 0;
+        clkParams.startFlag = FALSE;
+        adcSampleClock = Clock_create(ADCClockHandle, 11, &clkParams, NULL);
+        isInitialized = true;
+
+        InitI2C();
+    }
+}
+
+// *****************************************************************************
+//
+// This function is called to start an acquisition running.  It determines
+// which channels are to be logged, enables the ADC/I2C sequencers.
+// This will start the acquisition running.
+//
+// *****************************************************************************
+void ADCAcquireStart(ProcessCallback _callback, uint32_t _period)
+{
+    //
+    // Enable the ADC sequencers
+    //
+    MAP_ADCSequenceEnable(ADC0_BASE, 0);
+    MAP_ADCSequenceEnable(ADC1_BASE, 0);
+
+    //
+    // Flush the ADC sequencers to be sure there is no lingering/ trush data.
+    //
+    MAP_ADCSequenceDataGet(ADC0_BASE, 0, g_pui32ADCData);
+    MAP_ADCSequenceDataGet(ADC1_BASE, 0, g_pui32ADCData);
+
+    //
+    // Enable ADC interrupts
+    //
+    MAP_ADCIntClear(ADC0_BASE, 0);
+    MAP_ADCIntClear(ADC1_BASE, 0);
+    MAP_ADCIntEnable(ADC0_BASE, 0);
+    MAP_IntEnable(INT_ADC0SS0);
+
+    uint8_t i;
+    for (i = NUM_ADC_CHANNELS; i < SAMPLE_ARRAY_SIZE; ++i)
+    {
+        g_pui32ADCData[i] = MAX_DIGITAL_POTENTIOMETER_READ;
+    }
+    // Store process
+    processCallBack = _callback;
+    // Start a periodic Clock Instance with _period - triggers the ADC sampling
+    Clock_setPeriod(adcSampleClock, _period);
+    Clock_start(adcSampleClock);
+    //
+    // Logging data should now start running
+    //
+}
+
+// *****************************************************************************
+//
+// This function is called to stop an acquisition running.  It disables the
+// ADC sequencers.
+//
+// *****************************************************************************
+void ADCAcquireStop(void)
+{
+    //Stop trigger adc sampling
+    Clock_stop(adcSampleClock);
+
+    //
+    // Disable ADC interrupts
+    //
+    MAP_IntDisable(INT_ADC0SS0);
+    MAP_IntDisable(INT_ADC1SS0);
+
+    //
+    // Disable ADC sequencers
+    //
+    MAP_ADCSequenceDisable(ADC0_BASE, 0);
+    MAP_ADCSequenceDisable(ADC1_BASE, 0);
+}
+
diff --git a/Software/Code_Composer/twine_usblib_demo/drivers/ADC_Sampling/ADC.h b/Software/Code_Composer/twine_usblib_demo/drivers/ADC_Sampling/ADC.h
new file mode 100644
index 000000000..f04c2d512
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/drivers/ADC_Sampling/ADC.h
@@ -0,0 +1,40 @@
+
+#ifndef DRIVERS_ADC_H_
+#define DRIVERS_ADC_H_
+
+#include <stdint.h>
+
+//*****************************************************************************
+//
+// The following are indexes for values returned from the ADC's. These index's
+// map directly to g_pui32ADCSeq[], and inside this array there is a directly
+// ADC copied data
+//*****************************************************************************
+#define ADCSEQ_DISPENSER_TEMP_3 0
+#define ADCSEQ_DISPENSER_TEMP_1 1
+#define ADCSEQ_RGB_RED          2
+#define ADCSEQ_TEMP_3           3
+#define ADCSEQ_POS_POOLER       4
+#define ADCSEQ_RGB_GREEN        5
+#define ADCSEQ_RGB_BLUE         6
+#define ADCSEQ_DISPENSER_TEMP_5 7
+#define ADCSEQ_DISPENSER_TEMP_6 8
+#define ADCSEQ_TEMP_1           9
+#define ADCSEQ_TEMP_2           10
+#define ADCSEQ_DISPENSER_TEMP_4 11
+#define ADCSEQ_DISPENSER_TEMP_2 12
+#define ADCSEQ_POS_WINDER       13
+
+//max potentiometer read in I2C protocol
+#define MAX_DIGITAL_POTENTIOMETER_READ      0x660D
+
+typedef void (*ProcessCallback)(uint32_t*  adcData);
+
+void ADCAcquireInit(void);
+
+void ADCAcquireStart(ProcessCallback _callback, uint32_t _period);
+
+void ADCAcquireStop(void);
+
+#endif // DRIVERS_ADC_H_
+
diff --git a/Software/Code_Composer/twine_usblib_demo/drivers/FPGA/FPGA.c b/Software/Code_Composer/twine_usblib_demo/drivers/FPGA/FPGA.c
new file mode 100644
index 000000000..fafd84375
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/drivers/FPGA/FPGA.c
@@ -0,0 +1,88 @@
+#include "FPGA_COMM.h"
+#include "Stubs_Handler/DataDef.h"
+
+
+unsigned short GPO_01_Reg;
+
+int test_FPGA()
+{
+    GP_Out_01 Gpo_01;
+
+    Gpo_01.bits.F3_GPO_LED4 = 1;
+    Gpo_01.bits.F3_GPO_LED3 = 1;
+    Gpo_01.bits.F3_GPO_LED2 = 0;
+    Gpo_01.bits.F3_GPO_LED1 = 1;
+    Gpo_01.bits.F3_GPO_EXTWINDER_SSR11_CTRL = 1;
+    Gpo_01.bits.F3_GPO_BUZZER = 0;
+    Gpo_01.bits.F3_SPARE2_ROTENC_CLK = 1;
+    Gpo_01.bits.F3_SPARE1_ROTENC_CLK = 1;
+    Gpo_01.bits.RESERVE = 0xF5;
+
+    GPO_01_Reg = Gpo_01.ushort;
+
+    return 0;
+}
+
+int Test_FPGA_ReadBack(unsigned char FPGA_NUM, unsigned short Value, unsigned short *ReadBackValue)// = 0x1234)
+{
+
+    //unsigned short Temp = 0x1234;
+
+     if(FPGA_NUM == 1)
+     {
+         FPGA1_Test = Value;
+         *ReadBackValue = FPGA1_Test;
+         if(Value == !FPGA1_Test)
+             return PASSED;
+     }
+
+     if(FPGA_NUM == 2)
+     {
+         FPGA2_Test = Value;
+         *ReadBackValue = FPGA2_Test;
+         if(Value == !FPGA2_Test)
+             return PASSED;
+     }
+
+     if(FPGA_NUM == 3)
+     {
+         FPGA3_Test = Value;
+         *ReadBackValue = FPGA3_Test;
+         if(Value == !FPGA3_Test)
+             return PASSED;
+     }
+
+    return FAILED;
+}
+
+
+int  FPGA_ReadVersion(unsigned char FPGA_NUM, unsigned char *Version, unsigned char *Year, unsigned char *Month, unsigned char *Day)
+{
+    VER1 Ver1;
+    VER2 Ver2;
+
+    switch(FPGA_NUM)
+    {
+        case 1:
+                Ver1.ushort = FPGA1_Ver1_D;
+                Ver2.ushort = FPGA1_Ver2_D;
+            break;
+        case 2:
+                Ver1.ushort = FPGA2_Ver1_D;
+                Ver2.ushort = FPGA2_Ver2_D;
+            break;
+        case 3:
+                Ver1.ushort = FPGA3_Ver1_D;
+                Ver2.ushort = FPGA3_Ver2_D;
+            break;
+        default:
+            break;
+    }
+
+    *Month = Ver1.bytes.Month;
+    *Day = Ver1.bytes.Day;
+    *Year = Ver2.bytes.Year;  // to check how many digits is needed
+    *Version = Ver2.bytes.Ver_num;
+
+    return PASSED;
+}
diff --git a/Software/Code_Composer/twine_usblib_demo/drivers/FPGA/FPGA.h b/Software/Code_Composer/twine_usblib_demo/drivers/FPGA/FPGA.h
new file mode 100644
index 000000000..a0e845296
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/drivers/FPGA/FPGA.h
@@ -0,0 +1,9 @@
+#ifndef FPGA_H
+#define FPGA_H
+
+int test_FPGA();
+int Test_FPGA_ReadBack(unsigned char FPGA_NUM, unsigned short Value, unsigned short *ReadBackValue);
+int  FPGA_ReadVersion(unsigned char FPGA_NUM, unsigned char *Version, unsigned char *Year, unsigned char *Month, unsigned char *Day);
+
+
+#endif //FPGA_H
diff --git a/Software/Code_Composer/twine_usblib_demo/drivers/FPGA/FPGA_Comm.h b/Software/Code_Composer/twine_usblib_demo/drivers/FPGA/FPGA_Comm.h
new file mode 100644
index 000000000..4a124092f
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/drivers/FPGA/FPGA_Comm.h
@@ -0,0 +1,731 @@
+#include <stdbool.h>
+
+//TODO update the addresses WordOrByte !!!
+
+//Address is = 4bit_base + 3bit_fpga_base + 9bit_WordOrByte
+//Base Address 0X000
+
+#define BASE    0x0000 << 12
+#define FPGA1_BASE  (BASE | (0x00 << 0x09))
+#define FPGA2_BASE  (BASE | (0x01 << 0x09))
+#define FPGA3_BASE  (BASE | (0x02 << 0x09))
+
+#define WordOrByte 0x01//0x01 for Word, 0x02 for Byte
+
+//Registers definitions
+
+// * * * * * * * * * * * * * * * * FPGA 1  * * * * * * * * * * * * * * * * //
+
+//Version1
+#define FPGA1_Ver1_D (*((volatile short  *)(FPGA1_BASE | (0x0 * WordOrByte))))  //Version of Fpga is held here
+#define FPGA1_Ver1_L (*((volatile short  *)(FPGA1_BASE | (0x1 * WordOrByte))))  //Value of the latched shorterrupts that have occurred
+#define FPGA1_Ver1_M (*((volatile short  *)(FPGA1_BASE | (0x2 * WordOrByte))))  //Value of the shorterrupt mask, Default is 0x0000
+
+//Version2
+#define FPGA1_Ver2_D (*((volatile short  *)(FPGA1_BASE | (0x8 * WordOrByte))))  //Version of Fpga is held here
+#define FPGA1_Ver2_L (*((volatile short  *)(FPGA1_BASE | (0x9 * WordOrByte))))  //Value of the latched shorterrupts that have occurred
+#define FPGA1_Ver2_M (*((volatile short  *)(FPGA1_BASE | (0xa * WordOrByte))))  //Value of the shorterrupt mask, Default is 0x0000
+
+//GPI shorterrupt LS_01 Registers
+#define F1_GPI_LS1_D (*((volatile short  *)(FPGA1_BASE | (0x10 * WordOrByte))))    //Reads the direct values that are currently being sent to the fpga.
+#define F1_GPI_LS1_L (*((volatile short  *)(FPGA1_BASE | (0x11 * WordOrByte))))    //Value of the latched shorterrupts that have occurred
+#define F1_GPI_LS1_M (*((volatile short  *)(FPGA1_BASE | (0x12 * WordOrByte))))    //Value of the shorterrupt mask, Default is 0x0000
+
+//GPI shorterrupt LS_02 Registers
+#define F1_GPI_LS2_D (*((volatile short  *)(FPGA1_BASE | (0x18 * WordOrByte))))    //Reads the direct values that are currently being sent to the fpga.
+#define F1_GPI_LS2_L (*((volatile short  *)(FPGA1_BASE | (0x19 * WordOrByte))))    //Value of the latched shorterrupts that have occurred
+#define F1_GPI_LS2_M (*((volatile short  *)(FPGA1_BASE | (0x1a * WordOrByte))))    //Value of the shorterrupt mask, Default is 0x0000
+
+//GPI shorterrupt LS_03 Registers
+#define GPI_LS3_D (*((volatile short  *)(FPGA1_BASE | (0x20 * WordOrByte))))     //Reads the direct values that are currently being sent to the fpga.
+#define GPI_LS3_L (*((volatile short  *)(FPGA1_BASE | (0x21 * WordOrByte))))     //Value of the latched shorterrupts that have occurred
+#define GPI_LS3_M (*((volatile short  *)(FPGA1_BASE | (0x22 * WordOrByte))))     //Value of the shorterrupt mask, Default is 0x0000
+
+//Moto_Driver_NBUSY_register1
+#define Moto_Driver_NBUSY1_D (*((volatile short  *)(FPGA1_BASE | (0x28 * WordOrByte)))) //Reads the direct values that are currently being sent to the fpga.
+#define Moto_Driver_NBUSY1_L (*((volatile short  *)(FPGA1_BASE | (0x29 * WordOrByte))))   //Value of the latched shorterrupts that have occurred
+#define Moto_Driver_NBUSY1_M (*((volatile short  *)(FPGA1_BASE | (0x2a * WordOrByte))))   //Value of the shorterrupt mask, Default is 0x0000
+
+//Moto_Driver_NBUSY_register2
+#define Moto_Driver_NBUSY2_D (*((volatile short  *)(FPGA1_BASE | (0x30 * WordOrByte))))  //Reads the direct values that are currently being sent to the fpga.
+#define Moto_Driver_NBUSY2_L (*((volatile short  *)(FPGA1_BASE | (0x31 * WordOrByte))))  //Value of the latched shorterrupts that have occurred
+#define Moto_Driver_NBUSY2_M (*((volatile short  *)(FPGA1_BASE | (0x32 * WordOrByte))))  //Value of the shorterrupt mask, Default is 0x0000
+
+//GPI_EXTWINDER_and_TFEED_BRK
+#define GPI_EXTWINDER_D (*((volatile short  *)(FPGA1_BASE | (0x38 * WordOrByte))))    //Reads the direct values that are currently being sent to the fpga.
+#define GPI_EXTWINDER_L (*((volatile short  *)(FPGA1_BASE | (0x39 * WordOrByte))))    //Value of the latched shorterrupts that have occurred
+#define GPI_EXTWINDER_M (*((volatile short  *)(FPGA1_BASE | (0x3a * WordOrByte))))    //Value of the shorterrupt mask, Default is 0x0000
+
+//Prescaler
+#define F1_Prescaler1_reg1 (*((volatile short  *)(FPGA1_BASE | (0x40 * WordOrByte))))  //Parameter for prescaler divisions
+#define F1_Prescaler1_reg2 (*((volatile short  *)(FPGA1_BASE | (0x41 * WordOrByte))))  //Parameter for prescaler divisions
+#define F1_Prescaler1_reg3 (*((volatile short  *)(FPGA1_BASE | (0x42 * WordOrByte))))  //Parameter for prescaler divisions
+#define F1_Prescaler1_reg4 (*((volatile short  *)(FPGA1_BASE | (0x43 * WordOrByte))))  //Parameter for prescaler divisions
+
+//SPI_Busy_register1
+#define SPI_Busy1_D (*((volatile short  *)(FPGA1_BASE | (0x048 * WordOrByte))))  //Reads the direct values that are currently being sent to the fpga.
+#define SPI_Busy1_L (*((volatile short  *)(FPGA1_BASE | (0x049 * WordOrByte))))  //Value of the latched shorterrupts that have occurred
+#define SPI_Busy1_M (*((volatile short  *)(FPGA1_BASE | (0x04a * WordOrByte))))  //Value of the shorterrupt mask, Default is 0x0000
+
+//SPI_Busy_register2
+#define SPI_Busy2_D (*((volatile short  *)(FPGA1_BASE | (0x050 * WordOrByte))))  //Reads the direct values that are currently being sent to the fpga.
+#define SPI_Busy2_L (*((volatile short  *)(FPGA1_BASE | (0x051 * WordOrByte))))  //Value of the latched shorterrupts that have occurred
+#define SPI_Busy2_M (*((volatile short  *)(FPGA1_BASE | (0x052 * WordOrByte))))  //Value of the shorterrupt mask, Default is 0x0000
+
+//Moto_Driver_NSTBYRST_register1
+#define F1_Moto_Driver_NSTBYRST1 (*((volatile short  *)(FPGA1_BASE | (0x059 * WordOrByte))))   //Writes to values. Readback thevaluessthat are currently in the GPO register
+
+//Moto_Driver_NSTBYRST_register2
+#define Moto_Driver_NSTBYRST2 (*((volatile short  *)(FPGA1_BASE | (0x061 * WordOrByte)))) //Writes to values. Readback thevaluessthat are currently in the GPO register
+
+//Moto_Driver_SW_register1
+#define F1_Moto_Driver_SW1 (*((volatile short  *)(FPGA1_BASE | (0x069 * WordOrByte)))) //Writes to values. Readback thevaluessthat are currently in the GPO register
+
+//Moto_Driver_SW_register2
+#define Moto_Driver_SW2 (*((volatile short  *)(FPGA1_BASE | (0x071 * WordOrByte)))) //Writes to values. Readback thevaluessthat are currently in the GPO register
+
+//QEI_SCREW_ROTENC
+#define SCREW_ROTENC_L (*((volatile short  *)(FPGA1_BASE | (0x080 * WordOrByte))))  //Value of the lsb of the QEI register
+#define SCREW_ROTENC_M (*((volatile short  *)(FPGA1_BASE | (0x081 * WordOrByte))))  //10bits Value of the Msb of the QEI register, 1bit Direction of movement, 5bits Reserved
+#define SCREW_ROTENC_I (*((volatile short  *)(FPGA1_BASE | (0x082 * WordOrByte))))  //value of index counter
+
+//QEI_RSPARE_ROTENC
+#define RSPARE_ROTENC_L  (*((volatile short  *)(FPGA1_BASE | (0x088 * WordOrByte))))  //Value of the lsb of the QEI register
+#define RSPARE_ROTENC_M  (*((volatile short  *)(FPGA1_BASE | (0x089 * WordOrByte))))  //10bits Value of the Msb of the QEI register, 1bit Direction of movement, 5bits Reserved
+#define RSPARE_ROTENC_I  (*((volatile short  *)(FPGA1_BASE | (0x08a * WordOrByte))))    //value of index counter
+
+//QEI_LSPARE1_ROTENC
+#define LSPARE1_ROTENC_L     (*((volatile short  *)(FPGA1_BASE | (0x090 * WordOrByte))))  //Value of the lsb of the QEI register
+#define LSPARE1_ROTENC_M     (*((volatile short  *)(FPGA1_BASE | (0x091 * WordOrByte))))  //10bits Value of the Msb of the QEI register, 1bit Direction of movement, 5bits Reserved
+#define LSPARE1_ROTENC_I     (*((volatile short  *)(FPGA1_BASE | (0x092 * WordOrByte))))    //value of index counter
+
+//QEI_RSPEEDSENS_ROTENC
+#define RSPEEDSENS_ROTENC_L  (*((volatile short  *)(FPGA1_BASE | (0x098 * WordOrByte))))    //Value of the lsb of the QEI register
+#define RSPEEDSENS_ROTENC_M  (*((volatile short  *)(FPGA1_BASE | (0x099 * WordOrByte))))    //10bits Value of the Msb of the QEI register, 1bit Direction of movement, 5bits Reserved
+#define RSPEEDSENS_ROTENC_I  (*((volatile short  *)(FPGA1_BASE | (0x09a * WordOrByte))))    //value of index counter
+
+//QEI_LSPARE2_ROTENC
+#define LSPARE2_ROTENC_L     (*((volatile short  *)(FPGA1_BASE | (0x0A0 * WordOrByte))))    //Value of the lsb of the QEI register
+#define LSPARE2_ROTENC_M     (*((volatile short  *)(FPGA1_BASE | (0x0A1 * WordOrByte))))    //10bits Value of the Msb of the QEI register, 1bit Direction of movement, 5bits Reserved
+#define LSPARE2_ROTENC_I     (*((volatile short  *)(FPGA1_BASE | (0x0A2 * WordOrByte))))      //value of index counter
+
+//QEI_DRYER_LOADARM_ROTENC
+#define DRYER_LOADARM_ROTENC_L   (*((volatile short  *)(FPGA1_BASE | (0x0a8 * WordOrByte))))   //Value of the lsb of the QEI register
+#define DRYER_LOADARM_ROTENC_M   (*((volatile short  *)(FPGA1_BASE | (0x0a9 * WordOrByte))))   //10bits Value of the Msb of the QEI register, 1bit Direction of movement, 5bits Reserved
+#define DRYER_LOADARM_ROTENC_I   (*((volatile short  *)(FPGA1_BASE | (0x0aa * WordOrByte))))     //value of index counter
+
+//SPI_MOTO_RLOADING_A1
+#define MOTO_RLOADING_A1_TX_00   (*((volatile short  *)(FPGA1_BASE | (0x100 * WordOrByte))))    //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_RLOADING_A1_TX_01   (*((volatile short  *)(FPGA1_BASE | (0x101 * WordOrByte))))    //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_RLOADING_A1_RX_00   (*((volatile short  *)(FPGA1_BASE | (0x102 * WordOrByte))))    //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_RLOADING_A1_RX_01   (*((volatile short  *)(FPGA1_BASE | (0x103 * WordOrByte))))    //The 16 Lsb bits of the shifted in data.
+
+//SPI_MOTO_RDRIVING_A1
+#define MOTO_RDRIVING_A1_TX_00   (*((volatile short  *)(FPGA1_BASE | (0x108 * WordOrByte))))    //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_RDRIVING_A1_TX_01   (*((volatile short  *)(FPGA1_BASE | (0x109 * WordOrByte))))    //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_RDRIVING_A1_RX_00   (*((volatile short  *)(FPGA1_BASE | (0x10A * WordOrByte))))    //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_RDRIVING_A1_RX_01   (*((volatile short  *)(FPGA1_BASE | (0x10B * WordOrByte))))    //The 16 Lsb bits of the shifted in data.
+
+//SPI_F1_MOTO_LDRIVING_A1
+#define MOTO_LDRIVING_A1_TX_00   (*((volatile short  *)(FPGA1_BASE | (0x110 * WordOrByte))))    //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_LDRIVING_A1_TX_01   (*((volatile short  *)(FPGA1_BASE | (0x111 * WordOrByte))))    //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_LDRIVING_A1_RX_00   (*((volatile short  *)(FPGA1_BASE | (0x112 * WordOrByte))))    //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_LDRIVING_A1_RX_01   (*((volatile short  *)(FPGA1_BASE | (0x113 * WordOrByte))))    //The 16 Lsb bits of the shifted in data.
+//SPI_F1_MOTO_LLOADING_A1
+#define MOTO_LLOADING_A1_TX_00   (*((volatile short  *)(FPGA1_BASE | (0x118 * WordOrByte))))    //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_LLOADING_A1_TX_01   (*((volatile short  *)(FPGA1_BASE | (0x119 * WordOrByte))))    //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_LLOADING_A1_RX_00   (*((volatile short  *)(FPGA1_BASE | (0x11A * WordOrByte))))    //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_LLOADING_A1_RX_01   (*((volatile short  *)(FPGA1_BASE | (0x11B * WordOrByte))))    //The 16 Lsb bits of the shifted in data.
+
+//SPI_F1_MOTO_DRYER_LOADARM_A1
+#define MOTO_DRYER_LOADARM_A1_TX_00  (*((volatile short  *)(FPGA1_BASE | (0x120 * WordOrByte))))    //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DRYER_LOADARM_A1_TX_01  (*((volatile short  *)(FPGA1_BASE | (0x121 * WordOrByte))))    //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DRYER_LOADARM_A1_RX_00  (*((volatile short  *)(FPGA1_BASE | (0x122 * WordOrByte))))    //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_DRYER_LOADARM_A1_RX_01  (*((volatile short  *)(FPGA1_BASE | (0x123 * WordOrByte))))    //The 16 Lsb bits of the shifted in data.
+//SPI_F1_MOTO_DRYER_DRIVING_A1
+#define MOTO_DRYER_DRIVING_A1_TX_00  (*((volatile short  *)(FPGA1_BASE | (0x128 * WordOrByte))))    //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DRYER_DRIVING_A1_TX_01  (*((volatile short  *)(FPGA1_BASE | (0x129 * WordOrByte))))    //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DRYER_DRIVING_A1_RX_00  (*((volatile short  *)(FPGA1_BASE | (0x12A * WordOrByte))))    //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_DRYER_DRIVING_A1_RX_01  (*((volatile short  *)(FPGA1_BASE | (0x12B * WordOrByte))))    //The 16 Lsb bits of the shifted in data.
+//SPI_F1_MOTO_DH_CLEANHEAD_A1
+#define MOTO_DH_CLEANHEAD_A1_TX_00   (*((volatile short  *)(FPGA1_BASE | (0x130 * WordOrByte))))    //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DH_CLEANHEAD_A1_TX_01   (*((volatile short  *)(FPGA1_BASE | (0x131 * WordOrByte))))    //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DH_CLEANHEAD_A1_RX_00   (*((volatile short  *)(FPGA1_BASE | (0x132 * WordOrByte))))    //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_DH_CLEANHEAD_A1_RX_01   (*((volatile short  *)(FPGA1_BASE | (0x133 * WordOrByte))))    //The 16 Lsb bits of the shifted in data.
+//SPI_F1_MOTO_DH_CLEANMECH_A1
+#define MOTO_DH_CLEANMECH_A1_TX_00   (*((volatile short  *)(FPGA1_BASE | (0x138 * WordOrByte))))    //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DH_CLEANMECH_A1_TX_01   (*((volatile short  *)(FPGA1_BASE | (0x139 * WordOrByte))))    //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DH_CLEANMECH_A1_RX_00   (*((volatile short  *)(FPGA1_BASE | (0x13A * WordOrByte))))    //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_DH_CLEANMECH_A1_RX_01   (*((volatile short  *)(FPGA1_BASE | (0x13B * WordOrByte))))    //The 16 Lsb bits of the shifted in data.
+
+//SPI_F1_MOTO_SCREW_A1
+#define MOTO_SCREW_A1_TX_00  (*((volatile short  *)(FPGA1_BASE | (0x140 * WordOrByte))))    //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_SCREW_A1_TX_01  (*((volatile short  *)(FPGA1_BASE | (0x141 * WordOrByte))))    //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_SCREW_A1_RX_00  (*((volatile short  *)(FPGA1_BASE | (0x142 * WordOrByte))))    //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_SCREW_A1_RX_01  (*((volatile short  *)(FPGA1_BASE | (0x143 * WordOrByte))))    //The 16 Lsb bits of the shifted in data.
+//SPI_F1_MOTO_WINDER_A1
+#define MOTO_WINDER_A1_TX_00     (*((volatile short  *)(FPGA1_BASE | (0x148 * WordOrByte))))    //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_WINDER_A1_TX_01     (*((volatile short  *)(FPGA1_BASE | (0x149 * WordOrByte))))    //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_WINDER_A1_RX_00     (*((volatile short  *)(FPGA1_BASE | (0x14A * WordOrByte))))    //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_WINDER_A1_RX_01     (*((volatile short  *)(FPGA1_BASE | (0x14B * WordOrByte))))    //The 16 Lsb bits of the shifted in data.
+//SPI_MOTO_RLOADARM_A1
+#define MOTO_RLOADARM_A1_TX_00   (*((volatile short  *)(FPGA1_BASE | (0x150 * WordOrByte))))    //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_RLOADARM_A1_TX_01   (*((volatile short  *)(FPGA1_BASE | (0x151 * WordOrByte))))    //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_RLOADARM_A1_RX_00   (*((volatile short  *)(FPGA1_BASE | (0x152 * WordOrByte))))    //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_RLOADARM_A1_RX_01   (*((volatile short  *)(FPGA1_BASE | (0x153 * WordOrByte))))    //The 16 Lsb bits of the shifted in data.
+//SPI_MOTO_RDANCER_A1
+#define MOTO_RDANCER_A1_TX_00    (*((volatile short  *)(FPGA1_BASE | (0x158 * WordOrByte))))    //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_RDANCER_A1_TX_01    (*((volatile short  *)(FPGA1_BASE | (0x159 * WordOrByte))))    //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_RDANCER_A1_RX_00    (*((volatile short  *)(FPGA1_BASE | (0x15A * WordOrByte))))    //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_RDANCER_A1_RX_01    (*((volatile short  *)(FPGA1_BASE | (0x15B * WordOrByte))))    //The 16 Lsb bits of the shifted in data.
+//SPI_MOTO_LDANCER1_A1
+#define MOTO_LDANCER1_A1_TX_00   (*((volatile short  *)(FPGA1_BASE | (0x160 * WordOrByte))))    //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_LDANCER1_A1_TX_01   (*((volatile short  *)(FPGA1_BASE | (0x161 * WordOrByte))))    //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_LDANCER1_A1_RX_00   (*((volatile short  *)(FPGA1_BASE | (0x162 * WordOrByte))))    //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_LDANCER1_A1_RX_01   (*((volatile short  *)(FPGA1_BASE | (0x163 * WordOrByte))))    //The 16 Lsb bits of the shifted in data.
+//SPI_MOTO_LDANCER2_A1
+#define MOTO_LDANCER2_A1_TX_00   (*((volatile short  *)(FPGA1_BASE | (0x168 * WordOrByte))))    //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_LDANCER2_A1_TX_01   (*((volatile short  *)(FPGA1_BASE | (0x169 * WordOrByte))))    //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_LDANCER2_A1_RX_00   (*((volatile short  *)(FPGA1_BASE | (0x16A * WordOrByte))))    //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_LDANCER2_A1_RX_01   (*((volatile short  *)(FPGA1_BASE | (0x16B * WordOrByte))))    //The 16 Lsb bits of the shifted in data.
+//SPI_MOTO_DRYER_LID_A1
+#define MOTO_DRYER_LID_A1_TX_00  (*((volatile short  *)(FPGA1_BASE | (0x170 * WordOrByte))))    //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DRYER_LID_A1_TX_01  (*((volatile short  *)(FPGA1_BASE | (0x171 * WordOrByte))))    //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DRYER_LID_A1_RX_00  (*((volatile short  *)(FPGA1_BASE | (0x172 * WordOrByte))))    //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_DRYER_LID_A1_RX_01  (*((volatile short  *)(FPGA1_BASE | (0x173 * WordOrByte))))    //The 16 Lsb bits of the shifted in data.
+//SPI_MOTO_DH_LID_A1
+#define MOTO_DH_LID_A1_TX_00     (*((volatile short  *)(FPGA1_BASE | (0x178 * WordOrByte))))    //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DH_LID_A1_TX_01     (*((volatile short  *)(FPGA1_BASE | (0x179 * WordOrByte))))    //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DH_LID_A1_RX_00     (*((volatile short  *)(FPGA1_BASE | (0x17A * WordOrByte))))    //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_DH_LID_A1_RX_01     (*((volatile short  *)(FPGA1_BASE | (0x17B * WordOrByte))))    //The 16 Lsb bits of the shifted in data.
+//SPI_MOTO_LPIVOT1_A1
+#define MOTO_LPIVOT1_A1_TX_00    (*((volatile short  *)(FPGA1_BASE | (0x180 * WordOrByte))))    //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_LPIVOT1_A1_TX_01    (*((volatile short  *)(FPGA1_BASE | (0x181 * WordOrByte))))    //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_LPIVOT1_A1_RX_00    (*((volatile short  *)(FPGA1_BASE | (0x182 * WordOrByte))))    //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_LPIVOT1_A1_RX_01    (*((volatile short  *)(FPGA1_BASE | (0x183 * WordOrByte))))    //The 16 Lsb bits of the shifted in data.
+//SSI
+#define F1_LDANCER1_ROTENC_DATA_p_RX_msb     (*((volatile short  *)(FPGA1_BASE | (0x190 * WordOrByte))))    //16 bit MSB if nessesary
+#define F1_LDANCER1_ROTENC_DATA_p_RX_lsb     (*((volatile short  *)(FPGA1_BASE | (0x191 * WordOrByte))))    //The 16 Lsb bits of the shifted in data.
+#define LDANCER2_ROTENC_DATA_p_RX_msb        (*((volatile short  *)(FPGA1_BASE | (0x198 * WordOrByte))))    //16 bit MSB if nessesary
+#define LDANCER2_ROTENC_DATA_p_RX_lsb        (*((volatile short  *)(FPGA1_BASE | (0x199 * WordOrByte))))    //The 16 Lsb bits of the shifted in data.
+#define LSPARE_ROTENC_DATA_p_RX_msb          (*((volatile short  *)(FPGA1_BASE | (0x1a0 * WordOrByte))))    //16 bit MSB if nessesary
+#define LSPARE_ROTENC_DATA_p_RX_lsb          (*((volatile short  *)(FPGA1_BASE | (0x1a1 * WordOrByte))))    //The 16 Lsb bits of the shifted in data.
+#define RDANCER_ROTENC_DATA_p_RX_msb         (*((volatile short  *)(FPGA1_BASE | (0x1a8 * WordOrByte))))    //16 bit MSB if nessesary
+#define RDANCER_ROTENC_DATA_p_RX_lsb         (*((volatile short  *)(FPGA1_BASE | (0x1a9 * WordOrByte))))    //The 16 Lsb bits of the shifted in data.
+#define F1_RSPARE_ROTENC_DATA_p_RX_msb       (*((volatile short  *)(FPGA1_BASE | (0x1b0 * WordOrByte))))    //16 bit MSB if nessesary
+#define F1_RSPARE_ROTENC_DATA_p_RX_lsb       (*((volatile short  *)(FPGA1_BASE | (0x1b1 * WordOrByte))))    //The 16 Lsb bits of the shifted in data.
+//Test
+#define FPGA1_Test       (*((volatile short  *)(FPGA1_BASE | (0x1f8 * WordOrByte))))    //Readback not -gives the inverse of the written to value
+
+// * * * * * * * * * * * * * * * * FPGA 2  * * * * * * * * * * * * * * * * //
+//Version1
+#define FPGA2_Ver1_D (*((volatile short  *)(FPGA2_BASE | (0x0 * WordOrByte))))  //Version of Fpga is held here
+#define FPGA2_Ver1_L (*((volatile short  *)(FPGA2_BASE | (0x1 * WordOrByte))))  //Value of the latched shorterrupts that have occurred
+#define FPGA2_Ver1_M (*((volatile short  *)(FPGA2_BASE | (0x2 * WordOrByte))))  //Value of the shorterrupt mask, Default is 0x0000
+
+//Version2
+#define FPGA2_Ver2_D (*((volatile short  *)(FPGA2_BASE | (0x8 * WordOrByte))))  //Version of Fpga is held here
+#define FPGA2_Ver2_L (*((volatile short  *)(FPGA2_BASE | (0x9 * WordOrByte))))  //Value of the latched shorterrupts that have occurred
+#define FPGA2_Ver2_M (*((volatile short  *)(FPGA2_BASE | (0xa * WordOrByte))))  //Value of the shorterrupt mask, Default is 0x0000
+
+//GPI shorterrupt LS_01 Registers
+#define F2_GPI_LS1_D (*((volatile short  *)(FPGA2_BASE | (0x10 * WordOrByte))))    //Reads the direct values that are currently being sent to the fpga.
+#define F2_GPI_LS1_L (*((volatile short  *)(FPGA2_BASE | (0x11 * WordOrByte))))    //Value of the latched shorterrupts that have occurred
+#define F2_GPI_LS1_M (*((volatile short  *)(FPGA2_BASE | (0x12 * WordOrByte))))    //Value of the shorterrupt mask, Default is 0x0000
+
+//GPI shorterrupt LS_02 Registers
+#define F2_GPI_LS2_D (*((volatile short  *)(FPGA2_BASE | (0x18 * WordOrByte))))    //Reads the direct values that are currently being sent to the fpga.
+#define F2_GPI_LS2_L (*((volatile short  *)(FPGA2_BASE | (0x19 * WordOrByte))))    //Value of the latched shorterrupts that have occurred
+#define F2_GPI_LS2_M (*((volatile short  *)(FPGA2_BASE | (0x1a * WordOrByte))))    //Value of the shorterrupt mask, Default is 0x0000
+
+//GPI shorterrupt LS_03 Registers
+#define F2_GPI_LS3_D (*((volatile short  *)(FPGA2_BASE | (0x20 * WordOrByte))))     //Reads the direct values that are currently being sent to the fpga.
+#define F2_GPI_LS3_L (*((volatile short  *)(FPGA2_BASE | (0x21 * WordOrByte))))     //Value of the latched shorterrupts that have occurred
+#define F2_GPI_LS3_M (*((volatile short  *)(FPGA2_BASE | (0x22 * WordOrByte))))     //Value of the shorterrupt mask, Default is 0x0000
+
+//Moto_Driver_NBUSY_register1
+#define F2_Moto_Driver_NBUSY1_D (*((volatile short  *)(FPGA2_BASE | (0x28 * WordOrByte)))) //Reads the direct values that are currently being sent to the fpga.
+#define F2_Moto_Driver_NBUSY1_L (*((volatile short  *)(FPGA2_BASE | (0x29 * WordOrByte))))   //Value of the latched shorterrupts that have occurred
+#define F2_Moto_Driver_NBUSY1_M (*((volatile short  *)(FPGA2_BASE | (0x2a * WordOrByte))))   //Value of the shorterrupt mask, Default is 0x0000
+
+//DISPENSER_VALVE_IN
+#define DISPENSER_VALVE_IN_Direct (*((volatile short  *)(FPGA2_BASE | (0x030 * WordOrByte))))     //Reads the direct values that are currently being sent to the fpga.
+#define DISPENSER_VALVE_IN_Latched (*((volatile short  *)(FPGA2_BASE | (0x031 * WordOrByte))))     //Value of the latched shorterrupts that have occurred
+#define DISPENSER_VALVE_IN_Mask (*((volatile short  *)(FPGA2_BASE | (0x032 * WordOrByte))))     //Value of the shorterrupt mask, Default is 0x0000
+//GPI_REGISTER1
+#define GPI_REGISTER1_Direct    (*((volatile short  *)(FPGA2_BASE | (0x038 * WordOrByte))))     //Reads the direct values that are currently being sent to the fpga.
+#define GPI_REGISTER1_Latched   (*((volatile short  *)(FPGA2_BASE | (0x039 * WordOrByte))))     //Value of the latched shorterrupts that have occurred
+#define GPI_REGISTER1_Mask  (*((volatile short  *)(FPGA2_BASE | (0x03A * WordOrByte))))     //Value of the shorterrupt mask, Default is 0x0000
+//LS_04
+#define LS_04_Direct    (*((volatile short  *)(FPGA2_BASE | (0x040 * WordOrByte))))     //Version of Fpga is held here
+#define LS_04_Latched   (*((volatile short  *)(FPGA2_BASE | (0x041 * WordOrByte))))     //Value of the latched shorterrupts that have occurred
+#define LS_04_Mask  (*((volatile short  *)(FPGA2_BASE | (0x042 * WordOrByte))))     //Value of the shorterrupt mask, Default is 0x0000
+//SPI_Busy_register1
+#define SPI_Busy1_Direct    (*((volatile short  *)(FPGA2_BASE | (0x048 * WordOrByte))))     //Reads the direct values that are currently being sent to the fpga.
+#define SPI_Busy1_Latched   (*((volatile short  *)(FPGA2_BASE | (0x049 * WordOrByte))))     //Value of the latched shorterrupts that have occurred
+#define SPI_Busy1_Mask  (*((volatile short  *)(FPGA2_BASE | (0x04a * WordOrByte))))     //Value of the shorterrupt mask, Default is 0x0000
+//SPI_Busy_register2
+#define SPI_Busy2_Direct    (*((volatile short  *)(FPGA2_BASE | (0x050 * WordOrByte))))     //Reads the direct values that are currently being sent to the fpga.
+#define SPI_Busy2_Latched   (*((volatile short  *)(FPGA2_BASE | (0x051 * WordOrByte))))     //Value of the latched shorterrupts that have occurred
+#define SPI_Busy2_Mask  (*((volatile short  *)(FPGA2_BASE | (0x052 * WordOrByte))))     //Value of the shorterrupt mask, Default is 0x0000
+//Moto_Driver_NSTBYRST_register1
+#define F2_Moto_Driver_NSTBYRST1   (*((volatile short  *)(FPGA2_BASE | (0x059 * WordOrByte)))) //Writes to values. Readback thevaluessthat are currently in the GPO register
+//DISPENSER_VALVE_OUT
+#define F2_DISPENSER_VALVE_OUT (*((volatile short  *)(FPGA2_BASE | (0x061 * WordOrByte)))) //Writes to values. Readback thevaluessthat are currently in the GPO register
+//Moto_Driver_SW_register1
+#define F2_Moto_Driver_SW1 (*((volatile short  *)(FPGA2_BASE | (0x069 * WordOrByte)))) //Writes to values. Readback thevaluessthat are currently in the GPO register
+//CTRL
+#define CTRL    (*((volatile short  *)(FPGA2_BASE | (0x071 * WordOrByte)))) //Writes to values. Readback thevaluessthat are currently in the GPO register
+//GPO_REGISTER
+#define GPO_REGISTER    (*((volatile short  *)(FPGA2_BASE | (0x079 * WordOrByte)))) //Writes to values. Readback thevaluessthat are currently in the GPO register
+//SSI
+#define DISPENSER_ROTENC_DATA_p_7_RX_msb    (*((volatile short  *)(FPGA2_BASE | (0x080 * WordOrByte)))) //16 bit MSB if nessesary
+#define DISPENSER_ROTENC_DATA_p_7_RX_lsb    (*((volatile short  *)(FPGA2_BASE | (0x081 * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+#define DISPENSER_ROTENC_DATA_p_8_RX_msb    (*((volatile short  *)(FPGA2_BASE | (0x088 * WordOrByte)))) //16 bit MSB if nessesary
+#define DISPENSER_ROTENC_DATA_p_8_RX_lsb    (*((volatile short  *)(FPGA2_BASE | (0x089 * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+//ANALOG_DYEINGH_TEMP1_1
+#define ANALOG_DYEINGH_TEMP1_1_TX_00    (*((volatile short  *)(FPGA2_BASE | (0x100 * WordOrByte)))) //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define ANALOG_DYEINGH_TEMP1_1_TX_01    (*((volatile short  *)(FPGA2_BASE | (0x101 * WordOrByte)))) //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define ANALOG_DYEINGH_TEMP1_1_RX_00    (*((volatile short  *)(FPGA2_BASE | (0x102 * WordOrByte)))) //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define ANALOG_DYEINGH_TEMP1_1_RX_01    (*((volatile short  *)(FPGA2_BASE | (0x103 * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+//AN_ENCLOSURETEMP1_1
+#define AN_ENCLOSURETEMP1_1_TX_00   (*((volatile short  *)(FPGA2_BASE | (0x108 * WordOrByte)))) //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define AN_ENCLOSURETEMP1_1_TX_01   (*((volatile short  *)(FPGA2_BASE | (0x109 * WordOrByte)))) //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define AN_ENCLOSURETEMP1_1_RX_00   (*((volatile short  *)(FPGA2_BASE | (0x10A * WordOrByte)))) //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define AN_ENCLOSURETEMP1_1_RX_01   (*((volatile short  *)(FPGA2_BASE | (0x10B * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+//ANALOG_DYEINGH_TEMP2
+#define ANALOG_DYEINGH_TEMP2_TX_00 (*((volatile short  *)(FPGA2_BASE | (0x110 * WordOrByte)))) //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define ANALOG_DYEINGH_TEMP2_TX_01 (*((volatile short  *)(FPGA2_BASE | (0x111 * WordOrByte)))) //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define ANALOG_DYEINGH_TEMP2_RX_00 (*((volatile short  *)(FPGA2_BASE | (0x112 * WordOrByte)))) //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define ANALOG_DYEINGH_TEMP2_RX_01 (*((volatile short  *)(FPGA2_BASE | (0x113 * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+//AN_ENCLOSURETEMP2_1
+#define AN_ENCLOSURETEMP2_1_TX_00   (*((volatile short  *)(FPGA2_BASE | (0x118 * WordOrByte)))) //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define AN_ENCLOSURETEMP2_1_TX_01   (*((volatile short  *)(FPGA2_BASE | (0x119 * WordOrByte)))) //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define AN_ENCLOSURETEMP2_1_RX_00   (*((volatile short  *)(FPGA2_BASE | (0x11A * WordOrByte)))) //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define AN_ENCLOSURETEMP2_1_RX_01   (*((volatile short  *)(FPGA2_BASE | (0x11B * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+//ANALOG_DYEINGH_TEMP3
+#define ANALOG_DYEINGH_TEMP3_TX_00  (*((volatile short  *)(FPGA2_BASE | (0x120 * WordOrByte)))) //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define ANALOG_DYEINGH_TEMP3_TX_01  (*((volatile short  *)(FPGA2_BASE | (0x121 * WordOrByte)))) //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define ANALOG_DYEINGH_TEMP3_RX_00  (*((volatile short  *)(FPGA2_BASE | (0x122 * WordOrByte)))) //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define ANALOG_DYEINGH_TEMP3_RX_01  (*((volatile short  *)(FPGA2_BASE | (0x123 * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+//AN_ENCLOSURETEMP3_1
+#define AN_ENCLOSURETEMP3_1_TX_00   (*((volatile short  *)(FPGA2_BASE | (0x128 * WordOrByte)))) //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define AN_ENCLOSURETEMP3_1_TX_01   (*((volatile short  *)(FPGA2_BASE | (0x129 * WordOrByte)))) //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define AN_ENCLOSURETEMP3_1_RX_00   (*((volatile short  *)(FPGA2_BASE | (0x12A * WordOrByte)))) //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define AN_ENCLOSURETEMP3_1_RX_01   (*((volatile short  *)(FPGA2_BASE | (0x12B * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+//ANALOG_DYEINGH_TEMP4
+#define ANALOG_DYEINGH_TEMP4_1_TX_00    (*((volatile short  *)(FPGA2_BASE | (0x130 * WordOrByte)))) //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define ANALOG_DYEINGH_TEMP4_1_TX_01    (*((volatile short  *)(FPGA2_BASE | (0x131 * WordOrByte)))) //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define ANALOG_DYEINGH_TEMP4_1_RX_00    (*((volatile short  *)(FPGA2_BASE | (0x132 * WordOrByte)))) //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define ANALOG_DYEINGH_TEMP4_1_RX_01    (*((volatile short  *)(FPGA2_BASE | (0x133 * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+//ANALOG_DRYER_TEMP1
+#define ANALOG_DRYER_TEMP1_1_TX_00  (*((volatile short  *)(FPGA2_BASE | (0x138 * WordOrByte)))) //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define ANALOG_DRYER_TEMP1_1_TX_01  (*((volatile short  *)(FPGA2_BASE | (0x139 * WordOrByte)))) //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define ANALOG_DRYER_TEMP1_1_RX_00  (*((volatile short  *)(FPGA2_BASE | (0x13A * WordOrByte)))) //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define ANALOG_DRYER_TEMP1_1_RX_01  (*((volatile short  *)(FPGA2_BASE | (0x13B * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+//ANALOG_DYEINGH_TEMP5
+#define ANALOG_DYEINGH_TEMP5_1_TX_00    (*((volatile short  *)(FPGA2_BASE | (0x140 * WordOrByte)))) //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define ANALOG_DYEINGH_TEMP5_1_TX_01    (*((volatile short  *)(FPGA2_BASE | (0x141 * WordOrByte)))) //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define ANALOG_DYEINGH_TEMP5_1_RX_00    (*((volatile short  *)(FPGA2_BASE | (0x142 * WordOrByte)))) //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define ANALOG_DYEINGH_TEMP5_1_RX_01    (*((volatile short  *)(FPGA2_BASE | (0x143 * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+//ANALOG_DRYER_TEMP2
+#define ANALOG_DRYER_TEMP2_1_TX_00  (*((volatile short  *)(FPGA2_BASE | (0x148 * WordOrByte)))) //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define ANALOG_DRYER_TEMP2_1_TX_01  (*((volatile short  *)(FPGA2_BASE | (0x149 * WordOrByte)))) //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define ANALOG_DRYER_TEMP2_1_RX_00  (*((volatile short  *)(FPGA2_BASE | (0x14A * WordOrByte)))) //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define ANALOG_DRYER_TEMP2_1_RX_01  (*((volatile short  *)(FPGA2_BASE | (0x14B * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+//ANALOG_MIXCHIP_TEMP
+#define ANALOG_MIXCHIP_TEMP_1_TX_00 (*((volatile short  *)(FPGA2_BASE | (0x150 * WordOrByte)))) //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define ANALOG_MIXCHIP_TEMP_1_TX_01 (*((volatile short  *)(FPGA2_BASE | (0x151 * WordOrByte)))) //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define ANALOG_MIXCHIP_TEMP_1_RX_00 (*((volatile short  *)(FPGA2_BASE | (0x152 * WordOrByte)))) //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define ANALOG_MIXCHIP_TEMP_1_RX_01 (*((volatile short  *)(FPGA2_BASE | (0x153 * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+//ANALOG_DRYER_TEMP3
+#define ANALOG_DRYER_TEMP3_1_TX_00  (*((volatile short  *)(FPGA2_BASE | (0x158 * WordOrByte)))) //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define ANALOG_DRYER_TEMP3_1_TX_01  (*((volatile short  *)(FPGA2_BASE | (0x159 * WordOrByte)))) //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define ANALOG_DRYER_TEMP3_1_RX_00  (*((volatile short  *)(FPGA2_BASE | (0x15A * WordOrByte)))) //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define ANALOG_DRYER_TEMP3_1_RX_01  (*((volatile short  *)(FPGA2_BASE | (0x15B * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+//SSI
+#define DISPENSER_ROTENC_DATA_p_1_RX_msb    (*((volatile short  *)(FPGA2_BASE | (0x160 * WordOrByte)))) //16 bit MSB if nessesary
+#define DISPENSER_ROTENC_DATA_p_1_RX_lsb    (*((volatile short  *)(FPGA2_BASE | (0x161 * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+#define DISPENSER_ROTENC_DATA_p_2_RX_msb    (*((volatile short  *)(FPGA2_BASE | (0x168 * WordOrByte)))) //16 bit MSB if nessesary
+#define DISPENSER_ROTENC_DATA_p_2_RX_lsb    (*((volatile short  *)(FPGA2_BASE | (0x169 * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+#define DISPENSER_ROTENC_DATA_p_3_RX_msb    (*((volatile short  *)(FPGA2_BASE | (0x170 * WordOrByte)))) //16 bit MSB if nessesary
+#define DISPENSER_ROTENC_DATA_p_3_RX_lsb    (*((volatile short  *)(FPGA2_BASE | (0x171 * WordOrByte)))) //16 bit MSB if nessesary
+#define DISPENSER_ROTENC_DATA_p_4_RX_msb    (*((volatile short  *)(FPGA2_BASE | (0x178 * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+#define DISPENSER_ROTENC_DATA_p_4_RX_lsb    (*((volatile short  *)(FPGA2_BASE | (0x179 * WordOrByte)))) //16 bit MSB if nessesary
+#define DISPENSER_ROTENC_DATA_p_5_RX_msb    (*((volatile short  *)(FPGA2_BASE | (0x180 * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+#define DISPENSER_ROTENC_DATA_p_5_RX_lsb    (*((volatile short  *)(FPGA2_BASE | (0x181 * WordOrByte)))) //16 bit MSB if nessesary
+#define DISPENSER_ROTENC_DATA_p_6_RX_msb    (*((volatile short  *)(FPGA2_BASE | (0x188 * WordOrByte)))) //16 bit MSB if nessesary
+#define DISPENSER_ROTENC_DATA_p_6_RX_lsb    (*((volatile short  *)(FPGA2_BASE | (0x189 * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+//MOTO_DISPENSER_A1
+#define MOTO_DISPENSER_A1_1_TX_00   (*((volatile short  *)(FPGA2_BASE | (0x190 * WordOrByte)))) //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DISPENSER_A1_1_TX_01   (*((volatile short  *)(FPGA2_BASE | (0x191 * WordOrByte)))) //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DISPENSER_A1_1_RX_00   (*((volatile short  *)(FPGA2_BASE | (0x192 * WordOrByte)))) //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_DISPENSER_A1_1_RX_01   (*((volatile short  *)(FPGA2_BASE | (0x193 * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+//MOTO_DISPENSER_A1_2
+#define MOTO_DISPENSER_A1_2_TX_00   (*((volatile short  *)(FPGA2_BASE | (0x198 * WordOrByte)))) //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DISPENSER_A1_2_TX_01   (*((volatile short  *)(FPGA2_BASE | (0x199 * WordOrByte)))) //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DISPENSER_A1_2_RX_00   (*((volatile short  *)(FPGA2_BASE | (0x19A * WordOrByte)))) //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_DISPENSER_A1_2_RX_01   (*((volatile short  *)(FPGA2_BASE | (0x19B * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+//MOTO_DISPENSER_A1_3
+#define MOTO_DISPENSER_A1_3_TX_00   (*((volatile short  *)(FPGA2_BASE | (0x1A0 * WordOrByte)))) //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DISPENSER_A1_3_TX_01   (*((volatile short  *)(FPGA2_BASE | (0x1A1 * WordOrByte)))) //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DISPENSER_A1_3_RX_00   (*((volatile short  *)(FPGA2_BASE | (0x1A2 * WordOrByte)))) //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_DISPENSER_A1_3_RX_01   (*((volatile short  *)(FPGA2_BASE | (0x1A3 * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+//MOTO_DISPENSER_A1_4
+#define MOTO_DISPENSER_A1_4_TX_00   (*((volatile short  *)(FPGA2_BASE | (0x1A8 * WordOrByte)))) //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DISPENSER_A1_4_TX_01   (*((volatile short  *)(FPGA2_BASE | (0x1A9 * WordOrByte)))) //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DISPENSER_A1_4_RX_00   (*((volatile short  *)(FPGA2_BASE | (0x1AA * WordOrByte)))) //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_DISPENSER_A1_4_RX_01   (*((volatile short  *)(FPGA2_BASE | (0x1AB * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+//MOTO_DISPENSER_A1_5
+#define MOTO_DISPENSER_A1_5_TX_00   (*((volatile short  *)(FPGA2_BASE | (0x1B0 * WordOrByte)))) //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DISPENSER_A1_5_TX_01   (*((volatile short  *)(FPGA2_BASE | (0x1B1 * WordOrByte)))) //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DISPENSER_A1_5_RX_00   (*((volatile short  *)(FPGA2_BASE | (0x1B2 * WordOrByte)))) //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_DISPENSER_A1_5_RX_01   (*((volatile short  *)(FPGA2_BASE | (0x1B3 * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+//MOTO_DISPENSER_A1_6
+#define MOTO_DISPENSER_A1_6_TX_00   (*((volatile short  *)(FPGA2_BASE | (0x1B8 * WordOrByte)))) //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DISPENSER_A1_6_TX_01   (*((volatile short  *)(FPGA2_BASE | (0x1B9 * WordOrByte)))) //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DISPENSER_A1_6_RX_00   (*((volatile short  *)(FPGA2_BASE | (0x1BA * WordOrByte)))) //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_DISPENSER_A1_6_RX_01   (*((volatile short  *)(FPGA2_BASE | (0x1BB * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+//MOTO_DISPENSER_A1_7
+#define MOTO_DISPENSER_A1_7_TX_00   (*((volatile short  *)(FPGA2_BASE | (0x1C0 * WordOrByte)))) //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DISPENSER_A1_7_TX_01   (*((volatile short  *)(FPGA2_BASE | (0x1C1 * WordOrByte)))) //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DISPENSER_A1_7_RX_00   (*((volatile short  *)(FPGA2_BASE | (0x1C2 * WordOrByte)))) //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_DISPENSER_A1_7_RX_01   (*((volatile short  *)(FPGA2_BASE | (0x1C3 * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+//MOTO_DISPENSER_A1_8
+#define MOTO_DISPENSER_A1_8_TX_00   (*((volatile short  *)(FPGA2_BASE | (0x1C8 * WordOrByte)))) //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DISPENSER_A1_8_TX_01   (*((volatile short  *)(FPGA2_BASE | (0x1C9 * WordOrByte)))) //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_DISPENSER_A1_8_RX_00   (*((volatile short  *)(FPGA2_BASE | (0x1CA * WordOrByte)))) //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_DISPENSER_A1_8_RX_01   (*((volatile short  *)(FPGA2_BASE | (0x1CB * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+//Prescaler
+#define F2_Prescaler1_reg1 (*((volatile short  *)(FPGA2_BASE | (0x1f0 * WordOrByte)))) //Parameter for prescaler divisions
+#define F2_Prescaler1_reg2 (*((volatile short  *)(FPGA2_BASE | (0x1f1 * WordOrByte)))) //Parameter for prescaler divisions
+#define F2_Prescaler1_reg3 (*((volatile short  *)(FPGA2_BASE | (0x1f2 * WordOrByte)))) //Parameter for prescaler divisions
+#define F2_Prescaler1_reg4 (*((volatile short  *)(FPGA2_BASE | (0x1f3 * WordOrByte)))) //Parameter for prescaler divisions
+//Test
+#define FPGA2_Test  (*((volatile short  *)(FPGA2_BASE | (0x1f8 * WordOrByte)))) //Readback not - gives the inverse of the written to value
+
+// * * * * * * * * * * * * * * * * FPGA 3  * * * * * * * * * * * * * * * * //
+
+//Version1
+#define FPGA3_Ver1_D (*((volatile short  *)(FPGA3_BASE | (0x0 * WordOrByte))))  //Version of Fpga is held here
+#define FPGA3_Ver1_L (*((volatile short  *)(FPGA3_BASE | (0x1 * WordOrByte))))  //Value of the latched shorterrupts that have occurred
+#define FPGA3_Ver1_M (*((volatile short  *)(FPGA3_BASE | (0x2 * WordOrByte))))  //Value of the shorterrupt mask, Default is 0x0000
+
+//Version2
+#define FPGA3_Ver2_D (*((volatile short  *)(FPGA3_BASE | (0x8 * WordOrByte))))  //Version of Fpga is held here
+#define FPGA3_Ver2_L (*((volatile short  *)(FPGA3_BASE | (0x9 * WordOrByte))))  //Value of the latched shorterrupts that have occurred
+#define FPGA3_Ver2_M (*((volatile short  *)(FPGA3_BASE | (0xa * WordOrByte))))  //Value of the shorterrupt mask, Default is 0x0000
+
+//GPI 01
+#define GPI_01_D (*((volatile short  *)(FPGA3_BASE | (0x10 * WordOrByte)))) //Reads the direct values that are currently being sent to the fpga.
+#define GPI_01_L (*((volatile short  *)(FPGA3_BASE | (0x11 * WordOrByte)))) //Value of the latched shorterrupts that have occurred
+#define GPI_01_M (*((volatile short  *)(FPGA3_BASE | (0x12 * WordOrByte)))) //Value of the shorterrupt mask, Default is 0x0000
+
+//MIDTANK 01
+#define MIDTANK_01_Direct       (*((volatile short  *)(FPGA3_BASE | (0x018 * WordOrByte)))) //Reads the direct values that are currently being sent to the fpga.
+#define MIDTANK_01_Latched      (*((volatile short  *)(FPGA3_BASE | (0x019 * WordOrByte)))) //Value of the latched shorterrupts that have occurred
+#define MIDTANK_01_Mask         (*((volatile short  *)(FPGA3_BASE | (0x01a * WordOrByte)))) //Value of the shorterrupt mask, Default is 0x0000
+//MIDTANK 02
+#define MIDTANK_02_Direct       (*((volatile short  *)(FPGA3_BASE | (0x020 * WordOrByte)))) //Reads the direct values that are currently being sent to the fpga.
+#define MIDTANK_02_Latched      (*((volatile short  *)(FPGA3_BASE | (0x021 * WordOrByte)))) //Value of the latched shorterrupts that have occurred
+#define MIDTANK_02_Mask         (*((volatile short  *)(FPGA3_BASE | (0x022 * WordOrByte)))) //Value of the shorterrupt mask, Default is 0x0000
+//DISPENSER_ROTENC_IN
+#define DISPENSER_ROTENC_IN_Direct      (*((volatile short  *)(FPGA3_BASE | (0x028 * WordOrByte)))) //Reads the direct values that are currently being sent to the fpga.
+#define DISPENSER_ROTENC_IN_Latched     (*((volatile short  *)(FPGA3_BASE | (0x029 * WordOrByte)))) //Value of the latched shorterrupts that have occurred
+#define DISPENSER_ROTENC_IN_Mask        (*((volatile short  *)(FPGA3_BASE | (0x02A * WordOrByte)))) //Value of the shorterrupt mask, Default is 0x0000
+//Moto_Driver_NBUSY_register1
+#define Moto_Driver_NBUSY1_Direct       (*((volatile short  *)(FPGA3_BASE | (0x030 * WordOrByte)))) //Reads the direct values that are currently being sent to the fpga.
+#define Moto_Driver_NBUSY1_Latched      (*((volatile short  *)(FPGA3_BASE | (0x031 * WordOrByte)))) //Value of the latched shorterrupts that have occurred
+#define Moto_Driver_NBUSY1_Mask         (*((volatile short  *)(FPGA3_BASE | (0x032 * WordOrByte)))) //Value of the shorterrupt mask, Default is 0x0000
+//CARTx_PRES
+#define CARTx_PRES_02_Direct        (*((volatile short  *)(FPGA3_BASE | (0x038 * WordOrByte)))) //Reads the direct values that are currently being sent to the fpga.
+#define CARTx_PRES_02_Latched       (*((volatile short  *)(FPGA3_BASE | (0x039 * WordOrByte)))) //Value of the latched shorterrupts that have occurred
+#define CARTx_PRES_02_Mask          (*((volatile short  *)(FPGA3_BASE | (0x03A * WordOrByte)))) //Value of the shorterrupt mask, Default is 0x0000
+//LS_01
+#define LS_01_Direct        (*((volatile short  *)(FPGA3_BASE | (0x040 * WordOrByte)))) //Reads the direct values that are currently being sent to the fpga.
+#define LS_01_Latched       (*((volatile short  *)(FPGA3_BASE | (0x041 * WordOrByte)))) //Value of the latched shorterrupts that have occurred
+#define LS_01_Mask          (*((volatile short  *)(FPGA3_BASE | (0x042 * WordOrByte)))) //Value of the shorterrupt mask, Default is 0x0000
+//Spi_Busy_01
+#define busy_01_Direct      (*((volatile short  *)(FPGA3_BASE | (0x050 * WordOrByte)))) //Reads the direct values that are currently being sent to the fpga.
+#define busy_01_Latched     (*((volatile short  *)(FPGA3_BASE | (0x051 * WordOrByte)))) //Value of the latched shorterrupts that have occurred
+#define busy_01_Mask        (*((volatile short  *)(FPGA3_BASE | (0x052 * WordOrByte)))) //Value of the shorterrupt mask, Default is 0x0000
+//Moto_Driver_NSTBYRST_register1
+#define F3_Moto_Driver_NSTBYRST1       (*((volatile short  *)(FPGA3_BASE | (0x059 * WordOrByte)))) //Writes to values. Readback thevaluessthat are currently in the GPO register
+//GPO_01
+#define /*F3_DISPENSER_VALVE_OUT*/GPO_01     (*((volatile short  *)(FPGA3_BASE | (0x061 * WordOrByte)))) //Writes to values. Readback thevaluessthat are currently in the GPO register
+//Moto_Driver_SW_register1
+#define F3_Moto_Driver_SW1     (*((volatile short  *)(FPGA3_BASE | (0x069 * WordOrByte)))) //Writes to values. Readback thevaluessthat are currently in the GPO register
+//VALVE_OUT
+#define VALVE_OUT       (*((volatile short  *)(FPGA3_BASE | (0x071 * WordOrByte)))) //Writes to values. Readback thevaluessthat are currently in the GPO register
+//DISPENSER_ROTENC_OUT
+#define DISPENSER_ROTENC_OUT        (*((volatile short  *)(FPGA3_BASE | (0x079 * WordOrByte)))) //Writes to values. Readback thevaluessthat are currently in the GPO register
+//QEI_SCREW_ROTENC
+#define SPARE1_ROTENC_lsb       (*((volatile short  *)(FPGA3_BASE | (0x080 * WordOrByte)))) //Value of the lsb of the QEI register
+#define SPARE1_ROTENC_msb       (*((volatile short  *)(FPGA3_BASE | (0x081 * WordOrByte)))) //10bits Value of the Msb of the QEI register, 1bit Direction of movement, 5bits Reserved
+#define SPARE1_ROTENC_index     (*((volatile short  *)(FPGA3_BASE | (0x082 * WordOrByte)))) //value of index counter
+//QEI_RSPARE_ROTENC
+#define RSPARE_ROTENC_lsb       (*((volatile short  *)(FPGA3_BASE | (0x088 * WordOrByte)))) //Value of the lsb of the QEI register
+#define RSPARE_ROTENC_msb       (*((volatile short  *)(FPGA3_BASE | (0x089 * WordOrByte)))) //10bits Value of the Msb of the QEI register, 1bit Direction of movement, 5bits Reserved
+#define RSPARE_ROTENC_index     (*((volatile short  *)(FPGA3_BASE | (0x08a * WordOrByte)))) //value of index counter
+//SPI_MOTO_RLOADING_A1
+#define MOTO_SPARE1_1_A1_TX_00  (*((volatile short  *)(FPGA3_BASE | (0x100 * WordOrByte)))) //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_SPARE1_1_A1_TX_01  (*((volatile short  *)(FPGA3_BASE | (0x101 * WordOrByte)))) //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_SPARE1_1_A1_RX_00  (*((volatile short  *)(FPGA3_BASE | (0x102 * WordOrByte)))) //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_SPARE1_1_A1_RX_01  (*((volatile short  *)(FPGA3_BASE | (0x103 * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+//SPI_MOTO_RDRIVING_A1
+#define MOTO_SPARE1_2_A1_TX_00  (*((volatile short  *)(FPGA3_BASE | (0x108 * WordOrByte)))) //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_SPARE1_2_A1_TX_01  (*((volatile short  *)(FPGA3_BASE | (0x109 * WordOrByte)))) //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_SPARE1_2_A1_RX_00  (*((volatile short  *)(FPGA3_BASE | (0x10A * WordOrByte)))) //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_SPARE1_2_A1_RX_01  (*((volatile short  *)(FPGA3_BASE | (0x10B * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+//SPI_F1_MOTO_LDRIVING_A1
+#define MOTO_SPARE2_1_A1_TX_00  (*((volatile short  *)(FPGA3_BASE | (0x110 * WordOrByte)))) //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_SPARE2_1_A1_TX_01  (*((volatile short  *)(FPGA3_BASE | (0x111 * WordOrByte)))) //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_SPARE2_1_A1_RX_00  (*((volatile short  *)(FPGA3_BASE | (0x112 * WordOrByte)))) //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_SPARE2_1_A1_RX_01  (*((volatile short  *)(FPGA3_BASE | (0x113 * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+//SPI_F1_MOTO_LLOADING_A1
+#define MOTO_SPARE2_2_A1_TX_00  (*((volatile short  *)(FPGA3_BASE | (0x118 * WordOrByte)))) //The second register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_SPARE2_2_A1_TX_01  (*((volatile short  *)(FPGA3_BASE | (0x119 * WordOrByte)))) //The first register to be shifted out of the spi. The msb bit of this register is shifted out first.
+#define MOTO_SPARE2_2_A1_RX_00  (*((volatile short  *)(FPGA3_BASE | (0x11A * WordOrByte)))) //The 8 msb bits of the shifted in bits. The 8 msb bits of this register are zeros.
+#define MOTO_SPARE2_2_A1_RX_01  (*((volatile short  *)(FPGA3_BASE | (0x11B * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+//SSI
+#define SPARE1_ROTENC_DATA_p_1_RX_msb   (*((volatile short  *)(FPGA3_BASE | (0x160 * WordOrByte)))) //16 bit MSB if nessesary
+#define SPARE1_ROTENC_DATA_p_1_RX_lsb   (*((volatile short  *)(FPGA3_BASE | (0x161 * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+#define SPARE2_ROTENC_DATA_p_2_RX_msb   (*((volatile short  *)(FPGA3_BASE | (0x168 * WordOrByte)))) //16 bit MSB if nessesary
+#define SPARE2_ROTENC_DATA_p_2_RX_lsb   (*((volatile short  *)(FPGA3_BASE | (0x169 * WordOrByte)))) //The 16 Lsb bits of the shifted in data.
+//Prescaler
+#define F3_Prescaler1_reg1 (*((volatile short  *)(FPGA3_BASE | (0x1f0 * WordOrByte)))) //Parameter for prescaler divisions
+#define F3_Prescaler1_reg2 (*((volatile short  *)(FPGA3_BASE | (0x1f1 * WordOrByte)))) //Parameter for prescaler divisions
+#define F3_Prescaler1_reg3 (*((volatile short  *)(FPGA3_BASE | (0x1f2 * WordOrByte)))) //Parameter for prescaler divisions
+#define F3_Prescaler1_reg4 (*((volatile short  *)(FPGA3_BASE | (0x1f3 * WordOrByte)))) //Parameter for prescaler divisions
+//Test
+#define FPGA3_Test  (*((volatile short  *)(FPGA3_BASE | (0x1f8 * WordOrByte)))) //Readback not - gives the inverse of the written to value
+
+//1 Version1_Direct
+typedef union
+{
+    struct
+    {
+        unsigned char Month; //0-7
+        unsigned char Day;  //8-15
+    }bytes;
+    unsigned short ushort;
+}VER1;
+
+//4 Version2_Direct
+typedef union
+{
+    struct
+    {
+        unsigned char Ver_num; //0-7
+        unsigned char Year;  //8-15
+    }bytes;
+    unsigned short ushort;
+}VER2;
+
+//16 Moto_Driver_NBUSY_register1
+typedef union
+{
+    struct
+    {
+        bool F1_MOTO_LPIVOT1_A1_NBUSY       : 1; //0
+        bool F1_MOTO_LLOADING_A1_NBUSY      : 1; //1
+        bool F1_MOTO_LDRIVING_A1_NBUSY      : 1; //2
+        bool F1_MOTO_LDANCER2_A1_NBUSY      : 1; //3
+        bool F1_MOTO_LDANCER1_A1_NBUSY      : 1; //4
+        bool F1_MOTO_DRYER_LOADARM_A1_NBUSY : 1; //5
+        bool F1_MOTO_DRYER_LID_A1_NBUSY : 1; //6
+        bool F1_MOTO_DRYER_DRIVING_A1_NBUSY : 1; //7
+        bool F1_MOTO_DH_LID_A1_NBUSY : 1; //8
+        bool F1_MOTO_DH_CLEANMECH_A1_NBUSY : 1; //9
+        bool F1_MOTO_DH_CLEANHEAD_A1_NBUSY : 1; //10
+        unsigned char RESERVE:5; //11-15
+    }bits;
+    unsigned short ushort;
+}Mot_NBUSY1;
+
+//19 Moto_Driver_NBUSY_register2
+typedef union
+{
+    struct
+    {
+        bool F1_MOTO_WINDER_A1_NBUSY    : 1; //0
+        bool F1_MOTO_SCREW_A1_NBUSY     : 1; //1
+        bool F1_MOTO_RLOADING_A1_NBUSY  : 1; //2
+        bool F1_MOTO_RLOADARM_A1_NBUSY  : 1; //3
+        bool F1_MOTO_RDRIVING_A1_NBUSY  : 1; //4
+        bool F1_MOTO_RDANCER_A1_NBUSY   : 1; //5
+        unsigned char RESERVE1          : 2; // 6-7
+        unsigned char RESERVE2;              // 8-15
+    }bits;
+    unsigned short ushort;
+}Mot_NBUSY2;
+
+
+//29 + 32 SPI_Busy_register1 + SPI_Busy_register2
+typedef union
+{
+    struct
+    {
+        unsigned char SPI_Busy_1_D;
+        unsigned char SPI_Busy_2_D;
+    }ushort;
+    unsigned int uint;
+}SPI_BUSY;
+
+//35 Moto_Driver_NSTBYRST1
+typedef union
+{
+    struct
+    {
+        bool LPIVOT1 : 1;  //0
+        bool LLOADING : 1; //1
+        bool LDRIVING : 1; //2
+        bool LDANCER2 : 1; //3
+        bool LDANCER1 : 1; //4
+        bool DRYER_LOADARM : 1; //5
+        bool DRYER_LID : 1; //6
+        bool DRYER_DRIVING : 1; //7
+        bool DH_LID : 1; //8
+        bool DH_CLEANMECH : 1; //9
+        bool DH_CLEANHEAD : 1; //10
+        unsigned char RESERVE:5; //11-15
+    }bits;
+    unsigned short ushort;
+}MOT_NSTBYRST1;
+
+
+
+//36 Moto_Driver_NSTBYRST2
+typedef union
+{
+    struct
+    {
+        bool WINDER : 1;  //0
+        bool SCREW : 1; //1
+        bool RLOADING : 1; //2
+        bool RLOADARM : 1; //3
+        bool RDRIVING : 1; //4
+        bool RDANCER : 1; //5
+        unsigned char RESERVE1:2; // 6-7
+        unsigned char RESERVE2; // 8-15
+    }bits;
+    unsigned short ushort;
+}MOT_NSTBYRST2;
+
+//37 Moto_Driver_SW_register1 - Moto_Driver_SW1
+typedef union
+{
+    struct
+    {
+        bool LPIVOT1 : 1; //0
+        bool LLOADING : 1; //1
+        bool LDRIVING : 1; //2
+        bool LDANCER2 : 1; //3
+        bool LDANCER1 : 1; //4
+        bool DRYER_LOADARM : 1; //5
+        bool DRYER_LID : 1; //6
+        bool DRYER_DRIVING; //7
+        bool DH_LID : 1; //8
+        bool DH_CLEANMECH : 1; //9
+        bool DH_CLEANHEAD : 1; //10
+        bool GPO_TFEED_BREAK_1 : 1; //11
+        bool GPO_TFEED_BREAK_2 : 1; //12
+        unsigned char RESERVE:3; // 13-15
+    }bits;
+    unsigned short ushort;
+}MOT_SW1;
+
+//38 Moto_Driver_SW_register2 - Moto_Driver_SW2
+typedef union
+{
+    struct
+    {
+    bool F1_MOTO_WINDER_A1_SW : 1; //0
+    bool F1_MOTO_SCREW_A1_SW : 1; //1
+    bool F1_MOTO_RLOADING_A1_SW : 1; //2
+    bool F1_MOTO_RLOADARM_A1_SW : 1; //3
+    bool F1_MOTO_RDRIVING_A1_SW : 1; //4
+    bool F1_MOTO_RDANCER_A1_SW : 1; //5
+    unsigned char RESERVE1:2; // 6-7
+    unsigned char RESERVE2; // 8-15
+    }bits;
+    unsigned short ushort;
+}MOT_SW2;
+
+
+
+//308 GPO_01
+typedef union
+{
+    struct
+    {
+        bool F3_GPO_LED4 : 1; //0
+        bool F3_GPO_LED3 : 1; //1
+        bool F3_GPO_LED2 : 1; //2
+        bool F3_GPO_LED1 : 1; //3
+        bool F3_GPO_EXTWINDER_SSR11_CTRL : 1; //4
+        bool F3_GPO_BUZZER : 1; //4
+        bool F3_SPARE2_ROTENC_CLK : 1; //6
+        bool F3_SPARE1_ROTENC_CLK : 1; //7
+        unsigned char RESERVE; // 8-15
+    }bits;
+    unsigned short ushort;
+}GP_Out_01;
+
+
+
+//------------------------------ MOTOR DRIVER L_6470 ------------------------------
+
+typedef union
+{
+    struct
+    {
+        unsigned short LSB;
+        unsigned short MSB;
+    }ushort;
+    unsigned int uint;
+}INT2SHORT;//16->32
+
+enum
+{
+    RLOADING,
+    RDRIVING,
+    F1_LDRIVING,
+    F1_LLOADING,
+    F1_DRYER_LOADARM,
+    F1_DRYER_DRIVING,
+    F1_DH_CLEANHEAD,
+    F1_DH_CLEANMECH,
+    F1_SCREW,
+    F1_WINDER,
+    RLOADARM,
+    RDANCER,
+    LDANCER1,
+    LDANCER2,
+    DRYER_LID,
+    DH_LID,
+    LPIVOT1,
+}SPI_TYPE;
+
+//SPI
+typedef struct //S_SPI
+{
+    unsigned char Type;
+    unsigned int TX_MOSI; //32bit (Master Output Slave Input )
+    unsigned int RX_MISO; //24bit (Master Input  Slave Output)
+    //unsigned int BUSY;    //32bit
+
+}SPI;//SPI
+
+/*
+#define L6470_MOSI        (*((volatile short  *)(BASE | 0x0100)))
+#define L6470_MISO        (*((volatile short  *)(BASE | 0x0200)))
+#define L6470_CS          (*((volatile short  *)(BASE | 0x0300)))
+#define L6470_CLK         (*((volatile short  *)(BASE | 0x0400)))
+#define L6470_BUSY        (*((volatile short  *)(BASE | 0x0500)))
+#define L6470_RESET       (*((volatile short  *)(BASE | 0x0600)))
+#define L6470_TX          (*((volatile char *)(BASE | 0x0700)))
+#define L6470_RX          (*((volatile char *)(BASE | 0x0800)))
+*/
+
+//L6470_MOSI = 0x00;
diff --git a/Software/Code_Composer/twine_usblib_demo/drivers/FPGA/FPGA_SPI_Comm.c b/Software/Code_Composer/twine_usblib_demo/drivers/FPGA/FPGA_SPI_Comm.c
new file mode 100644
index 000000000..11e9231c7
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/drivers/FPGA/FPGA_SPI_Comm.c
@@ -0,0 +1,281 @@
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <drivers/FPGA/FPGA_Comm.h>
+#include "Stubs_Handler/DataDef.h"
+
+uint8_t SPI_Transnit(SPI Spi)
+{
+
+    INT2SHORT Int2Short;
+
+    //Check Busy register and see if the SPI desired is available
+    while((SPI_Busy1_D != NOTBUSY ) || (SPI_Busy2_D != NOTBUSY ));
+
+    Int2Short.uint = Spi.TX_MOSI;
+
+    switch(Spi.Type)
+    {
+        case RLOADING:
+                MOTO_RLOADING_A1_TX_01 = Int2Short.ushort.MSB;
+                //Read the TX_01 register and make sure that the value was written properly.
+                while( Int2Short.ushort.MSB != MOTO_RLOADING_A1_TX_01);
+
+                //Send a write to TX_00
+                MOTO_RLOADING_A1_TX_00 = Int2Short.ushort.LSB;
+                //Read the TX_00 register and make sure that the value was written properly.
+                while( Int2Short.ushort.LSB != MOTO_RLOADING_A1_TX_00);
+            break;
+        case RDRIVING:
+                MOTO_RDRIVING_A1_TX_01 = Int2Short.ushort.MSB;
+                //Read the TX_01 register and make sure that the value was written properly.
+                while( Int2Short.ushort.MSB != MOTO_RDRIVING_A1_TX_01);
+
+                //Send a write to TX_00
+                MOTO_RDRIVING_A1_TX_00 = Int2Short.ushort.LSB;
+                //Read the TX_00 register and make sure that the value was written properly.
+                while( Int2Short.ushort.LSB != MOTO_RDRIVING_A1_TX_00);
+            break;
+        case F1_LDRIVING:
+                MOTO_LDRIVING_A1_TX_01 = Int2Short.ushort.MSB;
+                //Read the TX_01 register and make sure that the value was written properly.
+                while( Int2Short.ushort.MSB != MOTO_LDRIVING_A1_TX_01);
+
+                //Send a write to TX_00
+                MOTO_LDRIVING_A1_TX_00 = Int2Short.ushort.LSB;
+                //Read the TX_00 register and make sure that the value was written properly.
+                while( Int2Short.ushort.LSB != MOTO_LDRIVING_A1_TX_00);
+            break;
+        case F1_LLOADING:
+                MOTO_LLOADING_A1_TX_01 = Int2Short.ushort.MSB;
+                //Read the TX_01 register and make sure that the value was written properly.
+                while( Int2Short.ushort.MSB != MOTO_LLOADING_A1_TX_01);
+
+                //Send a write to TX_00
+                MOTO_LLOADING_A1_TX_00 = Int2Short.ushort.LSB;
+                //Read the TX_00 register and make sure that the value was written properly.
+                while( Int2Short.ushort.LSB != MOTO_LLOADING_A1_TX_00);
+            break;
+        case F1_DRYER_LOADARM:
+                MOTO_DRYER_LOADARM_A1_TX_01 = Int2Short.ushort.MSB;
+                //Read the TX_01 register and make sure that the value was written properly.
+                while( Int2Short.ushort.MSB != MOTO_DRYER_LOADARM_A1_TX_01);
+
+                //Send a write to TX_00
+                MOTO_DRYER_LOADARM_A1_TX_00 = Int2Short.ushort.LSB;
+                //Read the TX_00 register and make sure that the value was written properly.
+                while( Int2Short.ushort.LSB != MOTO_DRYER_LOADARM_A1_TX_00);
+            break;
+        case F1_DRYER_DRIVING:
+                MOTO_DRYER_DRIVING_A1_TX_01 = Int2Short.ushort.MSB;
+                //Read the TX_01 register and make sure that the value was written properly.
+                while( Int2Short.ushort.MSB != MOTO_DRYER_DRIVING_A1_TX_01);
+
+                //Send a write to TX_00
+                MOTO_DRYER_DRIVING_A1_TX_00 = Int2Short.ushort.LSB;
+                //Read the TX_00 register and make sure that the value was written properly.
+                while( Int2Short.ushort.LSB != MOTO_DRYER_DRIVING_A1_TX_00);
+            break;
+        case F1_DH_CLEANHEAD:
+                MOTO_DH_CLEANHEAD_A1_TX_01 = Int2Short.ushort.MSB;
+                //Read the TX_01 register and make sure that the value was written properly.
+                while( Int2Short.ushort.MSB != MOTO_DH_CLEANHEAD_A1_TX_01);
+
+                //Send a write to TX_00
+                MOTO_DH_CLEANHEAD_A1_TX_00 = Int2Short.ushort.LSB;
+                //Read the TX_00 register and make sure that the value was written properly.
+                while( Int2Short.ushort.LSB != MOTO_DH_CLEANHEAD_A1_TX_00);
+            break;
+        case F1_DH_CLEANMECH:
+                MOTO_DH_CLEANMECH_A1_TX_01 = Int2Short.ushort.MSB;
+                //Read the TX_01 register and make sure that the value was written properly.
+                while( Int2Short.ushort.MSB != MOTO_DH_CLEANMECH_A1_TX_01);
+
+                //Send a write to TX_00
+                MOTO_DH_CLEANMECH_A1_TX_00 = Int2Short.ushort.LSB;
+                //Read the TX_00 register and make sure that the value was written properly.
+                while( Int2Short.ushort.LSB != MOTO_DH_CLEANMECH_A1_TX_00);
+            break;
+        case F1_SCREW:
+                MOTO_SCREW_A1_TX_01 = Int2Short.ushort.MSB;
+                //Read the TX_01 register and make sure that the value was written properly.
+                while( Int2Short.ushort.MSB != MOTO_SCREW_A1_TX_01);
+
+                //Send a write to TX_00
+                MOTO_SCREW_A1_TX_00 = Int2Short.ushort.LSB;
+                //Read the TX_00 register and make sure that the value was written properly.
+                while( Int2Short.ushort.LSB != MOTO_SCREW_A1_TX_00);
+            break;
+        case F1_WINDER:
+                MOTO_WINDER_A1_TX_01 = Int2Short.ushort.MSB;
+                //Read the TX_01 register and make sure that the value was written properly.
+                while( Int2Short.ushort.MSB != MOTO_WINDER_A1_TX_01);
+
+                //Send a write to TX_00
+                MOTO_WINDER_A1_TX_00 = Int2Short.ushort.LSB;
+                //Read the TX_00 register and make sure that the value was written properly.
+                while( Int2Short.ushort.LSB != MOTO_WINDER_A1_TX_00);
+            break;
+        case RLOADARM:
+                MOTO_RLOADARM_A1_TX_01 = Int2Short.ushort.MSB;
+                //Read the TX_01 register and make sure that the value was written properly.
+                while( Int2Short.ushort.MSB != MOTO_RLOADARM_A1_TX_01);
+
+                //Send a write to TX_00
+                MOTO_RLOADARM_A1_TX_00 = Int2Short.ushort.LSB;
+                //Read the TX_00 register and make sure that the value was written properly.
+                while( Int2Short.ushort.LSB != MOTO_RLOADARM_A1_TX_00);
+            break;
+        case RDANCER:
+                MOTO_RDANCER_A1_TX_01 = Int2Short.ushort.MSB;
+                //Read the TX_01 register and make sure that the value was written properly.
+                while( Int2Short.ushort.MSB != MOTO_RDANCER_A1_TX_01);
+
+                //Send a write to TX_00
+                MOTO_RDANCER_A1_TX_00 = Int2Short.ushort.LSB;
+                //Read the TX_00 register and make sure that the value was written properly.
+                while( Int2Short.ushort.LSB != MOTO_RDANCER_A1_TX_00);
+            break;
+        case LDANCER1:
+                MOTO_LDANCER1_A1_TX_01 = Int2Short.ushort.MSB;
+                //Read the TX_01 register and make sure that the value was written properly.
+                while( Int2Short.ushort.MSB != MOTO_LDANCER1_A1_TX_01);
+
+                //Send a write to TX_00
+                MOTO_LDANCER1_A1_TX_00 = Int2Short.ushort.LSB;
+                //Read the TX_00 register and make sure that the value was written properly.
+                while( Int2Short.ushort.LSB != MOTO_LDANCER1_A1_TX_00);
+            break;
+        case LDANCER2:
+                MOTO_LDANCER2_A1_TX_01 = Int2Short.ushort.MSB;
+                //Read the TX_01 register and make sure that the value was written properly.
+                while( Int2Short.ushort.MSB != MOTO_LDANCER2_A1_TX_01);
+
+                //Send a write to TX_00
+                MOTO_LDANCER2_A1_TX_00 = Int2Short.ushort.LSB;
+                //Read the TX_00 register and make sure that the value was written properly.
+                while( Int2Short.ushort.LSB != MOTO_LDANCER2_A1_TX_00);
+            break;
+        case DRYER_LID:
+                MOTO_DRYER_LID_A1_TX_01 = Int2Short.ushort.MSB;
+                //Read the TX_01 register and make sure that the value was written properly.
+                while( Int2Short.ushort.MSB != MOTO_DRYER_LID_A1_TX_01);
+
+                //Send a write to TX_00
+                MOTO_DRYER_LID_A1_TX_00 = Int2Short.ushort.LSB;
+                //Read the TX_00 register and make sure that the value was written properly.
+                while( Int2Short.ushort.LSB != MOTO_DRYER_LID_A1_TX_00);
+            break;
+        case DH_LID:
+                MOTO_DH_LID_A1_TX_01 = Int2Short.ushort.MSB;
+                //Read the TX_01 register and make sure that the value was written properly.
+                while( Int2Short.ushort.MSB != MOTO_DH_LID_A1_TX_01);
+
+                //Send a write to TX_00
+                MOTO_DH_LID_A1_TX_00 = Int2Short.ushort.LSB;
+                //Read the TX_00 register and make sure that the value was written properly.
+                while( Int2Short.ushort.LSB != MOTO_DH_LID_A1_TX_00);
+            break;
+        case LPIVOT1:
+                MOTO_LPIVOT1_A1_TX_01 = Int2Short.ushort.MSB;
+                //Read the TX_01 register and make sure that the value was written properly.
+                while( Int2Short.ushort.MSB != MOTO_LPIVOT1_A1_TX_01);
+
+                //Send a write to TX_00
+                MOTO_LPIVOT1_A1_TX_00 = Int2Short.ushort.LSB;
+                //Read the TX_00 register and make sure that the value was written properly.
+                while( Int2Short.ushort.LSB != MOTO_LPIVOT1_A1_TX_00);
+            break;
+        default:
+            break;
+    }
+
+    return 0;
+}
+
+uint8_t SPI_Receive (SPI Spi)
+{
+
+    INT2SHORT Int2Short;
+
+    //Check busy before trying to read RX registers.
+    while((SPI_Busy1_D != NOTBUSY ) || (SPI_Busy2_D != NOTBUSY ));
+
+    switch(Spi.Type)
+    {
+        case RLOADING:
+                Int2Short.ushort.LSB = MOTO_RLOADING_A1_RX_00;
+                Int2Short.ushort.MSB = MOTO_RLOADING_A1_RX_01;
+            break;
+        case RDRIVING:
+                Int2Short.ushort.LSB = MOTO_RDRIVING_A1_RX_00;
+                Int2Short.ushort.MSB = MOTO_RDRIVING_A1_RX_01;
+            break;
+        case F1_LDRIVING:
+                Int2Short.ushort.LSB = MOTO_LDRIVING_A1_RX_00;
+                Int2Short.ushort.MSB = MOTO_LDRIVING_A1_RX_01;
+            break;
+        case F1_LLOADING:
+                Int2Short.ushort.LSB = MOTO_LLOADING_A1_RX_00;
+                Int2Short.ushort.MSB = MOTO_LLOADING_A1_RX_01;
+            break;
+        case F1_DRYER_LOADARM:
+                Int2Short.ushort.LSB = MOTO_DRYER_LOADARM_A1_RX_00;
+                Int2Short.ushort.MSB = MOTO_DRYER_LOADARM_A1_RX_01;
+            break;
+        case F1_DRYER_DRIVING:
+                Int2Short.ushort.LSB = MOTO_DRYER_DRIVING_A1_RX_00;
+                Int2Short.ushort.MSB = MOTO_DRYER_DRIVING_A1_RX_01;
+            break;
+        case F1_DH_CLEANHEAD:
+                Int2Short.ushort.LSB = MOTO_DH_CLEANHEAD_A1_RX_00;
+                Int2Short.ushort.MSB = MOTO_DH_CLEANHEAD_A1_RX_01;
+            break;
+        case F1_DH_CLEANMECH:
+                Int2Short.ushort.LSB = MOTO_DH_CLEANMECH_A1_RX_00;
+                Int2Short.ushort.MSB = MOTO_DH_CLEANMECH_A1_RX_01;
+            break;
+        case F1_SCREW:
+                Int2Short.ushort.LSB = MOTO_SCREW_A1_RX_00;
+                Int2Short.ushort.MSB = MOTO_SCREW_A1_RX_01;
+            break;
+        case F1_WINDER:
+                Int2Short.ushort.LSB = MOTO_WINDER_A1_RX_00;
+                Int2Short.ushort.MSB = MOTO_WINDER_A1_RX_01;
+            break;
+        case RLOADARM:
+                Int2Short.ushort.LSB = MOTO_RLOADARM_A1_RX_00;
+                Int2Short.ushort.MSB = MOTO_RLOADARM_A1_RX_01;
+            break;
+        case RDANCER:
+                Int2Short.ushort.LSB = MOTO_RDANCER_A1_RX_00;
+                Int2Short.ushort.MSB = MOTO_RDANCER_A1_RX_01;
+            break;
+        case LDANCER1:
+                Int2Short.ushort.LSB = MOTO_LDANCER1_A1_RX_00;
+                Int2Short.ushort.MSB = MOTO_LDANCER1_A1_RX_01;
+            break;
+        case LDANCER2:
+                Int2Short.ushort.LSB = MOTO_LDANCER2_A1_RX_00;
+                Int2Short.ushort.MSB = MOTO_LDANCER2_A1_RX_01;
+            break;
+        case DRYER_LID:
+                Int2Short.ushort.LSB = MOTO_DRYER_LID_A1_RX_00;
+                Int2Short.ushort.MSB = MOTO_DRYER_LID_A1_RX_01;
+            break;
+        case DH_LID:
+                Int2Short.ushort.LSB = MOTO_DH_LID_A1_RX_00;
+                Int2Short.ushort.MSB = MOTO_DH_LID_A1_RX_01;
+            break;
+        case LPIVOT1:
+                Int2Short.ushort.LSB = MOTO_LPIVOT1_A1_RX_00;
+                Int2Short.ushort.MSB = MOTO_LPIVOT1_A1_RX_01;
+            break;
+        default:
+            break;
+    }
+
+    Spi.RX_MISO = Int2Short.uint;
+
+    return 0;
+}
diff --git a/Software/Code_Composer/twine_usblib_demo/drivers/FPGA/Moters_Driver/L6470.c b/Software/Code_Composer/twine_usblib_demo/drivers/FPGA/Moters_Driver/L6470.c
new file mode 100644
index 000000000..0a648ea31
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/drivers/FPGA/Moters_Driver/L6470.c
@@ -0,0 +1,706 @@
+/*
+* cL6470.cpp
+*
+* Created: 6/22/2016 8:41:00 PM
+*  Author: Atif
+*/
+#include "graphics_adapter.h"
+#include <stdint.h>
+#include <stdbool.h>
+#include <drivers/FPGA/FPGA_Comm.h>
+#include "Stubs_Handler/DataDef.h"
+
+#include "drivers/SPI/SPI_Comm.h"
+#include "inc/hw_memmap.h"
+
+
+
+
+
+//////////////
+//#include "stdafx.h"
+#include "L6470.h"
+//#include "FPGA_Comm.h"
+// To use time library of C
+#include <time.h>
+
+//int volatile * const MOSI_Reg = (int *)MOSI_BASE;
+//int volatile * const MISO_Reg = (int *)MISO_BASE;
+//int volatile * const CS_Reg = (int *)CS_BASE;
+//int volatile * const CLK_Reg = (int *)CLK_BASE;
+//int volatile * const BUSY_Reg = (int *)BUSY_BASE;
+//int volatile * const RESET_Reg = (int *)RESET_BASE;
+//char volatile * const TX_Reg = (char *)TX_BASE;
+//char volatile * const RX_Reg = (char *)RX_BASE;
+
+
+
+
+//void cL6470(int MOSI, int MISO, int CS, int CLK, int BUSY, int RESET)
+//{
+//  _Set_MISO(MISO);
+//  _Set_MOSI(MOSI);
+//  _Set_CS(CS);
+//  _Set_CLK(CLK);
+//  _Set_BUSY(BUSY);
+//  _Set_RESET(RESET);
+//
+//}
+/*
+void delay(int number_of_seconds)
+{
+    // Converting time into milli_seconds
+    int milli_seconds = 1000 * number_of_seconds;
+
+    // Stroing start time
+    clock_t start_time = clock();
+
+    // looping till required time is not acheived
+    while (clock() < start_time + milli_seconds);
+}
+*/
+
+/*
+void init()
+{
+    //pinMode(_CS, OUTPUT);
+    //digitalWrite(_CS, HIGH);
+    L6470_CS = HIGH;
+    //pinMode(_MOSI, OUTPUT);
+    //pinMode(_MISO, INPUT);
+    //pinMode(_CLK, OUTPUT);
+    //pinMode(_BUSY, INPUT);
+    //pinMode(_RESET, OUTPUT);
+
+    //digitalWrite(_RESET, HIGH);
+    L6470_RESET = HIGH;
+    //AVI : TODO add deley
+    delay(1);
+    //digitalWrite(_RESET, LOW);
+    L6470_RESET = LOW;
+    delay(1);
+    //digitalWrite(_RESET, HIGH);
+    L6470_RESET = HIGH;
+    delay(1);
+
+    //SPI.begin();
+    //SPI.setBitOrder(MSBFIRST);
+    //SPI.setClockDivider(SPI_CLOCK_DIV16); // or 2, 8, 16, 32, 64
+    //SPI.setDataMode(SPI_MODE3);
+}
+*/
+
+void SetParam(byte param, unsigned long value)
+{
+    Data_To_Transfer(x_SET_PARAM | param);
+    ParamHandler(param, value);
+}
+
+
+unsigned long GetParam(byte param)
+{
+    Data_To_Transfer(x_GET_PARAM | param);
+    return ParamHandler(param, 0);
+}
+
+// Enable or disable the low-speed optimization option. If enabling,
+//  the other 12 bits of
+void SetLSPDOpt(boolean enable)
+{
+    Data_To_Transfer(x_SET_PARAM | x_MIN_SPEED);
+
+    if (enable)
+        Param(0x1000, 13);
+    else
+        Param(0, 13);
+}
+
+// RUN sets the motor spinning in a direction (defined by the constants
+//  FWD and REV). Maximum speed and minimum speed are defined
+//  by the MAX_SPEED and MIN_SPEED registers; exceeding the FS_SPD value
+//  will switch the device into full-step mode.
+// The SpdCalc() function is provided to convert steps/s values into
+//  appropriate integer values for this function.
+void Run(byte dir, unsigned long spd)
+{
+    Data_To_Transfer(x_RUN | dir);
+    if (spd > 0xFFFFF) spd = 0xFFFFF;
+    Data_To_Transfer((byte)((spd >> 16)&0xFF));
+    Data_To_Transfer((byte)((spd >> 8)&0xFF));
+    Data_To_Transfer((byte)((spd)&0xFF));
+}
+byte Write_Byte(uint8_t WByte);
+void Run_tx_test(byte dir, unsigned long spd)
+{
+    uint32_t temp = 0;
+    uint32_t rx = 0;
+
+    temp = Write_Byte(x_RUN | dir);
+    rx |= (temp & 0xFF) << 24;
+
+    temp = Write_Byte((spd >> 16)&0xFF);
+    rx |= (temp & 0xFF) << 16;
+
+    temp = Write_Byte((spd >> 8)&0xFF);
+    rx |= (temp & 0xFF) << 8;
+
+    temp = Write_Byte((spd)&0xFF);
+    rx |= temp & 0xFF;
+
+    //return rx;
+}
+
+// STEP_CLOCK puts the device in external step clocking mode. When active,
+//  pin 25, STCK, becomes the step clock for the device, and steps it in
+//  the direction (set by the FWD and REV constants) imposed by the call
+//  of this function. Motion commands (RUN, MOVE, etc) will cause the device
+//  to exit step clocking mode.
+void Step_Clock(byte dir)
+{
+    Data_To_Transfer(x_STEP_CLOCK | dir);
+}
+
+// MOVE will send the motor n_step steps (size based on step mode) in the
+//  direction imposed by dir (FWD or REV constants may be used). The motor
+//  will accelerate according the acceleration and deceleration curves, and
+//  will run at MAX_SPEED. Stepping mode will adhere to FS_SPD value, as well.
+void Move(byte dir, unsigned long n_step)
+{
+    Data_To_Transfer(x_MOVE | dir);
+    if (n_step > 0x3FFFFF) n_step = 0x3FFFFF;
+    Data_To_Transfer((byte)(n_step >> 16));
+    Data_To_Transfer((byte)(n_step >> 8));
+    Data_To_Transfer((byte)(n_step));
+}
+
+// GOTO operates much like MOVE, except it produces absolute motion instead
+//  of relative motion. The motor will be moved to the indicated position
+//  in the shortest possible fashion.
+void GoTo(unsigned long pos)
+{
+
+    Data_To_Transfer(x_GOTO);
+    if (pos > 0x3FFFFF) pos = 0x3FFFFF;
+    Data_To_Transfer((byte)(pos >> 16));
+    Data_To_Transfer((byte)(pos >> 8));
+    Data_To_Transfer((byte)(pos));
+}
+
+// Same as GOTO, but with user constrained rotational direction.
+void GoTo_DIR(byte dir, unsigned long pos)
+{
+
+    Data_To_Transfer(x_GOTO_DIR);
+    if (pos > 0x3FFFFF) pos = 0x3FFFFF;
+    Data_To_Transfer((byte)(pos >> 16));
+    Data_To_Transfer((byte)(pos >> 8));
+    Data_To_Transfer((byte)(pos));
+}
+
+// GoUntil will set the motor running with direction dir (REV or
+//  FWD) until a falling edge is detected on the SW pin. Depending
+//  on bit SW_MODE in CONFIG, either a hard stop or a soft stop is
+//  performed at the falling edge, and depending on the value of
+//  act (either RESET or COPY) the value in the ABS_POS register is
+//  either RESET to 0 or COPY-ed into the MARK register.
+void GoUntil(byte act, byte dir, unsigned long spd)
+{
+    Data_To_Transfer(x_GO_UNTIL | act | dir);
+    if (spd > 0x3FFFFF) spd = 0x3FFFFF;
+    Data_To_Transfer((byte)(spd >> 16));
+    Data_To_Transfer((byte)(spd >> 8));
+    Data_To_Transfer((byte)(spd));
+}
+
+// Similar in nature to GoUntil, ReleaseSW produces motion at the
+//  higher of two speeds: the value in MIN_SPEED or 5 steps/s.
+//  The motor continues to run at this speed until a rising edge
+//  is detected on the switch input, then a hard stop is performed
+//  and the ABS_POS register is either COPY-ed into MARK or RESET to
+//  0, depending on whether RESET or COPY was passed to the function
+//  for act.
+void ReleaseSW(byte act, byte dir)
+{
+    Data_To_Transfer(x_RELEASE_SW | act | dir);
+}
+
+// GoHome is equivalent to GoTo(0), but requires less time to send.
+//  Note that no direction is provided; motion occurs through shortest
+//  path. If a direction is required, use GoTo_DIR().
+void GoHome()
+{
+    Data_To_Transfer(x_GO_HOME);
+}
+
+// GoMark is equivalent to GoTo(MARK), but requires less time to send.
+//  Note that no direction is provided; motion occurs through shortest
+//  path. If a direction is required, use GoTo_DIR().
+void GoMark()
+{
+    Data_To_Transfer(x_GO_MARK);
+}
+
+// Sets the ABS_POS register to 0, effectively declaring the current
+//  position to be "HOME".
+void ResetPos()
+{
+    byte value = x_RESET_POS;
+    Data_To_Transfer(value);
+}
+
+// Reset device to power up conditions. Equivalent to toggling the STBY
+//  pin or cycling power.
+void ResetDev()
+{
+    byte value = x_RESET_DEVICE;
+    Data_To_Transfer(value);
+}
+
+// Bring the motor to a halt using the deceleration curve.
+void SoftStop()
+{
+    byte value = x_SOFT_STOP;
+    Data_To_Transfer(value);
+}
+
+// Stop the motor with infinite deceleration.
+void HardStop()
+{
+    byte value = x_HARD_STOP;
+    Data_To_Transfer(value);
+}
+
+// Decelerate the motor and put the bridges in Hi-Z state.
+void SoftHiZ()
+{
+    byte value = x_SOFT_HIZ;
+    Data_To_Transfer(value);
+}
+
+// Put the bridges in Hi-Z state immediately with no deceleration.
+void HardHiZ()
+{
+    byte value = x_HARD_HIZ;
+    Data_To_Transfer(value);
+}
+
+// Fetch and return the 16-bit value in the STATUS register. Resets
+//  any warning flags and exits any error states. Using GetParam()
+//  to read STATUS does not clear these values.
+int GetStatus()
+{
+    int temp = 0;
+    Data_To_Transfer(x_GET_STATUS);
+    temp = Data_To_Transfer(0) << 8;
+    temp |= Data_To_Transfer(0);
+    return temp;
+}
+
+
+
+
+unsigned long AccCalc(float stepsPerSecPerSec)
+{
+    float temp = (float)(stepsPerSecPerSec * 0.137438);
+    if (  ((unsigned long) ( (long)(temp) )) > 0x00000FFF )
+        return 0x00000FFF;
+    else return (unsigned long) (long)(temp);
+}
+
+// The calculation for DEC is the same as for ACC. Value is 0x08A on boot.
+// This is a 12-bit value, so we need to make sure the value is at or below 0xFFF.
+unsigned long DecCalc(float stepsPerSecPerSec)
+{
+    float temp = (float)(stepsPerSecPerSec * 0.137438);
+    if ((unsigned long) (long)(temp) > 0x00000FFF) return 0x00000FFF;
+    else return (unsigned long) (long)(temp);
+}
+
+// The value in the MAX_SPD register is [(steps/s)*(tick)]/(2^-18) where tick is
+//  250ns (datasheet value)- 0x041 on boot.
+// Multiply desired steps/s by .065536 to get an appropriate value for this register
+// This is a 10-bit value, so we need to make sure it remains at or below 0x3FF
+unsigned long MaxSpdCalc(float stepsPerSec)
+{
+    float temp = (float)(stepsPerSec * .065536);
+    if ((unsigned long) (long)(temp) > 0x000003FF) return 0x000003FF;
+    else return (unsigned long) (long)(temp);
+}
+
+// The value in the MIN_SPD register is [(steps/s)*(tick)]/(2^-24) where tick is
+//  250ns (datasheet value)- 0x000 on boot.
+// Multiply desired steps/s by 4.1943 to get an appropriate value for this register
+// This is a 12-bit value, so we need to make sure the value is at or below 0xFFF.
+unsigned long MinSpdCalc(float stepsPerSec)
+{
+    float temp = (float)(stepsPerSec * 4.1943);
+    if ((unsigned long) (long)(temp) > 0x00000FFF) return 0x00000FFF;
+    else return (unsigned long) (long)(temp);
+}
+
+// The value in the FS_SPD register is ([(steps/s)*(tick)]/(2^-18))-0.5 where tick is
+//  250ns (datasheet value)- 0x027 on boot.
+// Multiply desired steps/s by .065536 and subtract .5 to get an appropriate value for this register
+// This is a 10-bit value, so we need to make sure the value is at or below 0x3FF.
+unsigned long FSCalc(float stepsPerSec)
+{
+    float temp = (float)((stepsPerSec * .065536) - .5);
+    if ((unsigned long) (long)(temp) > 0x000003FF) return 0x000003FF;
+    else return (unsigned long) (long)(temp);
+}
+
+// The value in the INT_SPD register is [(steps/s)*(tick)]/(2^-24) where tick is
+//  250ns (datasheet value)- 0x408 on boot.
+// Multiply desired steps/s by 4.1943 to get an appropriate value for this register
+// This is a 14-bit value, so we need to make sure the value is at or below 0x3FFF.
+unsigned long IntSpdCalc(float stepsPerSec)
+{
+    float temp = (float)(stepsPerSec * 4.1943);
+    if ((unsigned long) (long)(temp) > 0x00003FFF) return 0x00003FFF;
+    else return (unsigned long) (long)(temp);
+}
+
+// When issuing RUN command, the 20-bit speed is [(steps/s)*(tick)]/(2^-28) where tick is
+//  250ns (datasheet value).
+// Multiply desired steps/s by 67.106 to get an appropriate value for this register
+// This is a 20-bit value, so we need to make sure the value is at or below 0xFFFFF.
+uint32_t SpdCalc(float stepsPerSec)// for run request
+{
+    /*float temp = (float)(stepsPerSec * 67.106);
+    if ((unsigned long) (long)(temp) > 0x000FFFFF) return 0x000FFFFF;
+    else return (unsigned long)temp;*/
+    uint32_t temp = 67106 * stepsPerSec;
+    uint32_t stepspertick = temp/1000 ;
+    if(stepspertick > 0xFFFFF)
+        stepspertick = 0xFFFFF;
+    return stepspertick;
+}
+float CurrentSpdCalc(uint32_t stepspertick)// for Speed response
+{
+    /*float temp = (float)(stepspertick);
+    float stepsPerSec = (float)(temp / 67.106);
+    if(stepsPerSec>15625) stepsPerSec = 15625;*/
+    uint32_t temp = stepspertick *1000;
+    float stepsPerSec = (float)(temp/67106);
+    if(stepsPerSec>15625) stepsPerSec = 15625;
+    return stepsPerSec;
+}
+
+
+
+// This simple function shifts a byte out over SPI and receives a byte over
+//  SPI. Unusually for SPI devices, the x requires a toggling of the
+//  CS (slaveSelect) pin after each byte sent. That makes this function
+//  a bit more reasonable, because we can include more functionality in it.
+byte Data_To_Transfer(byte data)
+{
+
+    //while(SSIBusy(SSI2_BASE)){};
+    //while(Check_SPI_Busy() == BUSY){};
+
+    byte data_out = 0;
+    /*
+    //digitalWrite(_CS, LOW);
+    L6470_CS = LOW;
+    //data_out = SPI.transfer(data);
+    L6470_TX = data;
+    data_out = L6470_RX;
+
+    //digitalWrite(_CS, HIGH);
+    L6470_CS = HIGH;
+    return data_out;
+    */
+
+    data_out = Transfer_tx(data/*, &data_out*/ );
+    return data_out;
+}
+
+
+// the register will be automatically zero.
+//  When disabling, the value will have to be explicitly written by
+//  the user with a SetParam() call. See the datasheet for further
+//  information about low-speed optimization.// Much of the functionality between "get parameter" and "set parameter" is
+//  very similar, so we deal with that by putting all of it in one function
+//  here to save memory space and simplify the program.
+unsigned long ParamHandler(byte param, unsigned long value)
+{
+    unsigned long ret_val = 0;   // This is a temp for the value to return.
+                                 // This switch structure handles the appropriate action for each register.
+                                 //  This is necessary since not all registers are of the same length, either
+                                 //  bit-wise or byte-wise, so we want to make sure we mask out any spurious
+                                 //  bits and do the right number of transfers. That is handled by the x_Param()
+                                 //  function, in most cases, but for 1-byte or smaller transfers, we call
+                                 //  Data_To_Transfer() directly.
+    switch (param)
+    {
+        // ABS_POS is the current absolute offset from home. It is a 22 bit number expressed
+        //  in two's complement. At power up, this value is 0. It cannot be written when
+        //  the motor is running, but at any other time, it can be updated to change the
+        //  interpreted position of the motor.
+    case x_ABS_POS:
+        ret_val = Param(value, 22);
+        break;
+        // EL_POS is the current electrical position in the step generation cycle. It can
+        //  be set when the motor is not in motion. Value is 0 on power up.
+    case x_EL_POS:
+        ret_val = Param(value, 9);
+        break;
+        // MARK is a second position other than 0 that the motor can be told to go to. As
+        //  with ABS_POS, it is 22-bit two's complement. Value is 0 on power up.
+    case x_MARK:
+        ret_val = Param(value, 22);
+        break;
+        // SPEED contains information about the current speed. It is read-only. It does
+        //  NOT provide direction information.
+    case x_SPEED:
+        ret_val = Param(0, 32);
+//        writeLine("ParamHandler: ");
+//        writeFloat(ret_val);
+        break;
+        // ACC and DEC set the acceleration and deceleration rates. Set ACC to 0xFFF
+        //  to get infinite acceleration/decelaeration- there is no way to get infinite
+        //  deceleration w/o infinite acceleration (except the HARD STOP command).
+        //  Cannot be written while motor is running. Both default to 0x08A on power up.
+        // AccCalc() and DecCalc() functions exist to convert steps/s/s values into
+        //  12-bit values for these two registers.
+    case x_ACC:
+        ret_val = Param(value, 12);
+        break;
+    case x_DEC:
+        ret_val = Param(value, 12);
+        break;
+        // MAX_SPEED is just what it says- any command which attempts to set the speed
+        //  of the motor above this value will simply cause the motor to turn at this
+        //  speed. Value is 0x041 on power up.
+        // MaxSpdCalc() function exists to convert steps/s value into a 10-bit value
+        //  for this register.
+    case x_MAX_SPEED:
+        ret_val = Param(value, 10);
+        break;
+        // MIN_SPEED controls two things- the activation of the low-speed optimization
+        //  feature and the lowest speed the motor will be allowed to operate at. LSPD_OPT
+        //  is the 13th bit, and when it is set, the minimum allowed speed is automatically
+        //  set to zero. This value is 0 on startup.
+        // MinSpdCalc() function exists to convert steps/s value into a 12-bit value for this
+        //  register. SetLSPDOpt() function exists to enable/disable the optimization feature.
+    case x_MIN_SPEED:
+        ret_val = Param(value, 12);
+        break;
+        // FS_SPD register contains a threshold value above which microstepping is disabled
+        //  and the x operates in full-step mode. Defaults to 0x027 on power up.
+        // FSCalc() function exists to convert steps/s value into 10-bit integer for this
+        //  register.
+    case x_FS_SPD:
+        ret_val = Param(value, 10);
+        break;
+        // KVAL is the maximum voltage of the PWM outputs. These 8-bit values are ratiometric
+        //  representations: 255 for full output voltage, 128 for half, etc. Default is 0x29.
+        // The implications of different KVAL settings is too complex to dig into here, but
+        //  it will usually work to max the value for RUN, ACC, and DEC. Maxing the value for
+        //  HOLD may result in excessive power dissipation when the motor is not running.
+    case x_KVAL_HOLD:
+        ret_val = Data_To_Transfer((byte)value);
+        break;
+    case x_KVAL_RUN:
+        ret_val = Data_To_Transfer((byte)value);
+        break;
+    case x_KVAL_ACC:
+        ret_val = Data_To_Transfer((byte)value);
+        break;
+    case x_KVAL_DEC:
+        ret_val = Data_To_Transfer((byte)value);
+        break;
+        // INT_SPD, ST_SLP, FN_SLP_ACC and FN_SLP_DEC are all related to the back EMF
+        //  compensation functionality. Please see the datasheet for details of this
+        //  function- it is too complex to discuss here. Default values seem to work
+        //  well enough.
+    case x_INT_SPD:
+        ret_val = Param(value, 14);
+        break;
+    case x_ST_SLP:
+        ret_val = Data_To_Transfer((byte)value);
+        break;
+    case x_FN_SLP_ACC:
+        ret_val = Data_To_Transfer((byte)value);
+        break;
+    case x_FN_SLP_DEC:
+        ret_val = Data_To_Transfer((byte)value);
+        break;
+        // K_THERM is motor winding thermal drift compensation. Please see the datasheet
+        //  for full details on operation- the default value should be okay for most users.
+    case x_K_THERM:
+        ret_val = Data_To_Transfer((byte)value & 0x0F);
+        break;
+        // ADC_OUT is a read-only register containing the result of the ADC measurements.
+        //  This is less useful than it sounds; see the datasheet for more information.
+    case x_ADC_OUT:
+        ret_val = Data_To_Transfer(0);
+        break;
+        // Set the overcurrent threshold. Ranges from 375mA to 6A in steps of 375mA.
+        //  A set of defined constants is provided for the user's convenience. Default
+        //  value is 3.375A- 0x08. This is a 4-bit value.
+    case x_OCD_TH:
+        ret_val = Data_To_Transfer((byte)value & 0x0F);
+        break;
+        // Stall current threshold. Defaults to 0x40, or 2.03A. Value is from 31.25mA to
+        //  4A in 31.25mA steps. This is a 7-bit value.
+    case x_STALL_TH:
+        ret_val = Data_To_Transfer((byte)value & 0x7F);
+        break;
+        // STEP_MODE controls the microstepping settings, as well as the generation of an
+        //  output signal from the x. Bits 2:0 control the number of microsteps per
+        //  step the part will generate. Bit 7 controls whether the BUSY/SYNC pin outputs
+        //  a BUSY signal or a step synchronization signal. Bits 6:4 control the frequency
+        //  of the output signal relative to the full-step frequency; see datasheet for
+        //  that relationship as it is too complex to reproduce here.
+        // Most likely, only the microsteps per step value will be needed; there is a set
+        //  of constants provided for ease of use of these values.
+    case x_STEP_MODE:
+        ret_val = Data_To_Transfer((byte)value);
+        break;
+        // ALARM_EN controls which alarms will cause the FLAG pin to fall. A set of constants
+        //  is provided to make this easy to interpret. By default, ALL alarms will trigger the
+        //  FLAG pin.
+    case x_ALARM_EN:
+        ret_val = Data_To_Transfer((byte)value);
+        break;
+        // CONFIG contains some assorted configuration bits and fields. A fairly comprehensive
+        //  set of reasonably self-explanatory constants is provided, but users should refer
+        //  to the datasheet before modifying the contents of this register to be certain they
+        //  understand the implications of their modifications. Value on boot is 0x2E88; this
+        //  can be a useful way to verify proper start up and operation of the x chip.
+    case x_CONFIG:
+        ret_val = Param(value, 16);
+        break;
+        // STATUS contains read-only information about the current condition of the chip. A
+        //  comprehensive set of constants for masking and testing this register is provided, but
+        //  users should refer to the datasheet to ensure that they fully understand each one of
+        //  the bits in the register.
+    case x_STATUS:  // STATUS is a read-only register
+        ret_val = Param(0, 16);
+        break;
+    default:
+        ret_val = Data_To_Transfer((byte)(value));
+        break;
+    }
+    return ret_val;
+}
+
+// Generalization of the subsections of the register read/write functionality.
+//  We want the end user to just write the value without worrying about length,
+//  so we pass a bit length parameter from the calling function.
+unsigned long Param(unsigned long value, byte bit_len)
+{
+    unsigned long ret_val = 0;        // We'll return this to generalize this function
+                                      //  for both read and write of registers.
+    byte byte_len = bit_len / 8;      // How many BYTES do we have?
+    if (bit_len % 8 > 0) byte_len++;  // Make sure not to lose any partial byte values.
+                                      // Let's make sure our value has no spurious bits set, and if the value was too
+                                      //  high, max it out.
+    unsigned long mask = 0xffffffff >> (32 - bit_len);
+    if (value > mask)
+        value = mask;
+    // The following three if statements handle the various possible byte length
+    //  transfers- it'll be no less than 1 but no more than 3 bytes of data.
+    // Data_To_Transfer() sends a byte out through SPI and returns a byte received
+    //  over SPI- when calling it, we typecast a shifted version of the masked
+    //  value, then we shift the received value back by the same amount and
+    //  store it until return time.
+    if (byte_len == 3) {
+        ret_val |= Data_To_Transfer((byte)(value >> 16)) << 16;
+        //Serial.println(ret_val, HEX);
+    }
+    if (byte_len >= 2) {
+        ret_val |= Data_To_Transfer((byte)(value >> 8)) << 8;
+        //Serial.println(ret_val, HEX);
+    }
+    if (byte_len >= 1) {
+        //Serial.print("Value   =    ");
+        //Serial.println(value);
+        //Serial.print("ret_val   =    ");
+        //Serial.println(ret_val);
+
+        ret_val |= Data_To_Transfer((byte)value);
+
+        //Serial.print("ret_val   =    ");
+        //Serial.println(ret_val);
+
+        //Serial.println(ret_val, HEX);
+    }
+    // Return the received values. Mask off any unnecessary bits, just for
+    //  the sake of thoroughness- we don't EXPECT to see anything outside
+    //  the bit length range but better to be safe than sorry.
+    return (ret_val & mask);
+}
+
+// This simple function shifts a byte out over SPI and receives a byte over
+//  SPI. Unusually for SPI devices, the x requires a toggling of the
+//  CS (slaveSelect) pin after each byte sent. That makes this function
+//  a bit more reasonable, because we can include more functionality in it.
+
+//
+//void Set_MOSI(int MOSI)
+//
+//{
+//  _MOSI = MOSI;
+//}
+//
+//void Set_MISO(int MISO)
+//
+//{
+//  _MISO = MISO;
+//}
+//
+//void Set_CS(int CS)
+//
+//{
+//  _CS = CS;
+//}
+//
+//void Set_CLK(int CLK)
+//
+//{
+//  _CLK = CLK;
+//}
+//
+//void Set_BUSY(int BUSY)
+//
+//{
+//  _BUSY = BUSY;
+//}
+//
+//void Set_RESET(int RESET)
+//
+//{
+//  _RESET = RESET;
+//}
+//
+//int Get_MOSI()
+//{
+//  return MOSI;
+//}
+//
+//int Get_MISO()
+//{
+//  return MISO;
+//}
+//
+//int Get_CS()
+//{
+//  return CS;
+//}
+//int Get_CLK()
+//{
+//  return CLK;
+//}
+//
+//int Get_BUSY()
+//{
+//  return BUSY;
+//}
+//int Get_RESET()
+//{
+//  return RESET;
+//}
+
+
diff --git a/Software/Code_Composer/twine_usblib_demo/drivers/FPGA/Moters_Driver/L6470.h b/Software/Code_Composer/twine_usblib_demo/drivers/FPGA/Moters_Driver/L6470.h
new file mode 100644
index 000000000..3f91c8e4b
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/drivers/FPGA/Moters_Driver/L6470.h
@@ -0,0 +1,338 @@
+/*
+* cL6470.h
+*
+* Created: 6/22/2016 8:40:34 PM
+*  Author: Atif
+*/
+
+
+#ifndef CL6470_H_
+#define CL6470_H_
+
+//#include <Arduino.h>
+//#include <SPI.h>
+
+//
+
+//
+
+// constant definitions for overcurrent thresholds. Write these values to
+//  register x_OCD_TH to set the level at which an overcurrent even occurs.
+#define x_OCD_TH_375mA  0x00
+#define x_OCD_TH_750mA  0x01
+#define x_OCD_TH_1125mA 0x02
+#define x_OCD_TH_1500mA 0x03
+#define x_OCD_TH_1875mA 0x04
+#define x_OCD_TH_2250mA 0x05
+#define x_OCD_TH_2625mA 0x06
+#define x_OCD_TH_3000mA 0x07
+#define x_OCD_TH_3375mA 0x08
+#define x_OCD_TH_3750mA 0x09
+#define x_OCD_TH_4125mA 0x0A
+#define x_OCD_TH_4500mA 0x0B
+#define x_OCD_TH_4875mA 0x0C
+#define x_OCD_TH_5250mA 0x0D
+#define x_OCD_TH_5625mA 0x0E
+#define x_OCD_TH_6000mA 0x0F
+
+// STEP_MODE option values.
+// First comes the "microsteps per step" options...
+#define x_STEP_MODE_STEP_SEL 0x07  // Mask for these bits only.
+#define x_STEP_SEL_1     0x00
+#define x_STEP_SEL_1_2   0x01
+#define x_STEP_SEL_1_4   0x02
+#define x_STEP_SEL_1_8   0x03
+#define x_STEP_SEL_1_16  0x04
+#define x_STEP_SEL_1_32  0x05
+#define x_STEP_SEL_1_64  0x06
+#define x_STEP_SEL_1_128 0x07
+
+// ...next, define the SYNC_EN bit. When set, the BUSYN pin will instead
+//  output a clock related to the full-step frequency as defined by the
+//  SYNC_SEL bits below.
+#define x_STEP_MODE_SYNC_EN  0x80  // Mask for this bit
+#define x_SYNC_EN 0x80
+
+// ...last, define the SYNC_SEL modes. The clock output is defined by
+//  the full-step frequency and the value in these bits- see the datasheet
+//  for a matrix describing that relationship (page 46).
+#define x_STEP_MODE_SYNC_SEL 0x70
+#define x_SYNC_SEL_1_2 0x00
+#define x_SYNC_SEL_1   0x10
+#define x_SYNC_SEL_2   0x20
+#define x_SYNC_SEL_4   0x30
+#define x_SYNC_SEL_8   0x40
+#define x_SYNC_SEL_16  0x50
+#define x_SYNC_SEL_32  0x60
+#define x_SYNC_SEL_64  0x70
+
+// Bit names for the ALARM_EN register.
+//  Each of these bits defines one potential alarm condition.
+//  When one of these conditions occurs and the respective bit in ALARM_EN is set,
+//  the FLAG pin will go low. The register must be queried to determine which event
+//  caused the alarm.
+#define x_ALARM_EN_OVERCURRENT       0x01
+#define x_ALARM_EN_THERMAL_SHUTDOWN  0x02
+#define x_ALARM_EN_THERMAL_WARNING   0x04
+#define x_ALARM_EN_UNDER_VOLTAGE     0x08
+#define x_ALARM_EN_STALL_DET_A       0x10
+#define x_ALARM_EN_STALL_DET_B       0x20
+#define x_ALARM_EN_SW_TURN_ON        0x40
+#define x_ALARM_EN_WRONG_NPERF_CMD   0x80
+
+// CONFIG register renames.
+
+// Oscillator options.
+// The x needs to know what the clock frequency is because it uses that for some
+//  calculations during operation.
+#define x_CONFIG_OSC_SEL                 0x000F // Mask for this bit field.
+#define x_CONFIG_INT_16MHZ               0x0000 // Internal 16MHz, no output
+#define x_CONFIG_INT_16MHZ_OSCOUT_2MHZ   0x0008 // Default; internal 16MHz, 2MHz output
+#define x_CONFIG_INT_16MHZ_OSCOUT_4MHZ   0x0009 // Internal 16MHz, 4MHz output
+#define x_CONFIG_INT_16MHZ_OSCOUT_8MHZ   0x000A // Internal 16MHz, 8MHz output
+#define x_CONFIG_INT_16MHZ_OSCOUT_16MHZ  0x000B // Internal 16MHz, 16MHz output
+#define x_CONFIG_EXT_8MHZ_XTAL_DRIVE     0x0004 // External 8MHz crystal
+#define x_CONFIG_EXT_16MHZ_XTAL_DRIVE    0x0005 // External 16MHz crystal
+#define x_CONFIG_EXT_24MHZ_XTAL_DRIVE    0x0006 // External 24MHz crystal
+#define x_CONFIG_EXT_32MHZ_XTAL_DRIVE    0x0007 // External 32MHz crystal
+#define x_CONFIG_EXT_8MHZ_OSCOUT_INVERT  0x000C // External 8MHz crystal, output inverted
+#define x_CONFIG_EXT_16MHZ_OSCOUT_INVERT 0x000D // External 16MHz crystal, output inverted
+#define x_CONFIG_EXT_24MHZ_OSCOUT_INVERT 0x000E // External 24MHz crystal, output inverted
+#define x_CONFIG_EXT_32MHZ_OSCOUT_INVERT 0x000F // External 32MHz crystal, output inverted
+
+// Configure the functionality of the external switch input
+#define x_CONFIG_SW_MODE                 0x0010 // Mask for this bit.
+#define x_CONFIG_SW_HARD_STOP            0x0000 // Default; hard stop motor on switch.
+#define x_CONFIG_SW_USER                 0x0010 // Tie to the GoUntil and ReleaseSW
+//  commands to provide jog function.
+//  See page 25 of datasheet.
+
+// Configure the motor voltage compensation mode (see page 34 of datasheet)
+#define x_CONFIG_EN_VSCOMP               0x0020  // Mask for this bit.
+#define x_CONFIG_VS_COMP_DISABLE         0x0000  // Disable motor voltage compensation.
+#define x_CONFIG_VS_COMP_ENABLE          0x0020  // Enable motor voltage compensation.
+
+// Configure overcurrent detection event handling
+#define x_CONFIG_OC_SD                   0x0080  // Mask for this bit.
+#define x_CONFIG_OC_SD_DISABLE           0x0000  // Bridges do NOT shutdown on OC detect
+#define x_CONFIG_OC_SD_ENABLE            0x0080  // Bridges shutdown on OC detect
+
+// Configure the slew rate of the power bridge output
+#define x_CONFIG_POW_SR                  0x0300  // Mask for this bit field.
+#define x_CONFIG_SR_180V_us              0x0000  // 180V/us
+#define x_CONFIG_SR_290V_us              0x0200  // 290V/us
+#define x_CONFIG_SR_530V_us              0x0300  // 530V/us
+
+// Integer divisors for PWM sinewave generation
+//  See page 32 of the datasheet for more information on this.
+#define x_CONFIG_F_PWM_DEC               0x1C00      // mask for this bit field
+#define x_CONFIG_PWM_MUL_0_625           (0x00)<<10
+#define x_CONFIG_PWM_MUL_0_75            (0x01)<<10
+#define x_CONFIG_PWM_MUL_0_875           (0x02)<<10
+#define x_CONFIG_PWM_MUL_1               (0x03)<<10
+#define x_CONFIG_PWM_MUL_1_25            (0x04)<<10
+#define x_CONFIG_PWM_MUL_1_5             (0x05)<<10
+#define x_CONFIG_PWM_MUL_1_75            (0x06)<<10
+#define x_CONFIG_PWM_MUL_2               (0x07)<<10
+
+// Multiplier for the PWM sinewave frequency
+#define x_CONFIG_F_PWM_INT               0xE000     // mask for this bit field.
+#define x_CONFIG_PWM_DIV_1               (0x00)<<13
+#define x_CONFIG_PWM_DIV_2               (0x01)<<13
+#define x_CONFIG_PWM_DIV_3               (0x02)<<13
+#define x_CONFIG_PWM_DIV_4               (0x03)<<13
+#define x_CONFIG_PWM_DIV_5               (0x04)<<13
+#define x_CONFIG_PWM_DIV_6               (0x05)<<13
+#define x_CONFIG_PWM_DIV_7               (0x06)<<13
+
+// Status register bit renames- read-only bits conferring information about the
+//  device to the user.
+#define x_STATUS_HIZ                     0x0001 // high when bridges are in HiZ mode
+#define x_STATUS_BUSY                    0x0002 // mirrors BUSY pin
+#define x_STATUS_SW_F                    0x0004 // low when switch open, high when closed
+#define x_STATUS_SW_EVN                  0x0008 // active high, set on switch falling edge,
+//  cleared by reading STATUS
+#define x_STATUS_DIR                     0x0010 // Indicates current motor direction.
+//  High is FWD, Low is REV.
+#define x_STATUS_NOTPERF_CMD             0x0080 // Last command not performed.
+#define x_STATUS_WRONG_CMD               0x0100 // Last command not valid.
+#define x_STATUS_UVLO                    0x0200 // Undervoltage lockout is active
+#define x_STATUS_TH_WRN                  0x0400 // Thermal warning
+#define x_STATUS_TH_SD                   0x0800 // Thermal shutdown
+#define x_STATUS_OCD                     0x1000 // Overcurrent detected
+#define x_STATUS_STEP_LOSS_A             0x2000 // Stall detected on A bridge
+#define x_STATUS_STEP_LOSS_B             0x4000 // Stall detected on B bridge
+#define x_STATUS_SCK_MOD                 0x8000 // Step clock mode is active
+
+// Status register motor status field
+#define x_STATUS_MOT_STATUS                0x0060      // field mask
+#define x_STATUS_MOT_STATUS_STOPPED       (0x0000)<<13 // Motor stopped
+#define x_STATUS_MOT_STATUS_ACCELERATION  (0x0001)<<13 // Motor accelerating
+#define x_STATUS_MOT_STATUS_DECELERATION  (0x0002)<<13 // Motor decelerating
+#define x_STATUS_MOT_STATUS_CONST_SPD     (0x0003)<<13 // Motor at constant speed
+
+// Register address redefines.
+//  See the x_Param_Handler() function for more info about these.
+#define x_ABS_POS              0x01
+#define x_EL_POS               0x02
+#define x_MARK                 0x03
+#define x_SPEED                0x04
+#define x_ACC                  0x05
+#define x_DEC                  0x06
+#define x_MAX_SPEED            0x07
+#define x_MIN_SPEED            0x08
+#define x_FS_SPD               0x15
+#define x_KVAL_HOLD            0x09
+#define x_KVAL_RUN             0x0A
+#define x_KVAL_ACC             0x0B
+#define x_KVAL_DEC             0x0C
+#define x_INT_SPD              0x0D
+#define x_ST_SLP               0x0E
+#define x_FN_SLP_ACC           0x0F
+#define x_FN_SLP_DEC           0x10
+#define x_K_THERM              0x11
+#define x_ADC_OUT              0x12
+#define x_OCD_TH               0x13
+#define x_STALL_TH             0x14
+#define x_STEP_MODE            0x16
+#define x_ALARM_EN             0x17
+#define x_CONFIG               0x18
+#define x_STATUS               0x19
+
+//x commands
+#define x_NOP                  0x00
+#define x_SET_PARAM            0x00
+#define x_GET_PARAM            0x20
+#define x_RUN                  0x50
+#define x_STEP_CLOCK           0x58
+#define x_MOVE                 0x40
+#define x_GOTO                 0x60
+#define x_GOTO_DIR             0x68
+#define x_GO_UNTIL             0x82
+#define x_RELEASE_SW           0x92
+#define x_GO_HOME              0x70
+#define x_GO_MARK              0x78
+#define x_RESET_POS            0xD8
+#define x_RESET_DEVICE         0xC0
+#define x_SOFT_STOP            0xB0
+#define x_HARD_STOP            0xB8
+#define x_SOFT_HIZ             0xA0
+#define x_HARD_HIZ             0xA8
+#define x_GET_STATUS           0xD0 // use Get_and_Clear_Status
+
+/* x direction options */
+#define FWD  0x01
+#define REV  0x00
+
+/* x action options */
+#define ACTION_RESET  0x00
+#define ACTION_COPY   0x01
+
+
+
+//class cL6470 {
+//public:
+
+//Default constuctot
+//cL6470();
+
+//Overload Constructor
+//@param int MOSI, int MISO, int CS, int CLK, int BUSY, int RESET
+//cL6470(int, int, int, int, int, int);
+void init();
+unsigned long GetParam(byte);
+byte Data_To_Transfer(byte);
+unsigned long ParamHandler(byte, unsigned long);
+void  SetParam(byte, unsigned long);
+unsigned long Param(unsigned long, byte);
+int GetStatus();
+uint32_t SpdCalc(float);
+unsigned long IntSpdCalc(float);
+unsigned long FSCalc(float);
+unsigned long MinSpdCalc(float);
+unsigned long MaxSpdCalc(float);
+unsigned long DecCalc(float);
+unsigned long AccCalc(float);
+void SetLSPDOpt(boolean);
+void Run(byte, unsigned long);
+void Step_Clock(byte);
+void Move(byte, unsigned long);
+void GoTo(unsigned long);
+void GoTo_DIR(byte, unsigned long);
+void GoUntil(byte, byte, unsigned long);
+void ReleaseSW(byte, byte);
+void GoHome();
+void GoMark();
+void ResetPos();
+void ResetDev();
+void SoftStop();
+void HardStop();
+void SoftHiZ();
+void HardHiZ();
+float CurrentSpdCalc(uint32_t stepspertick);// for Speed response
+void delay(int number_of_seconds);
+void Run_tx_test(byte dir, unsigned long spd);
+////TODO update the addresses
+//#define MOSI_BASE            0x00000001  //
+//#define MISO_BASE              0x00000002  //
+//#define CS_BASE                0x00000003  //
+//#define CLK_BASE               0x00000004  //
+//#define BUSY_BASE              0x00000005  //
+//#define RESET_BASE             0x00000006  //
+//#define TX_BASE                0x00000006  //
+//#define RX_BASE                0x00000007  //
+
+
+//extern int volatile * const MOSI_Reg;
+//extern int volatile * const MISO_Reg;
+//extern int volatile * const CS_Reg;
+//extern int volatile * const CLK_Reg;
+//extern int volatile * const BUSY_Reg;
+//extern int volatile * const RESET_Reg;
+//extern char volatile * const TX_Reg;
+//extern char volatile * const RX_Reg;
+
+//*MOSI = value; /* write to port */
+//value = *MOSI; /* read from port */
+
+
+
+///////////////
+
+
+////@param int MOSI
+//void Set_MOSI(int);
+////@param int MISO
+//void Set_MISO(int);
+////@param int CS
+//void Set_CS(int);
+////@param int CLK
+//void Set_CLK(int);
+////@param int BUSY
+//void Set_BUSY(int);
+////@param int RESET
+//void Set_RESET(int);
+
+
+
+//int Get_MOSI();
+//int Get_MISO();
+//int Get_CS();
+//int Get_CLK();
+//int Get_BUSY();
+//int Get_RESET();
+
+
+//private:
+// Member Variable
+
+//int MOSI = 0;
+//int MISO = 0;
+//int CS = 0;
+//int CLK = 0;
+//int BUSY = 0;
+//int RESET = 0;
+//};
+
+
+#endif /* CL6470_H_ */
diff --git a/Software/Code_Composer/twine_usblib_demo/drivers/I2C_Communication/I2C.h b/Software/Code_Composer/twine_usblib_demo/drivers/I2C_Communication/I2C.h
new file mode 100644
index 000000000..125b7eb2c
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/drivers/I2C_Communication/I2C.h
@@ -0,0 +1,31 @@
+
+#ifndef DRIVERS_I2C_H_
+#define DRIVERS_I2C_H_
+
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#define I2C_NUM_OF_CHANNELS 7 // 6 dispensers and feeder
+//front panel date saved in the same array of sampeled ADC data g_pui32ADCSeq[]
+
+#define I2C_START_INDEX         14
+#define I2C_ADC_DISP_1_POT      20
+#define I2C_ADC_DISP_2_POT      19
+#define I2C_ADC_DISP_3_POT      14
+#define I2C_ADC_DISP_4_POT      17
+#define I2C_ADC_DISP_5_POT      16
+#define I2C_ADC_DISP_6_POT      15
+#define I2C_ADC_FEEDER_POT      18
+
+
+/*********************************************************************************************
+ * this function is responsible for recieving a to d data of the potentiometers that connected
+ * to front panel and arrives in I2C communication protocol.
+ * input parameters - slave addres of I2C device
+ *                    buffer to write the result into
+ *                    index inside the beffer from where to atart writing
+ *********************************************************************************************/
+void SampleI2CData(uint32_t* _resultData);
+void InitI2C(void);
+#endif /* DRIVERS_I2C_H_ */
diff --git a/Software/Code_Composer/twine_usblib_demo/drivers/SPI/SPI_Comm.c b/Software/Code_Composer/twine_usblib_demo/drivers/SPI/SPI_Comm.c
new file mode 100644
index 000000000..d11555de1
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/drivers/SPI/SPI_Comm.c
@@ -0,0 +1,1031 @@
+
+#include <stdbool.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <string.h>
+
+#include "inc/hw_memmap.h"
+#include "driverlib/gpio.h"
+#include "driverlib/pin_map.h"
+#include "driverlib/ssi.h"
+#include "driverlib/sysctl.h"
+#include "utils/uartstdio.h"
+
+#include "graphics_adapter.h"
+#include <Stubs_Handler/DataDef.h>
+
+#include "drivers/FPGA/Moters_Driver/L6470.h"
+
+#include "drivers/FPGA/FPGA_Comm.h"
+
+#include <driverlib/rom.h>
+#include <driverlib/rom_map.h>
+
+#include <PMR/Stubs/StubMotorInitRequest.pb-c.h>
+
+void temp_init_spi2();
+void temp_setup();
+
+void Avi_test_get_speed();
+//uint32_t Get_Param_Status(byte param);
+uint32_t Get_and_Clear_Status();
+
+uint32_t Get_Param(byte param);
+unsigned long MaxSpdCalc(float stepsPerSec);
+
+extern unsigned long Run_Value ;
+extern unsigned long Mov_Value ;
+extern unsigned long Pos_Value;
+extern bool Direction ;
+extern unsigned long Time_2_Change_Direction ;
+extern bool Display_Tx_ON_LCD;
+extern bool Display_Rx_on_LCD;
+extern unsigned long Init_MicroStep ;
+extern unsigned long Init_Acc;
+extern unsigned long Init_Dec;
+extern bool TestBool_1;
+extern bool TestBool_2;
+extern bool TestBool_3;
+extern bool TestBool_4;
+extern bool TestBool_5;
+extern unsigned long TestUint32_1;
+extern unsigned long TestUint32_2;
+extern unsigned long TestUint32_3;
+extern unsigned long TestUint32_4;
+extern unsigned long TestUint32_5;
+extern unsigned long TestUint32_6;
+
+extern unsigned char Stop_Command;
+
+//#define SPI_EVA_LCD_ENABLED
+
+
+void SPI2_Init()
+{
+    #if defined(TARGET_IS_TM4C129_RA0) ||                                         \
+    defined(TARGET_IS_TM4C129_RA1) ||                                         \
+    defined(TARGET_IS_TM4C129_RA2)
+        uint32_t ui32SysClock;
+    #endif
+
+
+
+    //
+    // Set the clocking to run directly from the external crystal/oscillator.
+    // TODO: The SYSCTL_XTAL_ value must be changed to match the value of the
+    // crystal on your board.
+    //
+    #if defined(TARGET_IS_TM4C129_RA0) ||                                         \
+    defined(TARGET_IS_TM4C129_RA1) ||                                         \
+    defined(TARGET_IS_TM4C129_RA2)
+        /*ui32SysClock = SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ |
+                                       SYSCTL_OSC_MAIN |
+                                       SYSCTL_USE_OSC), 25000000);*/
+        ui32SysClock = MAP_SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ |
+                                               SYSCTL_OSC_MAIN | SYSCTL_USE_PLL |
+                                               SYSCTL_CFG_VCO_480), 120000000);
+    #else
+        SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
+                   SYSCTL_XTAL_16MHZ);
+    #endif
+#ifdef SPI_EVA_LCD_ENABLED
+    writeLine("SSI:");
+    writeLine("  Mode: SPI");
+    writeLine("  Data: 8-bit");
+#endif
+
+        // The SSI2 peripheral must be enabled for use.
+        //
+        SysCtlPeripheralReset(SYSCTL_PERIPH_SSI2);
+        SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI2);
+
+        //
+        // For this example SSI2 is used with PortG[7:4].  GPIO port G needs to be
+        // enabled so these pins can be used.
+        //
+        SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOG);
+
+
+
+        /* Configure pad settings */  // AVI
+        GPIOPadConfigSet(GPIO_PORTG_BASE,
+                GPIO_PIN_7 | GPIO_PIN_5,
+                GPIO_STRENGTH_4MA, GPIO_PIN_TYPE_STD);
+
+
+        GPIOPadConfigSet(GPIO_PORTG_BASE,
+                GPIO_PIN_4,
+                GPIO_STRENGTH_4MA, GPIO_PIN_TYPE_STD_WPU);
+
+        GPIOPadConfigSet(GPIO_PORTG_BASE,
+                GPIO_PIN_6,
+                GPIO_STRENGTH_4MA, GPIO_PIN_TYPE_STD);
+
+
+        //
+        // Configure the pin muxing for SSI2 functions on port G4, G5, G6 and G7.
+        // This step is not necessary if your part does not support pin muxing.
+
+
+        #define GPIO_PG4_SSI2TX GPIO_PG4_SSI2XDAT1 // AVI
+        #define GPIO_PG5_SSI2RX GPIO_PG5_SSI2XDAT0 // AVI
+
+        //
+        GPIOPinConfigure(GPIO_PG7_SSI2CLK);
+        GPIOPinConfigure(GPIO_PG6_SSI2FSS);
+        GPIOPinConfigure(GPIO_PG5_SSI2RX);
+        GPIOPinConfigure(GPIO_PG4_SSI2TX);
+
+        //
+        // Configure the GPIO settings for the SSI pins.  This function also gives
+        // control of these pins to the SSI hardware.  Consult the data sheet to
+        // see which functions are allocated per pin.
+        // The pins are assigned as follows:
+        //      PG4 - SSI2Tx
+        //      PG5 - SSI2Rx
+        //      PG6 - SSI2Fss
+        //      PG7 - SSI2CLK
+        //
+        GPIOPinTypeSSI(GPIO_PORTG_BASE, GPIO_PIN_7 | GPIO_PIN_6 | GPIO_PIN_5 |
+                GPIO_PIN_4);
+
+        //
+        // Configure and enable the SSI2 port for SPI Master mode.
+        //
+        #if defined(TARGET_IS_TM4C129_RA0) ||                                         \
+        defined(TARGET_IS_TM4C129_RA1) ||                                         \
+        defined(TARGET_IS_TM4C129_RA2)
+            SSIConfigSetExpClk(SSI2_BASE, ui32SysClock, SSI_FRF_MOTO_MODE_0,
+                           SSI_MODE_MASTER, 1000000, 8);
+        #else
+            SSIConfigSetExpClk(SSI2_BASE, SysCtlClockGet(), SSI_FRF_MOTO_MODE_0,
+                           SSI_MODE_MASTER, 1000000, 8);
+        #endif
+
+        SSIAdvModeSet(SSI2_BASE,SSI_ADV_MODE_READ_WRITE);//data is written to and read from the slave // AVI
+        //
+        // Enable the SSI2 module.
+        //
+        SSIEnable(SSI2_BASE);
+        //----------------------------------------------------------------
+
+}
+
+void init_BUSY_Pin(void)
+{
+    MAP_GPIOPinTypeGPIOInput(GPIO_PORTG_BASE, GPIO_PIN_0); // Enable pin for GPIOInput
+    SysCtlDelay(10000);
+    GPIOPadConfigSet(GPIO_PORTG_BASE,GPIO_PIN_0,GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPU );//Configure GPIO PULL UP resistors. NOTE: does not work if ROM_GPIOPinTypeGPIOInput() isnt called before.
+}
+
+bool Check_SPI_Busy(void)
+{
+
+    if(ROM_GPIOPinRead(GPIO_PORTG_BASE, GPIO_PIN_0) == GPIO_PIN_0)
+        return NOTBUSY;
+    else
+        return BUSY;
+}
+
+bool Polling_SPI_Busy(void)
+{
+    uint32_t timeout = 10000; // todo - check this value
+    char temp;
+
+    do
+    {
+        timeout--;
+        temp = ROM_GPIOPinRead(GPIO_PORTG_BASE, GPIO_PIN_0);
+     } while(( temp != GPIO_PIN_0) && (timeout));
+
+    if(temp != GPIO_PIN_0)
+        return BUSY;//After time out
+    else
+        return NOTBUSY;
+}
+
+void SPI_TX(unsigned int SSI_BASE,uint32_t *pui32DataTx, uint32_t *pui32DataRx, unsigned int Num_SSI_Data)
+{
+    uint32_t ui32Index;
+    //
+    // Read any residual data from the SSI port.  This makes sure the receive
+    // FIFOs are empty, so we don't read any unwanted junk.  This is done here
+    // because the SPI SSI mode is full-duplex, which allows you to send and
+    // receive at the same time.  The SSIDataGetNonBlocking function returns
+    // "true" when data was returned, and "false" when no data was returned.
+    // The "non-blocking" function checks if there is any data in the receive
+    // FIFO and does not "hang" if there isn't.
+    //
+    while(SSIDataGetNonBlocking(SSI_BASE, &pui32DataRx[0]))
+    {
+    }
+
+
+    //
+    // Display indication that the SSI is transmitting data.
+    //
+    //UARTprintf("Sent:\n  ");
+#ifdef SPI_EVA_LCD_ENABLED
+    writeLine("Sent: ");
+#endif
+    //
+    // Send 3 bytes of data.
+    //
+
+    for(ui32Index = 0; ui32Index < Num_SSI_Data; ui32Index++)
+    {
+        #ifdef SPI_EVA_LCD_ENABLED
+#ifdef SPI_EVA_LCD_ENABLED
+            // Display the data that SSI is transferring.
+            writeFloat (pui32DataTx[ui32Index]);
+            writeString("   ");
+#endif
+        #endif
+
+
+        //
+        // Send the data using the "blocking" put function.  This function
+        // will wait until there is room in the send FIFO before returning.
+        // This allows you to assure that all the data you send makes it into
+        // the send FIFO.
+        //
+        SSIDataPut(SSI_BASE, pui32DataTx[ui32Index]);
+    }
+
+    //
+    // Wait until SSI2 is done transferring all the data in the transmit FIFO.
+    //
+    while(SSIBusy(SSI_BASE))
+    {
+    }
+}
+
+void SPI_RX(unsigned int SSI_Bsae, uint32_t* RxBuf, uint32_t NumOfWords)
+{
+
+/*
+    uint32_t ui32Index;
+#define DUMMY_BYTE                  0x00
+
+    NumOfWords = 2;
+
+    writeLine("Starting Read Operations...");
+
+    for(ui32Index=0;ui32Index<NumOfWords-1;ui32Index++)
+    {
+        SSIDataPut(SSI_Bsae,DUMMY_BYTE);
+        SSIDataGet(SSI_Bsae,&RxBuf[ui32Index]);
+    }
+    SSIAdvDataPutFrameEnd(SSI_Bsae,DUMMY_BYTE);
+    SSIDataGet(SSI_Bsae,&RxBuf[NumOfWords-1]);
+
+
+    writeFloat (RxBuf[0]);
+    writeFloat (RxBuf[1]);
+//
+    writeLine("Read Completed...");
+
+*/
+
+    uint32_t ui32Index;
+#ifdef SPI_EVA_LCD_ENABLED
+    // Display indication that the SSI is receiving data.
+    writeLine("Received: ");
+#endif
+    //
+    // Receive 3 bytes of data.
+
+//    while(SSIBusy(SSI_Bsae))
+//    {
+//    }
+    //
+    unsigned char Num_SSI_Data = 1;
+    uint32_t pui32DataRx[1];
+
+    for(ui32Index = 0; ui32Index < Num_SSI_Data; ui32Index++)
+    {
+        //
+        // Receive the data using the "blocking" Get function. This function
+        // will wait until there is data in the receive FIFO before returning.
+        //
+        SSIDataGet(SSI_Bsae, &pui32DataRx[ui32Index]);
+
+        writeLine("SPI_RX: ");
+        writeFloat (pui32DataRx[ui32Index]);
+        writeString("   ");
+
+
+        //
+        // Since we are using 8-bit data, mask off the MSB.
+        //
+        pui32DataRx[ui32Index] &= 0x00FF;
+
+        //
+        // Display the data that SSI2 received.
+        //
+        //UARTprintf("'%c' ", pui32DataRx[ui32Index]);
+
+        //temp[0] = pui32DataRx[ui32Index];
+        //writeString(temp);
+//#ifdef SPI_EVA_LCD_ENABLED
+//        writeFloat (pui32DataRx[ui32Index]);
+//        writeString("   ");
+//#endif
+    }
+
+    RxBuf[0] = pui32DataRx[0];
+
+    //
+    // Return no errors
+    //
+
+
+}
+
+///////////////
+
+void setup(StubMotorInitRequest* request)
+//void setup()
+{
+
+    unsigned long read_status, NOP;
+
+    //  // Standard serial port initialization for debugging.
+    //Serial.begin(9600);
+    //Serial.setTimeout(50);
+    //delay(500);
+
+    //if (GetParam(x_CONFIG) == 0x2E88) // the default value of the CONFIG register
+        // The following function calls are for this demo application-
+        //  you will need to adjust them for your particular
+        //  application, and you may need to configure additional
+        //  registers.
+
+        // First, let's set the step mode register:
+        //   - x_SYNC_EN controls whether the BUSY/SYNC pin reflects
+        //      the step frequency or the BUSY status of the chip. We
+        //      want it to be the BUSY status.
+        //   - x_STEP_SEL_x is the microstepping rate- we'll go full
+        //      step.
+        //   - x_SYNC_SEL_x is the ratio of (micro)steps to toggles
+        //      on the BUSY/SYNC pin (when that pin is used for SYNC).
+        //      Make it 1:1, despite not using that pin.
+
+
+        //Step mode can only be changed when bridges are disabled:
+        HardHiZ();
+        read_status = Get_Param(x_STATUS);
+        while((read_status & x_STATUS_HIZ) != x_STATUS_HIZ)
+        {
+            NOP++;
+        }
+
+        while(SSIBusy(SSI2_BASE)){};
+
+        if(request->set_micro_steps)
+        {
+            SetParam(x_STEP_MODE,
+                !x_SYNC_EN |
+                request->micro_steps |
+                x_SYNC_SEL_1);
+        }
+        else
+        {
+            SetParam(x_STEP_MODE,
+                !x_SYNC_EN |
+                x_STEP_SEL_1_8 |
+                x_SYNC_SEL_1);
+        }
+
+    // Configure the MAX_SPEED register- this is the maximum number
+    //  of (micro)steps per second allowed. You'll want to mess
+    //  around with your desired application to see how far you can
+    //  push it before the motor starts to slip. The ACTUAL
+    //  parameter passed to this function is in steps/tick;
+    //  MaxSpdCalc() will convert a number of steps/s into an
+    //  appropriate value for this function. Note that for any move
+    //  or goto type function where no speed is specified, this
+    //  value will be used.
+    while(SSIBusy(SSI2_BASE)){};
+
+    if(request->set_max_speed)
+    {
+        SetParam(x_MAX_SPEED, MaxSpdCalc(request->max_speed));
+    }
+    else
+    {
+        SetParam(x_MAX_SPEED, MaxSpdCalc(1120));
+    }
+
+
+    // Configure the FS_SPD register- this is the speed at which the
+    //  driver ceases microstepping and goes to full stepping.
+    //  FSCalc() converts a value in steps/s to a value suitable for
+    //  this register; to disable full-step switching, you can pass
+    //  0x3FF to this register.
+    while(SSIBusy(SSI2_BASE)){};
+    SetParam(x_FS_SPD, FSCalc(0x3FF));
+
+    // Configure the acceleration rate, in steps/tick/tick. There is
+    //  also a DEC register; both of them have a function (AccCalc()
+    //  and DecCalc() respectively) that convert from steps/s/s into
+    //  the appropriate value for the register. Writing ACC to 0xfff
+    //  sets the acceleration and deceleration to 'infinite' (or as
+    //  near as the driver can manage). If ACC is set to 0xfff, DEC
+    //  is ignored. To get infinite deceleration without infinite
+    //  acceleration, only hard stop will work.
+
+   //SoftStop(); // ACC + DEC writable only when motor is stopped
+    //SysCtlDelay(10000000);
+    while(SSIBusy(SSI2_BASE)){};
+
+    HardHiZ();
+    read_status = Get_Param(x_STATUS);
+    while((read_status & x_STATUS_HIZ) != x_STATUS_HIZ)
+    {
+        SysCtlDelay(1000000);
+        read_status = Get_Param(x_STATUS);
+    }
+    // ACC + DEC writable only when motor is stopped
+
+    if(request->set_acc)
+    {
+        SetParam(x_ACC, request->acc);//roll-over after 0x7F - 7 bit ??? (should be 12 bit) AVI
+    }
+    else
+    {
+        SetParam(x_ACC, 0x8A);//roll-over after 0x7F - 7 bit ??? (should be 12 bit) AVI
+    }
+
+    while(SSIBusy(SSI2_BASE)){};
+
+    if(request->set_dec)
+    {
+        SetParam(x_ACC, request->dec);//roll-over after 0x7F - 7 bit ??? (should be 12 bit) AVI
+    }
+    else
+    {
+        SetParam(x_DEC, 0x8A);//roll-over after 0x7F - 7 bit ??? (should be 12 bit) AVI
+    }
+
+
+
+    // 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);
+
+    // Set up the CONFIG register as follows:
+    //  PWM frequency divisor = 1
+    //  PWM frequency multiplier = 2 (62.5kHz PWM frequency)
+    //  Slew rate is 290V/us
+    //  Do NOT shut down bridges on overcurrent
+    //  Disable motor voltage compensation
+    //  Hard stop on switch low
+    //  16MHz internal oscillator, nothing on output
+
+    //Get_Param(x_STATUS); //High impedance state
+    //while(SSIBusy(SSI2_BASE)){};
+    //GetStatus();
+    //SysCtlDelay(10000000);
+    while(SSIBusy(SSI2_BASE)){};
+
+    HardHiZ();
+    read_status = Get_Param(x_STATUS);
+    while((read_status & x_STATUS_HIZ) != x_STATUS_HIZ)
+    {
+        SysCtlDelay(1000000);
+        read_status = Get_Param(x_STATUS);
+    }
+
+    //writable only when outputs are in high impedance:
+    SetParam(x_CONFIG,
+        x_CONFIG_PWM_DIV_1 |
+        x_CONFIG_PWM_MUL_2 |
+        x_CONFIG_SR_180V_us |
+        x_CONFIG_OC_SD_ENABLE |
+        x_CONFIG_VS_COMP_DISABLE |
+        x_CONFIG_SW_HARD_STOP |
+        x_CONFIG_INT_16MHZ);
+
+    while(SSIBusy(SSI2_BASE)){};
+
+    SetParam(x_ALARM_EN,0xFF);
+    //----------->>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>     Special Section <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
+
+    // Configure the RUN KVAL. This defines the duty cycle of the
+    //  PWM of the bridges during running. 0xFF means that they are
+    //  essentially NOT PWMed during run; this MAY result in more
+    //  power being dissipated than you actually need for the task.
+    //  Setting this value too low may result in failure to turn.
+    //  There are ACC, DEC, and HOLD KVAL registers as well; you may
+    //  need to play with those values to get acceptable performance
+    //  for a given application.
+    SetParam(x_KVAL_HOLD, /*0x0B);// */ 0x05);
+    SetParam(x_KVAL_RUN, /*0x4B);// */ 0x23);
+    SetParam(x_KVAL_ACC, /*0x4B);// */ 0x23);
+    SetParam(x_KVAL_DEC, /*0x4B);// */ 0x23);
+    SetParam(x_ST_SLP, 0x18);
+    SetParam(x_INT_SPD, /*0x1A13);// */ 0x3550);
+    SetParam(x_FN_SLP_ACC, /*0x48);// */ 0x23);
+    SetParam(x_FN_SLP_DEC, /*0x48);// */ 0x23);
+
+    //https://www.youtube.com/watch?v=8C7qdjPbhlg MIN 2:20
+
+    //<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
+
+    // Calling GetStatus() clears the UVLO bit in the status
+    //  register, which is set by default on power-up. The driver
+    //  may not run without that bit cleared by this read operation.
+    GetStatus();
+
+    // Now we're going to set up a counter to track pulses from an
+    //  encoder, to verify against the expected values.
+    //TCCR1A = 0;  // No waveform generation stuff.
+    //TCCR1B = B00000110; // Clock on falling edge, T1 pin.
+    //TCNT1 = 0;   // Clear the count.
+}
+
+void Mot_Run()
+{
+    while(SSIBusy(SSI2_BASE)){};
+    Run(Direction,Run_Value );
+    //Run_tx_test(Direction,Run_Value );
+}
+
+void Mot_Mov()
+{
+    while(SSIBusy(SSI2_BASE)){};
+    Move(Direction,Pos_Value );
+}
+
+
+
+void Mot_Stop()
+{
+    while(SSIBusy(SSI2_BASE)){};
+    switch(Stop_Command)
+    {
+        case 0:
+                SoftHiZ();
+            break;
+        case 1:
+                HardHiZ();
+            break;
+        case 2:
+                SoftStop();
+            break;
+        case 3:
+                HardStop();
+            break;
+        default:
+            break;
+    }
+}
+
+void loop()
+{
+    GetStatus(); // Clear the error
+
+    //unsigned long i;
+    //unsigned long ReadSpeed;
+//    ResetPos();
+//    SoftStop();
+//    SysCtlDelay(17500000);
+
+//    HardStop();
+   // writeLine("Received: ");
+    //while(1)
+    {
+
+         ResetPos();
+        //for(i=0;i<0x3FFFFF;i++)
+//        {
+//            Run(FWD,i );
+//            HardStop();
+//            writeLine("Tx ");
+//            writeFloat(i);
+//            SysCtlDelay(5000000);
+//        }
+        //i  = 100000;
+
+         unsigned long Read_Speed,
+                       //Read_MaxSpeed,
+                       //Read_Acc,
+                       //Read_Dec,
+                       //speed,
+                       Read_pos,
+                       //Pos_Value,
+                       //Read_ELpos,
+                       read_status;
+        //unsigned long SpeedStepPerSec,
+        //               MaxSpeedStepPerSec;
+
+         //Direction = FWD;
+         //Run_Value = 0x10625; // 1000 step/sec
+         //Pos_Value = 0x111111; // 1000 step/sec
+         unsigned k = 1;
+
+         //SetParam(x_MAX_SPEED, MaxSpdCalc(1100)); // >1000 step/sec
+         //SetParam(x_MAX_SPEED, 0x10680);  // >1000 step/sec
+
+        while(k)
+        {
+
+            while(SSIBusy(SSI2_BASE)){};
+                        //Avi_test_get_speed(); //OK !!!
+            Read_Speed = Get_Param(x_SPEED);
+            writeLine("Read_Speed: ");
+            writeFloat(Read_Speed);
+
+            while(SSIBusy(SSI2_BASE)){};
+                        //SysCtlDelay(17500000);
+                        Read_pos = Get_Param(x_ABS_POS);
+                        writeLine("Read_pos: ");
+                        writeFloat(Read_pos);
+                        while(SSIBusy(SSI2_BASE)){};
+
+/*                        Read_ELpos = Get_Param(x_EL_POS);
+                        writeLine("Read_EL_pos: ");
+                        writeFloat(Read_ELpos);
+                        while(SSIBusy(SSI2_BASE)){};*/
+
+
+            writeLine("Tx ");
+            writeFloat(Run_Value);
+            Run(Direction,Run_Value );
+
+            switch(Stop_Command)
+            {
+                case 1:
+                        HardStop();
+                    break;
+                case 2:
+                        SoftStop();
+                    break;
+                case 3:
+                        HardHiZ();
+                    break;
+                case 4:
+                        SoftHiZ();
+                    break;
+                default:
+                    break;
+            }
+
+/*            if(k>5)
+                Move(Direction,Pos_Value );
+            else
+                //GoTo_DIR(Direction,Pos_Value );
+                GoTo(Pos_Value );*/
+
+            read_status = Get_Param(x_STATUS);
+
+            switch((read_status & x_STATUS_MOT_STATUS)>>5)
+            {
+            case 0://Stopped
+                    writeLine("-");
+                break;
+            case 1://Acceleration
+                if(read_status & x_STATUS_DIR)
+                    writeLine(">>>");
+                else
+                    writeLine("<<<");
+                break;
+            case 2://Deceleration
+                if(read_status & x_STATUS_DIR)
+                    writeLine(">");
+                else
+                    writeLine("<");
+                break;
+            case 3://Constant speed
+                if(read_status & x_STATUS_DIR)
+                    writeLine(">>");
+                else
+                    writeLine("<<");
+                break;
+            }
+            //read_status = GetStatus();
+            //read_status = Get_Param_Status( x_GET_STATUS); // The GetStatus command resets the STATUS register warning flags.
+            read_status = Get_and_Clear_Status();
+
+            if((read_status &  x_STATUS_UVLO)==0)
+                writeLine("Undervoltage");
+
+            Get_Param(x_STEP_MODE);
+
+            /*
+            //speed =  Get_Param(x_SPEED);
+            speed =  GetParam(x_SPEED);
+            if(speed & 0xfffff == Run_Value )
+                writeLine(" XXXXXXX ");
+            writeLine(" Speed: ");
+            writeFloat(speed);
+            */
+            //SysCtlDelay(17500000);
+            ///while(SSIBusy(SSI2_BASE)){};
+            //Avi_test_get_speed(); //OK !!!
+           // Get_Param(x_SPEED);
+
+           // while(SSIBusy(SSI2_BASE)){};
+            //SysCtlDelay(17500000);
+          //  Get_Param(x_ABS_POS);
+            //SysCtlDelay(17500000);
+            //GetParam(x_SPEED); // wrong value;
+
+
+            //unsigned long read_status;
+/*
+            if(k<2)
+            {
+                HardHiZ();
+                   read_status = Get_Param(x_STATUS);
+                   while((read_status & x_STATUS_HIZ) != x_STATUS_HIZ)
+                   {
+                       read_status = Get_Param(x_STATUS);
+                       SysCtlDelay(1000000);
+                   }
+
+
+                Read_Acc = Get_Param(x_ACC);
+                writeLine("x_ACC: ");
+                writeFloat(Read_Acc);
+
+
+               // while(SSIBusy(SSI2_BASE)){};
+
+               Read_Dec = Get_Param(x_DEC);
+                writeLine("x_ACC: ");
+                writeFloat(Read_Dec);
+
+                while(SSIBusy(SSI2_BASE)){};
+
+                Get_Param(x_CONFIG);
+                }*/
+            //Get_Param(x_ALARM_EN);
+            k--;
+        }
+
+
+
+
+
+//
+//        Read_MaxSpeed = Get_Param(x_MAX_SPEED);
+//        writeLine("Max Speed: ");
+//        writeFloat(Read_MaxSpeed);
+//
+//        MaxSpeedStepPerSec = MaxSpdCalc(Read_MaxSpeed);
+//
+//        writeLine("Max Speed (Step Per Sec): ");
+//        writeFloat(MaxSpeedStepPerSec);
+
+
+
+/*
+        Read_KvalAcc = Get_Param(x_KVAL_ACC);
+        writeLine("x_KVAL_ACC: ");
+        writeFloat(Read_KvalAcc);
+
+        Read_KvalDec = Get_Param(x_KVAL_DEC);
+        writeLine("x_KVAL_DEC: ");
+        writeFloat(Read_KvalDec);
+*/
+
+ /*      while (1)
+       {
+           //Run(Direction,Run_Value );
+
+           writeLine("Tx ");
+           writeFloat(Run_Value);
+
+           SysCtlDelay(7500000);
+           Read_Speed = Get_Param(x_SPEED);
+           writeLine("Speed: ");
+           writeFloat(Read_Speed);
+
+           SpeedStepPerSec = MaxSpdCalc(Read_Speed);
+
+           writeLine("Speed (Step Per Sec): ");
+           writeFloat(SpeedStepPerSec);
+       }
+*/
+
+/*
+
+        //for(i=0xFFFFF;i>0;i--)
+        //{
+
+         //Move(FWD, 25600);
+
+         //Move(FWD, 25600);
+
+         Run(FWD, 0xFFFFF);
+        //while (digitalRead(Get_BUSY()) == LOW);  // Until the movement completes, the
+        //while(L6470_BUSY == LOW){}                                    //  BUSYN pin will be low.
+         //SetParam(x_MAX_SPEED, MaxSpdCalc(1));  // Change the Speed
+        // SetParam(x_MIN_SPEED, MinSpdCalc(300));
+
+         //writeLine("Tx ");
+        // writeFloat(i);
+        // writeLine("Rx ");
+        //delay(5);
+        //SysCtlDelay(7500000); // need #include "driverlib/sysctl.h"
+        //ReadSpeed =  GetParam(x_SPEED);
+
+        //writeFloat(ReadSpeed);
+
+
+         //SysCtlDelay(17500000);
+         SysCtlDelay(10000000); // need #include "driverlib/sysctl.h"
+         //SoftStop();
+        // HardStop();
+//        }
+//        //SetParam(x_MAX_SPEED, MaxSpdCalc(300));  // Change the Speed
+//        //delay(5);
+//       // for(i=0;i<10;i++)
+//        {
+//           //Move(REV, 25600);
+           //Move(REV, 25600);
+
+         Run(REV, 0xFFFFF);
+
+           //SetParam(x_MAX_SPEED, MaxSpdCalc(30));  // Change the Speed
+           SysCtlDelay(10000000);
+           //SoftStop();
+//        //while (digitalRead(Get_BUSY()) == LOW);  // Until the movement completes, the
+//        //while (*BUSY_Reg == LOW){}                                    //  BUSYN pin will be low.
+//        //SetParam(x_MAX_SPEED, MaxSpdCalc(50));  // Change the Speed
+//        //delay(5);
+          // HardStop();
+//        }
+
+        //GoHome();
+
+       // SysCtlDelay(17500000);
+      //for(i=0;i<10;i++);
+*/
+    }
+}
+///////////////
+
+int SPI_Control(bool Init)
+{
+    if(Init == INIT)
+    {
+        SPI2_Init();
+        init_BUSY_Pin();
+        //setup();
+        setup(NULL);
+    }
+    loop();
+
+    return(0);
+}
+
+byte Transfer_tx(byte data/*, byte data_out*/ )
+{
+    #define NUM_SSI_DATA            1
+    byte data_out;
+
+    uint32_t pui32DataTx[NUM_SSI_DATA];
+    uint32_t pui32DataRx[NUM_SSI_DATA];
+
+    pui32DataTx[0] = data;
+    //pui32DataRx[0] = data_out;
+
+    SPI_TX(SSI2_BASE, &pui32DataTx, &pui32DataRx, NUM_SSI_DATA );
+
+    SPI_RX(SSI2_BASE, &pui32DataRx, NUM_SSI_DATA );
+
+   //writeLine("Transfer_tx: ");
+    //writeFloat(pui32DataRx[0]);
+
+    data_out = pui32DataRx[0];
+
+    return data_out;
+
+}
+
+
+byte Write_Byte(uint8_t WByte)
+{
+    uint32_t RByte;
+
+    SSIDataPut(SSI2_BASE, WByte);
+
+    while(SSIBusy(SSI2_BASE))
+    {
+    }
+
+    while(Check_SPI_Busy() == BUSY)
+    {
+    }
+
+    SSIDataGet(SSI2_BASE, &RByte);
+
+    return (RByte & 0xff);
+
+}
+
+uint32_t Get_Param(byte param)//OK
+{
+    uint32_t temp = 0;
+    uint32_t rx = 0;
+    while(SSIBusy(SSI2_BASE)){};
+    while(Check_SPI_Busy() == BUSY){};
+    /* Send GetParam operation code to dSPIN */
+    temp = Write_Byte((uint8_t)x_GET_PARAM | (uint8_t)param);
+    /* MSB which should be 0 */
+    rx |= (temp & 0xFF) << 24;
+    switch (param)
+    {
+        case x_ABS_POS: ;
+        case x_MARK: ;
+        case x_SPEED:
+            while(SSIBusy(SSI2_BASE)){};
+            while(Check_SPI_Busy() == BUSY){};
+            temp = Write_Byte((uint8_t)(0x00));
+            rx |= (temp & 0xFF) << 16;
+        case x_EL_POS: ;
+        case x_ACC: ;
+        case x_DEC: ;
+        case x_MAX_SPEED: ;
+        case x_MIN_SPEED: ;
+        case x_FS_SPD: ;
+        case x_INT_SPD: ;
+        case x_CONFIG: ;
+        case x_STATUS:
+            while(SSIBusy(SSI2_BASE)){};
+            while(Check_SPI_Busy() == BUSY){};
+            temp = Write_Byte((uint8_t)(0x00));
+            rx |= (temp & 0xFF) << 8;
+        default:
+            while(SSIBusy(SSI2_BASE)){};
+            while(Check_SPI_Busy() == BUSY){};
+            temp = Write_Byte((uint8_t)(0x00));
+            rx |= temp & 0xFF;
+    }
+
+    return rx;
+}
+/*
+void Avi_test_get_speed()//  Working as expected read the speed
+{
+
+    unsigned char i;
+
+    uint32_t pui32DataRx[10];
+
+    while(SSIDataGetNonBlocking(SSI2_BASE, &pui32DataRx[0]))
+    {
+    }
+
+    SSIDataPut(SSI2_BASE, 0x24);//get speed
+
+    while(SSIBusy(SSI2_BASE))
+    {
+    }
+
+    writeLine("Received: ");
+
+
+    for(i = 0; i < 4; i++)
+    {
+        if(i>0)
+            SSIDataPut(SSI2_BASE, 0x00);
+
+        while(SSIBusy(SSI2_BASE))
+        {
+        }
+
+        SSIDataGet(SSI2_BASE, &pui32DataRx[i]);
+
+        pui32DataRx[i] &= 0x00FF;
+
+        writeFloat (pui32DataRx[i]);
+        writeString("   ");
+    }
+
+}
+
+*/
+uint32_t Get_and_Clear_Status()// Tested OK AVI
+{
+    uint32_t temp = 0;
+    uint32_t rx = 0;
+
+    /* Send GetParam operation code to dSPIN */
+    temp = Write_Byte(x_GET_STATUS);
+    /* MSB which should be 0 */
+    rx |= (temp & 0xFF) << 24;
+
+    temp = Write_Byte((uint8_t)(0x00));
+    rx |= (temp & 0xFF) << 8;
+
+    temp = Write_Byte((uint8_t)(0x00));
+    rx |= temp & 0xFF;
+
+    return rx;
+}
diff --git a/Software/Code_Composer/twine_usblib_demo/drivers/SPI/SPI_Comm.h b/Software/Code_Composer/twine_usblib_demo/drivers/SPI/SPI_Comm.h
new file mode 100644
index 000000000..6b4d5ecf1
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/drivers/SPI/SPI_Comm.h
@@ -0,0 +1,16 @@
+int SPI_Control(bool Init);
+
+byte Transfer_tx(byte data/*, byte data_out*/ );
+uint32_t Get_Param(byte param);
+void SPI2_Init();
+
+//void temp_init_spi2();
+void Mot_Mov();
+void Mot_Run();
+
+void Mot_Stop();
+uint32_t Get_and_Clear_Status();
+void setup();
+void init_BUSY_Pin(void);
+#include <PMR/Stubs/StubMotorInitRequest.pb-c.h>
+void setup(StubMotorInitRequest* request);
diff --git a/Software/Code_Composer/twine_usblib_demo/drivers/SPI/spi_master.c b/Software/Code_Composer/twine_usblib_demo/drivers/SPI/spi_master.c
new file mode 100644
index 000000000..73eaa7468
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/drivers/SPI/spi_master.c
@@ -0,0 +1,519 @@
+//*****************************************************************************
+//
+// spi_master.c - Example demonstrating how to configure SSI0 in SPI master
+//                mode.
+//
+// Copyright (c) 2010-2017 Texas Instruments Incorporated.  All rights reserved.
+// Software License Agreement
+//
+//   Redistribution and use in source and binary forms, with or without
+//   modification, are permitted provided that the following conditions
+//   are met:
+//
+//   Redistributions of source code must retain the above copyright
+//   notice, this list of conditions and the following disclaimer.
+//
+//   Redistributions in binary form must reproduce the above copyright
+//   notice, this list of conditions and the following disclaimer in the
+//   documentation and/or other materials provided with the
+//   distribution.
+//
+//   Neither the name of Texas Instruments Incorporated nor the names of
+//   its contributors may be used to endorse or promote products derived
+//   from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// This is part of revision 2.1.4.178 of the Tiva Firmware Development Package.
+//
+//*****************************************************************************
+
+#include <stdbool.h>
+#include <stdint.h>
+#include "inc/hw_memmap.h"
+#include "driverlib/gpio.h"
+#include "driverlib/pin_map.h"
+#include "driverlib/ssi.h"
+#include "driverlib/sysctl.h"
+//#include "driverlib/uart.h"
+#include "utils/uartstdio.h"
+
+#include "graphics_adapter.h"
+
+//*****************************************************************************
+//
+//! \addtogroup ssi_examples_list
+//! <h1>SPI Master (spi_master)</h1>
+//!
+//! This example shows how to configure the SSI0 as SPI Master.  The code will
+//! send three characters on the master Tx then polls the receive FIFO until
+//! 3 characters are received on the master Rx.
+//!
+//! This example uses the following peripherals and I/O signals.  You must
+//! review these and change as needed for your own board:
+//! - SSI0 peripheral
+//! - GPIO Port A peripheral (for SSI0 pins)
+//! - SSI0Clk - PA2
+//! - SSI0Fss - PA3
+//! - SSI0Rx  - PA4
+//! - SSI0Tx  - PA5
+//!
+//! The following UART signals are configured only for displaying console
+//! messages for this example.  These are not required for operation of SSI0.
+//! - UART0 peripheral
+//! - GPIO Port A peripheral (for UART0 pins)
+//! - UART0RX - PA0
+//! - UART0TX - PA1
+//!
+//! This example uses the following interrupt handlers.  To use this example
+//! in your own application you must add these interrupt handlers to your
+//! vector table.
+//! - None.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+// Number of bytes to send and receive.
+//
+//*****************************************************************************
+#define NUM_SSI_DATA            5
+
+//*****************************************************************************
+//
+// This function sets up UART0 to be used for a console to display information
+// as the example is running.
+//
+//*****************************************************************************
+/*
+void InitSPI2(void)
+{
+    //
+    // The SSI2 peripheral must be enabled for use.
+    //
+    SysCtlPeripheralReset(SYSCTL_PERIPH_SSI2);
+    SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI2);
+
+    //
+    // For this example SSI2 is used with PortG[7:4].  GPIO port G needs to be
+    // enabled so these pins can be used.
+    //
+    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOG);
+
+    //
+    // Configure the pin muxing for SSI2 functions on port G4, G5, G6 and G7.
+    // This step is not necessary if your part does not support pin muxing.
+
+
+    #define GPIO_PG4_SSI2TX GPIO_PG4_SSI2XDAT1
+    #define GPIO_PG5_SSI2RX GPIO_PG5_SSI2XDAT0
+    //
+    GPIOPinConfigure(GPIO_PG7_SSI2CLK);
+    GPIOPinConfigure(GPIO_PG6_SSI2FSS);
+    GPIOPinConfigure(GPIO_PG5_SSI2RX);
+    GPIOPinConfigure(GPIO_PG4_SSI2TX);
+
+    //
+    // Configure the GPIO settings for the SSI pins.  This function also gives
+    // control of these pins to the SSI hardware.  Consult the data sheet to
+    // see which functions are allocated per pin.
+    // The pins are assigned as follows:
+    //      PG4 - SSI2Tx
+    //      PG5 - SSI2Rx
+    //      PG6 - SSI2Fss
+    //      PG7 - SSI2CLK
+    //
+    GPIOPinTypeSSI(GPIO_PORTG_BASE, GPIO_PIN_7 | GPIO_PIN_6 | GPIO_PIN_5 |
+            GPIO_PIN_4);
+
+    //
+    // Configure and enable the SSI2 port for SPI Master mode.
+    //
+#if defined(TARGET_IS_TM4C129_RA0) ||                                         \
+    defined(TARGET_IS_TM4C129_RA1) ||                                         \
+    defined(TARGET_IS_TM4C129_RA2)
+    SSIConfigSetExpClk(SSI2_BASE, ui32SysClock, SSI_FRF_MOTO_MODE_0,
+                       SSI_MODE_MASTER, 1000000, 8);
+#else
+    SSIConfigSetExpClk(SSI2_BASE, SysCtlClockGet(), SSI_FRF_MOTO_MODE_0,
+                       SSI_MODE_MASTER, 1000000, 8);
+#endif
+    ///--------------------------------
+
+    ///----------------------------
+
+    //
+    // Enable the SSI2 module.
+    //
+    SSIEnable(SSI2_BASE);
+}
+*/
+
+/*
+void
+InitConsole2(void)
+{
+    //
+    // Enable GPIO port A which is used for UART0 pins.
+    // TODO: change this to whichever GPIO port you are using.
+    //
+    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
+
+    //
+    // Configure the pin muxing for UART0 functions on port A0 and A1.
+    // This step is not necessary if your part does not support pin muxing.
+    // TODO: change this to select the port/pin you are using.
+    //
+    GPIOPinConfigure(GPIO_PA0_U0RX);
+    GPIOPinConfigure(GPIO_PA1_U0TX);
+
+    //
+    // Enable UART0 so that we can configure the clock.
+    //
+    SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
+
+    //
+    // Use the internal 16MHz oscillator as the UART clock source.
+    //
+    UARTClockSourceSet(UART0_BASE, UART_CLOCK_PIOSC);
+
+    //
+    // Select the alternate (UART) function for these pins.
+    // TODO: change this to select the port/pin you are using.
+    //
+    GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
+
+    //
+    // Initialize the UART for console I/O.
+    //
+    UARTStdioConfig(0, 115200, 16000000);
+}
+*/
+//*****************************************************************************
+//
+// Configure SSI2 in master Freescale (SPI) mode.  This example will send out
+// 3 bytes of data, then wait for 3 bytes of data to come in.  This will all be
+// done using the polling method.
+//
+//*****************************************************************************
+int SPI_main(void)
+{
+#if defined(TARGET_IS_TM4C129_RA0) ||                                         \
+    defined(TARGET_IS_TM4C129_RA1) ||                                         \
+    defined(TARGET_IS_TM4C129_RA2)
+    uint32_t ui32SysClock;
+#endif
+
+    uint32_t pui32DataTx[NUM_SSI_DATA];
+    uint32_t pui32DataRx[NUM_SSI_DATA];
+    uint32_t ui32Index;
+
+    //
+    // Set the clocking to run directly from the external crystal/oscillator.
+    // TODO: The SYSCTL_XTAL_ value must be changed to match the value of the
+    // crystal on your board.
+    //
+#if defined(TARGET_IS_TM4C129_RA0) ||                                         \
+    defined(TARGET_IS_TM4C129_RA1) ||                                         \
+    defined(TARGET_IS_TM4C129_RA2)
+    ui32SysClock = SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ |
+                                       SYSCTL_OSC_MAIN |
+                                       SYSCTL_USE_OSC), 25000000);
+#else
+    SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN |
+                   SYSCTL_XTAL_16MHZ);
+#endif
+
+    //
+    // Set up the serial console to use for displaying messages.  This is
+    // just for this example program and is not needed for SSI operation.
+    //
+    //InitConsole2();
+
+    //
+    // Display the setup on the console.
+    //
+    //UARTprintf("SSI ->\n");
+    //UARTprintf("  Mode: SPI\n");
+    //UARTprintf("  Data: 8-bit\n\n");
+
+    writeLine("SSI:");
+    writeLine("  Mode: SPI");
+    writeLine("  Data: 8-bit");
+
+
+    //------------------------------------------------------------
+
+//                //GPIO pull ups
+//                GPIOPadConfigSet(GPIO_PORTG_BASE, GPIO_PIN_4,GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPU);
+//                GPIOPadConfigSet(GPIO_PORTG_BASE, GPIO_PIN_5,GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPU);
+//                GPIOPadConfigSet(GPIO_PORTG_BASE, GPIO_PIN_6,GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPU);
+//                GPIOPadConfigSet(GPIO_PORTG_BASE, GPIO_PIN_7,GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPU);
+
+    //
+        // The SSI2 peripheral must be enabled for use.
+        //
+        SysCtlPeripheralReset(SYSCTL_PERIPH_SSI2);
+        SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI2);
+
+        //
+        // For this example SSI2 is used with PortG[7:4].  GPIO port G needs to be
+        // enabled so these pins can be used.
+        //
+        SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOG);
+
+        //
+        // Configure the pin muxing for SSI2 functions on port G4, G5, G6 and G7.
+        // This step is not necessary if your part does not support pin muxing.
+
+
+        #define GPIO_PG4_SSI2TX GPIO_PG4_SSI2XDAT1 // AVI?
+        #define GPIO_PG5_SSI2RX GPIO_PG5_SSI2XDAT0 // AVI?
+
+
+
+        //
+        GPIOPinConfigure(GPIO_PG7_SSI2CLK);
+        GPIOPinConfigure(GPIO_PG6_SSI2FSS);
+        GPIOPinConfigure(GPIO_PG5_SSI2RX);
+        GPIOPinConfigure(GPIO_PG4_SSI2TX);
+
+        //
+        // Configure the GPIO settings for the SSI pins.  This function also gives
+        // control of these pins to the SSI hardware.  Consult the data sheet to
+        // see which functions are allocated per pin.
+        // The pins are assigned as follows:
+        //      PG4 - SSI2Tx
+        //      PG5 - SSI2Rx
+        //      PG6 - SSI2Fss
+        //      PG7 - SSI2CLK
+        //
+        GPIOPinTypeSSI(GPIO_PORTG_BASE, GPIO_PIN_7 | GPIO_PIN_6 | GPIO_PIN_5 |
+                GPIO_PIN_4);
+
+        //
+        // Configure and enable the SSI2 port for SPI Master mode.
+        //
+    #if defined(TARGET_IS_TM4C129_RA0) ||                                         \
+        defined(TARGET_IS_TM4C129_RA1) ||                                         \
+        defined(TARGET_IS_TM4C129_RA2)
+        SSIConfigSetExpClk(SSI2_BASE, ui32SysClock, SSI_FRF_MOTO_MODE_0,
+                           SSI_MODE_MASTER, 1000000, 8);
+    #else
+        SSIConfigSetExpClk(SSI2_BASE, SysCtlClockGet(), SSI_FRF_MOTO_MODE_0,
+                           SSI_MODE_MASTER, 1000000, 8);
+    #endif
+        ///--------------------------------
+
+        ///----------------------------
+
+        //
+        // Enable the SSI2 module.
+        //
+        SSIEnable(SSI2_BASE);
+    //----------------------------------------------------------------
+
+
+/*//---------------------------------------------------------------------
+    //
+    // The SSI0 peripheral must be enabled for use.
+    //
+    SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI0);
+
+    //
+    // For this example SSI0 is used with PortA[5:2].  The actual port and pins
+    // used may be different on your part, consult the data sheet for more
+    // information.  GPIO port A needs to be enabled so these pins can be used.
+    // TODO: change this to whichever GPIO port you are using.
+    //
+    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
+
+    //
+    // Configure the pin muxing for SSI0 functions on port A2, A3, A4, and A5.
+    // This step is not necessary if your part does not support pin muxing.
+    // TODO: change this to select the port/pin you are using.
+    //
+    #define GPIO_PA4_SSI0RX         0x00001002 AVI?
+    #define GPIO_PA5_SSI0TX         0x00001402 AVI ?
+
+    GPIOPinConfigure(GPIO_PA2_SSI0CLK);
+    GPIOPinConfigure(GPIO_PA3_SSI0FSS);
+    GPIOPinConfigure(GPIO_PA4_SSI0RX);
+    GPIOPinConfigure(GPIO_PA5_SSI0TX);
+
+    //
+    // Configure the GPIO settings for the SSI pins.  This function also gives
+    // control of these pins to the SSI hardware.  Consult the data sheet to
+    // see which functions are allocated per pin.
+    // The pins are assigned as follows:
+    //      PA5 - SSI0Tx
+    //      PA4 - SSI0Rx
+    //      PA3 - SSI0Fss
+    //      PA2 - SSI0CLK
+    // TODO: change this to select the port/pin you are using.
+    //
+    GPIOPinTypeSSI(GPIO_PORTA_BASE, GPIO_PIN_5 | GPIO_PIN_4 | GPIO_PIN_3 |
+                   GPIO_PIN_2);
+
+    //
+    // Configure and enable the SSI port for SPI master mode.  Use SSI0,
+    // system clock supply, idle clock level low and active low clock in
+    // freescale SPI mode, master mode, 1MHz SSI frequency, and 8-bit data.
+    // For SPI mode, you can set the polarity of the SSI clock when the SSI
+    // unit is idle.  You can also configure what clock edge you want to
+    // capture data on.  Please reference the datasheet for more information on
+    // the different SPI modes.
+    //
+#if defined(TARGET_IS_TM4C129_RA0) ||                                         \
+    defined(TARGET_IS_TM4C129_RA1) ||                                         \
+    defined(TARGET_IS_TM4C129_RA2)
+    SSIConfigSetExpClk(SSI0_BASE, ui32SysClock, SSI_FRF_MOTO_MODE_0,
+                       SSI_MODE_MASTER, 1000000, 8);
+#else
+    SSIConfigSetExpClk(SSI0_BASE, SysCtlClockGet(), SSI_FRF_MOTO_MODE_0,
+                       SSI_MODE_MASTER, 1000000, 8);
+#endif
+
+    //
+    // Enable the SSI0 module.
+    //
+    SSIEnable(SSI0_BASE);*/
+
+    unsigned char Loops = 1;
+    while (Loops){
+        //Loops--;
+    //
+    // Read any residual data from the SSI port.  This makes sure the receive
+    // FIFOs are empty, so we don't read any unwanted junk.  This is done here
+    // because the SPI SSI mode is full-duplex, which allows you to send and
+    // receive at the same time.  The SSIDataGetNonBlocking function returns
+    // "true" when data was returned, and "false" when no data was returned.
+    // The "non-blocking" function checks if there is any data in the receive
+    // FIFO and does not "hang" if there isn't.
+    //
+    while(SSIDataGetNonBlocking(SSI2_BASE, &pui32DataRx[0]))
+    {
+    }
+
+
+    //-------------------------------------------------------------------------------------------
+    //SDSPI_init();
+    //SDSPITiva_open();
+
+/*    SSIDataPut(SSI2_BASE,0xC0);
+    SSIDataPut(SSI2_BASE,0x51);
+    SSIDataPut(SSI2_BASE,0x0);
+    SSIDataPut(SSI2_BASE,0xff);
+    SSIDataPut(SSI2_BASE,0x0);*/
+
+    pui32DataTx[0] = 0xC0;
+    pui32DataTx[1] = 0x51;
+    pui32DataTx[2] = 0x0;
+    pui32DataTx[3] = 0xff;
+    pui32DataTx[4] = 0x0;
+
+    //------------------------------------------------------------------------------------------
+    //
+    // Initialize the data to send.
+    //
+/*
+    pui32DataTx[0] = 'A';
+    pui32DataTx[1] = 's';
+    pui32DataTx[2] = 'p';
+    pui32DataTx[3] = 'i';
+    pui32DataTx[4] = 'A';
+*/
+    //
+    // Display indication that the SSI is transmitting data.
+    //
+    //UARTprintf("Sent:\n  ");
+
+    writeLine("Sent: ");
+
+    //
+    // Send 3 bytes of data.
+    //
+   // char temp[2];
+    //temp[1] = '\0';
+
+    for(ui32Index = 0; ui32Index < NUM_SSI_DATA; ui32Index++)
+    {
+        //
+        // Display the data that SSI is transferring.
+        //
+        //UARTprintf("'%c' ", pui32DataTx[ui32Index]);
+
+
+        //temp[0] = pui32DataTx[ui32Index];
+        //writeString(temp);
+        writeFloat (pui32DataTx[ui32Index]);
+        writeString("   ");
+
+
+        //
+        // Send the data using the "blocking" put function.  This function
+        // will wait until there is room in the send FIFO before returning.
+        // This allows you to assure that all the data you send makes it into
+        // the send FIFO.
+        //
+        SSIDataPut(SSI2_BASE, pui32DataTx[ui32Index]);
+    }
+
+    //
+    // Wait until SSI2 is done transferring all the data in the transmit FIFO.
+    //
+    while(SSIBusy(SSI2_BASE))
+    {
+    }
+
+    //
+    // Display indication that the SSI is receiving data.
+    //
+    //UARTprintf("\nReceived:\n  ");
+    writeLine("Received: ");
+
+    //
+    // Receive 3 bytes of data.
+    //
+    for(ui32Index = 0; ui32Index < NUM_SSI_DATA; ui32Index++)
+    {
+        //
+        // Receive the data using the "blocking" Get function. This function
+        // will wait until there is data in the receive FIFO before returning.
+        //
+        SSIDataGet(SSI2_BASE, &pui32DataRx[ui32Index]);
+
+        //
+        // Since we are using 8-bit data, mask off the MSB.
+        //
+        pui32DataRx[ui32Index] &= 0x00FF;
+
+        //
+        // Display the data that SSI2 received.
+        //
+        //UARTprintf("'%c' ", pui32DataRx[ui32Index]);
+
+        //temp[0] = pui32DataRx[ui32Index];
+        //writeString(temp);
+        writeFloat (pui32DataRx[ui32Index]);
+        writeString("   ");
+    }
+
+    //
+    // Return no errors
+    //
+    Loops =2;
+
+    }//while(1)
+    return(0);
+}
diff --git a/Software/Code_Composer/twine_usblib_demo/drivers/SPI/spi_master.h b/Software/Code_Composer/twine_usblib_demo/drivers/SPI/spi_master.h
new file mode 100644
index 000000000..1a047b695
--- /dev/null
+++ b/Software/Code_Composer/twine_usblib_demo/drivers/SPI/spi_master.h
@@ -0,0 +1 @@
+int SPI_main(void);
diff --git a/Software/Code_Composer/twine_usblib_demo/main.c b/Software/Code_Composer/twine_usblib_demo/main.c
index 7ffd95043..7c497f869 100644
--- a/Software/Code_Composer/twine_usblib_demo/main.c
+++ b/Software/Code_Composer/twine_usblib_demo/main.c
@@ -1,4 +1,5 @@
 #include <drivers/Flash_Memory/Flash_Memory.h>
+#include <drivers/FPGA/FPGA.h>
 #include <protobuf-c/person-pb-c.h>
 #include <stdbool.h>
 #include <stdlib.h>
@@ -45,6 +46,12 @@
 #include <Stubs_Handler/DataDef.h>
 //#include "Stubs_Handler/Buzzer.h"
 
+#include "Stubs_Handler/temperature_sensor.h"
+
+#include "drivers/SPI/spi_master.h"
+#include "drivers/SPI/SPI_Comm.h"
+
+
 
 //*****************************************************************************
 //
@@ -87,10 +94,20 @@ void USB0Handler(void)
     InitUSB();
 }
 
+
+int a = 5;
+
+void HandleSSI2(void)
+{
+    a++;
+}
+
+
 int main(void)
 {
     uint32_t  ui32SysClock, ui32PLLRate;
 
+
     // Set the system clock to run at 120MHz from the PLL.
     ui32SysClock = MAP_SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ |
                                            SYSCTL_OSC_MAIN | SYSCTL_USE_PLL |
@@ -102,6 +119,8 @@ int main(void)
     // Save the PLL rate used by this application.
     SysCtlVCOGet(SYSCTL_XTAL_25MHZ, &ui32PLLRate);
 
+
+
     // Enable the system tick.
     ROM_SysTickPeriodSet(ui32SysClock / TICKS_PER_SECOND);
     ROM_SysTickIntEnable();
@@ -113,10 +132,19 @@ int main(void)
     /////////////// tests by AVI
     //Ext_Flash_Operation(TX,5);
    //SoundExample();
+    //temperature_main();
+    //test_FPGA();
+
+    //SPI_main();
+   // SPI_Control();
+
+
     /////////////////////
 
     RegisterReceiveCallback(&receive_callback);
     StartUSB(ui32SysClock);
 
+
+
 	while(1){};
 }
diff --git a/Software/Code_Composer/twine_usblib_demo/tm4c129xnczad_startup_ccs.c b/Software/Code_Composer/twine_usblib_demo/tm4c129xnczad_startup_ccs.c
index 562bb6ff8..578215d2a 100644
--- a/Software/Code_Composer/twine_usblib_demo/tm4c129xnczad_startup_ccs.c
+++ b/Software/Code_Composer/twine_usblib_demo/tm4c129xnczad_startup_ccs.c
@@ -60,6 +60,7 @@ extern uint32_t __STACK_TOP;
 extern void SysTickHandler(void);
 extern void USB0Handler(void);
 extern void USB0DeviceIntHandler(void);
+extern void HandleSSI2(void);
 
 //*****************************************************************************
 //
@@ -142,7 +143,7 @@ void (* const g_pfnVectors[])(void) =
     IntDefaultHandler,                      // GPIO Port J
     IntDefaultHandler,                      // GPIO Port K
     IntDefaultHandler,                      // GPIO Port L
-    IntDefaultHandler,                      // SSI2 Rx and Tx
+    HandleSSI2,                      // SSI2 Rx and Tx
     IntDefaultHandler,                      // SSI3 Rx and Tx
     IntDefaultHandler,                      // UART3 Rx and Tx
     IntDefaultHandler,                      // UART4 Rx and Tx
-- 
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