From 28836105c4ae5d13f53b9940f9f5df0f7d61ca08 Mon Sep 17 00:00:00 2001
From: Justin Nguyen <justinnuwin@gmail.com>
Date: Thu, 8 Apr 2021 14:17:22 -0400
Subject: [PATCH 01/42] Fix motor contorl writing to read only register for
 controlling motors. Add FIXMEs for conversion from commanded values to motor
 control values

---
 .../CubeRover/MotorControl/MotorControlComponent.cpp | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp
index a89e091eb..750994aeb 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp
@@ -923,7 +923,7 @@ namespace CubeRover {
 
       // Send the speed to all the motors
       err = sendAllMotorsData(MOTOR_CONTROL_I2CREG, 
-                              MotorControllerI2C::CURRENT_SPEED,
+                              MotorControllerI2C::TARGET_SPEED,
                               (uint8_t*) &motor_speed);
       if(err != MC_NO_ERROR)
         return err;
@@ -946,28 +946,28 @@ namespace CubeRover {
     }    
 
     err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                    MotorControllerI2C::CURRENT_POSITION, 
+                                    MotorControllerI2C::RELATIVE_TARGET_POSITION,
                                     FRONT_LEFT_MC_I2C_ADDR,
                                     (uint8_t*) &Left_Wheels_Relative_ticks);
     if(err != MC_NO_ERROR)
       return err;  
 
     err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                    MotorControllerI2C::CURRENT_POSITION, 
+                                    MotorControllerI2C::RELATIVE_TARGET_POSITION,
                                     FRONT_RIGHT_MC_I2C_ADDR,
                                     (uint8_t*) &Right_Wheels_Relative_ticks);
     if(err != MC_NO_ERROR)
       return err;  
 
     err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                    MotorControllerI2C::CURRENT_POSITION, 
+                                    MotorControllerI2C::RELATIVE_TARGET_POSITION,
                                     REAR_RIGHT_MC_I2C_ADDR,
                                     (uint8_t*) &Right_Wheels_Relative_ticks);
     if(err != MC_NO_ERROR)
       return err;  
 
     err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                    MotorControllerI2C::CURRENT_POSITION, 
+                                    MotorControllerI2C::RELATIVE_TARGET_POSITION,
                                     REAR_LEFT_MC_I2C_ADDR,
                                     (uint8_t*) &Left_Wheels_Relative_ticks);
     return err;  
@@ -1295,6 +1295,7 @@ namespace CubeRover {
   */
   Motor_tick MotorControlComponentImpl :: groundCMToMotorTicks(int16_t dist)
   {
+      // FIXME: Jonathan to develop this function
     return 0;
   }
 
@@ -1308,6 +1309,7 @@ namespace CubeRover {
   */
   Speed_percent MotorControlComponentImpl :: groundSpeedToSpeedPrecent(int16_t speed)
   {
+      // FIXME: Jonathan to develop this function
     return 0;
   }
 

From 335b8f75aa9c2cbc25438c738dc009de0e65860e Mon Sep 17 00:00:00 2001
From: Iris Watchdog Developers <watchdog-devs@irisrover.space>
Date: Sat, 10 Apr 2021 15:20:53 -0400
Subject: [PATCH 02/42] Checking in latest motor control code, still changes to
 be made

---
 Apps/FlightSoftware/MotorControl/.cproject    |   104 +-
 .../.launches/MotorControl.launch             |    35 +
 Apps/FlightSoftware/MotorControl/.project     |     7 -
 .../org.eclipse.cdt.codan.core.prefs          |     3 +
 .../org.eclipse.cdt.debug.core.prefs          |     2 +
 .../org.eclipse.core.resources.prefs          |    15 +
 .../MotorControl/Release/MotorControl.map     |  3857 ++++
 .../MotorControl/Release/MotorControl.out     |   Bin 0 -> 158856 bytes
 .../Release/MotorControl_linkInfo.xml         | 14627 ++++++++++++++++
 .../FlightSoftware/MotorControl/Release/bsp.d |   109 +
 .../MotorControl/Release/bsp.obj              |   Bin 0 -> 45092 bytes
 .../MotorControl/Release/ccsObjs.opt          |     1 +
 .../MotorControl/Release/driverlib/adc12_b.d  |    45 +
 .../Release/driverlib/adc12_b.obj             |   Bin 0 -> 51336 bytes
 .../MotorControl/Release/driverlib/aes256.d   |    45 +
 .../MotorControl/Release/driverlib/aes256.obj |   Bin 0 -> 42004 bytes
 .../MotorControl/Release/driverlib/comp_e.d   |    45 +
 .../MotorControl/Release/driverlib/comp_e.obj |   Bin 0 -> 48400 bytes
 .../MotorControl/Release/driverlib/crc.d      |    45 +
 .../MotorControl/Release/driverlib/crc.obj    |   Bin 0 -> 26976 bytes
 .../MotorControl/Release/driverlib/crc32.d    |    45 +
 .../MotorControl/Release/driverlib/crc32.obj  |   Bin 0 -> 29300 bytes
 .../MotorControl/Release/driverlib/cs.d       |    45 +
 .../MotorControl/Release/driverlib/cs.obj     |   Bin 0 -> 61032 bytes
 .../MotorControl/Release/driverlib/dma.d      |    45 +
 .../MotorControl/Release/driverlib/dma.obj    |   Bin 0 -> 47088 bytes
 .../MotorControl/Release/driverlib/esi.d      |    37 +
 .../MotorControl/Release/driverlib/esi.obj    |   Bin 0 -> 14604 bytes
 .../Release/driverlib/eusci_a_spi.d           |    45 +
 .../Release/driverlib/eusci_a_spi.obj         |   Bin 0 -> 43352 bytes
 .../Release/driverlib/eusci_a_uart.d          |    45 +
 .../Release/driverlib/eusci_a_uart.obj        |   Bin 0 -> 44684 bytes
 .../Release/driverlib/eusci_b_i2c.d           |    45 +
 .../Release/driverlib/eusci_b_i2c.obj         |   Bin 0 -> 84080 bytes
 .../Release/driverlib/eusci_b_spi.d           |    45 +
 .../Release/driverlib/eusci_b_spi.obj         |   Bin 0 -> 43344 bytes
 .../MotorControl/Release/driverlib/framctl.d  |    37 +
 .../Release/driverlib/framctl.obj             |   Bin 0 -> 14608 bytes
 .../Release/driverlib/framctl_a.d             |    45 +
 .../Release/driverlib/framctl_a.obj           |   Bin 0 -> 34620 bytes
 .../MotorControl/Release/driverlib/gpio.d     |    45 +
 .../MotorControl/Release/driverlib/gpio.obj   |   Bin 0 -> 44068 bytes
 .../MotorControl/Release/driverlib/hspll.d    |    37 +
 .../MotorControl/Release/driverlib/hspll.obj  |   Bin 0 -> 14608 bytes
 .../MotorControl/Release/driverlib/lcd_c.d    |    37 +
 .../MotorControl/Release/driverlib/lcd_c.obj  |   Bin 0 -> 14608 bytes
 .../MotorControl/Release/driverlib/mpu.d      |    45 +
 .../MotorControl/Release/driverlib/mpu.obj    |   Bin 0 -> 35924 bytes
 .../MotorControl/Release/driverlib/mpy32.d    |    45 +
 .../MotorControl/Release/driverlib/mpy32.obj  |   Bin 0 -> 45240 bytes
 .../MotorControl/Release/driverlib/mtif.d     |    37 +
 .../MotorControl/Release/driverlib/mtif.obj   |   Bin 0 -> 14608 bytes
 .../MotorControl/Release/driverlib/pmm.d      |    45 +
 .../MotorControl/Release/driverlib/pmm.obj    |   Bin 0 -> 27780 bytes
 .../MotorControl/Release/driverlib/ram.d      |    45 +
 .../MotorControl/Release/driverlib/ram.obj    |   Bin 0 -> 18316 bytes
 .../MotorControl/Release/driverlib/ref_a.d    |    45 +
 .../MotorControl/Release/driverlib/ref_a.obj  |   Bin 0 -> 38892 bytes
 .../MotorControl/Release/driverlib/rtc_b.d    |    37 +
 .../MotorControl/Release/driverlib/rtc_b.obj  |   Bin 0 -> 14608 bytes
 .../MotorControl/Release/driverlib/rtc_c.d    |    45 +
 .../MotorControl/Release/driverlib/rtc_c.obj  |   Bin 0 -> 58140 bytes
 .../MotorControl/Release/driverlib/saph.d     |    37 +
 .../MotorControl/Release/driverlib/saph.obj   |   Bin 0 -> 14608 bytes
 .../MotorControl/Release/driverlib/sdhs.d     |    37 +
 .../MotorControl/Release/driverlib/sdhs.obj   |   Bin 0 -> 14608 bytes
 .../MotorControl/Release/driverlib/sfr.d      |    45 +
 .../MotorControl/Release/driverlib/sfr.obj    |   Bin 0 -> 25620 bytes
 .../Release/driverlib/subdir_rules.mk         |    15 +
 .../Release/driverlib/subdir_vars.mk          |   224 +
 .../MotorControl/Release/driverlib/sysctl.d   |    45 +
 .../MotorControl/Release/driverlib/sysctl.obj |   Bin 0 -> 33784 bytes
 .../MotorControl/Release/driverlib/timer_a.d  |    45 +
 .../Release/driverlib/timer_a.obj             |   Bin 0 -> 59236 bytes
 .../MotorControl/Release/driverlib/timer_b.d  |    45 +
 .../Release/driverlib/timer_b.obj             |   Bin 0 -> 64340 bytes
 .../MotorControl/Release/driverlib/tlv.d      |    45 +
 .../MotorControl/Release/driverlib/tlv.obj    |   Bin 0 -> 27084 bytes
 .../MotorControl/Release/driverlib/uups.d     |    37 +
 .../MotorControl/Release/driverlib/uups.obj   |   Bin 0 -> 14608 bytes
 .../MotorControl/Release/driverlib/wdt_a.d    |    45 +
 .../MotorControl/Release/driverlib/wdt_a.obj  |   Bin 0 -> 22812 bytes
 .../FlightSoftware/MotorControl/Release/i2c.d |   133 +
 .../MotorControl/Release/i2c.obj              |   Bin 0 -> 69120 bytes
 .../MotorControl/Release/main.d               |   133 +
 .../MotorControl/Release/main.obj             |   Bin 0 -> 93696 bytes
 .../MotorControl/Release/makefile             |   207 +
 .../MotorControl/Release/objects.mk           |     8 +
 .../MotorControl/Release/sources.mk           |   116 +
 .../MotorControl/Release/subdir_rules.mk      |    15 +
 .../MotorControl/Release/subdir_vars.mk       |    41 +
 .../MotorControl/driverlib/adc12_b.c          |   291 +
 .../MotorControl/driverlib/adc12_b.h          |  1496 ++
 .../MotorControl/driverlib/aes256.c           |   368 +
 .../MotorControl/driverlib/aes256.h           |   418 +
 .../MotorControl/driverlib/comp_e.c           |   277 +
 .../MotorControl/driverlib/comp_e.h           |   666 +
 .../MotorControl/driverlib/crc.c              |   103 +
 .../MotorControl/driverlib/crc.h              |   209 +
 .../MotorControl/driverlib/crc32.c            |   157 +
 .../MotorControl/driverlib/crc32.h            |   263 +
 .../MotorControl/driverlib/cs.c               |   996 ++
 .../MotorControl/driverlib/cs.h               |   644 +
 .../MotorControl/driverlib/dma.c              |   194 +
 .../MotorControl/driverlib/dma.h              |   747 +
 .../MotorControl/driverlib/driverlib.h        |    67 +
 .../MotorControl/driverlib/esi.c              |  1445 ++
 .../MotorControl/driverlib/esi.h              |   888 +
 .../MotorControl/driverlib/eusci_a_spi.c      |   229 +
 .../MotorControl/driverlib/eusci_a_spi.h      |   526 +
 .../MotorControl/driverlib/eusci_a_uart.c     |   267 +
 .../MotorControl/driverlib/eusci_a_uart.h     |   605 +
 .../MotorControl/driverlib/eusci_b_i2c.c      |   609 +
 .../MotorControl/driverlib/eusci_b_i2c.h      |  1047 ++
 .../MotorControl/driverlib/eusci_b_spi.c      |   226 +
 .../MotorControl/driverlib/eusci_b_spi.h      |   526 +
 .../MotorControl/driverlib/framctl.c          |   158 +
 .../MotorControl/driverlib/framctl.h          |   303 +
 .../MotorControl/driverlib/framctl_a.c        |   176 +
 .../MotorControl/driverlib/framctl_a.h        |   396 +
 .../MotorControl/driverlib/gpio.c             |   489 +
 .../MotorControl/driverlib/gpio.h             |  1051 ++
 .../MotorControl/driverlib/hspll.c            |   119 +
 .../MotorControl/driverlib/hspll.h            |   328 +
 .../MotorControl/driverlib/inc/hw_memmap.h    |    77 +
 .../MotorControl/driverlib/inc/version.h      |    42 +
 .../MotorControl/driverlib/lcd_c.c            |   439 +
 .../MotorControl/driverlib/lcd_c.h            |  1379 ++
 .../MotorControl/driverlib/mpu.c              |   338 +
 .../MotorControl/driverlib/mpu.h              |   423 +
 .../MotorControl/driverlib/mpy32.c            |   176 +
 .../MotorControl/driverlib/mpy32.h            |   445 +
 .../MotorControl/driverlib/mtif.c             |   210 +
 .../MotorControl/driverlib/mtif.h             |   563 +
 .../MotorControl/driverlib/pmm.c              |   124 +
 .../MotorControl/driverlib/pmm.h              |   219 +
 .../MotorControl/driverlib/ram.c              |    72 +
 .../MotorControl/driverlib/ram.h              |   138 +
 .../MotorControl/driverlib/ref_a.c            |   151 +
 .../MotorControl/driverlib/ref_a.h            |   412 +
 .../MotorControl/driverlib/rtc_b.c            |   268 +
 .../MotorControl/driverlib/rtc_b.h            |   633 +
 .../MotorControl/driverlib/rtc_c.c            |   376 +
 .../MotorControl/driverlib/rtc_c.h            |   856 +
 .../MotorControl/driverlib/saph.c             |   276 +
 .../MotorControl/driverlib/saph.h             |  1119 ++
 .../MotorControl/driverlib/sdhs.c             |   199 +
 .../MotorControl/driverlib/sdhs.h             |   653 +
 .../MotorControl/driverlib/sfr.c              |    96 +
 .../MotorControl/driverlib/sfr.h              |   290 +
 .../MotorControl/driverlib/sysctl.c           |   131 +
 .../MotorControl/driverlib/sysctl.h           |   356 +
 .../MotorControl/driverlib/timer_a.c          |   364 +
 .../MotorControl/driverlib/timer_a.h          |  1097 ++
 .../MotorControl/driverlib/timer_b.c          |   398 +
 .../MotorControl/driverlib/timer_b.h          |  1224 ++
 .../MotorControl/driverlib/tlv.c              |   239 +
 .../MotorControl/driverlib/tlv.h              |   436 +
 .../MotorControl/driverlib/uups.c             |   130 +
 .../MotorControl/driverlib/uups.h             |   381 +
 .../MotorControl/driverlib/wdt_a.c            |   102 +
 .../MotorControl/driverlib/wdt_a.h            |   210 +
 Apps/FlightSoftware/MotorControl/i2c.c        |    52 +-
 Apps/FlightSoftware/MotorControl/i2c.h        |     2 +
 Apps/FlightSoftware/MotorControl/main.c       |   305 +-
 Apps/FlightSoftware/MotorControl/main.h       |    25 +-
 Apps/FlightSoftware/MotorControl/pi.h         |     4 +-
 .../targetConfigs/MSP430FR5994.ccxml          |    12 +
 .../MotorControl/targetConfigs/readme.txt     |     9 +
 169 files changed, 52668 insertions(+), 177 deletions(-)
 create mode 100644 Apps/FlightSoftware/MotorControl/.launches/MotorControl.launch
 create mode 100644 Apps/FlightSoftware/MotorControl/.settings/org.eclipse.cdt.codan.core.prefs
 create mode 100644 Apps/FlightSoftware/MotorControl/.settings/org.eclipse.cdt.debug.core.prefs
 create mode 100644 Apps/FlightSoftware/MotorControl/.settings/org.eclipse.core.resources.prefs
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/MotorControl.map
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/MotorControl.out
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/MotorControl_linkInfo.xml
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/bsp.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/bsp.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/ccsObjs.opt
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/adc12_b.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/adc12_b.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/aes256.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/aes256.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/comp_e.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/comp_e.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/crc.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/crc.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/crc32.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/crc32.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/cs.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/cs.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/dma.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/dma.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/esi.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/esi.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_a_spi.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_a_spi.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_a_uart.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_a_uart.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_b_i2c.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_b_i2c.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_b_spi.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_b_spi.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/framctl.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/framctl.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/framctl_a.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/framctl_a.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/gpio.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/gpio.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/hspll.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/hspll.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/lcd_c.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/lcd_c.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/mpu.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/mpu.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/mpy32.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/mpy32.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/mtif.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/mtif.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/pmm.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/pmm.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/ram.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/ram.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/ref_a.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/ref_a.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/rtc_b.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/rtc_b.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/rtc_c.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/rtc_c.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/saph.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/saph.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/sdhs.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/sdhs.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/sfr.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/sfr.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/subdir_rules.mk
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/subdir_vars.mk
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/sysctl.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/sysctl.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/timer_a.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/timer_a.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/timer_b.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/timer_b.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/tlv.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/tlv.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/uups.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/uups.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/wdt_a.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/driverlib/wdt_a.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/i2c.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/i2c.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/main.d
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/main.obj
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/makefile
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/objects.mk
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/sources.mk
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/subdir_rules.mk
 create mode 100644 Apps/FlightSoftware/MotorControl/Release/subdir_vars.mk
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/adc12_b.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/adc12_b.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/aes256.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/aes256.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/comp_e.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/comp_e.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/crc.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/crc.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/crc32.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/crc32.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/cs.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/cs.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/dma.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/dma.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/driverlib.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/esi.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/esi.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/eusci_a_spi.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/eusci_a_spi.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/eusci_a_uart.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/eusci_a_uart.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/eusci_b_i2c.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/eusci_b_i2c.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/eusci_b_spi.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/eusci_b_spi.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/framctl.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/framctl.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/framctl_a.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/framctl_a.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/gpio.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/gpio.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/hspll.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/hspll.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/inc/hw_memmap.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/inc/version.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/lcd_c.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/lcd_c.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/mpu.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/mpu.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/mpy32.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/mpy32.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/mtif.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/mtif.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/pmm.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/pmm.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/ram.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/ram.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/ref_a.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/ref_a.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/rtc_b.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/rtc_b.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/rtc_c.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/rtc_c.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/saph.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/saph.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/sdhs.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/sdhs.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/sfr.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/sfr.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/sysctl.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/sysctl.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/timer_a.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/timer_a.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/timer_b.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/timer_b.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/tlv.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/tlv.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/uups.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/uups.h
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/wdt_a.c
 create mode 100644 Apps/FlightSoftware/MotorControl/driverlib/wdt_a.h
 create mode 100644 Apps/FlightSoftware/MotorControl/targetConfigs/MSP430FR5994.ccxml
 create mode 100644 Apps/FlightSoftware/MotorControl/targetConfigs/readme.txt

diff --git a/Apps/FlightSoftware/MotorControl/.cproject b/Apps/FlightSoftware/MotorControl/.cproject
index 58b778132..97eaf6fda 100644
--- a/Apps/FlightSoftware/MotorControl/.cproject
+++ b/Apps/FlightSoftware/MotorControl/.cproject
@@ -51,8 +51,8 @@
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 									<listOptionValue builtIn="false" value="${PROJECT_ROOT}"/>
 									<listOptionValue builtIn="false" value="${CG_TOOL_ROOT}/include"/>
-									<listOptionValue builtIn="false" value="${workspace_loc:/${ProjName}/driverlib/MSP430FR5xx_6xx}"/>
-									<listOptionValue builtIn="false" value="${TI_PRODUCTS_DIR}/msp430ware_3_80_07_00/iqmathlib/include"/>
+									<listOptionValue builtIn="false" value="E:\xprize\Documents\MotorControlDev\MotorControl\MotorControl\driverlib"/>
+									<listOptionValue builtIn="false" value="C:\ti\ccs930\ccs\ccs_base\msp430ware_3_80_11_07\iqmathlib\include"/>
 								</option>
 								<option id="com.ti.ccstudio.buildDefinitions.MSP430_18.12.compilerID.ADVICE__POWER.749999146" name="Enable checking of ULP power rules (--advice:power)" superClass="com.ti.ccstudio.buildDefinitions.MSP430_18.12.compilerID.ADVICE__POWER" useByScannerDiscovery="false" value="all" valueType="string"/>
 								<option id="com.ti.ccstudio.buildDefinitions.MSP430_18.12.compilerID.OPT_LEVEL.849785229" name="Optimization level (--opt_level, -O)" superClass="com.ti.ccstudio.buildDefinitions.MSP430_18.12.compilerID.OPT_LEVEL" value="com.ti.ccstudio.buildDefinitions.MSP430_18.12.compilerID.OPT_LEVEL.2" valueType="enumerated"/>
@@ -78,7 +78,7 @@
 									<listOptionValue builtIn="false" value="${CCS_BASE_ROOT}/msp430/lib/FR59xx"/>
 									<listOptionValue builtIn="false" value="${CG_TOOL_ROOT}/lib"/>
 									<listOptionValue builtIn="false" value="${CG_TOOL_ROOT}/include"/>
-									<listOptionValue builtIn="false" value="${TI_PRODUCTS_DIR}/msp430ware_3_80_07_00/iqmathlib/libraries/CCS/MPY32/5xx_6xx"/>
+									<listOptionValue builtIn="false" value="C:\ti\ccs930\ccs\ccs_base\msp430ware_3_80_11_07\iqmathlib\libraries\CCS\MPY32\5xx_6xx"/>
 								</option>
 								<option id="com.ti.ccstudio.buildDefinitions.MSP430_18.12.linkerID.USE_HW_MPY.529600830" name="Deprecated: Now a compiler option instead of linker option (--use_hw_mpy)" superClass="com.ti.ccstudio.buildDefinitions.MSP430_18.12.linkerID.USE_HW_MPY" useByScannerDiscovery="false" value="com.ti.ccstudio.buildDefinitions.MSP430_18.12.linkerID.USE_HW_MPY.F5" valueType="enumerated"/>
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@@ -121,81 +121,85 @@
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diff --git a/Apps/FlightSoftware/MotorControl/.launches/MotorControl.launch b/Apps/FlightSoftware/MotorControl/.launches/MotorControl.launch
new file mode 100644
index 000000000..344a8b938
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/.launches/MotorControl.launch
@@ -0,0 +1,35 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<launchConfiguration type="com.ti.ccstudio.debug.launchType.device.debugging">
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encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;amp;lt;librarySource/&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;quot; childType=&amp;quot;com.ti.ccstudio.debug.containerType.library.source&amp;quot;/&amp;gt;&amp;#13;&amp;#10;&amp;lt;/cpuSpecificContainer&amp;gt;&amp;#13;&amp;#10;&quot; typeId=&quot;com.ti.ccstudio.debug.containerType.cpu.specific&quot;/&gt;&#13;&#10;&lt;/sourceContainers&gt;&#13;&#10;&lt;/sourceLookupDirector&gt;&#13;&#10;"/>
+</launchConfiguration>
diff --git a/Apps/FlightSoftware/MotorControl/.project b/Apps/FlightSoftware/MotorControl/.project
index b3d97620a..93e062a43 100644
--- a/Apps/FlightSoftware/MotorControl/.project
+++ b/Apps/FlightSoftware/MotorControl/.project
@@ -24,11 +24,4 @@
 		<nature>org.eclipse.cdt.core.ccnature</nature>
 		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
 	</natures>
-	<linkedResources>
-		<link>
-			<name>driverlib</name>
-			<type>2</type>
-			<location>/home/cedric/ti/msp430ware_3_80_07_00/driverlib/driverlib</location>
-		</link>
-	</linkedResources>
 </projectDescription>
diff --git a/Apps/FlightSoftware/MotorControl/.settings/org.eclipse.cdt.codan.core.prefs b/Apps/FlightSoftware/MotorControl/.settings/org.eclipse.cdt.codan.core.prefs
new file mode 100644
index 000000000..f653028c5
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/.settings/org.eclipse.cdt.codan.core.prefs
@@ -0,0 +1,3 @@
+eclipse.preferences.version=1
+inEditor=false
+onBuild=false
diff --git a/Apps/FlightSoftware/MotorControl/.settings/org.eclipse.cdt.debug.core.prefs b/Apps/FlightSoftware/MotorControl/.settings/org.eclipse.cdt.debug.core.prefs
new file mode 100644
index 000000000..2adc7b1dd
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/.settings/org.eclipse.cdt.debug.core.prefs
@@ -0,0 +1,2 @@
+eclipse.preferences.version=1
+org.eclipse.cdt.debug.core.toggleBreakpointModel=com.ti.ccstudio.debug.CCSBreakpointMarker
diff --git a/Apps/FlightSoftware/MotorControl/.settings/org.eclipse.core.resources.prefs b/Apps/FlightSoftware/MotorControl/.settings/org.eclipse.core.resources.prefs
new file mode 100644
index 000000000..a4e9f5050
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/.settings/org.eclipse.core.resources.prefs
@@ -0,0 +1,15 @@
+eclipse.preferences.version=1
+encoding//Debug/driverlib/subdir_rules.mk=UTF-8
+encoding//Debug/driverlib/subdir_vars.mk=UTF-8
+encoding//Debug/makefile=UTF-8
+encoding//Debug/objects.mk=UTF-8
+encoding//Debug/sources.mk=UTF-8
+encoding//Debug/subdir_rules.mk=UTF-8
+encoding//Debug/subdir_vars.mk=UTF-8
+encoding//Release/driverlib/subdir_rules.mk=UTF-8
+encoding//Release/driverlib/subdir_vars.mk=UTF-8
+encoding//Release/makefile=UTF-8
+encoding//Release/objects.mk=UTF-8
+encoding//Release/sources.mk=UTF-8
+encoding//Release/subdir_rules.mk=UTF-8
+encoding//Release/subdir_vars.mk=UTF-8
diff --git a/Apps/FlightSoftware/MotorControl/Release/MotorControl.map b/Apps/FlightSoftware/MotorControl/Release/MotorControl.map
new file mode 100644
index 000000000..13fc9b1a8
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/MotorControl.map
@@ -0,0 +1,3857 @@
+******************************************************************************
+                  MSP430 Linker PC v18.12.4                    
+******************************************************************************
+>> Linked Sat Apr 10 13:41:10 2021
+
+OUTPUT FILE NAME:   <MotorControl.out>
+ENTRY POINT SYMBOL: "_c_int00_noargs_mpu"  address: 00004000
+
+
+MEMORY CONFIGURATION
+
+         name            origin    length      used     unused   attr    fill
+----------------------  --------  ---------  --------  --------  ----  --------
+  TINYRAM               0000000a   00000016  00000000  00000016  RWIX
+  BSL                   00001000   00000800  00000000  00000800  RWIX
+  INFOD                 00001800   00000080  00000000  00000080  RWIX
+  INFOC                 00001880   00000080  00000000  00000080  RWIX
+  INFOB                 00001900   00000080  00000000  00000080  RWIX
+  INFOA                 00001980   00000080  00000000  00000080  RWIX
+  RAM                   00001c00   00001000  000009a3  0000065d  RWIX
+  LEARAM                00002c00   00000ec8  00000000  00000ec8  RWIX
+  LEASTACK              00003ac8   00000138  00000000  00000138  RWIX
+  FRAM                  00004000   0000bf80  000008b8  0000b6c8  RWIX
+  JTAGSIGNATURE         0000ff80   00000004  00000004  00000000  RWIX  ffff 
+  BSLSIGNATURE          0000ff84   00000004  00000004  00000000  RWIX  ffff 
+  IPESIGNATURE          0000ff88   00000008  00000008  00000000  RWIX  ffff 
+  INT00                 0000ff90   00000002  00000000  00000002  RWIX
+  INT01                 0000ff92   00000002  00000000  00000002  RWIX
+  INT02                 0000ff94   00000002  00000000  00000002  RWIX
+  INT03                 0000ff96   00000002  00000000  00000002  RWIX
+  INT04                 0000ff98   00000002  00000000  00000002  RWIX
+  INT05                 0000ff9a   00000002  00000000  00000002  RWIX
+  INT06                 0000ff9c   00000002  00000000  00000002  RWIX
+  INT07                 0000ff9e   00000002  00000000  00000002  RWIX
+  INT08                 0000ffa0   00000002  00000000  00000002  RWIX
+  INT09                 0000ffa2   00000002  00000000  00000002  RWIX
+  INT10                 0000ffa4   00000002  00000000  00000002  RWIX
+  INT11                 0000ffa6   00000002  00000000  00000002  RWIX
+  INT12                 0000ffa8   00000002  00000000  00000002  RWIX
+  INT13                 0000ffaa   00000002  00000000  00000002  RWIX
+  INT14                 0000ffac   00000002  00000000  00000002  RWIX
+  INT15                 0000ffae   00000002  00000000  00000002  RWIX
+  INT16                 0000ffb0   00000002  00000000  00000002  RWIX
+  INT17                 0000ffb2   00000002  00000000  00000002  RWIX
+  INT18                 0000ffb4   00000002  00000002  00000000  RWIX
+  INT19                 0000ffb6   00000002  00000002  00000000  RWIX
+  INT20                 0000ffb8   00000002  00000002  00000000  RWIX
+  INT21                 0000ffba   00000002  00000002  00000000  RWIX
+  INT22                 0000ffbc   00000002  00000002  00000000  RWIX
+  INT23                 0000ffbe   00000002  00000002  00000000  RWIX
+  INT24                 0000ffc0   00000002  00000002  00000000  RWIX
+  INT25                 0000ffc2   00000002  00000002  00000000  RWIX
+  INT26                 0000ffc4   00000002  00000002  00000000  RWIX
+  INT27                 0000ffc6   00000002  00000002  00000000  RWIX
+  INT28                 0000ffc8   00000002  00000002  00000000  RWIX
+  INT29                 0000ffca   00000002  00000002  00000000  RWIX
+  INT30                 0000ffcc   00000002  00000002  00000000  RWIX
+  INT31                 0000ffce   00000002  00000002  00000000  RWIX
+  INT32                 0000ffd0   00000002  00000002  00000000  RWIX
+  INT33                 0000ffd2   00000002  00000002  00000000  RWIX
+  INT34                 0000ffd4   00000002  00000002  00000000  RWIX
+  INT35                 0000ffd6   00000002  00000002  00000000  RWIX
+  INT36                 0000ffd8   00000002  00000002  00000000  RWIX
+  INT37                 0000ffda   00000002  00000002  00000000  RWIX
+  INT38                 0000ffdc   00000002  00000002  00000000  RWIX
+  INT39                 0000ffde   00000002  00000002  00000000  RWIX
+  INT40                 0000ffe0   00000002  00000002  00000000  RWIX
+  INT41                 0000ffe2   00000002  00000002  00000000  RWIX
+  INT42                 0000ffe4   00000002  00000002  00000000  RWIX
+  INT43                 0000ffe6   00000002  00000002  00000000  RWIX
+  INT44                 0000ffe8   00000002  00000002  00000000  RWIX
+  INT45                 0000ffea   00000002  00000002  00000000  RWIX
+  INT46                 0000ffec   00000002  00000002  00000000  RWIX
+  INT47                 0000ffee   00000002  00000002  00000000  RWIX
+  INT48                 0000fff0   00000002  00000002  00000000  RWIX
+  INT49                 0000fff2   00000002  00000002  00000000  RWIX
+  INT50                 0000fff4   00000002  00000002  00000000  RWIX
+  INT51                 0000fff6   00000002  00000002  00000000  RWIX
+  INT52                 0000fff8   00000002  00000002  00000000  RWIX
+  INT53                 0000fffa   00000002  00000002  00000000  RWIX
+  INT54                 0000fffc   00000002  00000002  00000000  RWIX
+  RESET                 0000fffe   00000002  00000002  00000000  RWIX
+  FRAM2                 00010000   00034000  00000e74  0003318c  RWIX
+
+
+SECTION ALLOCATION MAP
+
+ output                                  attributes/
+section   page    origin      length       input sections
+--------  ----  ----------  ----------   ----------------
+.TI.persistent 
+*          0    00004000    00000000     UNINITIALIZED
+
+.cio       0    00004000    00000000     UNINITIALIZED
+
+.sysmem    0    00004000    00000000     UNINITIALIZED
+
+.ipestruct 
+*          0    00004000    00000000     UNINITIALIZED
+
+.ipe       0    00004000    00000000     UNINITIALIZED
+
+.ipe_const 
+*          0    00004000    00000000     UNINITIALIZED
+
+.ipe:_isr 
+*          0    00004000    00000000     UNINITIALIZED
+
+.cinit     0    00004880    00000028     
+                  00004880    0000000c     (__TI_handler_table)
+                  0000488c    00000006     (.cinit..bss.load) [load image, compression = zero_init]
+                  00004892    00000005     (.cinit..data.load) [load image, compression = lzss]
+                  00004897    00000001     --HOLE-- [fill = 0]
+                  00004898    00000010     (__TI_cinit_table)
+
+.binit     0    000048a8    00000010     
+                  000048a8    00000010     (.binit)
+
+.init_array 
+*          0    00004000    00000000     UNINITIALIZED
+
+.text:_isr 
+*          0    00004000    00000028     
+                  00004000    00000020     rts430x_lc_rd_eabi.lib : boot.c.obj (.text:_isr:_c_int00_noargs_mpu)
+                  00004020    00000008                            : isr_trap.asm.obj (.text:_isr:__TI_ISR_TRAP)
+
+.TI.ramfunc 
+*          0    00004028    00000828     RUN ADDR = 00001c00
+                  00004028    000006ca     main.obj (.TI.ramfunc:TIMER0_B0_ISR)
+                  000046f2    0000015e     i2c.obj (.TI.ramfunc:USCI_B0_ISR)
+
+.bss       0    00002428    000000da     UNINITIALIZED
+                  00002428    0000002e     (.common:g_piCur)
+                  00002456    0000002e     (.common:g_piSpd)
+                  00002484    00000010     (.common:g_i2cCmdLength)
+                  00002494    00000008     (.common:g_hallMap)
+                  0000249c    00000008     (.common:g_rxBuffer)
+                  000024a4    00000008     (.common:g_txBuffer)
+                  000024ac    00000006     (.common:g_impulse)
+                  000024b2    00000004     (.common:g_closeLoopThreshold)
+                  000024b6    00000004     (.common:g_currentOffsetPhaseA)
+                  000024ba    00000004     (.common:g_currentOffsetPhaseB)
+                  000024be    00000004     (.common:g_currentOffsetPhaseC)
+                  000024c2    00000004     (.common:g_currentPhaseA)
+                  000024c6    00000004     (.common:g_currentPhaseB)
+                  000024ca    00000004     (.common:g_currentPhaseC)
+                  000024ce    00000004     (.common:g_currentPosition)
+                  000024d2    00000004     (.common:g_currentSpeed)
+                  000024d6    00000004     (.common:g_hallSensor)
+                  000024da    00000004     (.common:g_oldPosition)
+                  000024de    00000004     (.common:g_openLoopTorque)
+                  000024e2    00000004     (.common:g_targetPosition)
+                  000024e6    00000002     (.common:g_cmdState)
+                  000024e8    00000002     (.common:g_controlPrescaler)
+                  000024ea    00000002     (.common:g_slaveMode)
+                  000024ec    00000002     (.common:g_state)
+                  000024ee    00000002     (.common:g_transmitCurrentPosition)
+                  000024f0    00000001     (.common:g_calibrating)
+                  000024f1    00000001     (.common:g_calibrationDone)
+                  000024f2    00000001     (.common:g_closedLoop)
+                  000024f3    00000001     (.common:g_commState)
+                  000024f4    00000001     (.common:g_controlRegister)
+                  000024f5    00000001     (.common:g_faultRegister)
+                  000024f6    00000001     (.common:g_i2cSlaveAddress)
+                  000024f7    00000001     (.common:g_maxSpeed)
+                  000024f8    00000001     (.common:g_mod6cnt)
+                  000024f9    00000001     (.common:g_oldCommState)
+                  000024fa    00000001     (.common:g_readRegAddr)
+                  000024fb    00000001     (.common:g_rxBufferIdx)
+                  000024fc    00000001     (.common:g_rxByteCtr)
+                  000024fd    00000001     (.common:g_statusRegister)
+                  000024fe    00000001     (.common:g_targetDirection)
+                  000024ff    00000001     (.common:g_targetReached)
+                  00002500    00000001     (.common:g_txBufferIdx)
+                  00002501    00000001     (.common:g_txByteCtr)
+
+.data      0    00002502    00000001     UNINITIALIZED
+                  00002502    00000001     main.obj (.data)
+
+.stack     0    00002b60    000000a0     UNINITIALIZED
+                  00002b60    00000004     rts430x_lc_rd_eabi.lib : boot.c.obj (.stack)
+                  00002b64    0000009c     --HOLE--
+
+$fill000   0    0000ff80    00000004     
+                  0000ff80    00000004     --HOLE-- [fill = ffff]
+
+$fill001   0    0000ff84    00000004     
+                  0000ff84    00000004     --HOLE-- [fill = ffff]
+
+$fill002   0    0000ff88    00000008     
+                  0000ff88    00000008     --HOLE-- [fill = ffff]
+
+LEA        0    0000ffb4    00000002     
+                  0000ffb4    00000002     rts430x_lc_rd_eabi.lib : int18.asm.obj (.int18)
+
+PORT8      0    0000ffb6    00000002     
+                  0000ffb6    00000002     rts430x_lc_rd_eabi.lib : int19.asm.obj (.int19)
+
+PORT7      0    0000ffb8    00000002     
+                  0000ffb8    00000002     rts430x_lc_rd_eabi.lib : int20.asm.obj (.int20)
+
+EUSCI_B3   0    0000ffba    00000002     
+                  0000ffba    00000002     rts430x_lc_rd_eabi.lib : int21.asm.obj (.int21)
+
+EUSCI_B2   0    0000ffbc    00000002     
+                  0000ffbc    00000002     rts430x_lc_rd_eabi.lib : int22.asm.obj (.int22)
+
+EUSCI_B1   0    0000ffbe    00000002     
+                  0000ffbe    00000002     rts430x_lc_rd_eabi.lib : int23.asm.obj (.int23)
+
+EUSCI_A3   0    0000ffc0    00000002     
+                  0000ffc0    00000002     rts430x_lc_rd_eabi.lib : int24.asm.obj (.int24)
+
+EUSCI_A2   0    0000ffc2    00000002     
+                  0000ffc2    00000002     rts430x_lc_rd_eabi.lib : int25.asm.obj (.int25)
+
+PORT6      0    0000ffc4    00000002     
+                  0000ffc4    00000002     rts430x_lc_rd_eabi.lib : int26.asm.obj (.int26)
+
+PORT5      0    0000ffc6    00000002     
+                  0000ffc6    00000002     rts430x_lc_rd_eabi.lib : int27.asm.obj (.int27)
+
+TIMER4_A1 
+*          0    0000ffc8    00000002     
+                  0000ffc8    00000002     rts430x_lc_rd_eabi.lib : int28.asm.obj (.int28)
+
+TIMER4_A0 
+*          0    0000ffca    00000002     
+                  0000ffca    00000002     rts430x_lc_rd_eabi.lib : int29.asm.obj (.int29)
+
+AES256     0    0000ffcc    00000002     
+                  0000ffcc    00000002     rts430x_lc_rd_eabi.lib : int30.asm.obj (.int30)
+
+RTC_C      0    0000ffce    00000002     
+                  0000ffce    00000002     rts430x_lc_rd_eabi.lib : int31.asm.obj (.int31)
+
+PORT4      0    0000ffd0    00000002     
+                  0000ffd0    00000002     rts430x_lc_rd_eabi.lib : int32.asm.obj (.int32)
+
+PORT3      0    0000ffd2    00000002     
+                  0000ffd2    00000002     rts430x_lc_rd_eabi.lib : int33.asm.obj (.int33)
+
+TIMER3_A1 
+*          0    0000ffd4    00000002     
+                  0000ffd4    00000002     rts430x_lc_rd_eabi.lib : int34.asm.obj (.int34)
+
+TIMER3_A0 
+*          0    0000ffd6    00000002     
+                  0000ffd6    00000002     rts430x_lc_rd_eabi.lib : int35.asm.obj (.int35)
+
+PORT2      0    0000ffd8    00000002     
+                  0000ffd8    00000002     rts430x_lc_rd_eabi.lib : int36.asm.obj (.int36)
+
+TIMER2_A1 
+*          0    0000ffda    00000002     
+                  0000ffda    00000002     rts430x_lc_rd_eabi.lib : int37.asm.obj (.int37)
+
+TIMER2_A0 
+*          0    0000ffdc    00000002     
+                  0000ffdc    00000002     rts430x_lc_rd_eabi.lib : int38.asm.obj (.int38)
+
+PORT1      0    0000ffde    00000002     
+                  0000ffde    00000002     rts430x_lc_rd_eabi.lib : int39.asm.obj (.int39)
+
+TIMER1_A1 
+*          0    0000ffe0    00000002     
+                  0000ffe0    00000002     rts430x_lc_rd_eabi.lib : int40.asm.obj (.int40)
+
+TIMER1_A0 
+*          0    0000ffe2    00000002     
+                  0000ffe2    00000002     rts430x_lc_rd_eabi.lib : int41.asm.obj (.int41)
+
+DMA        0    0000ffe4    00000002     
+                  0000ffe4    00000002     rts430x_lc_rd_eabi.lib : int42.asm.obj (.int42)
+
+EUSCI_A1   0    0000ffe6    00000002     
+                  0000ffe6    00000002     rts430x_lc_rd_eabi.lib : int43.asm.obj (.int43)
+
+TIMER0_A1 
+*          0    0000ffe8    00000002     
+                  0000ffe8    00000002     rts430x_lc_rd_eabi.lib : int44.asm.obj (.int44)
+
+TIMER0_A0 
+*          0    0000ffea    00000002     
+                  0000ffea    00000002     rts430x_lc_rd_eabi.lib : int45.asm.obj (.int45)
+
+ADC12_B    0    0000ffec    00000002     
+                  0000ffec    00000002     rts430x_lc_rd_eabi.lib : int46.asm.obj (.int46)
+
+EUSCI_B0   0    0000ffee    00000002     
+                  0000ffee    00000002     i2c.obj (.int47)
+
+EUSCI_A0   0    0000fff0    00000002     
+                  0000fff0    00000002     rts430x_lc_rd_eabi.lib : int48.asm.obj (.int48)
+
+WDT        0    0000fff2    00000002     
+                  0000fff2    00000002     rts430x_lc_rd_eabi.lib : int49.asm.obj (.int49)
+
+TIMER0_B1 
+*          0    0000fff4    00000002     
+                  0000fff4    00000002     rts430x_lc_rd_eabi.lib : int50.asm.obj (.int50)
+
+TIMER0_B0 
+*          0    0000fff6    00000002     
+                  0000fff6    00000002     main.obj (.int51)
+
+COMP_E     0    0000fff8    00000002     
+                  0000fff8    00000002     rts430x_lc_rd_eabi.lib : int52.asm.obj (.int52)
+
+UNMI       0    0000fffa    00000002     
+                  0000fffa    00000002     rts430x_lc_rd_eabi.lib : int53.asm.obj (.int53)
+
+SYSNMI     0    0000fffc    00000002     
+                  0000fffc    00000002     rts430x_lc_rd_eabi.lib : int54.asm.obj (.int54)
+
+.reset     0    0000fffe    00000002     
+                  0000fffe    00000002     rts430x_lc_rd_eabi.lib : boot.c.obj (.reset)
+
+.const     0    00004850    00000030     
+                  00004850    0000001c     gpio.obj (.const:GPIO_PORT_TO_BASE)
+                  0000486c    0000000e     main.obj (.const:$P$T0$1)
+                  0000487a    00000006     i2c.obj (.const:$P$T0$1)
+
+.text      0    00010000    00000e74     
+                  00010000    000001ce     main.obj (.text:main)
+                  000101ce    000000f0     cs.obj (.text:CS_setDCOFreq)
+                  000102be    000000d8     main.obj (.text:initializePwmModules)
+                  00010396    000000b8     i2c.obj (.text:i2cSlaveTransactionDone)
+                  0001044e    000000b8     main.obj (.text:initializeAdcModule)
+                  00010506    000000b8     main.obj (.text:updateStateMachine)
+                  000105be    000000a4     bsp.obj (.text:initializeGpios)
+                  00010662    00000088     adc12_b.obj (.text:ADC12_B_init)
+                  000106ea    0000007e     i2c.obj (.text:initializeI2cModule)
+                  00010768    00000076     timer_b.obj (.text:Timer_B_initUpDownMode)
+                  000107de    00000076     rts430x_lc_rd_eabi.lib : copy_decompress_lzss.c.obj (.text:decompress:lzss:__TI_decompress_lzss)
+                  00010854    0000006c     gpio.obj (.text:GPIO_setAsPeripheralModuleFunctionInputPin)
+                  000108c0    00000068     gpio.obj (.text:GPIO_setAsPeripheralModuleFunctionOutputPin)
+                  00010928    00000068     main.obj (.text:currentOffsetCalibration)
+                  00010990    00000066     rts430x_lc_rd_eabi.lib : autoinit.c.obj (.text:__TI_auto_init_nopinit_hold_wdt:__TI_auto_init_nopinit_hold_wdt)
+                  000109f6    00000064                            : cpy_tbl.c.obj (.text:copy_in)
+                  00010a5a    00000056     cs.obj (.text:CS_initClockSignal)
+                  00010ab0    00000042     gpio.obj (.text:GPIO_setAsInputPin)
+                  00010af2    0000003e     i2c.obj (.text:initializeCmdLength)
+                  00010b30    0000003e     rts430x_lc_rd_eabi.lib : lsl32.asm.obj (.text:l_lsl_const)
+                  00010b6e    0000003e                            : lsr32.asm.obj (.text:l_lsr_const)
+                  00010bac    0000003c     adc12_b.obj (.text:ADC12_B_configureMemory)
+                  00010be8    00000038     gpio.obj (.text:GPIO_setAsOutputPin)
+                  00010c20    00000038     timer_b.obj (.text:Timer_B_initCompareMode)
+                  00010c58    00000030     adc12_b.obj (.text:ADC12_B_startConversion)
+                  00010c88    0000002c     MSPMPU_INIT_LIB_CCS_msp430_large_code_restricted_data.lib : mpu_init.o (.text:__mpu_init)
+                  00010cb4    0000002c     main.obj (.text:resetPiController)
+                  00010ce0    0000002a     eusci_b_i2c.obj (.text:EUSCI_B_I2C_initSlave)
+                  00010d0a    00000028     main.obj (.text:initializeHallInterface)
+                  00010d32    00000024     rts430x_lc_rd_eabi.lib : copy_zero_init.c.obj (.text:decompress:ZI:__TI_zero_init_nomemset:__TI_zero_init_nomemset)
+                  00010d56    00000020     adc12_b.obj (.text:ADC12_B_setupSamplingTimer)
+                  00010d76    0000001c     gpio.obj (.text:GPIO_setOutputHighOnPin)
+                  00010d92    0000001c     gpio.obj (.text:GPIO_setOutputLowOnPin)
+                  00010dae    00000018     rts430x_lc_rd_eabi.lib : mult16_f5hw.asm.obj (.text)
+                  00010dc6    00000016     wdt_a.obj (.text:WDT_A_hold)
+                  00010ddc    00000014     i2c.obj (.text:copyArray)
+                  00010df0    00000014     rts430x_lc_rd_eabi.lib : memcpy.c.obj (.text:memcpy)
+                  00010e04    00000012                            : copy_decompress_none.c.obj (.text:decompress:none:__TI_decompress_none)
+                  00010e16    00000010     adc12_b.obj (.text:ADC12_B_setResolution)
+                  00010e26    0000000e     adc12_b.obj (.text:ADC12_B_enable)
+                  00010e34    0000000c     eusci_b_i2c.obj (.text:EUSCI_B_I2C_clearInterrupt)
+                  00010e40    0000000c     eusci_b_i2c.obj (.text:EUSCI_B_I2C_enableInterrupt)
+                  00010e4c    0000000c     main.obj (.text:read_driver_fault)
+                  00010e58    0000000a     timer_b.obj (.text:Timer_B_clearCaptureCompareInterrupt)
+                  00010e62    00000006     eusci_b_i2c.obj (.text:EUSCI_B_I2C_enable)
+                  00010e68    00000006     rts430x_lc_rd_eabi.lib : exit.c.obj (.text:abort)
+                  00010e6e    00000004                            : pre_init.c.obj (.text:_system_pre_init)
+                  00010e72    00000002                            : startup.c.obj (.text:_system_post_cinit)
+
+MODULE SUMMARY
+
+       Module                       code   ro data   rw data
+       ------                       ----   -------   -------
+    .\
+       main.obj                     4722   16        177    
+       i2c.obj                      1092   8         42     
+       bsp.obj                      164    0         0      
+    +--+----------------------------+------+---------+---------+
+       Total:                       5978   24        219    
+                                                            
+    .\driverlib\
+       gpio.obj                     390    28        0      
+       cs.obj                       326    0         0      
+       adc12_b.obj                  306    0         0      
+       timer_b.obj                  184    0         0      
+       eusci_b_i2c.obj              72     0         0      
+       wdt_a.obj                    22     0         0      
+    +--+----------------------------+------+---------+---------+
+       Total:                       1300   28        0      
+                                                            
+    C:\ti\ccs930\ccs\ccs_base\msp430\lib\FR59xx\MSPMPU_INIT_LIB_CCS_msp430_large_code_restricted_data.lib
+       mpu_init.o                   44     0         0      
+    +--+----------------------------+------+---------+---------+
+       Total:                       44     0         0      
+                                                            
+    C:\ti\ccs930\ccs\tools\compiler\ti-cgt-msp430_18.12.4.LTS\lib\rts430x_lc_rd_eabi.lib
+       copy_decompress_lzss.c.obj   118    0         0      
+       autoinit.c.obj               102    0         0      
+       cpy_tbl.c.obj                100    0         0      
+       lsl32.asm.obj                62     0         0      
+       lsr32.asm.obj                62     0         0      
+       copy_zero_init.c.obj         36     0         0      
+       boot.c.obj                   32     2         0      
+       mult16_f5hw.asm.obj          24     0         0      
+       memcpy.c.obj                 20     0         0      
+       copy_decompress_none.c.obj   18     0         0      
+       isr_trap.asm.obj             8      0         0      
+       exit.c.obj                   6      0         0      
+       pre_init.c.obj               4      0         0      
+       int18.asm.obj                0      2         0      
+       int19.asm.obj                0      2         0      
+       int20.asm.obj                0      2         0      
+       int21.asm.obj                0      2         0      
+       int22.asm.obj                0      2         0      
+       int23.asm.obj                0      2         0      
+       int24.asm.obj                0      2         0      
+       int25.asm.obj                0      2         0      
+       int26.asm.obj                0      2         0      
+       int27.asm.obj                0      2         0      
+       int28.asm.obj                0      2         0      
+       int29.asm.obj                0      2         0      
+       int30.asm.obj                0      2         0      
+       int31.asm.obj                0      2         0      
+       int32.asm.obj                0      2         0      
+       int33.asm.obj                0      2         0      
+       int34.asm.obj                0      2         0      
+       int35.asm.obj                0      2         0      
+       int36.asm.obj                0      2         0      
+       int37.asm.obj                0      2         0      
+       int38.asm.obj                0      2         0      
+       int39.asm.obj                0      2         0      
+       int40.asm.obj                0      2         0      
+       int41.asm.obj                0      2         0      
+       int42.asm.obj                0      2         0      
+       int43.asm.obj                0      2         0      
+       int44.asm.obj                0      2         0      
+       int45.asm.obj                0      2         0      
+       int46.asm.obj                0      2         0      
+       int48.asm.obj                0      2         0      
+       int49.asm.obj                0      2         0      
+       int50.asm.obj                0      2         0      
+       int52.asm.obj                0      2         0      
+       int53.asm.obj                0      2         0      
+       int54.asm.obj                0      2         0      
+       startup.c.obj                2      0         0      
+    +--+----------------------------+------+---------+---------+
+       Total:                       594    72        0      
+                                                            
+       Stack:                       0      0         160    
+       Linker Generated:            0      55        0      
+    +--+----------------------------+------+---------+---------+
+       Grand Total:                 7916   179       379    
+
+
+LINKER GENERATED COPY TABLES
+
+__TI_cinit_table @ 00004898 records: 2, size/record: 8, table size: 16
+	.bss: load addr=0000488c, load size=00000006 bytes, run addr=00002428, run size=000000da bytes, compression=zero_init
+	.data: load addr=00004892, load size=00000005 bytes, run addr=00002502, run size=00000001 bytes, compression=lzss
+binit @ 000048a8 records: 1, size/record: 12, table size: 16
+	.TI.ramfunc: load addr=00004028, load size=00000828, run addr=00001c00, run size=00000828, compression=none
+
+
+LINKER GENERATED HANDLER TABLE
+
+__TI_handler_table @ 00004880 records: 3, size/record: 4, table size: 12
+	index: 0, handler: __TI_zero_init
+	index: 1, handler: __TI_decompress_lzss
+	index: 2, handler: __TI_decompress_none
+
+
+GLOBAL SYMBOLS: SORTED ALPHABETICALLY BY Name 
+
+address   name                                       
+-------   ----                                       
+00000800  ADC12CTL0                                  
+00000801  ADC12CTL0_H                                
+00000800  ADC12CTL0_L                                
+00000802  ADC12CTL1                                  
+00000803  ADC12CTL1_H                                
+00000802  ADC12CTL1_L                                
+00000804  ADC12CTL2                                  
+00000805  ADC12CTL2_H                                
+00000804  ADC12CTL2_L                                
+00000806  ADC12CTL3                                  
+00000807  ADC12CTL3_H                                
+00000806  ADC12CTL3_L                                
+0000080a  ADC12HI                                    
+0000080b  ADC12HI_H                                  
+0000080a  ADC12HI_L                                  
+00000812  ADC12IER0                                  
+00000813  ADC12IER0_H                                
+00000812  ADC12IER0_L                                
+00000814  ADC12IER1                                  
+00000815  ADC12IER1_H                                
+00000814  ADC12IER1_L                                
+00000816  ADC12IER2                                  
+00000817  ADC12IER2_H                                
+00000816  ADC12IER2_L                                
+0000080c  ADC12IFGR0                                 
+0000080d  ADC12IFGR0_H                               
+0000080c  ADC12IFGR0_L                               
+0000080e  ADC12IFGR1                                 
+0000080f  ADC12IFGR1_H                               
+0000080e  ADC12IFGR1_L                               
+00000810  ADC12IFGR2                                 
+00000811  ADC12IFGR2_H                               
+00000810  ADC12IFGR2_L                               
+00000818  ADC12IV                                    
+00000819  ADC12IV_H                                  
+00000818  ADC12IV_L                                  
+00000808  ADC12LO                                    
+00000809  ADC12LO_H                                  
+00000808  ADC12LO_L                                  
+00000820  ADC12MCTL0                                 
+00000821  ADC12MCTL0_H                               
+00000820  ADC12MCTL0_L                               
+00000822  ADC12MCTL1                                 
+00000834  ADC12MCTL10                                
+00000835  ADC12MCTL10_H                              
+00000834  ADC12MCTL10_L                              
+00000836  ADC12MCTL11                                
+00000837  ADC12MCTL11_H                              
+00000836  ADC12MCTL11_L                              
+00000838  ADC12MCTL12                                
+00000839  ADC12MCTL12_H                              
+00000838  ADC12MCTL12_L                              
+0000083a  ADC12MCTL13                                
+0000083b  ADC12MCTL13_H                              
+0000083a  ADC12MCTL13_L                              
+0000083c  ADC12MCTL14                                
+0000083d  ADC12MCTL14_H                              
+0000083c  ADC12MCTL14_L                              
+0000083e  ADC12MCTL15                                
+0000083f  ADC12MCTL15_H                              
+0000083e  ADC12MCTL15_L                              
+00000840  ADC12MCTL16                                
+00000841  ADC12MCTL16_H                              
+00000840  ADC12MCTL16_L                              
+00000842  ADC12MCTL17                                
+00000843  ADC12MCTL17_H                              
+00000842  ADC12MCTL17_L                              
+00000844  ADC12MCTL18                                
+00000845  ADC12MCTL18_H                              
+00000844  ADC12MCTL18_L                              
+00000846  ADC12MCTL19                                
+00000847  ADC12MCTL19_H                              
+00000846  ADC12MCTL19_L                              
+00000823  ADC12MCTL1_H                               
+00000822  ADC12MCTL1_L                               
+00000824  ADC12MCTL2                                 
+00000848  ADC12MCTL20                                
+00000849  ADC12MCTL20_H                              
+00000848  ADC12MCTL20_L                              
+0000084a  ADC12MCTL21                                
+0000084b  ADC12MCTL21_H                              
+0000084a  ADC12MCTL21_L                              
+0000084c  ADC12MCTL22                                
+0000084d  ADC12MCTL22_H                              
+0000084c  ADC12MCTL22_L                              
+0000084e  ADC12MCTL23                                
+0000084f  ADC12MCTL23_H                              
+0000084e  ADC12MCTL23_L                              
+00000850  ADC12MCTL24                                
+00000851  ADC12MCTL24_H                              
+00000850  ADC12MCTL24_L                              
+00000852  ADC12MCTL25                                
+00000853  ADC12MCTL25_H                              
+00000852  ADC12MCTL25_L                              
+00000854  ADC12MCTL26                                
+00000855  ADC12MCTL26_H                              
+00000854  ADC12MCTL26_L                              
+00000856  ADC12MCTL27                                
+00000857  ADC12MCTL27_H                              
+00000856  ADC12MCTL27_L                              
+00000858  ADC12MCTL28                                
+00000859  ADC12MCTL28_H                              
+00000858  ADC12MCTL28_L                              
+0000085a  ADC12MCTL29                                
+0000085b  ADC12MCTL29_H                              
+0000085a  ADC12MCTL29_L                              
+00000825  ADC12MCTL2_H                               
+00000824  ADC12MCTL2_L                               
+00000826  ADC12MCTL3                                 
+0000085c  ADC12MCTL30                                
+0000085d  ADC12MCTL30_H                              
+0000085c  ADC12MCTL30_L                              
+0000085e  ADC12MCTL31                                
+0000085f  ADC12MCTL31_H                              
+0000085e  ADC12MCTL31_L                              
+00000827  ADC12MCTL3_H                               
+00000826  ADC12MCTL3_L                               
+00000828  ADC12MCTL4                                 
+00000829  ADC12MCTL4_H                               
+00000828  ADC12MCTL4_L                               
+0000082a  ADC12MCTL5                                 
+0000082b  ADC12MCTL5_H                               
+0000082a  ADC12MCTL5_L                               
+0000082c  ADC12MCTL6                                 
+0000082d  ADC12MCTL6_H                               
+0000082c  ADC12MCTL6_L                               
+0000082e  ADC12MCTL7                                 
+0000082f  ADC12MCTL7_H                               
+0000082e  ADC12MCTL7_L                               
+00000830  ADC12MCTL8                                 
+00000831  ADC12MCTL8_H                               
+00000830  ADC12MCTL8_L                               
+00000832  ADC12MCTL9                                 
+00000833  ADC12MCTL9_H                               
+00000832  ADC12MCTL9_L                               
+00000860  ADC12MEM0                                  
+00000861  ADC12MEM0_H                                
+00000860  ADC12MEM0_L                                
+00000862  ADC12MEM1                                  
+00000874  ADC12MEM10                                 
+00000875  ADC12MEM10_H                               
+00000874  ADC12MEM10_L                               
+00000876  ADC12MEM11                                 
+00000877  ADC12MEM11_H                               
+00000876  ADC12MEM11_L                               
+00000878  ADC12MEM12                                 
+00000879  ADC12MEM12_H                               
+00000878  ADC12MEM12_L                               
+0000087a  ADC12MEM13                                 
+0000087b  ADC12MEM13_H                               
+0000087a  ADC12MEM13_L                               
+0000087c  ADC12MEM14                                 
+0000087d  ADC12MEM14_H                               
+0000087c  ADC12MEM14_L                               
+0000087e  ADC12MEM15                                 
+0000087f  ADC12MEM15_H                               
+0000087e  ADC12MEM15_L                               
+00000880  ADC12MEM16                                 
+00000881  ADC12MEM16_H                               
+00000880  ADC12MEM16_L                               
+00000882  ADC12MEM17                                 
+00000883  ADC12MEM17_H                               
+00000882  ADC12MEM17_L                               
+00000884  ADC12MEM18                                 
+00000885  ADC12MEM18_H                               
+00000884  ADC12MEM18_L                               
+00000886  ADC12MEM19                                 
+00000887  ADC12MEM19_H                               
+00000886  ADC12MEM19_L                               
+00000863  ADC12MEM1_H                                
+00000862  ADC12MEM1_L                                
+00000864  ADC12MEM2                                  
+00000888  ADC12MEM20                                 
+00000889  ADC12MEM20_H                               
+00000888  ADC12MEM20_L                               
+0000088a  ADC12MEM21                                 
+0000088b  ADC12MEM21_H                               
+0000088a  ADC12MEM21_L                               
+0000088c  ADC12MEM22                                 
+0000088d  ADC12MEM22_H                               
+0000088c  ADC12MEM22_L                               
+0000088e  ADC12MEM23                                 
+0000088f  ADC12MEM23_H                               
+0000088e  ADC12MEM23_L                               
+00000890  ADC12MEM24                                 
+00000891  ADC12MEM24_H                               
+00000890  ADC12MEM24_L                               
+00000892  ADC12MEM25                                 
+00000893  ADC12MEM25_H                               
+00000892  ADC12MEM25_L                               
+00000894  ADC12MEM26                                 
+00000895  ADC12MEM26_H                               
+00000894  ADC12MEM26_L                               
+00000896  ADC12MEM27                                 
+00000897  ADC12MEM27_H                               
+00000896  ADC12MEM27_L                               
+00000898  ADC12MEM28                                 
+00000899  ADC12MEM28_H                               
+00000898  ADC12MEM28_L                               
+0000089a  ADC12MEM29                                 
+0000089b  ADC12MEM29_H                               
+0000089a  ADC12MEM29_L                               
+00000865  ADC12MEM2_H                                
+00000864  ADC12MEM2_L                                
+00000866  ADC12MEM3                                  
+0000089c  ADC12MEM30                                 
+0000089d  ADC12MEM30_H                               
+0000089c  ADC12MEM30_L                               
+0000089e  ADC12MEM31                                 
+0000089f  ADC12MEM31_H                               
+0000089e  ADC12MEM31_L                               
+00000867  ADC12MEM3_H                                
+00000866  ADC12MEM3_L                                
+00000868  ADC12MEM4                                  
+00000869  ADC12MEM4_H                                
+00000868  ADC12MEM4_L                                
+0000086a  ADC12MEM5                                  
+0000086b  ADC12MEM5_H                                
+0000086a  ADC12MEM5_L                                
+0000086c  ADC12MEM6                                  
+0000086d  ADC12MEM6_H                                
+0000086c  ADC12MEM6_L                                
+0000086e  ADC12MEM7                                  
+0000086f  ADC12MEM7_H                                
+0000086e  ADC12MEM7_L                                
+00000870  ADC12MEM8                                  
+00000871  ADC12MEM8_H                                
+00000870  ADC12MEM8_L                                
+00000872  ADC12MEM9                                  
+00000873  ADC12MEM9_H                                
+00000872  ADC12MEM9_L                                
+00010bac  ADC12_B_configureMemory                    
+00010e26  ADC12_B_enable                             
+00010662  ADC12_B_init                               
+00010e16  ADC12_B_setResolution                      
+00010d56  ADC12_B_setupSamplingTimer                 
+00010c58  ADC12_B_startConversion                    
+000009c0  AESACTL0                                   
+000009c1  AESACTL0_H                                 
+000009c0  AESACTL0_L                                 
+000009c2  AESACTL1                                   
+000009c3  AESACTL1_H                                 
+000009c2  AESACTL1_L                                 
+000009c8  AESADIN                                    
+000009c9  AESADIN_H                                  
+000009c8  AESADIN_L                                  
+000009ca  AESADOUT                                   
+000009cb  AESADOUT_H                                 
+000009ca  AESADOUT_L                                 
+000009c6  AESAKEY                                    
+000009c7  AESAKEY_H                                  
+000009c6  AESAKEY_L                                  
+000009c4  AESASTAT                                   
+000009c5  AESASTAT_H                                 
+000009c4  AESASTAT_L                                 
+000009cc  AESAXDIN                                   
+000009cd  AESAXDIN_H                                 
+000009cc  AESAXDIN_L                                 
+000009ce  AESAXIN                                    
+000009cf  AESAXIN_H                                  
+000009ce  AESAXIN_L                                  
+000004be  BCD2BIN                                    
+000004bf  BCD2BIN_H                                  
+000004be  BCD2BIN_L                                  
+000004bc  BIN2BCD                                    
+000004bd  BIN2BCD_H                                  
+000004bc  BIN2BCD_L                                  
+00010e68  C$$EXIT                                    
+0000043e  CAPTIO0CTL                                 
+0000043f  CAPTIO0CTL_H                               
+0000043e  CAPTIO0CTL_L                               
+0000047e  CAPTIO1CTL                                 
+0000047f  CAPTIO1CTL_H                               
+0000047e  CAPTIO1CTL_L                               
+000008c0  CECTL0                                     
+000008c1  CECTL0_H                                   
+000008c0  CECTL0_L                                   
+000008c2  CECTL1                                     
+000008c3  CECTL1_H                                   
+000008c2  CECTL1_L                                   
+000008c4  CECTL2                                     
+000008c5  CECTL2_H                                   
+000008c4  CECTL2_L                                   
+000008c6  CECTL3                                     
+000008c7  CECTL3_H                                   
+000008c6  CECTL3_L                                   
+000008cc  CEINT                                      
+000008cd  CEINT_H                                    
+000008cc  CEINT_L                                    
+000008ce  CEIV                                       
+000008cf  CEIV_H                                     
+000008ce  CEIV_L                                     
+00000996  CRC16DIRBW0                                
+00000997  CRC16DIRBW0_H                              
+00000996  CRC16DIRBW0_L                              
+00000990  CRC16DIW0                                  
+00000991  CRC16DIW0_H                                
+00000990  CRC16DIW0_L                                
+00000998  CRC16INIRESW0                              
+00000999  CRC16INIRESW0_H                            
+00000998  CRC16INIRESW0_L                            
+0000099e  CRC16RESRW0                                
+0000099f  CRC16RESRW0_H                              
+0000099e  CRC16RESRW0_L                              
+00000986  CRC32DIRBW0                                
+00000987  CRC32DIRBW0_H                              
+00000986  CRC32DIRBW0_L                              
+00000984  CRC32DIRBW1                                
+00000985  CRC32DIRBW1_H                              
+00000984  CRC32DIRBW1_L                              
+00000980  CRC32DIW0                                  
+00000981  CRC32DIW0_H                                
+00000980  CRC32DIW0_L                                
+00000982  CRC32DIW1                                  
+00000983  CRC32DIW1_H                                
+00000982  CRC32DIW1_L                                
+00000988  CRC32INIRESW0                              
+00000989  CRC32INIRESW0_H                            
+00000988  CRC32INIRESW0_L                            
+0000098a  CRC32INIRESW1                              
+0000098b  CRC32INIRESW1_H                            
+0000098a  CRC32INIRESW1_L                            
+0000098e  CRC32RESRW0                                
+0000098f  CRC32RESRW0_H                              
+0000098e  CRC32RESRW0_L                              
+0000098c  CRC32RESRW1                                
+0000098d  CRC32RESRW1_H                              
+0000098c  CRC32RESRW1_L                              
+00000150  CRCDI                                      
+00000152  CRCDIRB                                    
+00000153  CRCDIRB_H                                  
+00000152  CRCDIRB_L                                  
+00000151  CRCDI_H                                    
+00000150  CRCDI_L                                    
+00000154  CRCINIRES                                  
+00000155  CRCINIRES_H                                
+00000154  CRCINIRES_L                                
+00000156  CRCRESR                                    
+00000157  CRCRESR_H                                  
+00000156  CRCRESR_L                                  
+00000160  CSCTL0                                     
+00000161  CSCTL0_H                                   
+00000160  CSCTL0_L                                   
+00000162  CSCTL1                                     
+00000163  CSCTL1_H                                   
+00000162  CSCTL1_L                                   
+00000164  CSCTL2                                     
+00000165  CSCTL2_H                                   
+00000164  CSCTL2_L                                   
+00000166  CSCTL3                                     
+00000167  CSCTL3_H                                   
+00000166  CSCTL3_L                                   
+00000168  CSCTL4                                     
+00000169  CSCTL4_H                                   
+00000168  CSCTL4_L                                   
+0000016a  CSCTL5                                     
+0000016b  CSCTL5_H                                   
+0000016a  CSCTL5_L                                   
+0000016c  CSCTL6                                     
+0000016d  CSCTL6_H                                   
+0000016c  CSCTL6_L                                   
+00010a5a  CS_initClockSignal                         
+000101ce  CS_setDCOFreq                              
+00000510  DMA0CTL                                    
+00000511  DMA0CTL_H                                  
+00000510  DMA0CTL_L                                  
+00000516  DMA0DA                                     
+00000518  DMA0DAH                                    
+00000516  DMA0DAL                                    
+00000512  DMA0SA                                     
+00000514  DMA0SAH                                    
+00000512  DMA0SAL                                    
+0000051a  DMA0SZ                                     
+0000051b  DMA0SZ_H                                   
+0000051a  DMA0SZ_L                                   
+00000520  DMA1CTL                                    
+00000521  DMA1CTL_H                                  
+00000520  DMA1CTL_L                                  
+00000526  DMA1DA                                     
+00000528  DMA1DAH                                    
+00000526  DMA1DAL                                    
+00000522  DMA1SA                                     
+00000524  DMA1SAH                                    
+00000522  DMA1SAL                                    
+0000052a  DMA1SZ                                     
+0000052b  DMA1SZ_H                                   
+0000052a  DMA1SZ_L                                   
+00000530  DMA2CTL                                    
+00000531  DMA2CTL_H                                  
+00000530  DMA2CTL_L                                  
+00000536  DMA2DA                                     
+00000538  DMA2DAH                                    
+00000536  DMA2DAL                                    
+00000532  DMA2SA                                     
+00000534  DMA2SAH                                    
+00000532  DMA2SAL                                    
+0000053a  DMA2SZ                                     
+0000053b  DMA2SZ_H                                   
+0000053a  DMA2SZ_L                                   
+00000540  DMA3CTL                                    
+00000541  DMA3CTL_H                                  
+00000540  DMA3CTL_L                                  
+00000546  DMA3DA                                     
+00000548  DMA3DAH                                    
+00000546  DMA3DAL                                    
+00000542  DMA3SA                                     
+00000544  DMA3SAH                                    
+00000542  DMA3SAL                                    
+0000054a  DMA3SZ                                     
+0000054b  DMA3SZ_H                                   
+0000054a  DMA3SZ_L                                   
+00000550  DMA4CTL                                    
+00000551  DMA4CTL_H                                  
+00000550  DMA4CTL_L                                  
+00000556  DMA4DA                                     
+00000558  DMA4DAH                                    
+00000556  DMA4DAL                                    
+00000552  DMA4SA                                     
+00000554  DMA4SAH                                    
+00000552  DMA4SAL                                    
+0000055a  DMA4SZ                                     
+0000055b  DMA4SZ_H                                   
+0000055a  DMA4SZ_L                                   
+00000560  DMA5CTL                                    
+00000561  DMA5CTL_H                                  
+00000560  DMA5CTL_L                                  
+00000566  DMA5DA                                     
+00000568  DMA5DAH                                    
+00000566  DMA5DAL                                    
+00000562  DMA5SA                                     
+00000564  DMA5SAH                                    
+00000562  DMA5SAL                                    
+0000056a  DMA5SZ                                     
+0000056b  DMA5SZ_H                                   
+0000056a  DMA5SZ_L                                   
+00000500  DMACTL0                                    
+00000501  DMACTL0_H                                  
+00000500  DMACTL0_L                                  
+00000502  DMACTL1                                    
+00000503  DMACTL1_H                                  
+00000502  DMACTL1_L                                  
+00000504  DMACTL2                                    
+00000505  DMACTL2_H                                  
+00000504  DMACTL2_L                                  
+00000508  DMACTL4                                    
+00000509  DMACTL4_H                                  
+00000508  DMACTL4_L                                  
+0000050e  DMAIV                                      
+0000050f  DMAIV_H                                    
+0000050e  DMAIV_L                                    
+00010e34  EUSCI_B_I2C_clearInterrupt                 
+00010e62  EUSCI_B_I2C_enable                         
+00010e40  EUSCI_B_I2C_enableInterrupt                
+00010ce0  EUSCI_B_I2C_initSlave                      
+00000140  FRCTL0                                     
+00000141  FRCTL0_H                                   
+00000140  FRCTL0_L                                   
+00000144  GCCTL0                                     
+00000145  GCCTL0_H                                   
+00000144  GCCTL0_L                                   
+00000146  GCCTL1                                     
+00000147  GCCTL1_H                                   
+00000146  GCCTL1_L                                   
+00010ab0  GPIO_setAsInputPin                         
+00010be8  GPIO_setAsOutputPin                        
+00010854  GPIO_setAsPeripheralModuleFunctionInputPin 
+000108c0  GPIO_setAsPeripheralModuleFunctionOutputPin
+00010d76  GPIO_setOutputHighOnPin                    
+00010d92  GPIO_setOutputLowOnPin                     
+00000a80  LEACAP                                     
+00000a82  LEACAPH                                    
+00000a80  LEACAPL                                    
+00000a98  LEACMA                                     
+00000a9a  LEACMAH                                    
+00000a98  LEACMAL                                    
+00000a9c  LEACMCTL                                   
+00000a9e  LEACMCTLH                                  
+00000a9c  LEACMCTLL                                  
+00000aa8  LEACMDSTAT                                 
+00000aaa  LEACMDSTATH                                
+00000aa8  LEACMDSTATL                                
+00000a84  LEACNF0                                    
+00000a86  LEACNF0H                                   
+00000a84  LEACNF0L                                   
+00000a88  LEACNF1                                    
+00000a8a  LEACNF1H                                   
+00000a88  LEACNF1L                                   
+00000a8c  LEACNF2                                    
+00000a8e  LEACNF2H                                   
+00000a8c  LEACNF2L                                   
+00000ab4  LEADSTSTAT                                 
+00000ab6  LEADSTSTATH                                
+00000ab4  LEADSTSTATL                                
+00000af4  LEAIE                                      
+00000af6  LEAIEH                                     
+00000af4  LEAIEL                                     
+00000af8  LEAIFG                                     
+00000afa  LEAIFGH                                    
+00000af8  LEAIFGL                                    
+00000af0  LEAIFGSET                                  
+00000af2  LEAIFGSETH                                 
+00000af0  LEAIFGSETL                                 
+00000afc  LEAIV                                      
+00000afe  LEAIVH                                     
+00000afc  LEAIVL                                     
+00000a90  LEAMB                                      
+00000a92  LEAMBH                                     
+00000a90  LEAMBL                                     
+00000a94  LEAMT                                      
+00000a96  LEAMTH                                     
+00000a94  LEAMTL                                     
+00000ad0  LEAPMCB                                    
+00000ad2  LEAPMCBH                                   
+00000ad0  LEAPMCBL                                   
+00000ac0  LEAPMCTL                                   
+00000ac2  LEAPMCTLH                                  
+00000ac0  LEAPMCTLL                                  
+00000ac4  LEAPMDST                                   
+00000ac6  LEAPMDSTH                                  
+00000ac4  LEAPMDSTL                                  
+00000acc  LEAPMS0                                    
+00000ace  LEAPMS0H                                   
+00000acc  LEAPMS0L                                   
+00000ac8  LEAPMS1                                    
+00000aca  LEAPMS1H                                   
+00000ac8  LEAPMS1L                                   
+00000ab0  LEAS0STAT                                  
+00000ab2  LEAS0STATH                                 
+00000ab0  LEAS0STATL                                 
+00000aac  LEAS1STAT                                  
+00000aae  LEAS1STATH                                 
+00000aac  LEAS1STATL                                 
+000004c4  MAC                                        
+000004da  MAC32H                                     
+000004db  MAC32H_H                                   
+000004da  MAC32H_L                                   
+000004d8  MAC32L                                     
+000004d9  MAC32L_H                                   
+000004d8  MAC32L_L                                   
+000004c6  MACS                                       
+000004de  MACS32H                                    
+000004df  MACS32H_H                                  
+000004de  MACS32H_L                                  
+000004dc  MACS32L                                    
+000004dd  MACS32L_H                                  
+000004dc  MACS32L_L                                  
+000004c7  MACS_H                                     
+000004c6  MACS_L                                     
+000004c5  MAC_H                                      
+000004c4  MAC_L                                      
+000005a0  MPUCTL0                                    
+000005a1  MPUCTL0_H                                  
+000005a0  MPUCTL0_L                                  
+000005a2  MPUCTL1                                    
+000005a3  MPUCTL1_H                                  
+000005a2  MPUCTL1_L                                  
+000005aa  MPUIPC0                                    
+000005ab  MPUIPC0_H                                  
+000005aa  MPUIPC0_L                                  
+000005ae  MPUIPSEGB1                                 
+000005af  MPUIPSEGB1_H                               
+000005ae  MPUIPSEGB1_L                               
+000005ac  MPUIPSEGB2                                 
+000005ad  MPUIPSEGB2_H                               
+000005ac  MPUIPSEGB2_L                               
+000005a8  MPUSAM                                     
+000005a9  MPUSAM_H                                   
+000005a8  MPUSAM_L                                   
+000005a6  MPUSEGB1                                   
+000005a7  MPUSEGB1_H                                 
+000005a6  MPUSEGB1_L                                 
+000005a4  MPUSEGB2                                   
+000005a5  MPUSEGB2_H                                 
+000005a4  MPUSEGB2_L                                 
+000004c0  MPY                                        
+000004ec  MPY32CTL0                                  
+000004ed  MPY32CTL0_H                                
+000004ec  MPY32CTL0_L                                
+000004d2  MPY32H                                     
+000004d3  MPY32H_H                                   
+000004d2  MPY32H_L                                   
+000004d0  MPY32L                                     
+000004d1  MPY32L_H                                   
+000004d0  MPY32L_L                                   
+000004c2  MPYS                                       
+000004d6  MPYS32H                                    
+000004d7  MPYS32H_H                                  
+000004d6  MPYS32H_L                                  
+000004d4  MPYS32L                                    
+000004d5  MPYS32L_H                                  
+000004d4  MPYS32L_L                                  
+000004c3  MPYS_H                                     
+000004c2  MPYS_L                                     
+000004c1  MPY_H                                      
+000004c0  MPY_L                                      
+000004c8  OP2                                        
+000004e2  OP2H                                       
+000004e3  OP2H_H                                     
+000004e2  OP2H_L                                     
+000004e0  OP2L                                       
+000004e1  OP2L_H                                     
+000004e0  OP2L_L                                     
+000004c9  OP2_H                                      
+000004c8  OP2_L                                      
+00000204  P1DIR                                      
+0000021a  P1IE                                       
+00000218  P1IES                                      
+0000021c  P1IFG                                      
+00000200  P1IN                                       
+0000020e  P1IV                                       
+0000020f  P1IV_H                                     
+0000020e  P1IV_L                                     
+00000202  P1OUT                                      
+00000206  P1REN                                      
+0000020a  P1SEL0                                     
+0000020c  P1SEL1                                     
+00000216  P1SELC                                     
+00000205  P2DIR                                      
+0000021b  P2IE                                       
+00000219  P2IES                                      
+0000021d  P2IFG                                      
+00000201  P2IN                                       
+0000021e  P2IV                                       
+0000021f  P2IV_H                                     
+0000021e  P2IV_L                                     
+00000203  P2OUT                                      
+00000207  P2REN                                      
+0000020b  P2SEL0                                     
+0000020d  P2SEL1                                     
+00000217  P2SELC                                     
+00000224  P3DIR                                      
+0000023a  P3IE                                       
+00000238  P3IES                                      
+0000023c  P3IFG                                      
+00000220  P3IN                                       
+0000022e  P3IV                                       
+0000022f  P3IV_H                                     
+0000022e  P3IV_L                                     
+00000222  P3OUT                                      
+00000226  P3REN                                      
+0000022a  P3SEL0                                     
+0000022c  P3SEL1                                     
+00000236  P3SELC                                     
+00000225  P4DIR                                      
+0000023b  P4IE                                       
+00000239  P4IES                                      
+0000023d  P4IFG                                      
+00000221  P4IN                                       
+0000023e  P4IV                                       
+0000023f  P4IV_H                                     
+0000023e  P4IV_L                                     
+00000223  P4OUT                                      
+00000227  P4REN                                      
+0000022b  P4SEL0                                     
+0000022d  P4SEL1                                     
+00000237  P4SELC                                     
+00000244  P5DIR                                      
+0000025a  P5IE                                       
+00000258  P5IES                                      
+0000025c  P5IFG                                      
+00000240  P5IN                                       
+0000024e  P5IV                                       
+0000024f  P5IV_H                                     
+0000024e  P5IV_L                                     
+00000242  P5OUT                                      
+00000246  P5REN                                      
+0000024a  P5SEL0                                     
+0000024c  P5SEL1                                     
+00000256  P5SELC                                     
+00000245  P6DIR                                      
+0000025b  P6IE                                       
+00000259  P6IES                                      
+0000025d  P6IFG                                      
+00000241  P6IN                                       
+0000025e  P6IV                                       
+0000025f  P6IV_H                                     
+0000025e  P6IV_L                                     
+00000243  P6OUT                                      
+00000247  P6REN                                      
+0000024b  P6SEL0                                     
+0000024d  P6SEL1                                     
+00000257  P6SELC                                     
+00000264  P7DIR                                      
+0000027a  P7IE                                       
+00000278  P7IES                                      
+0000027c  P7IFG                                      
+00000260  P7IN                                       
+0000026e  P7IV                                       
+0000026f  P7IV_H                                     
+0000026e  P7IV_L                                     
+00000262  P7OUT                                      
+00000266  P7REN                                      
+0000026a  P7SEL0                                     
+0000026c  P7SEL1                                     
+00000276  P7SELC                                     
+00000265  P8DIR                                      
+0000027b  P8IE                                       
+00000279  P8IES                                      
+0000027d  P8IFG                                      
+00000261  P8IN                                       
+0000027e  P8IV                                       
+0000027f  P8IV_H                                     
+0000027e  P8IV_L                                     
+00000263  P8OUT                                      
+00000267  P8REN                                      
+0000026b  P8SEL0                                     
+0000026d  P8SEL1                                     
+00000277  P8SELC                                     
+00000204  PADIR                                      
+00000205  PADIR_H                                    
+00000204  PADIR_L                                    
+0000021a  PAIE                                       
+00000218  PAIES                                      
+00000219  PAIES_H                                    
+00000218  PAIES_L                                    
+0000021b  PAIE_H                                     
+0000021a  PAIE_L                                     
+0000021c  PAIFG                                      
+0000021d  PAIFG_H                                    
+0000021c  PAIFG_L                                    
+00000200  PAIN                                       
+00000201  PAIN_H                                     
+00000200  PAIN_L                                     
+00000202  PAOUT                                      
+00000203  PAOUT_H                                    
+00000202  PAOUT_L                                    
+00000206  PAREN                                      
+00000207  PAREN_H                                    
+00000206  PAREN_L                                    
+0000020a  PASEL0                                     
+0000020b  PASEL0_H                                   
+0000020a  PASEL0_L                                   
+0000020c  PASEL1                                     
+0000020d  PASEL1_H                                   
+0000020c  PASEL1_L                                   
+00000216  PASELC                                     
+00000217  PASELC_H                                   
+00000216  PASELC_L                                   
+00000224  PBDIR                                      
+00000225  PBDIR_H                                    
+00000224  PBDIR_L                                    
+0000023a  PBIE                                       
+00000238  PBIES                                      
+00000239  PBIES_H                                    
+00000238  PBIES_L                                    
+0000023b  PBIE_H                                     
+0000023a  PBIE_L                                     
+0000023c  PBIFG                                      
+0000023d  PBIFG_H                                    
+0000023c  PBIFG_L                                    
+00000220  PBIN                                       
+00000221  PBIN_H                                     
+00000220  PBIN_L                                     
+00000222  PBOUT                                      
+00000223  PBOUT_H                                    
+00000222  PBOUT_L                                    
+00000226  PBREN                                      
+00000227  PBREN_H                                    
+00000226  PBREN_L                                    
+0000022a  PBSEL0                                     
+0000022b  PBSEL0_H                                   
+0000022a  PBSEL0_L                                   
+0000022c  PBSEL1                                     
+0000022d  PBSEL1_H                                   
+0000022c  PBSEL1_L                                   
+00000236  PBSELC                                     
+00000237  PBSELC_H                                   
+00000236  PBSELC_L                                   
+00000244  PCDIR                                      
+00000245  PCDIR_H                                    
+00000244  PCDIR_L                                    
+0000025a  PCIE                                       
+00000258  PCIES                                      
+00000259  PCIES_H                                    
+00000258  PCIES_L                                    
+0000025b  PCIE_H                                     
+0000025a  PCIE_L                                     
+0000025c  PCIFG                                      
+0000025d  PCIFG_H                                    
+0000025c  PCIFG_L                                    
+00000240  PCIN                                       
+00000241  PCIN_H                                     
+00000240  PCIN_L                                     
+00000242  PCOUT                                      
+00000243  PCOUT_H                                    
+00000242  PCOUT_L                                    
+00000246  PCREN                                      
+00000247  PCREN_H                                    
+00000246  PCREN_L                                    
+0000024a  PCSEL0                                     
+0000024b  PCSEL0_H                                   
+0000024a  PCSEL0_L                                   
+0000024c  PCSEL1                                     
+0000024d  PCSEL1_H                                   
+0000024c  PCSEL1_L                                   
+00000256  PCSELC                                     
+00000257  PCSELC_H                                   
+00000256  PCSELC_L                                   
+00000264  PDDIR                                      
+00000265  PDDIR_H                                    
+00000264  PDDIR_L                                    
+0000027a  PDIE                                       
+00000278  PDIES                                      
+00000279  PDIES_H                                    
+00000278  PDIES_L                                    
+0000027b  PDIE_H                                     
+0000027a  PDIE_L                                     
+0000027c  PDIFG                                      
+0000027d  PDIFG_H                                    
+0000027c  PDIFG_L                                    
+00000260  PDIN                                       
+00000261  PDIN_H                                     
+00000260  PDIN_L                                     
+00000262  PDOUT                                      
+00000263  PDOUT_H                                    
+00000262  PDOUT_L                                    
+00000266  PDREN                                      
+00000267  PDREN_H                                    
+00000266  PDREN_L                                    
+0000026a  PDSEL0                                     
+0000026b  PDSEL0_H                                   
+0000026a  PDSEL0_L                                   
+0000026c  PDSEL1                                     
+0000026d  PDSEL1_H                                   
+0000026c  PDSEL1_L                                   
+00000276  PDSELC                                     
+00000277  PDSELC_H                                   
+00000276  PDSELC_L                                   
+00000324  PJDIR                                      
+00000325  PJDIR_H                                    
+00000324  PJDIR_L                                    
+00000320  PJIN                                       
+00000321  PJIN_H                                     
+00000320  PJIN_L                                     
+00000322  PJOUT                                      
+00000323  PJOUT_H                                    
+00000322  PJOUT_L                                    
+00000326  PJREN                                      
+00000327  PJREN_H                                    
+00000326  PJREN_L                                    
+0000032a  PJSEL0                                     
+0000032b  PJSEL0_H                                   
+0000032a  PJSEL0_L                                   
+0000032c  PJSEL1                                     
+0000032d  PJSEL1_H                                   
+0000032c  PJSEL1_L                                   
+00000336  PJSELC                                     
+00000337  PJSELC_H                                   
+00000336  PJSELC_L                                   
+00000130  PM5CTL0                                    
+00000131  PM5CTL0_H                                  
+00000130  PM5CTL0_L                                  
+00000120  PMMCTL0                                    
+00000121  PMMCTL0_H                                  
+00000120  PMMCTL0_L                                  
+0000012a  PMMIFG                                     
+0000012b  PMMIFG_H                                   
+0000012a  PMMIFG_L                                   
+00000158  RCCTL0                                     
+00000159  RCCTL0_H                                   
+00000158  RCCTL0_L                                   
+000001b0  REFCTL0                                    
+000001b1  REFCTL0_H                                  
+000001b0  REFCTL0_L                                  
+000004e4  RES0                                       
+000004e5  RES0_H                                     
+000004e4  RES0_L                                     
+000004e6  RES1                                       
+000004e7  RES1_H                                     
+000004e6  RES1_L                                     
+000004e8  RES2                                       
+000004e9  RES2_H                                     
+000004e8  RES2_L                                     
+000004ea  RES3                                       
+000004eb  RES3_H                                     
+000004ea  RES3_L                                     
+000004cc  RESHI                                      
+000004cd  RESHI_H                                    
+000004cc  RESHI_L                                    
+000004ca  RESLO                                      
+000004cb  RESLO_H                                    
+000004ca  RESLO_L                                    
+000004ac  RT0PS                                      
+000004ad  RT1PS                                      
+000004ba  RTCADOWDAY                                 
+000004bb  RTCADOWDAY_H                               
+000004ba  RTCADOWDAY_L                               
+000004b8  RTCAMINHR                                  
+000004b9  RTCAMINHR_H                                
+000004b8  RTCAMINHR_L                                
+000004b0  RTCCNT1                                    
+000004b0  RTCCNT12                                   
+000004b1  RTCCNT12_H                                 
+000004b0  RTCCNT12_L                                 
+000004b1  RTCCNT2                                    
+000004b2  RTCCNT3                                    
+000004b2  RTCCNT34                                   
+000004b3  RTCCNT34_H                                 
+000004b2  RTCCNT34_L                                 
+000004b3  RTCCNT4                                    
+000004a0  RTCCTL0                                    
+000004a1  RTCCTL0_H                                  
+000004a0  RTCCTL0_L                                  
+000004a2  RTCCTL13                                   
+000004a3  RTCCTL13_H                                 
+000004a2  RTCCTL13_L                                 
+000004b4  RTCDATE                                    
+000004b5  RTCDATE_H                                  
+000004b4  RTCDATE_L                                  
+000004ae  RTCIV                                      
+000004af  RTCIV_H                                    
+000004ae  RTCIV_L                                    
+000004a4  RTCOCAL                                    
+000004a5  RTCOCAL_H                                  
+000004a4  RTCOCAL_L                                  
+000004ac  RTCPS                                      
+000004a8  RTCPS0CTL                                  
+000004a9  RTCPS0CTL_H                                
+000004a8  RTCPS0CTL_L                                
+000004aa  RTCPS1CTL                                  
+000004ab  RTCPS1CTL_H                                
+000004aa  RTCPS1CTL_L                                
+000004ad  RTCPS_H                                    
+000004ac  RTCPS_L                                    
+000004a6  RTCTCMP                                    
+000004a7  RTCTCMP_H                                  
+000004a6  RTCTCMP_L                                  
+000004b0  RTCTIM0                                    
+000004b1  RTCTIM0_H                                  
+000004b0  RTCTIM0_L                                  
+000004b2  RTCTIM1                                    
+000004b3  RTCTIM1_H                                  
+000004b2  RTCTIM1_L                                  
+000004b6  RTCYEAR                                    
+000004b7  RTCYEAR_H                                  
+000004b6  RTCYEAR_L                                  
+00000100  SFRIE1                                     
+00000101  SFRIE1_H                                   
+00000100  SFRIE1_L                                   
+00000102  SFRIFG1                                    
+00000103  SFRIFG1_H                                  
+00000102  SFRIFG1_L                                  
+00000104  SFRRPCR                                    
+00000105  SFRRPCR_H                                  
+00000104  SFRRPCR_L                                  
+000004ce  SUMEXT                                     
+000004cf  SUMEXT_H                                   
+000004ce  SUMEXT_L                                   
+00000180  SYSCTL                                     
+00000181  SYSCTL_H                                   
+00000180  SYSCTL_L                                   
+00000186  SYSJMBC                                    
+00000187  SYSJMBC_H                                  
+00000186  SYSJMBC_L                                  
+00000188  SYSJMBI0                                   
+00000189  SYSJMBI0_H                                 
+00000188  SYSJMBI0_L                                 
+0000018a  SYSJMBI1                                   
+0000018b  SYSJMBI1_H                                 
+0000018a  SYSJMBI1_L                                 
+0000018c  SYSJMBO0                                   
+0000018d  SYSJMBO0_H                                 
+0000018c  SYSJMBO0_L                                 
+0000018e  SYSJMBO1                                   
+0000018f  SYSJMBO1_H                                 
+0000018e  SYSJMBO1_L                                 
+0000019e  SYSRSTIV                                   
+0000019f  SYSRSTIV_H                                 
+0000019e  SYSRSTIV_L                                 
+0000019c  SYSSNIV                                    
+0000019d  SYSSNIV_H                                  
+0000019c  SYSSNIV_L                                  
+0000019a  SYSUNIV                                    
+0000019b  SYSUNIV_H                                  
+0000019a  SYSUNIV_L                                  
+00000352  TA0CCR0                                    
+00000353  TA0CCR0_H                                  
+00000352  TA0CCR0_L                                  
+00000354  TA0CCR1                                    
+00000355  TA0CCR1_H                                  
+00000354  TA0CCR1_L                                  
+00000356  TA0CCR2                                    
+00000357  TA0CCR2_H                                  
+00000356  TA0CCR2_L                                  
+00000342  TA0CCTL0                                   
+00000343  TA0CCTL0_H                                 
+00000342  TA0CCTL0_L                                 
+00000344  TA0CCTL1                                   
+00000345  TA0CCTL1_H                                 
+00000344  TA0CCTL1_L                                 
+00000346  TA0CCTL2                                   
+00000347  TA0CCTL2_H                                 
+00000346  TA0CCTL2_L                                 
+00000340  TA0CTL                                     
+00000341  TA0CTL_H                                   
+00000340  TA0CTL_L                                   
+00000360  TA0EX0                                     
+00000361  TA0EX0_H                                   
+00000360  TA0EX0_L                                   
+0000036e  TA0IV                                      
+0000036f  TA0IV_H                                    
+0000036e  TA0IV_L                                    
+00000350  TA0R                                       
+00000351  TA0R_H                                     
+00000350  TA0R_L                                     
+00000392  TA1CCR0                                    
+00000393  TA1CCR0_H                                  
+00000392  TA1CCR0_L                                  
+00000394  TA1CCR1                                    
+00000395  TA1CCR1_H                                  
+00000394  TA1CCR1_L                                  
+00000396  TA1CCR2                                    
+00000397  TA1CCR2_H                                  
+00000396  TA1CCR2_L                                  
+00000382  TA1CCTL0                                   
+00000383  TA1CCTL0_H                                 
+00000382  TA1CCTL0_L                                 
+00000384  TA1CCTL1                                   
+00000385  TA1CCTL1_H                                 
+00000384  TA1CCTL1_L                                 
+00000386  TA1CCTL2                                   
+00000387  TA1CCTL2_H                                 
+00000386  TA1CCTL2_L                                 
+00000380  TA1CTL                                     
+00000381  TA1CTL_H                                   
+00000380  TA1CTL_L                                   
+000003a0  TA1EX0                                     
+000003a1  TA1EX0_H                                   
+000003a0  TA1EX0_L                                   
+000003ae  TA1IV                                      
+000003af  TA1IV_H                                    
+000003ae  TA1IV_L                                    
+00000390  TA1R                                       
+00000391  TA1R_H                                     
+00000390  TA1R_L                                     
+00000412  TA2CCR0                                    
+00000413  TA2CCR0_H                                  
+00000412  TA2CCR0_L                                  
+00000414  TA2CCR1                                    
+00000415  TA2CCR1_H                                  
+00000414  TA2CCR1_L                                  
+00000402  TA2CCTL0                                   
+00000403  TA2CCTL0_H                                 
+00000402  TA2CCTL0_L                                 
+00000404  TA2CCTL1                                   
+00000405  TA2CCTL1_H                                 
+00000404  TA2CCTL1_L                                 
+00000400  TA2CTL                                     
+00000401  TA2CTL_H                                   
+00000400  TA2CTL_L                                   
+00000420  TA2EX0                                     
+00000421  TA2EX0_H                                   
+00000420  TA2EX0_L                                   
+0000042e  TA2IV                                      
+0000042f  TA2IV_H                                    
+0000042e  TA2IV_L                                    
+00000410  TA2R                                       
+00000411  TA2R_H                                     
+00000410  TA2R_L                                     
+00000452  TA3CCR0                                    
+00000453  TA3CCR0_H                                  
+00000452  TA3CCR0_L                                  
+00000454  TA3CCR1                                    
+00000455  TA3CCR1_H                                  
+00000454  TA3CCR1_L                                  
+00000442  TA3CCTL0                                   
+00000443  TA3CCTL0_H                                 
+00000442  TA3CCTL0_L                                 
+00000444  TA3CCTL1                                   
+00000445  TA3CCTL1_H                                 
+00000444  TA3CCTL1_L                                 
+00000440  TA3CTL                                     
+00000441  TA3CTL_H                                   
+00000440  TA3CTL_L                                   
+00000460  TA3EX0                                     
+00000461  TA3EX0_H                                   
+00000460  TA3EX0_L                                   
+0000046e  TA3IV                                      
+0000046f  TA3IV_H                                    
+0000046e  TA3IV_L                                    
+00000450  TA3R                                       
+00000451  TA3R_H                                     
+00000450  TA3R_L                                     
+000007d2  TA4CCR0                                    
+000007d3  TA4CCR0_H                                  
+000007d2  TA4CCR0_L                                  
+000007d4  TA4CCR1                                    
+000007d5  TA4CCR1_H                                  
+000007d4  TA4CCR1_L                                  
+000007d6  TA4CCR2                                    
+000007d7  TA4CCR2_H                                  
+000007d6  TA4CCR2_L                                  
+000007c2  TA4CCTL0                                   
+000007c3  TA4CCTL0_H                                 
+000007c2  TA4CCTL0_L                                 
+000007c4  TA4CCTL1                                   
+000007c5  TA4CCTL1_H                                 
+000007c4  TA4CCTL1_L                                 
+000007c6  TA4CCTL2                                   
+000007c7  TA4CCTL2_H                                 
+000007c6  TA4CCTL2_L                                 
+000007c0  TA4CTL                                     
+000007c1  TA4CTL_H                                   
+000007c0  TA4CTL_L                                   
+000007e0  TA4EX0                                     
+000007e1  TA4EX0_H                                   
+000007e0  TA4EX0_L                                   
+000007ee  TA4IV                                      
+000007ef  TA4IV_H                                    
+000007ee  TA4IV_L                                    
+000007d0  TA4R                                       
+000007d1  TA4R_H                                     
+000007d0  TA4R_L                                     
+000003d2  TB0CCR0                                    
+000003d3  TB0CCR0_H                                  
+000003d2  TB0CCR0_L                                  
+000003d4  TB0CCR1                                    
+000003d5  TB0CCR1_H                                  
+000003d4  TB0CCR1_L                                  
+000003d6  TB0CCR2                                    
+000003d7  TB0CCR2_H                                  
+000003d6  TB0CCR2_L                                  
+000003d8  TB0CCR3                                    
+000003d9  TB0CCR3_H                                  
+000003d8  TB0CCR3_L                                  
+000003da  TB0CCR4                                    
+000003db  TB0CCR4_H                                  
+000003da  TB0CCR4_L                                  
+000003dc  TB0CCR5                                    
+000003dd  TB0CCR5_H                                  
+000003dc  TB0CCR5_L                                  
+000003de  TB0CCR6                                    
+000003df  TB0CCR6_H                                  
+000003de  TB0CCR6_L                                  
+000003c2  TB0CCTL0                                   
+000003c3  TB0CCTL0_H                                 
+000003c2  TB0CCTL0_L                                 
+000003c4  TB0CCTL1                                   
+000003c5  TB0CCTL1_H                                 
+000003c4  TB0CCTL1_L                                 
+000003c6  TB0CCTL2                                   
+000003c7  TB0CCTL2_H                                 
+000003c6  TB0CCTL2_L                                 
+000003c8  TB0CCTL3                                   
+000003c9  TB0CCTL3_H                                 
+000003c8  TB0CCTL3_L                                 
+000003ca  TB0CCTL4                                   
+000003cb  TB0CCTL4_H                                 
+000003ca  TB0CCTL4_L                                 
+000003cc  TB0CCTL5                                   
+000003cd  TB0CCTL5_H                                 
+000003cc  TB0CCTL5_L                                 
+000003ce  TB0CCTL6                                   
+000003cf  TB0CCTL6_H                                 
+000003ce  TB0CCTL6_L                                 
+000003c0  TB0CTL                                     
+000003c1  TB0CTL_H                                   
+000003c0  TB0CTL_L                                   
+000003e0  TB0EX0                                     
+000003e1  TB0EX0_H                                   
+000003e0  TB0EX0_L                                   
+000003ee  TB0IV                                      
+000003ef  TB0IV_H                                    
+000003ee  TB0IV_L                                    
+000003d0  TB0R                                       
+000003d1  TB0R_H                                     
+000003d0  TB0R_L                                     
+00001c00  TIMER0_B0_ISR                              
+00010e58  Timer_B_clearCaptureCompareInterrupt       
+00010c20  Timer_B_initCompareMode                    
+00010768  Timer_B_initUpDownMode                     
+000005d0  UCA0ABCTL                                  
+000005d1  UCA0ABCTL_H                                
+000005d0  UCA0ABCTL_L                                
+000005c6  UCA0BRW                                    
+000005c7  UCA0BRW_H                                  
+000005c6  UCA0BRW_L                                  
+000005c0  UCA0CTLW0                                  
+000005c1  UCA0CTLW0_H                                
+000005c0  UCA0CTLW0_L                                
+000005c2  UCA0CTLW1                                  
+000005c3  UCA0CTLW1_H                                
+000005c2  UCA0CTLW1_L                                
+000005da  UCA0IE                                     
+000005db  UCA0IE_H                                   
+000005da  UCA0IE_L                                   
+000005dc  UCA0IFG                                    
+000005dd  UCA0IFG_H                                  
+000005dc  UCA0IFG_L                                  
+000005d2  UCA0IRCTL                                  
+000005d3  UCA0IRCTL_H                                
+000005d2  UCA0IRCTL_L                                
+000005de  UCA0IV                                     
+000005df  UCA0IV_H                                   
+000005de  UCA0IV_L                                   
+000005c8  UCA0MCTLW                                  
+000005c9  UCA0MCTLW_H                                
+000005c8  UCA0MCTLW_L                                
+000005cc  UCA0RXBUF                                  
+000005cd  UCA0RXBUF_H                                
+000005cc  UCA0RXBUF_L                                
+000005ca  UCA0STATW                                  
+000005cb  UCA0STATW_H                                
+000005ca  UCA0STATW_L                                
+000005ce  UCA0TXBUF                                  
+000005cf  UCA0TXBUF_H                                
+000005ce  UCA0TXBUF_L                                
+000005f0  UCA1ABCTL                                  
+000005f1  UCA1ABCTL_H                                
+000005f0  UCA1ABCTL_L                                
+000005e6  UCA1BRW                                    
+000005e7  UCA1BRW_H                                  
+000005e6  UCA1BRW_L                                  
+000005e0  UCA1CTLW0                                  
+000005e1  UCA1CTLW0_H                                
+000005e0  UCA1CTLW0_L                                
+000005e2  UCA1CTLW1                                  
+000005e3  UCA1CTLW1_H                                
+000005e2  UCA1CTLW1_L                                
+000005fa  UCA1IE                                     
+000005fb  UCA1IE_H                                   
+000005fa  UCA1IE_L                                   
+000005fc  UCA1IFG                                    
+000005fd  UCA1IFG_H                                  
+000005fc  UCA1IFG_L                                  
+000005f2  UCA1IRCTL                                  
+000005f3  UCA1IRCTL_H                                
+000005f2  UCA1IRCTL_L                                
+000005fe  UCA1IV                                     
+000005ff  UCA1IV_H                                   
+000005fe  UCA1IV_L                                   
+000005e8  UCA1MCTLW                                  
+000005e9  UCA1MCTLW_H                                
+000005e8  UCA1MCTLW_L                                
+000005ec  UCA1RXBUF                                  
+000005ed  UCA1RXBUF_H                                
+000005ec  UCA1RXBUF_L                                
+000005ea  UCA1STATW                                  
+000005eb  UCA1STATW_H                                
+000005ea  UCA1STATW_L                                
+000005ee  UCA1TXBUF                                  
+000005ef  UCA1TXBUF_H                                
+000005ee  UCA1TXBUF_L                                
+00000610  UCA2ABCTL                                  
+00000611  UCA2ABCTL_H                                
+00000610  UCA2ABCTL_L                                
+00000606  UCA2BRW                                    
+00000607  UCA2BRW_H                                  
+00000606  UCA2BRW_L                                  
+00000600  UCA2CTLW0                                  
+00000601  UCA2CTLW0_H                                
+00000600  UCA2CTLW0_L                                
+00000602  UCA2CTLW1                                  
+00000603  UCA2CTLW1_H                                
+00000602  UCA2CTLW1_L                                
+0000061a  UCA2IE                                     
+0000061b  UCA2IE_H                                   
+0000061a  UCA2IE_L                                   
+0000061c  UCA2IFG                                    
+0000061d  UCA2IFG_H                                  
+0000061c  UCA2IFG_L                                  
+00000612  UCA2IRCTL                                  
+00000613  UCA2IRCTL_H                                
+00000612  UCA2IRCTL_L                                
+0000061e  UCA2IV                                     
+0000061f  UCA2IV_H                                   
+0000061e  UCA2IV_L                                   
+00000608  UCA2MCTLW                                  
+00000609  UCA2MCTLW_H                                
+00000608  UCA2MCTLW_L                                
+0000060c  UCA2RXBUF                                  
+0000060d  UCA2RXBUF_H                                
+0000060c  UCA2RXBUF_L                                
+0000060a  UCA2STATW                                  
+0000060b  UCA2STATW_H                                
+0000060a  UCA2STATW_L                                
+0000060e  UCA2TXBUF                                  
+0000060f  UCA2TXBUF_H                                
+0000060e  UCA2TXBUF_L                                
+00000630  UCA3ABCTL                                  
+00000631  UCA3ABCTL_H                                
+00000630  UCA3ABCTL_L                                
+00000626  UCA3BRW                                    
+00000627  UCA3BRW_H                                  
+00000626  UCA3BRW_L                                  
+00000620  UCA3CTLW0                                  
+00000621  UCA3CTLW0_H                                
+00000620  UCA3CTLW0_L                                
+00000622  UCA3CTLW1                                  
+00000623  UCA3CTLW1_H                                
+00000622  UCA3CTLW1_L                                
+0000063a  UCA3IE                                     
+0000063b  UCA3IE_H                                   
+0000063a  UCA3IE_L                                   
+0000063c  UCA3IFG                                    
+0000063d  UCA3IFG_H                                  
+0000063c  UCA3IFG_L                                  
+00000632  UCA3IRCTL                                  
+00000633  UCA3IRCTL_H                                
+00000632  UCA3IRCTL_L                                
+0000063e  UCA3IV                                     
+0000063f  UCA3IV_H                                   
+0000063e  UCA3IV_L                                   
+00000628  UCA3MCTLW                                  
+00000629  UCA3MCTLW_H                                
+00000628  UCA3MCTLW_L                                
+0000062c  UCA3RXBUF                                  
+0000062d  UCA3RXBUF_H                                
+0000062c  UCA3RXBUF_L                                
+0000062a  UCA3STATW                                  
+0000062b  UCA3STATW_H                                
+0000062a  UCA3STATW_L                                
+0000062e  UCA3TXBUF                                  
+0000062f  UCA3TXBUF_H                                
+0000062e  UCA3TXBUF_L                                
+0000065e  UCB0ADDMASK                                
+0000065f  UCB0ADDMASK_H                              
+0000065e  UCB0ADDMASK_L                              
+0000065c  UCB0ADDRX                                  
+0000065d  UCB0ADDRX_H                                
+0000065c  UCB0ADDRX_L                                
+00000646  UCB0BRW                                    
+00000647  UCB0BRW_H                                  
+00000646  UCB0BRW_L                                  
+00000640  UCB0CTLW0                                  
+00000641  UCB0CTLW0_H                                
+00000640  UCB0CTLW0_L                                
+00000642  UCB0CTLW1                                  
+00000643  UCB0CTLW1_H                                
+00000642  UCB0CTLW1_L                                
+00000654  UCB0I2COA0                                 
+00000655  UCB0I2COA0_H                               
+00000654  UCB0I2COA0_L                               
+00000656  UCB0I2COA1                                 
+00000657  UCB0I2COA1_H                               
+00000656  UCB0I2COA1_L                               
+00000658  UCB0I2COA2                                 
+00000659  UCB0I2COA2_H                               
+00000658  UCB0I2COA2_L                               
+0000065a  UCB0I2COA3                                 
+0000065b  UCB0I2COA3_H                               
+0000065a  UCB0I2COA3_L                               
+00000660  UCB0I2CSA                                  
+00000661  UCB0I2CSA_H                                
+00000660  UCB0I2CSA_L                                
+0000066a  UCB0IE                                     
+0000066b  UCB0IE_H                                   
+0000066a  UCB0IE_L                                   
+0000066c  UCB0IFG                                    
+0000066d  UCB0IFG_H                                  
+0000066c  UCB0IFG_L                                  
+0000066e  UCB0IV                                     
+0000066f  UCB0IV_H                                   
+0000066e  UCB0IV_L                                   
+0000064c  UCB0RXBUF                                  
+0000064d  UCB0RXBUF_H                                
+0000064c  UCB0RXBUF_L                                
+00000648  UCB0STATW                                  
+00000649  UCB0STATW_H                                
+00000648  UCB0STATW_L                                
+0000064a  UCB0TBCNT                                  
+0000064b  UCB0TBCNT_H                                
+0000064a  UCB0TBCNT_L                                
+0000064e  UCB0TXBUF                                  
+0000064f  UCB0TXBUF_H                                
+0000064e  UCB0TXBUF_L                                
+0000069e  UCB1ADDMASK                                
+0000069f  UCB1ADDMASK_H                              
+0000069e  UCB1ADDMASK_L                              
+0000069c  UCB1ADDRX                                  
+0000069d  UCB1ADDRX_H                                
+0000069c  UCB1ADDRX_L                                
+00000686  UCB1BRW                                    
+00000687  UCB1BRW_H                                  
+00000686  UCB1BRW_L                                  
+00000680  UCB1CTLW0                                  
+00000681  UCB1CTLW0_H                                
+00000680  UCB1CTLW0_L                                
+00000682  UCB1CTLW1                                  
+00000683  UCB1CTLW1_H                                
+00000682  UCB1CTLW1_L                                
+00000694  UCB1I2COA0                                 
+00000695  UCB1I2COA0_H                               
+00000694  UCB1I2COA0_L                               
+00000696  UCB1I2COA1                                 
+00000697  UCB1I2COA1_H                               
+00000696  UCB1I2COA1_L                               
+00000698  UCB1I2COA2                                 
+00000699  UCB1I2COA2_H                               
+00000698  UCB1I2COA2_L                               
+0000069a  UCB1I2COA3                                 
+0000069b  UCB1I2COA3_H                               
+0000069a  UCB1I2COA3_L                               
+000006a0  UCB1I2CSA                                  
+000006a1  UCB1I2CSA_H                                
+000006a0  UCB1I2CSA_L                                
+000006aa  UCB1IE                                     
+000006ab  UCB1IE_H                                   
+000006aa  UCB1IE_L                                   
+000006ac  UCB1IFG                                    
+000006ad  UCB1IFG_H                                  
+000006ac  UCB1IFG_L                                  
+000006ae  UCB1IV                                     
+000006af  UCB1IV_H                                   
+000006ae  UCB1IV_L                                   
+0000068c  UCB1RXBUF                                  
+0000068d  UCB1RXBUF_H                                
+0000068c  UCB1RXBUF_L                                
+00000688  UCB1STATW                                  
+00000689  UCB1STATW_H                                
+00000688  UCB1STATW_L                                
+0000068a  UCB1TBCNT                                  
+0000068b  UCB1TBCNT_H                                
+0000068a  UCB1TBCNT_L                                
+0000068e  UCB1TXBUF                                  
+0000068f  UCB1TXBUF_H                                
+0000068e  UCB1TXBUF_L                                
+000006de  UCB2ADDMASK                                
+000006df  UCB2ADDMASK_H                              
+000006de  UCB2ADDMASK_L                              
+000006dc  UCB2ADDRX                                  
+000006dd  UCB2ADDRX_H                                
+000006dc  UCB2ADDRX_L                                
+000006c6  UCB2BRW                                    
+000006c7  UCB2BRW_H                                  
+000006c6  UCB2BRW_L                                  
+000006c0  UCB2CTLW0                                  
+000006c1  UCB2CTLW0_H                                
+000006c0  UCB2CTLW0_L                                
+000006c2  UCB2CTLW1                                  
+000006c3  UCB2CTLW1_H                                
+000006c2  UCB2CTLW1_L                                
+000006d4  UCB2I2COA0                                 
+000006d5  UCB2I2COA0_H                               
+000006d4  UCB2I2COA0_L                               
+000006d6  UCB2I2COA1                                 
+000006d7  UCB2I2COA1_H                               
+000006d6  UCB2I2COA1_L                               
+000006d8  UCB2I2COA2                                 
+000006d9  UCB2I2COA2_H                               
+000006d8  UCB2I2COA2_L                               
+000006da  UCB2I2COA3                                 
+000006db  UCB2I2COA3_H                               
+000006da  UCB2I2COA3_L                               
+000006e0  UCB2I2CSA                                  
+000006e1  UCB2I2CSA_H                                
+000006e0  UCB2I2CSA_L                                
+000006ea  UCB2IE                                     
+000006eb  UCB2IE_H                                   
+000006ea  UCB2IE_L                                   
+000006ec  UCB2IFG                                    
+000006ed  UCB2IFG_H                                  
+000006ec  UCB2IFG_L                                  
+000006ee  UCB2IV                                     
+000006ef  UCB2IV_H                                   
+000006ee  UCB2IV_L                                   
+000006cc  UCB2RXBUF                                  
+000006cd  UCB2RXBUF_H                                
+000006cc  UCB2RXBUF_L                                
+000006c8  UCB2STATW                                  
+000006c9  UCB2STATW_H                                
+000006c8  UCB2STATW_L                                
+000006ca  UCB2TBCNT                                  
+000006cb  UCB2TBCNT_H                                
+000006ca  UCB2TBCNT_L                                
+000006ce  UCB2TXBUF                                  
+000006cf  UCB2TXBUF_H                                
+000006ce  UCB2TXBUF_L                                
+0000071e  UCB3ADDMASK                                
+0000071f  UCB3ADDMASK_H                              
+0000071e  UCB3ADDMASK_L                              
+0000071c  UCB3ADDRX                                  
+0000071d  UCB3ADDRX_H                                
+0000071c  UCB3ADDRX_L                                
+00000706  UCB3BRW                                    
+00000707  UCB3BRW_H                                  
+00000706  UCB3BRW_L                                  
+00000700  UCB3CTLW0                                  
+00000701  UCB3CTLW0_H                                
+00000700  UCB3CTLW0_L                                
+00000702  UCB3CTLW1                                  
+00000703  UCB3CTLW1_H                                
+00000702  UCB3CTLW1_L                                
+00000714  UCB3I2COA0                                 
+00000715  UCB3I2COA0_H                               
+00000714  UCB3I2COA0_L                               
+00000716  UCB3I2COA1                                 
+00000717  UCB3I2COA1_H                               
+00000716  UCB3I2COA1_L                               
+00000718  UCB3I2COA2                                 
+00000719  UCB3I2COA2_H                               
+00000718  UCB3I2COA2_L                               
+0000071a  UCB3I2COA3                                 
+0000071b  UCB3I2COA3_H                               
+0000071a  UCB3I2COA3_L                               
+00000720  UCB3I2CSA                                  
+00000721  UCB3I2CSA_H                                
+00000720  UCB3I2CSA_L                                
+0000072a  UCB3IE                                     
+0000072b  UCB3IE_H                                   
+0000072a  UCB3IE_L                                   
+0000072c  UCB3IFG                                    
+0000072d  UCB3IFG_H                                  
+0000072c  UCB3IFG_L                                  
+0000072e  UCB3IV                                     
+0000072f  UCB3IV_H                                   
+0000072e  UCB3IV_L                                   
+0000070c  UCB3RXBUF                                  
+0000070d  UCB3RXBUF_H                                
+0000070c  UCB3RXBUF_L                                
+00000708  UCB3STATW                                  
+00000709  UCB3STATW_H                                
+00000708  UCB3STATW_L                                
+0000070a  UCB3TBCNT                                  
+0000070b  UCB3TBCNT_H                                
+0000070a  UCB3TBCNT_L                                
+0000070e  UCB3TXBUF                                  
+0000070f  UCB3TXBUF_H                                
+0000070e  UCB3TXBUF_L                                
+000022ca  USCI_B0_ISR                                
+0000015c  WDTCTL                                     
+0000015d  WDTCTL_H                                   
+0000015c  WDTCTL_L                                   
+00010dc6  WDT_A_hold                                 
+00002c00  __STACK_END                                
+000000a0  __STACK_SIZE                               
+000048a8  __TI_BINIT_Base                            
+000048b8  __TI_BINIT_Limit                           
+00004898  __TI_CINIT_Base                            
+000048a8  __TI_CINIT_Limit                           
+00004880  __TI_Handler_Table_Base                    
+0000488c  __TI_Handler_Table_Limit                   
+00004020  __TI_ISR_TRAP                              
+00010990  __TI_auto_init_nopinit_hold_wdt            
+000107de  __TI_decompress_lzss                       
+00010e04  __TI_decompress_none                       
+0000ffb4  __TI_int18                                 
+0000ffb6  __TI_int19                                 
+0000ffb8  __TI_int20                                 
+0000ffba  __TI_int21                                 
+0000ffbc  __TI_int22                                 
+0000ffbe  __TI_int23                                 
+0000ffc0  __TI_int24                                 
+0000ffc2  __TI_int25                                 
+0000ffc4  __TI_int26                                 
+0000ffc6  __TI_int27                                 
+0000ffc8  __TI_int28                                 
+0000ffca  __TI_int29                                 
+0000ffcc  __TI_int30                                 
+0000ffce  __TI_int31                                 
+0000ffd0  __TI_int32                                 
+0000ffd2  __TI_int33                                 
+0000ffd4  __TI_int34                                 
+0000ffd6  __TI_int35                                 
+0000ffd8  __TI_int36                                 
+0000ffda  __TI_int37                                 
+0000ffdc  __TI_int38                                 
+0000ffde  __TI_int39                                 
+0000ffe0  __TI_int40                                 
+0000ffe2  __TI_int41                                 
+0000ffe4  __TI_int42                                 
+0000ffe6  __TI_int43                                 
+0000ffe8  __TI_int44                                 
+0000ffea  __TI_int45                                 
+0000ffec  __TI_int46                                 
+0000ffee  __TI_int47                                 
+0000fff0  __TI_int48                                 
+0000fff2  __TI_int49                                 
+0000fff4  __TI_int50                                 
+0000fff6  __TI_int51                                 
+0000fff8  __TI_int52                                 
+0000fffa  __TI_int53                                 
+0000fffc  __TI_int54                                 
+ffffffff  __TI_pprof_out_hndl                        
+ffffffff  __TI_prof_data_size                        
+ffffffff  __TI_prof_data_start                       
+000048a8  __TI_table_binit                           
+00010d32  __TI_zero_init_nomemset                    
+ffffffff  __c_args__                                 
+00000001  __mpu_enable                               
+00010c88  __mpu_init                                 
+00010dae  __mspabi_mpyi_f5hw                         
+00010b68  __mspabi_slll_1                            
+00010b44  __mspabi_slll_10                           
+00010b40  __mspabi_slll_11                           
+00010b3c  __mspabi_slll_12                           
+00010b38  __mspabi_slll_13                           
+00010b34  __mspabi_slll_14                           
+00010b30  __mspabi_slll_15                           
+00010b64  __mspabi_slll_2                            
+00010b60  __mspabi_slll_3                            
+00010b5c  __mspabi_slll_4                            
+00010b58  __mspabi_slll_5                            
+00010b54  __mspabi_slll_6                            
+00010b50  __mspabi_slll_7                            
+00010b4c  __mspabi_slll_8                            
+00010b48  __mspabi_slll_9                            
+00010ba6  __mspabi_srll_1                            
+00010b82  __mspabi_srll_10                           
+00010b7e  __mspabi_srll_11                           
+00010b7a  __mspabi_srll_12                           
+00010b76  __mspabi_srll_13                           
+00010b72  __mspabi_srll_14                           
+00010b6e  __mspabi_srll_15                           
+00010ba2  __mspabi_srll_2                            
+00010b9e  __mspabi_srll_3                            
+00010b9a  __mspabi_srll_4                            
+00010b96  __mspabi_srll_5                            
+00010b92  __mspabi_srll_6                            
+00010b8e  __mspabi_srll_7                            
+00010b8a  __mspabi_srll_8                            
+00010b86  __mspabi_srll_9                            
+00004000  _c_int00_noargs_mpu                        
+0000fffe  _reset_vector                              
+00002b60  _stack                                     
+00010e72  _system_post_cinit                         
+00010e6e  _system_pre_init                           
+00010e68  abort                                      
+00010ddc  copyArray                                  
+000109f6  copy_in                                    
+00010928  currentOffsetCalibration                   
+00002502  driveOpenLoop                              
+00004000  fram_ipe_end                               
+00004000  fram_ipe_start                             
+00004000  fram_rw_start                              
+00004000  fram_rx_start                              
+000024f0  g_calibrating                              
+000024f1  g_calibrationDone                          
+000024b2  g_closeLoopThreshold                       
+000024f2  g_closedLoop                               
+000024e6  g_cmdState                                 
+000024f3  g_commState                                
+000024e8  g_controlPrescaler                         
+000024f4  g_controlRegister                          
+000024b6  g_currentOffsetPhaseA                      
+000024ba  g_currentOffsetPhaseB                      
+000024be  g_currentOffsetPhaseC                      
+000024c2  g_currentPhaseA                            
+000024c6  g_currentPhaseB                            
+000024ca  g_currentPhaseC                            
+000024ce  g_currentPosition                          
+000024d2  g_currentSpeed                             
+000024f5  g_faultRegister                            
+00002494  g_hallMap                                  
+000024d6  g_hallSensor                               
+00002484  g_i2cCmdLength                             
+000024f6  g_i2cSlaveAddress                          
+000024ac  g_impulse                                  
+000024f7  g_maxSpeed                                 
+000024f8  g_mod6cnt                                  
+000024f9  g_oldCommState                             
+000024da  g_oldPosition                              
+000024de  g_openLoopTorque                           
+00002428  g_piCur                                    
+00002456  g_piSpd                                    
+000024fa  g_readRegAddr                              
+0000249c  g_rxBuffer                                 
+000024fb  g_rxBufferIdx                              
+000024fc  g_rxByteCtr                                
+000024ea  g_slaveMode                                
+000024ec  g_state                                    
+000024fd  g_statusRegister                           
+000024fe  g_targetDirection                          
+000024e2  g_targetPosition                           
+000024ff  g_targetReached                            
+000024ee  g_transmitCurrentPosition                  
+000024a4  g_txBuffer                                 
+00002500  g_txBufferIdx                              
+00002501  g_txByteCtr                                
+00010396  i2cSlaveTransactionDone                    
+0001044e  initializeAdcModule                        
+00010af2  initializeCmdLength                        
+000105be  initializeGpios                            
+00010d0a  initializeHallInterface                    
+000106ea  initializeI2cModule                        
+000102be  initializePwmModules                       
+00010000  main                                       
+00010df0  memcpy                                     
+0000a501  mpu_ctl0_value                             
+00001513  mpu_sam_value                              
+00000400  mpu_segment_border1                        
+00000400  mpu_segment_border2                        
+00010e4c  read_driver_fault                          
+00010cb4  resetPiController                          
+00010506  updateStateMachine                         
+
+
+GLOBAL SYMBOLS: SORTED BY Symbol Address 
+
+address   name                                       
+-------   ----                                       
+00000001  __mpu_enable                               
+000000a0  __STACK_SIZE                               
+00000100  SFRIE1                                     
+00000100  SFRIE1_L                                   
+00000101  SFRIE1_H                                   
+00000102  SFRIFG1                                    
+00000102  SFRIFG1_L                                  
+00000103  SFRIFG1_H                                  
+00000104  SFRRPCR                                    
+00000104  SFRRPCR_L                                  
+00000105  SFRRPCR_H                                  
+00000120  PMMCTL0                                    
+00000120  PMMCTL0_L                                  
+00000121  PMMCTL0_H                                  
+0000012a  PMMIFG                                     
+0000012a  PMMIFG_L                                   
+0000012b  PMMIFG_H                                   
+00000130  PM5CTL0                                    
+00000130  PM5CTL0_L                                  
+00000131  PM5CTL0_H                                  
+00000140  FRCTL0                                     
+00000140  FRCTL0_L                                   
+00000141  FRCTL0_H                                   
+00000144  GCCTL0                                     
+00000144  GCCTL0_L                                   
+00000145  GCCTL0_H                                   
+00000146  GCCTL1                                     
+00000146  GCCTL1_L                                   
+00000147  GCCTL1_H                                   
+00000150  CRCDI                                      
+00000150  CRCDI_L                                    
+00000151  CRCDI_H                                    
+00000152  CRCDIRB                                    
+00000152  CRCDIRB_L                                  
+00000153  CRCDIRB_H                                  
+00000154  CRCINIRES                                  
+00000154  CRCINIRES_L                                
+00000155  CRCINIRES_H                                
+00000156  CRCRESR                                    
+00000156  CRCRESR_L                                  
+00000157  CRCRESR_H                                  
+00000158  RCCTL0                                     
+00000158  RCCTL0_L                                   
+00000159  RCCTL0_H                                   
+0000015c  WDTCTL                                     
+0000015c  WDTCTL_L                                   
+0000015d  WDTCTL_H                                   
+00000160  CSCTL0                                     
+00000160  CSCTL0_L                                   
+00000161  CSCTL0_H                                   
+00000162  CSCTL1                                     
+00000162  CSCTL1_L                                   
+00000163  CSCTL1_H                                   
+00000164  CSCTL2                                     
+00000164  CSCTL2_L                                   
+00000165  CSCTL2_H                                   
+00000166  CSCTL3                                     
+00000166  CSCTL3_L                                   
+00000167  CSCTL3_H                                   
+00000168  CSCTL4                                     
+00000168  CSCTL4_L                                   
+00000169  CSCTL4_H                                   
+0000016a  CSCTL5                                     
+0000016a  CSCTL5_L                                   
+0000016b  CSCTL5_H                                   
+0000016c  CSCTL6                                     
+0000016c  CSCTL6_L                                   
+0000016d  CSCTL6_H                                   
+00000180  SYSCTL                                     
+00000180  SYSCTL_L                                   
+00000181  SYSCTL_H                                   
+00000186  SYSJMBC                                    
+00000186  SYSJMBC_L                                  
+00000187  SYSJMBC_H                                  
+00000188  SYSJMBI0                                   
+00000188  SYSJMBI0_L                                 
+00000189  SYSJMBI0_H                                 
+0000018a  SYSJMBI1                                   
+0000018a  SYSJMBI1_L                                 
+0000018b  SYSJMBI1_H                                 
+0000018c  SYSJMBO0                                   
+0000018c  SYSJMBO0_L                                 
+0000018d  SYSJMBO0_H                                 
+0000018e  SYSJMBO1                                   
+0000018e  SYSJMBO1_L                                 
+0000018f  SYSJMBO1_H                                 
+0000019a  SYSUNIV                                    
+0000019a  SYSUNIV_L                                  
+0000019b  SYSUNIV_H                                  
+0000019c  SYSSNIV                                    
+0000019c  SYSSNIV_L                                  
+0000019d  SYSSNIV_H                                  
+0000019e  SYSRSTIV                                   
+0000019e  SYSRSTIV_L                                 
+0000019f  SYSRSTIV_H                                 
+000001b0  REFCTL0                                    
+000001b0  REFCTL0_L                                  
+000001b1  REFCTL0_H                                  
+00000200  P1IN                                       
+00000200  PAIN                                       
+00000200  PAIN_L                                     
+00000201  P2IN                                       
+00000201  PAIN_H                                     
+00000202  P1OUT                                      
+00000202  PAOUT                                      
+00000202  PAOUT_L                                    
+00000203  P2OUT                                      
+00000203  PAOUT_H                                    
+00000204  P1DIR                                      
+00000204  PADIR                                      
+00000204  PADIR_L                                    
+00000205  P2DIR                                      
+00000205  PADIR_H                                    
+00000206  P1REN                                      
+00000206  PAREN                                      
+00000206  PAREN_L                                    
+00000207  P2REN                                      
+00000207  PAREN_H                                    
+0000020a  P1SEL0                                     
+0000020a  PASEL0                                     
+0000020a  PASEL0_L                                   
+0000020b  P2SEL0                                     
+0000020b  PASEL0_H                                   
+0000020c  P1SEL1                                     
+0000020c  PASEL1                                     
+0000020c  PASEL1_L                                   
+0000020d  P2SEL1                                     
+0000020d  PASEL1_H                                   
+0000020e  P1IV                                       
+0000020e  P1IV_L                                     
+0000020f  P1IV_H                                     
+00000216  P1SELC                                     
+00000216  PASELC                                     
+00000216  PASELC_L                                   
+00000217  P2SELC                                     
+00000217  PASELC_H                                   
+00000218  P1IES                                      
+00000218  PAIES                                      
+00000218  PAIES_L                                    
+00000219  P2IES                                      
+00000219  PAIES_H                                    
+0000021a  P1IE                                       
+0000021a  PAIE                                       
+0000021a  PAIE_L                                     
+0000021b  P2IE                                       
+0000021b  PAIE_H                                     
+0000021c  P1IFG                                      
+0000021c  PAIFG                                      
+0000021c  PAIFG_L                                    
+0000021d  P2IFG                                      
+0000021d  PAIFG_H                                    
+0000021e  P2IV                                       
+0000021e  P2IV_L                                     
+0000021f  P2IV_H                                     
+00000220  P3IN                                       
+00000220  PBIN                                       
+00000220  PBIN_L                                     
+00000221  P4IN                                       
+00000221  PBIN_H                                     
+00000222  P3OUT                                      
+00000222  PBOUT                                      
+00000222  PBOUT_L                                    
+00000223  P4OUT                                      
+00000223  PBOUT_H                                    
+00000224  P3DIR                                      
+00000224  PBDIR                                      
+00000224  PBDIR_L                                    
+00000225  P4DIR                                      
+00000225  PBDIR_H                                    
+00000226  P3REN                                      
+00000226  PBREN                                      
+00000226  PBREN_L                                    
+00000227  P4REN                                      
+00000227  PBREN_H                                    
+0000022a  P3SEL0                                     
+0000022a  PBSEL0                                     
+0000022a  PBSEL0_L                                   
+0000022b  P4SEL0                                     
+0000022b  PBSEL0_H                                   
+0000022c  P3SEL1                                     
+0000022c  PBSEL1                                     
+0000022c  PBSEL1_L                                   
+0000022d  P4SEL1                                     
+0000022d  PBSEL1_H                                   
+0000022e  P3IV                                       
+0000022e  P3IV_L                                     
+0000022f  P3IV_H                                     
+00000236  P3SELC                                     
+00000236  PBSELC                                     
+00000236  PBSELC_L                                   
+00000237  P4SELC                                     
+00000237  PBSELC_H                                   
+00000238  P3IES                                      
+00000238  PBIES                                      
+00000238  PBIES_L                                    
+00000239  P4IES                                      
+00000239  PBIES_H                                    
+0000023a  P3IE                                       
+0000023a  PBIE                                       
+0000023a  PBIE_L                                     
+0000023b  P4IE                                       
+0000023b  PBIE_H                                     
+0000023c  P3IFG                                      
+0000023c  PBIFG                                      
+0000023c  PBIFG_L                                    
+0000023d  P4IFG                                      
+0000023d  PBIFG_H                                    
+0000023e  P4IV                                       
+0000023e  P4IV_L                                     
+0000023f  P4IV_H                                     
+00000240  P5IN                                       
+00000240  PCIN                                       
+00000240  PCIN_L                                     
+00000241  P6IN                                       
+00000241  PCIN_H                                     
+00000242  P5OUT                                      
+00000242  PCOUT                                      
+00000242  PCOUT_L                                    
+00000243  P6OUT                                      
+00000243  PCOUT_H                                    
+00000244  P5DIR                                      
+00000244  PCDIR                                      
+00000244  PCDIR_L                                    
+00000245  P6DIR                                      
+00000245  PCDIR_H                                    
+00000246  P5REN                                      
+00000246  PCREN                                      
+00000246  PCREN_L                                    
+00000247  P6REN                                      
+00000247  PCREN_H                                    
+0000024a  P5SEL0                                     
+0000024a  PCSEL0                                     
+0000024a  PCSEL0_L                                   
+0000024b  P6SEL0                                     
+0000024b  PCSEL0_H                                   
+0000024c  P5SEL1                                     
+0000024c  PCSEL1                                     
+0000024c  PCSEL1_L                                   
+0000024d  P6SEL1                                     
+0000024d  PCSEL1_H                                   
+0000024e  P5IV                                       
+0000024e  P5IV_L                                     
+0000024f  P5IV_H                                     
+00000256  P5SELC                                     
+00000256  PCSELC                                     
+00000256  PCSELC_L                                   
+00000257  P6SELC                                     
+00000257  PCSELC_H                                   
+00000258  P5IES                                      
+00000258  PCIES                                      
+00000258  PCIES_L                                    
+00000259  P6IES                                      
+00000259  PCIES_H                                    
+0000025a  P5IE                                       
+0000025a  PCIE                                       
+0000025a  PCIE_L                                     
+0000025b  P6IE                                       
+0000025b  PCIE_H                                     
+0000025c  P5IFG                                      
+0000025c  PCIFG                                      
+0000025c  PCIFG_L                                    
+0000025d  P6IFG                                      
+0000025d  PCIFG_H                                    
+0000025e  P6IV                                       
+0000025e  P6IV_L                                     
+0000025f  P6IV_H                                     
+00000260  P7IN                                       
+00000260  PDIN                                       
+00000260  PDIN_L                                     
+00000261  P8IN                                       
+00000261  PDIN_H                                     
+00000262  P7OUT                                      
+00000262  PDOUT                                      
+00000262  PDOUT_L                                    
+00000263  P8OUT                                      
+00000263  PDOUT_H                                    
+00000264  P7DIR                                      
+00000264  PDDIR                                      
+00000264  PDDIR_L                                    
+00000265  P8DIR                                      
+00000265  PDDIR_H                                    
+00000266  P7REN                                      
+00000266  PDREN                                      
+00000266  PDREN_L                                    
+00000267  P8REN                                      
+00000267  PDREN_H                                    
+0000026a  P7SEL0                                     
+0000026a  PDSEL0                                     
+0000026a  PDSEL0_L                                   
+0000026b  P8SEL0                                     
+0000026b  PDSEL0_H                                   
+0000026c  P7SEL1                                     
+0000026c  PDSEL1                                     
+0000026c  PDSEL1_L                                   
+0000026d  P8SEL1                                     
+0000026d  PDSEL1_H                                   
+0000026e  P7IV                                       
+0000026e  P7IV_L                                     
+0000026f  P7IV_H                                     
+00000276  P7SELC                                     
+00000276  PDSELC                                     
+00000276  PDSELC_L                                   
+00000277  P8SELC                                     
+00000277  PDSELC_H                                   
+00000278  P7IES                                      
+00000278  PDIES                                      
+00000278  PDIES_L                                    
+00000279  P8IES                                      
+00000279  PDIES_H                                    
+0000027a  P7IE                                       
+0000027a  PDIE                                       
+0000027a  PDIE_L                                     
+0000027b  P8IE                                       
+0000027b  PDIE_H                                     
+0000027c  P7IFG                                      
+0000027c  PDIFG                                      
+0000027c  PDIFG_L                                    
+0000027d  P8IFG                                      
+0000027d  PDIFG_H                                    
+0000027e  P8IV                                       
+0000027e  P8IV_L                                     
+0000027f  P8IV_H                                     
+00000320  PJIN                                       
+00000320  PJIN_L                                     
+00000321  PJIN_H                                     
+00000322  PJOUT                                      
+00000322  PJOUT_L                                    
+00000323  PJOUT_H                                    
+00000324  PJDIR                                      
+00000324  PJDIR_L                                    
+00000325  PJDIR_H                                    
+00000326  PJREN                                      
+00000326  PJREN_L                                    
+00000327  PJREN_H                                    
+0000032a  PJSEL0                                     
+0000032a  PJSEL0_L                                   
+0000032b  PJSEL0_H                                   
+0000032c  PJSEL1                                     
+0000032c  PJSEL1_L                                   
+0000032d  PJSEL1_H                                   
+00000336  PJSELC                                     
+00000336  PJSELC_L                                   
+00000337  PJSELC_H                                   
+00000340  TA0CTL                                     
+00000340  TA0CTL_L                                   
+00000341  TA0CTL_H                                   
+00000342  TA0CCTL0                                   
+00000342  TA0CCTL0_L                                 
+00000343  TA0CCTL0_H                                 
+00000344  TA0CCTL1                                   
+00000344  TA0CCTL1_L                                 
+00000345  TA0CCTL1_H                                 
+00000346  TA0CCTL2                                   
+00000346  TA0CCTL2_L                                 
+00000347  TA0CCTL2_H                                 
+00000350  TA0R                                       
+00000350  TA0R_L                                     
+00000351  TA0R_H                                     
+00000352  TA0CCR0                                    
+00000352  TA0CCR0_L                                  
+00000353  TA0CCR0_H                                  
+00000354  TA0CCR1                                    
+00000354  TA0CCR1_L                                  
+00000355  TA0CCR1_H                                  
+00000356  TA0CCR2                                    
+00000356  TA0CCR2_L                                  
+00000357  TA0CCR2_H                                  
+00000360  TA0EX0                                     
+00000360  TA0EX0_L                                   
+00000361  TA0EX0_H                                   
+0000036e  TA0IV                                      
+0000036e  TA0IV_L                                    
+0000036f  TA0IV_H                                    
+00000380  TA1CTL                                     
+00000380  TA1CTL_L                                   
+00000381  TA1CTL_H                                   
+00000382  TA1CCTL0                                   
+00000382  TA1CCTL0_L                                 
+00000383  TA1CCTL0_H                                 
+00000384  TA1CCTL1                                   
+00000384  TA1CCTL1_L                                 
+00000385  TA1CCTL1_H                                 
+00000386  TA1CCTL2                                   
+00000386  TA1CCTL2_L                                 
+00000387  TA1CCTL2_H                                 
+00000390  TA1R                                       
+00000390  TA1R_L                                     
+00000391  TA1R_H                                     
+00000392  TA1CCR0                                    
+00000392  TA1CCR0_L                                  
+00000393  TA1CCR0_H                                  
+00000394  TA1CCR1                                    
+00000394  TA1CCR1_L                                  
+00000395  TA1CCR1_H                                  
+00000396  TA1CCR2                                    
+00000396  TA1CCR2_L                                  
+00000397  TA1CCR2_H                                  
+000003a0  TA1EX0                                     
+000003a0  TA1EX0_L                                   
+000003a1  TA1EX0_H                                   
+000003ae  TA1IV                                      
+000003ae  TA1IV_L                                    
+000003af  TA1IV_H                                    
+000003c0  TB0CTL                                     
+000003c0  TB0CTL_L                                   
+000003c1  TB0CTL_H                                   
+000003c2  TB0CCTL0                                   
+000003c2  TB0CCTL0_L                                 
+000003c3  TB0CCTL0_H                                 
+000003c4  TB0CCTL1                                   
+000003c4  TB0CCTL1_L                                 
+000003c5  TB0CCTL1_H                                 
+000003c6  TB0CCTL2                                   
+000003c6  TB0CCTL2_L                                 
+000003c7  TB0CCTL2_H                                 
+000003c8  TB0CCTL3                                   
+000003c8  TB0CCTL3_L                                 
+000003c9  TB0CCTL3_H                                 
+000003ca  TB0CCTL4                                   
+000003ca  TB0CCTL4_L                                 
+000003cb  TB0CCTL4_H                                 
+000003cc  TB0CCTL5                                   
+000003cc  TB0CCTL5_L                                 
+000003cd  TB0CCTL5_H                                 
+000003ce  TB0CCTL6                                   
+000003ce  TB0CCTL6_L                                 
+000003cf  TB0CCTL6_H                                 
+000003d0  TB0R                                       
+000003d0  TB0R_L                                     
+000003d1  TB0R_H                                     
+000003d2  TB0CCR0                                    
+000003d2  TB0CCR0_L                                  
+000003d3  TB0CCR0_H                                  
+000003d4  TB0CCR1                                    
+000003d4  TB0CCR1_L                                  
+000003d5  TB0CCR1_H                                  
+000003d6  TB0CCR2                                    
+000003d6  TB0CCR2_L                                  
+000003d7  TB0CCR2_H                                  
+000003d8  TB0CCR3                                    
+000003d8  TB0CCR3_L                                  
+000003d9  TB0CCR3_H                                  
+000003da  TB0CCR4                                    
+000003da  TB0CCR4_L                                  
+000003db  TB0CCR4_H                                  
+000003dc  TB0CCR5                                    
+000003dc  TB0CCR5_L                                  
+000003dd  TB0CCR5_H                                  
+000003de  TB0CCR6                                    
+000003de  TB0CCR6_L                                  
+000003df  TB0CCR6_H                                  
+000003e0  TB0EX0                                     
+000003e0  TB0EX0_L                                   
+000003e1  TB0EX0_H                                   
+000003ee  TB0IV                                      
+000003ee  TB0IV_L                                    
+000003ef  TB0IV_H                                    
+00000400  TA2CTL                                     
+00000400  TA2CTL_L                                   
+00000400  mpu_segment_border1                        
+00000400  mpu_segment_border2                        
+00000401  TA2CTL_H                                   
+00000402  TA2CCTL0                                   
+00000402  TA2CCTL0_L                                 
+00000403  TA2CCTL0_H                                 
+00000404  TA2CCTL1                                   
+00000404  TA2CCTL1_L                                 
+00000405  TA2CCTL1_H                                 
+00000410  TA2R                                       
+00000410  TA2R_L                                     
+00000411  TA2R_H                                     
+00000412  TA2CCR0                                    
+00000412  TA2CCR0_L                                  
+00000413  TA2CCR0_H                                  
+00000414  TA2CCR1                                    
+00000414  TA2CCR1_L                                  
+00000415  TA2CCR1_H                                  
+00000420  TA2EX0                                     
+00000420  TA2EX0_L                                   
+00000421  TA2EX0_H                                   
+0000042e  TA2IV                                      
+0000042e  TA2IV_L                                    
+0000042f  TA2IV_H                                    
+0000043e  CAPTIO0CTL                                 
+0000043e  CAPTIO0CTL_L                               
+0000043f  CAPTIO0CTL_H                               
+00000440  TA3CTL                                     
+00000440  TA3CTL_L                                   
+00000441  TA3CTL_H                                   
+00000442  TA3CCTL0                                   
+00000442  TA3CCTL0_L                                 
+00000443  TA3CCTL0_H                                 
+00000444  TA3CCTL1                                   
+00000444  TA3CCTL1_L                                 
+00000445  TA3CCTL1_H                                 
+00000450  TA3R                                       
+00000450  TA3R_L                                     
+00000451  TA3R_H                                     
+00000452  TA3CCR0                                    
+00000452  TA3CCR0_L                                  
+00000453  TA3CCR0_H                                  
+00000454  TA3CCR1                                    
+00000454  TA3CCR1_L                                  
+00000455  TA3CCR1_H                                  
+00000460  TA3EX0                                     
+00000460  TA3EX0_L                                   
+00000461  TA3EX0_H                                   
+0000046e  TA3IV                                      
+0000046e  TA3IV_L                                    
+0000046f  TA3IV_H                                    
+0000047e  CAPTIO1CTL                                 
+0000047e  CAPTIO1CTL_L                               
+0000047f  CAPTIO1CTL_H                               
+000004a0  RTCCTL0                                    
+000004a0  RTCCTL0_L                                  
+000004a1  RTCCTL0_H                                  
+000004a2  RTCCTL13                                   
+000004a2  RTCCTL13_L                                 
+000004a3  RTCCTL13_H                                 
+000004a4  RTCOCAL                                    
+000004a4  RTCOCAL_L                                  
+000004a5  RTCOCAL_H                                  
+000004a6  RTCTCMP                                    
+000004a6  RTCTCMP_L                                  
+000004a7  RTCTCMP_H                                  
+000004a8  RTCPS0CTL                                  
+000004a8  RTCPS0CTL_L                                
+000004a9  RTCPS0CTL_H                                
+000004aa  RTCPS1CTL                                  
+000004aa  RTCPS1CTL_L                                
+000004ab  RTCPS1CTL_H                                
+000004ac  RT0PS                                      
+000004ac  RTCPS                                      
+000004ac  RTCPS_L                                    
+000004ad  RT1PS                                      
+000004ad  RTCPS_H                                    
+000004ae  RTCIV                                      
+000004ae  RTCIV_L                                    
+000004af  RTCIV_H                                    
+000004b0  RTCCNT1                                    
+000004b0  RTCCNT12                                   
+000004b0  RTCCNT12_L                                 
+000004b0  RTCTIM0                                    
+000004b0  RTCTIM0_L                                  
+000004b1  RTCCNT12_H                                 
+000004b1  RTCCNT2                                    
+000004b1  RTCTIM0_H                                  
+000004b2  RTCCNT3                                    
+000004b2  RTCCNT34                                   
+000004b2  RTCCNT34_L                                 
+000004b2  RTCTIM1                                    
+000004b2  RTCTIM1_L                                  
+000004b3  RTCCNT34_H                                 
+000004b3  RTCCNT4                                    
+000004b3  RTCTIM1_H                                  
+000004b4  RTCDATE                                    
+000004b4  RTCDATE_L                                  
+000004b5  RTCDATE_H                                  
+000004b6  RTCYEAR                                    
+000004b6  RTCYEAR_L                                  
+000004b7  RTCYEAR_H                                  
+000004b8  RTCAMINHR                                  
+000004b8  RTCAMINHR_L                                
+000004b9  RTCAMINHR_H                                
+000004ba  RTCADOWDAY                                 
+000004ba  RTCADOWDAY_L                               
+000004bb  RTCADOWDAY_H                               
+000004bc  BIN2BCD                                    
+000004bc  BIN2BCD_L                                  
+000004bd  BIN2BCD_H                                  
+000004be  BCD2BIN                                    
+000004be  BCD2BIN_L                                  
+000004bf  BCD2BIN_H                                  
+000004c0  MPY                                        
+000004c0  MPY_L                                      
+000004c1  MPY_H                                      
+000004c2  MPYS                                       
+000004c2  MPYS_L                                     
+000004c3  MPYS_H                                     
+000004c4  MAC                                        
+000004c4  MAC_L                                      
+000004c5  MAC_H                                      
+000004c6  MACS                                       
+000004c6  MACS_L                                     
+000004c7  MACS_H                                     
+000004c8  OP2                                        
+000004c8  OP2_L                                      
+000004c9  OP2_H                                      
+000004ca  RESLO                                      
+000004ca  RESLO_L                                    
+000004cb  RESLO_H                                    
+000004cc  RESHI                                      
+000004cc  RESHI_L                                    
+000004cd  RESHI_H                                    
+000004ce  SUMEXT                                     
+000004ce  SUMEXT_L                                   
+000004cf  SUMEXT_H                                   
+000004d0  MPY32L                                     
+000004d0  MPY32L_L                                   
+000004d1  MPY32L_H                                   
+000004d2  MPY32H                                     
+000004d2  MPY32H_L                                   
+000004d3  MPY32H_H                                   
+000004d4  MPYS32L                                    
+000004d4  MPYS32L_L                                  
+000004d5  MPYS32L_H                                  
+000004d6  MPYS32H                                    
+000004d6  MPYS32H_L                                  
+000004d7  MPYS32H_H                                  
+000004d8  MAC32L                                     
+000004d8  MAC32L_L                                   
+000004d9  MAC32L_H                                   
+000004da  MAC32H                                     
+000004da  MAC32H_L                                   
+000004db  MAC32H_H                                   
+000004dc  MACS32L                                    
+000004dc  MACS32L_L                                  
+000004dd  MACS32L_H                                  
+000004de  MACS32H                                    
+000004de  MACS32H_L                                  
+000004df  MACS32H_H                                  
+000004e0  OP2L                                       
+000004e0  OP2L_L                                     
+000004e1  OP2L_H                                     
+000004e2  OP2H                                       
+000004e2  OP2H_L                                     
+000004e3  OP2H_H                                     
+000004e4  RES0                                       
+000004e4  RES0_L                                     
+000004e5  RES0_H                                     
+000004e6  RES1                                       
+000004e6  RES1_L                                     
+000004e7  RES1_H                                     
+000004e8  RES2                                       
+000004e8  RES2_L                                     
+000004e9  RES2_H                                     
+000004ea  RES3                                       
+000004ea  RES3_L                                     
+000004eb  RES3_H                                     
+000004ec  MPY32CTL0                                  
+000004ec  MPY32CTL0_L                                
+000004ed  MPY32CTL0_H                                
+00000500  DMACTL0                                    
+00000500  DMACTL0_L                                  
+00000501  DMACTL0_H                                  
+00000502  DMACTL1                                    
+00000502  DMACTL1_L                                  
+00000503  DMACTL1_H                                  
+00000504  DMACTL2                                    
+00000504  DMACTL2_L                                  
+00000505  DMACTL2_H                                  
+00000508  DMACTL4                                    
+00000508  DMACTL4_L                                  
+00000509  DMACTL4_H                                  
+0000050e  DMAIV                                      
+0000050e  DMAIV_L                                    
+0000050f  DMAIV_H                                    
+00000510  DMA0CTL                                    
+00000510  DMA0CTL_L                                  
+00000511  DMA0CTL_H                                  
+00000512  DMA0SA                                     
+00000512  DMA0SAL                                    
+00000514  DMA0SAH                                    
+00000516  DMA0DA                                     
+00000516  DMA0DAL                                    
+00000518  DMA0DAH                                    
+0000051a  DMA0SZ                                     
+0000051a  DMA0SZ_L                                   
+0000051b  DMA0SZ_H                                   
+00000520  DMA1CTL                                    
+00000520  DMA1CTL_L                                  
+00000521  DMA1CTL_H                                  
+00000522  DMA1SA                                     
+00000522  DMA1SAL                                    
+00000524  DMA1SAH                                    
+00000526  DMA1DA                                     
+00000526  DMA1DAL                                    
+00000528  DMA1DAH                                    
+0000052a  DMA1SZ                                     
+0000052a  DMA1SZ_L                                   
+0000052b  DMA1SZ_H                                   
+00000530  DMA2CTL                                    
+00000530  DMA2CTL_L                                  
+00000531  DMA2CTL_H                                  
+00000532  DMA2SA                                     
+00000532  DMA2SAL                                    
+00000534  DMA2SAH                                    
+00000536  DMA2DA                                     
+00000536  DMA2DAL                                    
+00000538  DMA2DAH                                    
+0000053a  DMA2SZ                                     
+0000053a  DMA2SZ_L                                   
+0000053b  DMA2SZ_H                                   
+00000540  DMA3CTL                                    
+00000540  DMA3CTL_L                                  
+00000541  DMA3CTL_H                                  
+00000542  DMA3SA                                     
+00000542  DMA3SAL                                    
+00000544  DMA3SAH                                    
+00000546  DMA3DA                                     
+00000546  DMA3DAL                                    
+00000548  DMA3DAH                                    
+0000054a  DMA3SZ                                     
+0000054a  DMA3SZ_L                                   
+0000054b  DMA3SZ_H                                   
+00000550  DMA4CTL                                    
+00000550  DMA4CTL_L                                  
+00000551  DMA4CTL_H                                  
+00000552  DMA4SA                                     
+00000552  DMA4SAL                                    
+00000554  DMA4SAH                                    
+00000556  DMA4DA                                     
+00000556  DMA4DAL                                    
+00000558  DMA4DAH                                    
+0000055a  DMA4SZ                                     
+0000055a  DMA4SZ_L                                   
+0000055b  DMA4SZ_H                                   
+00000560  DMA5CTL                                    
+00000560  DMA5CTL_L                                  
+00000561  DMA5CTL_H                                  
+00000562  DMA5SA                                     
+00000562  DMA5SAL                                    
+00000564  DMA5SAH                                    
+00000566  DMA5DA                                     
+00000566  DMA5DAL                                    
+00000568  DMA5DAH                                    
+0000056a  DMA5SZ                                     
+0000056a  DMA5SZ_L                                   
+0000056b  DMA5SZ_H                                   
+000005a0  MPUCTL0                                    
+000005a0  MPUCTL0_L                                  
+000005a1  MPUCTL0_H                                  
+000005a2  MPUCTL1                                    
+000005a2  MPUCTL1_L                                  
+000005a3  MPUCTL1_H                                  
+000005a4  MPUSEGB2                                   
+000005a4  MPUSEGB2_L                                 
+000005a5  MPUSEGB2_H                                 
+000005a6  MPUSEGB1                                   
+000005a6  MPUSEGB1_L                                 
+000005a7  MPUSEGB1_H                                 
+000005a8  MPUSAM                                     
+000005a8  MPUSAM_L                                   
+000005a9  MPUSAM_H                                   
+000005aa  MPUIPC0                                    
+000005aa  MPUIPC0_L                                  
+000005ab  MPUIPC0_H                                  
+000005ac  MPUIPSEGB2                                 
+000005ac  MPUIPSEGB2_L                               
+000005ad  MPUIPSEGB2_H                               
+000005ae  MPUIPSEGB1                                 
+000005ae  MPUIPSEGB1_L                               
+000005af  MPUIPSEGB1_H                               
+000005c0  UCA0CTLW0                                  
+000005c0  UCA0CTLW0_L                                
+000005c1  UCA0CTLW0_H                                
+000005c2  UCA0CTLW1                                  
+000005c2  UCA0CTLW1_L                                
+000005c3  UCA0CTLW1_H                                
+000005c6  UCA0BRW                                    
+000005c6  UCA0BRW_L                                  
+000005c7  UCA0BRW_H                                  
+000005c8  UCA0MCTLW                                  
+000005c8  UCA0MCTLW_L                                
+000005c9  UCA0MCTLW_H                                
+000005ca  UCA0STATW                                  
+000005ca  UCA0STATW_L                                
+000005cb  UCA0STATW_H                                
+000005cc  UCA0RXBUF                                  
+000005cc  UCA0RXBUF_L                                
+000005cd  UCA0RXBUF_H                                
+000005ce  UCA0TXBUF                                  
+000005ce  UCA0TXBUF_L                                
+000005cf  UCA0TXBUF_H                                
+000005d0  UCA0ABCTL                                  
+000005d0  UCA0ABCTL_L                                
+000005d1  UCA0ABCTL_H                                
+000005d2  UCA0IRCTL                                  
+000005d2  UCA0IRCTL_L                                
+000005d3  UCA0IRCTL_H                                
+000005da  UCA0IE                                     
+000005da  UCA0IE_L                                   
+000005db  UCA0IE_H                                   
+000005dc  UCA0IFG                                    
+000005dc  UCA0IFG_L                                  
+000005dd  UCA0IFG_H                                  
+000005de  UCA0IV                                     
+000005de  UCA0IV_L                                   
+000005df  UCA0IV_H                                   
+000005e0  UCA1CTLW0                                  
+000005e0  UCA1CTLW0_L                                
+000005e1  UCA1CTLW0_H                                
+000005e2  UCA1CTLW1                                  
+000005e2  UCA1CTLW1_L                                
+000005e3  UCA1CTLW1_H                                
+000005e6  UCA1BRW                                    
+000005e6  UCA1BRW_L                                  
+000005e7  UCA1BRW_H                                  
+000005e8  UCA1MCTLW                                  
+000005e8  UCA1MCTLW_L                                
+000005e9  UCA1MCTLW_H                                
+000005ea  UCA1STATW                                  
+000005ea  UCA1STATW_L                                
+000005eb  UCA1STATW_H                                
+000005ec  UCA1RXBUF                                  
+000005ec  UCA1RXBUF_L                                
+000005ed  UCA1RXBUF_H                                
+000005ee  UCA1TXBUF                                  
+000005ee  UCA1TXBUF_L                                
+000005ef  UCA1TXBUF_H                                
+000005f0  UCA1ABCTL                                  
+000005f0  UCA1ABCTL_L                                
+000005f1  UCA1ABCTL_H                                
+000005f2  UCA1IRCTL                                  
+000005f2  UCA1IRCTL_L                                
+000005f3  UCA1IRCTL_H                                
+000005fa  UCA1IE                                     
+000005fa  UCA1IE_L                                   
+000005fb  UCA1IE_H                                   
+000005fc  UCA1IFG                                    
+000005fc  UCA1IFG_L                                  
+000005fd  UCA1IFG_H                                  
+000005fe  UCA1IV                                     
+000005fe  UCA1IV_L                                   
+000005ff  UCA1IV_H                                   
+00000600  UCA2CTLW0                                  
+00000600  UCA2CTLW0_L                                
+00000601  UCA2CTLW0_H                                
+00000602  UCA2CTLW1                                  
+00000602  UCA2CTLW1_L                                
+00000603  UCA2CTLW1_H                                
+00000606  UCA2BRW                                    
+00000606  UCA2BRW_L                                  
+00000607  UCA2BRW_H                                  
+00000608  UCA2MCTLW                                  
+00000608  UCA2MCTLW_L                                
+00000609  UCA2MCTLW_H                                
+0000060a  UCA2STATW                                  
+0000060a  UCA2STATW_L                                
+0000060b  UCA2STATW_H                                
+0000060c  UCA2RXBUF                                  
+0000060c  UCA2RXBUF_L                                
+0000060d  UCA2RXBUF_H                                
+0000060e  UCA2TXBUF                                  
+0000060e  UCA2TXBUF_L                                
+0000060f  UCA2TXBUF_H                                
+00000610  UCA2ABCTL                                  
+00000610  UCA2ABCTL_L                                
+00000611  UCA2ABCTL_H                                
+00000612  UCA2IRCTL                                  
+00000612  UCA2IRCTL_L                                
+00000613  UCA2IRCTL_H                                
+0000061a  UCA2IE                                     
+0000061a  UCA2IE_L                                   
+0000061b  UCA2IE_H                                   
+0000061c  UCA2IFG                                    
+0000061c  UCA2IFG_L                                  
+0000061d  UCA2IFG_H                                  
+0000061e  UCA2IV                                     
+0000061e  UCA2IV_L                                   
+0000061f  UCA2IV_H                                   
+00000620  UCA3CTLW0                                  
+00000620  UCA3CTLW0_L                                
+00000621  UCA3CTLW0_H                                
+00000622  UCA3CTLW1                                  
+00000622  UCA3CTLW1_L                                
+00000623  UCA3CTLW1_H                                
+00000626  UCA3BRW                                    
+00000626  UCA3BRW_L                                  
+00000627  UCA3BRW_H                                  
+00000628  UCA3MCTLW                                  
+00000628  UCA3MCTLW_L                                
+00000629  UCA3MCTLW_H                                
+0000062a  UCA3STATW                                  
+0000062a  UCA3STATW_L                                
+0000062b  UCA3STATW_H                                
+0000062c  UCA3RXBUF                                  
+0000062c  UCA3RXBUF_L                                
+0000062d  UCA3RXBUF_H                                
+0000062e  UCA3TXBUF                                  
+0000062e  UCA3TXBUF_L                                
+0000062f  UCA3TXBUF_H                                
+00000630  UCA3ABCTL                                  
+00000630  UCA3ABCTL_L                                
+00000631  UCA3ABCTL_H                                
+00000632  UCA3IRCTL                                  
+00000632  UCA3IRCTL_L                                
+00000633  UCA3IRCTL_H                                
+0000063a  UCA3IE                                     
+0000063a  UCA3IE_L                                   
+0000063b  UCA3IE_H                                   
+0000063c  UCA3IFG                                    
+0000063c  UCA3IFG_L                                  
+0000063d  UCA3IFG_H                                  
+0000063e  UCA3IV                                     
+0000063e  UCA3IV_L                                   
+0000063f  UCA3IV_H                                   
+00000640  UCB0CTLW0                                  
+00000640  UCB0CTLW0_L                                
+00000641  UCB0CTLW0_H                                
+00000642  UCB0CTLW1                                  
+00000642  UCB0CTLW1_L                                
+00000643  UCB0CTLW1_H                                
+00000646  UCB0BRW                                    
+00000646  UCB0BRW_L                                  
+00000647  UCB0BRW_H                                  
+00000648  UCB0STATW                                  
+00000648  UCB0STATW_L                                
+00000649  UCB0STATW_H                                
+0000064a  UCB0TBCNT                                  
+0000064a  UCB0TBCNT_L                                
+0000064b  UCB0TBCNT_H                                
+0000064c  UCB0RXBUF                                  
+0000064c  UCB0RXBUF_L                                
+0000064d  UCB0RXBUF_H                                
+0000064e  UCB0TXBUF                                  
+0000064e  UCB0TXBUF_L                                
+0000064f  UCB0TXBUF_H                                
+00000654  UCB0I2COA0                                 
+00000654  UCB0I2COA0_L                               
+00000655  UCB0I2COA0_H                               
+00000656  UCB0I2COA1                                 
+00000656  UCB0I2COA1_L                               
+00000657  UCB0I2COA1_H                               
+00000658  UCB0I2COA2                                 
+00000658  UCB0I2COA2_L                               
+00000659  UCB0I2COA2_H                               
+0000065a  UCB0I2COA3                                 
+0000065a  UCB0I2COA3_L                               
+0000065b  UCB0I2COA3_H                               
+0000065c  UCB0ADDRX                                  
+0000065c  UCB0ADDRX_L                                
+0000065d  UCB0ADDRX_H                                
+0000065e  UCB0ADDMASK                                
+0000065e  UCB0ADDMASK_L                              
+0000065f  UCB0ADDMASK_H                              
+00000660  UCB0I2CSA                                  
+00000660  UCB0I2CSA_L                                
+00000661  UCB0I2CSA_H                                
+0000066a  UCB0IE                                     
+0000066a  UCB0IE_L                                   
+0000066b  UCB0IE_H                                   
+0000066c  UCB0IFG                                    
+0000066c  UCB0IFG_L                                  
+0000066d  UCB0IFG_H                                  
+0000066e  UCB0IV                                     
+0000066e  UCB0IV_L                                   
+0000066f  UCB0IV_H                                   
+00000680  UCB1CTLW0                                  
+00000680  UCB1CTLW0_L                                
+00000681  UCB1CTLW0_H                                
+00000682  UCB1CTLW1                                  
+00000682  UCB1CTLW1_L                                
+00000683  UCB1CTLW1_H                                
+00000686  UCB1BRW                                    
+00000686  UCB1BRW_L                                  
+00000687  UCB1BRW_H                                  
+00000688  UCB1STATW                                  
+00000688  UCB1STATW_L                                
+00000689  UCB1STATW_H                                
+0000068a  UCB1TBCNT                                  
+0000068a  UCB1TBCNT_L                                
+0000068b  UCB1TBCNT_H                                
+0000068c  UCB1RXBUF                                  
+0000068c  UCB1RXBUF_L                                
+0000068d  UCB1RXBUF_H                                
+0000068e  UCB1TXBUF                                  
+0000068e  UCB1TXBUF_L                                
+0000068f  UCB1TXBUF_H                                
+00000694  UCB1I2COA0                                 
+00000694  UCB1I2COA0_L                               
+00000695  UCB1I2COA0_H                               
+00000696  UCB1I2COA1                                 
+00000696  UCB1I2COA1_L                               
+00000697  UCB1I2COA1_H                               
+00000698  UCB1I2COA2                                 
+00000698  UCB1I2COA2_L                               
+00000699  UCB1I2COA2_H                               
+0000069a  UCB1I2COA3                                 
+0000069a  UCB1I2COA3_L                               
+0000069b  UCB1I2COA3_H                               
+0000069c  UCB1ADDRX                                  
+0000069c  UCB1ADDRX_L                                
+0000069d  UCB1ADDRX_H                                
+0000069e  UCB1ADDMASK                                
+0000069e  UCB1ADDMASK_L                              
+0000069f  UCB1ADDMASK_H                              
+000006a0  UCB1I2CSA                                  
+000006a0  UCB1I2CSA_L                                
+000006a1  UCB1I2CSA_H                                
+000006aa  UCB1IE                                     
+000006aa  UCB1IE_L                                   
+000006ab  UCB1IE_H                                   
+000006ac  UCB1IFG                                    
+000006ac  UCB1IFG_L                                  
+000006ad  UCB1IFG_H                                  
+000006ae  UCB1IV                                     
+000006ae  UCB1IV_L                                   
+000006af  UCB1IV_H                                   
+000006c0  UCB2CTLW0                                  
+000006c0  UCB2CTLW0_L                                
+000006c1  UCB2CTLW0_H                                
+000006c2  UCB2CTLW1                                  
+000006c2  UCB2CTLW1_L                                
+000006c3  UCB2CTLW1_H                                
+000006c6  UCB2BRW                                    
+000006c6  UCB2BRW_L                                  
+000006c7  UCB2BRW_H                                  
+000006c8  UCB2STATW                                  
+000006c8  UCB2STATW_L                                
+000006c9  UCB2STATW_H                                
+000006ca  UCB2TBCNT                                  
+000006ca  UCB2TBCNT_L                                
+000006cb  UCB2TBCNT_H                                
+000006cc  UCB2RXBUF                                  
+000006cc  UCB2RXBUF_L                                
+000006cd  UCB2RXBUF_H                                
+000006ce  UCB2TXBUF                                  
+000006ce  UCB2TXBUF_L                                
+000006cf  UCB2TXBUF_H                                
+000006d4  UCB2I2COA0                                 
+000006d4  UCB2I2COA0_L                               
+000006d5  UCB2I2COA0_H                               
+000006d6  UCB2I2COA1                                 
+000006d6  UCB2I2COA1_L                               
+000006d7  UCB2I2COA1_H                               
+000006d8  UCB2I2COA2                                 
+000006d8  UCB2I2COA2_L                               
+000006d9  UCB2I2COA2_H                               
+000006da  UCB2I2COA3                                 
+000006da  UCB2I2COA3_L                               
+000006db  UCB2I2COA3_H                               
+000006dc  UCB2ADDRX                                  
+000006dc  UCB2ADDRX_L                                
+000006dd  UCB2ADDRX_H                                
+000006de  UCB2ADDMASK                                
+000006de  UCB2ADDMASK_L                              
+000006df  UCB2ADDMASK_H                              
+000006e0  UCB2I2CSA                                  
+000006e0  UCB2I2CSA_L                                
+000006e1  UCB2I2CSA_H                                
+000006ea  UCB2IE                                     
+000006ea  UCB2IE_L                                   
+000006eb  UCB2IE_H                                   
+000006ec  UCB2IFG                                    
+000006ec  UCB2IFG_L                                  
+000006ed  UCB2IFG_H                                  
+000006ee  UCB2IV                                     
+000006ee  UCB2IV_L                                   
+000006ef  UCB2IV_H                                   
+00000700  UCB3CTLW0                                  
+00000700  UCB3CTLW0_L                                
+00000701  UCB3CTLW0_H                                
+00000702  UCB3CTLW1                                  
+00000702  UCB3CTLW1_L                                
+00000703  UCB3CTLW1_H                                
+00000706  UCB3BRW                                    
+00000706  UCB3BRW_L                                  
+00000707  UCB3BRW_H                                  
+00000708  UCB3STATW                                  
+00000708  UCB3STATW_L                                
+00000709  UCB3STATW_H                                
+0000070a  UCB3TBCNT                                  
+0000070a  UCB3TBCNT_L                                
+0000070b  UCB3TBCNT_H                                
+0000070c  UCB3RXBUF                                  
+0000070c  UCB3RXBUF_L                                
+0000070d  UCB3RXBUF_H                                
+0000070e  UCB3TXBUF                                  
+0000070e  UCB3TXBUF_L                                
+0000070f  UCB3TXBUF_H                                
+00000714  UCB3I2COA0                                 
+00000714  UCB3I2COA0_L                               
+00000715  UCB3I2COA0_H                               
+00000716  UCB3I2COA1                                 
+00000716  UCB3I2COA1_L                               
+00000717  UCB3I2COA1_H                               
+00000718  UCB3I2COA2                                 
+00000718  UCB3I2COA2_L                               
+00000719  UCB3I2COA2_H                               
+0000071a  UCB3I2COA3                                 
+0000071a  UCB3I2COA3_L                               
+0000071b  UCB3I2COA3_H                               
+0000071c  UCB3ADDRX                                  
+0000071c  UCB3ADDRX_L                                
+0000071d  UCB3ADDRX_H                                
+0000071e  UCB3ADDMASK                                
+0000071e  UCB3ADDMASK_L                              
+0000071f  UCB3ADDMASK_H                              
+00000720  UCB3I2CSA                                  
+00000720  UCB3I2CSA_L                                
+00000721  UCB3I2CSA_H                                
+0000072a  UCB3IE                                     
+0000072a  UCB3IE_L                                   
+0000072b  UCB3IE_H                                   
+0000072c  UCB3IFG                                    
+0000072c  UCB3IFG_L                                  
+0000072d  UCB3IFG_H                                  
+0000072e  UCB3IV                                     
+0000072e  UCB3IV_L                                   
+0000072f  UCB3IV_H                                   
+000007c0  TA4CTL                                     
+000007c0  TA4CTL_L                                   
+000007c1  TA4CTL_H                                   
+000007c2  TA4CCTL0                                   
+000007c2  TA4CCTL0_L                                 
+000007c3  TA4CCTL0_H                                 
+000007c4  TA4CCTL1                                   
+000007c4  TA4CCTL1_L                                 
+000007c5  TA4CCTL1_H                                 
+000007c6  TA4CCTL2                                   
+000007c6  TA4CCTL2_L                                 
+000007c7  TA4CCTL2_H                                 
+000007d0  TA4R                                       
+000007d0  TA4R_L                                     
+000007d1  TA4R_H                                     
+000007d2  TA4CCR0                                    
+000007d2  TA4CCR0_L                                  
+000007d3  TA4CCR0_H                                  
+000007d4  TA4CCR1                                    
+000007d4  TA4CCR1_L                                  
+000007d5  TA4CCR1_H                                  
+000007d6  TA4CCR2                                    
+000007d6  TA4CCR2_L                                  
+000007d7  TA4CCR2_H                                  
+000007e0  TA4EX0                                     
+000007e0  TA4EX0_L                                   
+000007e1  TA4EX0_H                                   
+000007ee  TA4IV                                      
+000007ee  TA4IV_L                                    
+000007ef  TA4IV_H                                    
+00000800  ADC12CTL0                                  
+00000800  ADC12CTL0_L                                
+00000801  ADC12CTL0_H                                
+00000802  ADC12CTL1                                  
+00000802  ADC12CTL1_L                                
+00000803  ADC12CTL1_H                                
+00000804  ADC12CTL2                                  
+00000804  ADC12CTL2_L                                
+00000805  ADC12CTL2_H                                
+00000806  ADC12CTL3                                  
+00000806  ADC12CTL3_L                                
+00000807  ADC12CTL3_H                                
+00000808  ADC12LO                                    
+00000808  ADC12LO_L                                  
+00000809  ADC12LO_H                                  
+0000080a  ADC12HI                                    
+0000080a  ADC12HI_L                                  
+0000080b  ADC12HI_H                                  
+0000080c  ADC12IFGR0                                 
+0000080c  ADC12IFGR0_L                               
+0000080d  ADC12IFGR0_H                               
+0000080e  ADC12IFGR1                                 
+0000080e  ADC12IFGR1_L                               
+0000080f  ADC12IFGR1_H                               
+00000810  ADC12IFGR2                                 
+00000810  ADC12IFGR2_L                               
+00000811  ADC12IFGR2_H                               
+00000812  ADC12IER0                                  
+00000812  ADC12IER0_L                                
+00000813  ADC12IER0_H                                
+00000814  ADC12IER1                                  
+00000814  ADC12IER1_L                                
+00000815  ADC12IER1_H                                
+00000816  ADC12IER2                                  
+00000816  ADC12IER2_L                                
+00000817  ADC12IER2_H                                
+00000818  ADC12IV                                    
+00000818  ADC12IV_L                                  
+00000819  ADC12IV_H                                  
+00000820  ADC12MCTL0                                 
+00000820  ADC12MCTL0_L                               
+00000821  ADC12MCTL0_H                               
+00000822  ADC12MCTL1                                 
+00000822  ADC12MCTL1_L                               
+00000823  ADC12MCTL1_H                               
+00000824  ADC12MCTL2                                 
+00000824  ADC12MCTL2_L                               
+00000825  ADC12MCTL2_H                               
+00000826  ADC12MCTL3                                 
+00000826  ADC12MCTL3_L                               
+00000827  ADC12MCTL3_H                               
+00000828  ADC12MCTL4                                 
+00000828  ADC12MCTL4_L                               
+00000829  ADC12MCTL4_H                               
+0000082a  ADC12MCTL5                                 
+0000082a  ADC12MCTL5_L                               
+0000082b  ADC12MCTL5_H                               
+0000082c  ADC12MCTL6                                 
+0000082c  ADC12MCTL6_L                               
+0000082d  ADC12MCTL6_H                               
+0000082e  ADC12MCTL7                                 
+0000082e  ADC12MCTL7_L                               
+0000082f  ADC12MCTL7_H                               
+00000830  ADC12MCTL8                                 
+00000830  ADC12MCTL8_L                               
+00000831  ADC12MCTL8_H                               
+00000832  ADC12MCTL9                                 
+00000832  ADC12MCTL9_L                               
+00000833  ADC12MCTL9_H                               
+00000834  ADC12MCTL10                                
+00000834  ADC12MCTL10_L                              
+00000835  ADC12MCTL10_H                              
+00000836  ADC12MCTL11                                
+00000836  ADC12MCTL11_L                              
+00000837  ADC12MCTL11_H                              
+00000838  ADC12MCTL12                                
+00000838  ADC12MCTL12_L                              
+00000839  ADC12MCTL12_H                              
+0000083a  ADC12MCTL13                                
+0000083a  ADC12MCTL13_L                              
+0000083b  ADC12MCTL13_H                              
+0000083c  ADC12MCTL14                                
+0000083c  ADC12MCTL14_L                              
+0000083d  ADC12MCTL14_H                              
+0000083e  ADC12MCTL15                                
+0000083e  ADC12MCTL15_L                              
+0000083f  ADC12MCTL15_H                              
+00000840  ADC12MCTL16                                
+00000840  ADC12MCTL16_L                              
+00000841  ADC12MCTL16_H                              
+00000842  ADC12MCTL17                                
+00000842  ADC12MCTL17_L                              
+00000843  ADC12MCTL17_H                              
+00000844  ADC12MCTL18                                
+00000844  ADC12MCTL18_L                              
+00000845  ADC12MCTL18_H                              
+00000846  ADC12MCTL19                                
+00000846  ADC12MCTL19_L                              
+00000847  ADC12MCTL19_H                              
+00000848  ADC12MCTL20                                
+00000848  ADC12MCTL20_L                              
+00000849  ADC12MCTL20_H                              
+0000084a  ADC12MCTL21                                
+0000084a  ADC12MCTL21_L                              
+0000084b  ADC12MCTL21_H                              
+0000084c  ADC12MCTL22                                
+0000084c  ADC12MCTL22_L                              
+0000084d  ADC12MCTL22_H                              
+0000084e  ADC12MCTL23                                
+0000084e  ADC12MCTL23_L                              
+0000084f  ADC12MCTL23_H                              
+00000850  ADC12MCTL24                                
+00000850  ADC12MCTL24_L                              
+00000851  ADC12MCTL24_H                              
+00000852  ADC12MCTL25                                
+00000852  ADC12MCTL25_L                              
+00000853  ADC12MCTL25_H                              
+00000854  ADC12MCTL26                                
+00000854  ADC12MCTL26_L                              
+00000855  ADC12MCTL26_H                              
+00000856  ADC12MCTL27                                
+00000856  ADC12MCTL27_L                              
+00000857  ADC12MCTL27_H                              
+00000858  ADC12MCTL28                                
+00000858  ADC12MCTL28_L                              
+00000859  ADC12MCTL28_H                              
+0000085a  ADC12MCTL29                                
+0000085a  ADC12MCTL29_L                              
+0000085b  ADC12MCTL29_H                              
+0000085c  ADC12MCTL30                                
+0000085c  ADC12MCTL30_L                              
+0000085d  ADC12MCTL30_H                              
+0000085e  ADC12MCTL31                                
+0000085e  ADC12MCTL31_L                              
+0000085f  ADC12MCTL31_H                              
+00000860  ADC12MEM0                                  
+00000860  ADC12MEM0_L                                
+00000861  ADC12MEM0_H                                
+00000862  ADC12MEM1                                  
+00000862  ADC12MEM1_L                                
+00000863  ADC12MEM1_H                                
+00000864  ADC12MEM2                                  
+00000864  ADC12MEM2_L                                
+00000865  ADC12MEM2_H                                
+00000866  ADC12MEM3                                  
+00000866  ADC12MEM3_L                                
+00000867  ADC12MEM3_H                                
+00000868  ADC12MEM4                                  
+00000868  ADC12MEM4_L                                
+00000869  ADC12MEM4_H                                
+0000086a  ADC12MEM5                                  
+0000086a  ADC12MEM5_L                                
+0000086b  ADC12MEM5_H                                
+0000086c  ADC12MEM6                                  
+0000086c  ADC12MEM6_L                                
+0000086d  ADC12MEM6_H                                
+0000086e  ADC12MEM7                                  
+0000086e  ADC12MEM7_L                                
+0000086f  ADC12MEM7_H                                
+00000870  ADC12MEM8                                  
+00000870  ADC12MEM8_L                                
+00000871  ADC12MEM8_H                                
+00000872  ADC12MEM9                                  
+00000872  ADC12MEM9_L                                
+00000873  ADC12MEM9_H                                
+00000874  ADC12MEM10                                 
+00000874  ADC12MEM10_L                               
+00000875  ADC12MEM10_H                               
+00000876  ADC12MEM11                                 
+00000876  ADC12MEM11_L                               
+00000877  ADC12MEM11_H                               
+00000878  ADC12MEM12                                 
+00000878  ADC12MEM12_L                               
+00000879  ADC12MEM12_H                               
+0000087a  ADC12MEM13                                 
+0000087a  ADC12MEM13_L                               
+0000087b  ADC12MEM13_H                               
+0000087c  ADC12MEM14                                 
+0000087c  ADC12MEM14_L                               
+0000087d  ADC12MEM14_H                               
+0000087e  ADC12MEM15                                 
+0000087e  ADC12MEM15_L                               
+0000087f  ADC12MEM15_H                               
+00000880  ADC12MEM16                                 
+00000880  ADC12MEM16_L                               
+00000881  ADC12MEM16_H                               
+00000882  ADC12MEM17                                 
+00000882  ADC12MEM17_L                               
+00000883  ADC12MEM17_H                               
+00000884  ADC12MEM18                                 
+00000884  ADC12MEM18_L                               
+00000885  ADC12MEM18_H                               
+00000886  ADC12MEM19                                 
+00000886  ADC12MEM19_L                               
+00000887  ADC12MEM19_H                               
+00000888  ADC12MEM20                                 
+00000888  ADC12MEM20_L                               
+00000889  ADC12MEM20_H                               
+0000088a  ADC12MEM21                                 
+0000088a  ADC12MEM21_L                               
+0000088b  ADC12MEM21_H                               
+0000088c  ADC12MEM22                                 
+0000088c  ADC12MEM22_L                               
+0000088d  ADC12MEM22_H                               
+0000088e  ADC12MEM23                                 
+0000088e  ADC12MEM23_L                               
+0000088f  ADC12MEM23_H                               
+00000890  ADC12MEM24                                 
+00000890  ADC12MEM24_L                               
+00000891  ADC12MEM24_H                               
+00000892  ADC12MEM25                                 
+00000892  ADC12MEM25_L                               
+00000893  ADC12MEM25_H                               
+00000894  ADC12MEM26                                 
+00000894  ADC12MEM26_L                               
+00000895  ADC12MEM26_H                               
+00000896  ADC12MEM27                                 
+00000896  ADC12MEM27_L                               
+00000897  ADC12MEM27_H                               
+00000898  ADC12MEM28                                 
+00000898  ADC12MEM28_L                               
+00000899  ADC12MEM28_H                               
+0000089a  ADC12MEM29                                 
+0000089a  ADC12MEM29_L                               
+0000089b  ADC12MEM29_H                               
+0000089c  ADC12MEM30                                 
+0000089c  ADC12MEM30_L                               
+0000089d  ADC12MEM30_H                               
+0000089e  ADC12MEM31                                 
+0000089e  ADC12MEM31_L                               
+0000089f  ADC12MEM31_H                               
+000008c0  CECTL0                                     
+000008c0  CECTL0_L                                   
+000008c1  CECTL0_H                                   
+000008c2  CECTL1                                     
+000008c2  CECTL1_L                                   
+000008c3  CECTL1_H                                   
+000008c4  CECTL2                                     
+000008c4  CECTL2_L                                   
+000008c5  CECTL2_H                                   
+000008c6  CECTL3                                     
+000008c6  CECTL3_L                                   
+000008c7  CECTL3_H                                   
+000008cc  CEINT                                      
+000008cc  CEINT_L                                    
+000008cd  CEINT_H                                    
+000008ce  CEIV                                       
+000008ce  CEIV_L                                     
+000008cf  CEIV_H                                     
+00000980  CRC32DIW0                                  
+00000980  CRC32DIW0_L                                
+00000981  CRC32DIW0_H                                
+00000982  CRC32DIW1                                  
+00000982  CRC32DIW1_L                                
+00000983  CRC32DIW1_H                                
+00000984  CRC32DIRBW1                                
+00000984  CRC32DIRBW1_L                              
+00000985  CRC32DIRBW1_H                              
+00000986  CRC32DIRBW0                                
+00000986  CRC32DIRBW0_L                              
+00000987  CRC32DIRBW0_H                              
+00000988  CRC32INIRESW0                              
+00000988  CRC32INIRESW0_L                            
+00000989  CRC32INIRESW0_H                            
+0000098a  CRC32INIRESW1                              
+0000098a  CRC32INIRESW1_L                            
+0000098b  CRC32INIRESW1_H                            
+0000098c  CRC32RESRW1                                
+0000098c  CRC32RESRW1_L                              
+0000098d  CRC32RESRW1_H                              
+0000098e  CRC32RESRW0                                
+0000098e  CRC32RESRW0_L                              
+0000098f  CRC32RESRW0_H                              
+00000990  CRC16DIW0                                  
+00000990  CRC16DIW0_L                                
+00000991  CRC16DIW0_H                                
+00000996  CRC16DIRBW0                                
+00000996  CRC16DIRBW0_L                              
+00000997  CRC16DIRBW0_H                              
+00000998  CRC16INIRESW0                              
+00000998  CRC16INIRESW0_L                            
+00000999  CRC16INIRESW0_H                            
+0000099e  CRC16RESRW0                                
+0000099e  CRC16RESRW0_L                              
+0000099f  CRC16RESRW0_H                              
+000009c0  AESACTL0                                   
+000009c0  AESACTL0_L                                 
+000009c1  AESACTL0_H                                 
+000009c2  AESACTL1                                   
+000009c2  AESACTL1_L                                 
+000009c3  AESACTL1_H                                 
+000009c4  AESASTAT                                   
+000009c4  AESASTAT_L                                 
+000009c5  AESASTAT_H                                 
+000009c6  AESAKEY                                    
+000009c6  AESAKEY_L                                  
+000009c7  AESAKEY_H                                  
+000009c8  AESADIN                                    
+000009c8  AESADIN_L                                  
+000009c9  AESADIN_H                                  
+000009ca  AESADOUT                                   
+000009ca  AESADOUT_L                                 
+000009cb  AESADOUT_H                                 
+000009cc  AESAXDIN                                   
+000009cc  AESAXDIN_L                                 
+000009cd  AESAXDIN_H                                 
+000009ce  AESAXIN                                    
+000009ce  AESAXIN_L                                  
+000009cf  AESAXIN_H                                  
+00000a80  LEACAP                                     
+00000a80  LEACAPL                                    
+00000a82  LEACAPH                                    
+00000a84  LEACNF0                                    
+00000a84  LEACNF0L                                   
+00000a86  LEACNF0H                                   
+00000a88  LEACNF1                                    
+00000a88  LEACNF1L                                   
+00000a8a  LEACNF1H                                   
+00000a8c  LEACNF2                                    
+00000a8c  LEACNF2L                                   
+00000a8e  LEACNF2H                                   
+00000a90  LEAMB                                      
+00000a90  LEAMBL                                     
+00000a92  LEAMBH                                     
+00000a94  LEAMT                                      
+00000a94  LEAMTL                                     
+00000a96  LEAMTH                                     
+00000a98  LEACMA                                     
+00000a98  LEACMAL                                    
+00000a9a  LEACMAH                                    
+00000a9c  LEACMCTL                                   
+00000a9c  LEACMCTLL                                  
+00000a9e  LEACMCTLH                                  
+00000aa8  LEACMDSTAT                                 
+00000aa8  LEACMDSTATL                                
+00000aaa  LEACMDSTATH                                
+00000aac  LEAS1STAT                                  
+00000aac  LEAS1STATL                                 
+00000aae  LEAS1STATH                                 
+00000ab0  LEAS0STAT                                  
+00000ab0  LEAS0STATL                                 
+00000ab2  LEAS0STATH                                 
+00000ab4  LEADSTSTAT                                 
+00000ab4  LEADSTSTATL                                
+00000ab6  LEADSTSTATH                                
+00000ac0  LEAPMCTL                                   
+00000ac0  LEAPMCTLL                                  
+00000ac2  LEAPMCTLH                                  
+00000ac4  LEAPMDST                                   
+00000ac4  LEAPMDSTL                                  
+00000ac6  LEAPMDSTH                                  
+00000ac8  LEAPMS1                                    
+00000ac8  LEAPMS1L                                   
+00000aca  LEAPMS1H                                   
+00000acc  LEAPMS0                                    
+00000acc  LEAPMS0L                                   
+00000ace  LEAPMS0H                                   
+00000ad0  LEAPMCB                                    
+00000ad0  LEAPMCBL                                   
+00000ad2  LEAPMCBH                                   
+00000af0  LEAIFGSET                                  
+00000af0  LEAIFGSETL                                 
+00000af2  LEAIFGSETH                                 
+00000af4  LEAIE                                      
+00000af4  LEAIEL                                     
+00000af6  LEAIEH                                     
+00000af8  LEAIFG                                     
+00000af8  LEAIFGL                                    
+00000afa  LEAIFGH                                    
+00000afc  LEAIV                                      
+00000afc  LEAIVL                                     
+00000afe  LEAIVH                                     
+00001513  mpu_sam_value                              
+00001c00  TIMER0_B0_ISR                              
+000022ca  USCI_B0_ISR                                
+00002428  g_piCur                                    
+00002456  g_piSpd                                    
+00002484  g_i2cCmdLength                             
+00002494  g_hallMap                                  
+0000249c  g_rxBuffer                                 
+000024a4  g_txBuffer                                 
+000024ac  g_impulse                                  
+000024b2  g_closeLoopThreshold                       
+000024b6  g_currentOffsetPhaseA                      
+000024ba  g_currentOffsetPhaseB                      
+000024be  g_currentOffsetPhaseC                      
+000024c2  g_currentPhaseA                            
+000024c6  g_currentPhaseB                            
+000024ca  g_currentPhaseC                            
+000024ce  g_currentPosition                          
+000024d2  g_currentSpeed                             
+000024d6  g_hallSensor                               
+000024da  g_oldPosition                              
+000024de  g_openLoopTorque                           
+000024e2  g_targetPosition                           
+000024e6  g_cmdState                                 
+000024e8  g_controlPrescaler                         
+000024ea  g_slaveMode                                
+000024ec  g_state                                    
+000024ee  g_transmitCurrentPosition                  
+000024f0  g_calibrating                              
+000024f1  g_calibrationDone                          
+000024f2  g_closedLoop                               
+000024f3  g_commState                                
+000024f4  g_controlRegister                          
+000024f5  g_faultRegister                            
+000024f6  g_i2cSlaveAddress                          
+000024f7  g_maxSpeed                                 
+000024f8  g_mod6cnt                                  
+000024f9  g_oldCommState                             
+000024fa  g_readRegAddr                              
+000024fb  g_rxBufferIdx                              
+000024fc  g_rxByteCtr                                
+000024fd  g_statusRegister                           
+000024fe  g_targetDirection                          
+000024ff  g_targetReached                            
+00002500  g_txBufferIdx                              
+00002501  g_txByteCtr                                
+00002502  driveOpenLoop                              
+00002b60  _stack                                     
+00002c00  __STACK_END                                
+00004000  _c_int00_noargs_mpu                        
+00004000  fram_ipe_end                               
+00004000  fram_ipe_start                             
+00004000  fram_rw_start                              
+00004000  fram_rx_start                              
+00004020  __TI_ISR_TRAP                              
+00004880  __TI_Handler_Table_Base                    
+0000488c  __TI_Handler_Table_Limit                   
+00004898  __TI_CINIT_Base                            
+000048a8  __TI_BINIT_Base                            
+000048a8  __TI_CINIT_Limit                           
+000048a8  __TI_table_binit                           
+000048b8  __TI_BINIT_Limit                           
+0000a501  mpu_ctl0_value                             
+0000ffb4  __TI_int18                                 
+0000ffb6  __TI_int19                                 
+0000ffb8  __TI_int20                                 
+0000ffba  __TI_int21                                 
+0000ffbc  __TI_int22                                 
+0000ffbe  __TI_int23                                 
+0000ffc0  __TI_int24                                 
+0000ffc2  __TI_int25                                 
+0000ffc4  __TI_int26                                 
+0000ffc6  __TI_int27                                 
+0000ffc8  __TI_int28                                 
+0000ffca  __TI_int29                                 
+0000ffcc  __TI_int30                                 
+0000ffce  __TI_int31                                 
+0000ffd0  __TI_int32                                 
+0000ffd2  __TI_int33                                 
+0000ffd4  __TI_int34                                 
+0000ffd6  __TI_int35                                 
+0000ffd8  __TI_int36                                 
+0000ffda  __TI_int37                                 
+0000ffdc  __TI_int38                                 
+0000ffde  __TI_int39                                 
+0000ffe0  __TI_int40                                 
+0000ffe2  __TI_int41                                 
+0000ffe4  __TI_int42                                 
+0000ffe6  __TI_int43                                 
+0000ffe8  __TI_int44                                 
+0000ffea  __TI_int45                                 
+0000ffec  __TI_int46                                 
+0000ffee  __TI_int47                                 
+0000fff0  __TI_int48                                 
+0000fff2  __TI_int49                                 
+0000fff4  __TI_int50                                 
+0000fff6  __TI_int51                                 
+0000fff8  __TI_int52                                 
+0000fffa  __TI_int53                                 
+0000fffc  __TI_int54                                 
+0000fffe  _reset_vector                              
+00010000  main                                       
+000101ce  CS_setDCOFreq                              
+000102be  initializePwmModules                       
+00010396  i2cSlaveTransactionDone                    
+0001044e  initializeAdcModule                        
+00010506  updateStateMachine                         
+000105be  initializeGpios                            
+00010662  ADC12_B_init                               
+000106ea  initializeI2cModule                        
+00010768  Timer_B_initUpDownMode                     
+000107de  __TI_decompress_lzss                       
+00010854  GPIO_setAsPeripheralModuleFunctionInputPin 
+000108c0  GPIO_setAsPeripheralModuleFunctionOutputPin
+00010928  currentOffsetCalibration                   
+00010990  __TI_auto_init_nopinit_hold_wdt            
+000109f6  copy_in                                    
+00010a5a  CS_initClockSignal                         
+00010ab0  GPIO_setAsInputPin                         
+00010af2  initializeCmdLength                        
+00010b30  __mspabi_slll_15                           
+00010b34  __mspabi_slll_14                           
+00010b38  __mspabi_slll_13                           
+00010b3c  __mspabi_slll_12                           
+00010b40  __mspabi_slll_11                           
+00010b44  __mspabi_slll_10                           
+00010b48  __mspabi_slll_9                            
+00010b4c  __mspabi_slll_8                            
+00010b50  __mspabi_slll_7                            
+00010b54  __mspabi_slll_6                            
+00010b58  __mspabi_slll_5                            
+00010b5c  __mspabi_slll_4                            
+00010b60  __mspabi_slll_3                            
+00010b64  __mspabi_slll_2                            
+00010b68  __mspabi_slll_1                            
+00010b6e  __mspabi_srll_15                           
+00010b72  __mspabi_srll_14                           
+00010b76  __mspabi_srll_13                           
+00010b7a  __mspabi_srll_12                           
+00010b7e  __mspabi_srll_11                           
+00010b82  __mspabi_srll_10                           
+00010b86  __mspabi_srll_9                            
+00010b8a  __mspabi_srll_8                            
+00010b8e  __mspabi_srll_7                            
+00010b92  __mspabi_srll_6                            
+00010b96  __mspabi_srll_5                            
+00010b9a  __mspabi_srll_4                            
+00010b9e  __mspabi_srll_3                            
+00010ba2  __mspabi_srll_2                            
+00010ba6  __mspabi_srll_1                            
+00010bac  ADC12_B_configureMemory                    
+00010be8  GPIO_setAsOutputPin                        
+00010c20  Timer_B_initCompareMode                    
+00010c58  ADC12_B_startConversion                    
+00010c88  __mpu_init                                 
+00010cb4  resetPiController                          
+00010ce0  EUSCI_B_I2C_initSlave                      
+00010d0a  initializeHallInterface                    
+00010d32  __TI_zero_init_nomemset                    
+00010d56  ADC12_B_setupSamplingTimer                 
+00010d76  GPIO_setOutputHighOnPin                    
+00010d92  GPIO_setOutputLowOnPin                     
+00010dae  __mspabi_mpyi_f5hw                         
+00010dc6  WDT_A_hold                                 
+00010ddc  copyArray                                  
+00010df0  memcpy                                     
+00010e04  __TI_decompress_none                       
+00010e16  ADC12_B_setResolution                      
+00010e26  ADC12_B_enable                             
+00010e34  EUSCI_B_I2C_clearInterrupt                 
+00010e40  EUSCI_B_I2C_enableInterrupt                
+00010e4c  read_driver_fault                          
+00010e58  Timer_B_clearCaptureCompareInterrupt       
+00010e62  EUSCI_B_I2C_enable                         
+00010e68  C$$EXIT                                    
+00010e68  abort                                      
+00010e6e  _system_pre_init                           
+00010e72  _system_post_cinit                         
+ffffffff  __TI_pprof_out_hndl                        
+ffffffff  __TI_prof_data_size                        
+ffffffff  __TI_prof_data_start                       
+ffffffff  __c_args__                                 
+
+[1685 symbols]
diff --git a/Apps/FlightSoftware/MotorControl/Release/MotorControl.out b/Apps/FlightSoftware/MotorControl/Release/MotorControl.out
new file mode 100644
index 0000000000000000000000000000000000000000..106fa14969988b08b9601cf36bb0d68ee1a3e672
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diff --git a/Apps/FlightSoftware/MotorControl/Release/MotorControl_linkInfo.xml b/Apps/FlightSoftware/MotorControl/Release/MotorControl_linkInfo.xml
new file mode 100644
index 000000000..af404d9ce
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/MotorControl_linkInfo.xml
@@ -0,0 +1,14627 @@
+<?xml version="1.0" encoding="ISO-8859-1" ?>
+<link_info>
+   <banner>MSP430 Linker PC v18.12.4.LTS</banner>
+   <copyright>Copyright (c) 2003-2018 Texas Instruments Incorporated</copyright>
+   <link_time>0x6071e336</link_time>
+   <link_errors>0x0</link_errors>
+   <output_file>MotorControl.out</output_file>
+   <entry_point>
+      <name>_c_int00_noargs_mpu</name>
+      <address>0x4000</address>
+   </entry_point>
+   <input_file_list>
+      <input_file id="fl-2">
+         <path>.\</path>
+         <kind>object</kind>
+         <file>bsp.obj</file>
+         <name>bsp.obj</name>
+      </input_file>
+      <input_file id="fl-3">
+         <path>.\</path>
+         <kind>object</kind>
+         <file>i2c.obj</file>
+         <name>i2c.obj</name>
+      </input_file>
+      <input_file id="fl-4">
+         <path>.\</path>
+         <kind>object</kind>
+         <file>main.obj</file>
+         <name>main.obj</name>
+      </input_file>
+      <input_file id="fl-5">
+         <path>.\driverlib\</path>
+         <kind>object</kind>
+         <file>adc12_b.obj</file>
+         <name>adc12_b.obj</name>
+      </input_file>
+      <input_file id="fl-6">
+         <path>.\driverlib\</path>
+         <kind>object</kind>
+         <file>aes256.obj</file>
+         <name>aes256.obj</name>
+      </input_file>
+      <input_file id="fl-7">
+         <path>.\driverlib\</path>
+         <kind>object</kind>
+         <file>comp_e.obj</file>
+         <name>comp_e.obj</name>
+      </input_file>
+      <input_file id="fl-8">
+         <path>.\driverlib\</path>
+         <kind>object</kind>
+         <file>crc.obj</file>
+         <name>crc.obj</name>
+      </input_file>
+      <input_file id="fl-9">
+         <path>.\driverlib\</path>
+         <kind>object</kind>
+         <file>crc32.obj</file>
+         <name>crc32.obj</name>
+      </input_file>
+      <input_file id="fl-a">
+         <path>.\driverlib\</path>
+         <kind>object</kind>
+         <file>cs.obj</file>
+         <name>cs.obj</name>
+      </input_file>
+      <input_file id="fl-b">
+         <path>.\driverlib\</path>
+         <kind>object</kind>
+         <file>dma.obj</file>
+         <name>dma.obj</name>
+      </input_file>
+      <input_file id="fl-c">
+         <path>.\driverlib\</path>
+         <kind>object</kind>
+         <file>esi.obj</file>
+         <name>esi.obj</name>
+      </input_file>
+      <input_file id="fl-d">
+         <path>.\driverlib\</path>
+         <kind>object</kind>
+         <file>eusci_a_spi.obj</file>
+         <name>eusci_a_spi.obj</name>
+      </input_file>
+      <input_file id="fl-e">
+         <path>.\driverlib\</path>
+         <kind>object</kind>
+         <file>eusci_a_uart.obj</file>
+         <name>eusci_a_uart.obj</name>
+      </input_file>
+      <input_file id="fl-f">
+         <path>.\driverlib\</path>
+         <kind>object</kind>
+         <file>eusci_b_i2c.obj</file>
+         <name>eusci_b_i2c.obj</name>
+      </input_file>
+      <input_file id="fl-10">
+         <path>.\driverlib\</path>
+         <kind>object</kind>
+         <file>eusci_b_spi.obj</file>
+         <name>eusci_b_spi.obj</name>
+      </input_file>
+      <input_file id="fl-11">
+         <path>.\driverlib\</path>
+         <kind>object</kind>
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+         <value>0x98a</value>
+      </symbol>
+      <symbol id="sm-139">
+         <name>CRC32INIRESW1_L</name>
+         <value>0x98a</value>
+      </symbol>
+      <symbol id="sm-13a">
+         <name>CRC32INIRESW1_H</name>
+         <value>0x98b</value>
+      </symbol>
+      <symbol id="sm-13b">
+         <name>CRC32RESRW1</name>
+         <value>0x98c</value>
+      </symbol>
+      <symbol id="sm-13c">
+         <name>CRC32RESRW1_L</name>
+         <value>0x98c</value>
+      </symbol>
+      <symbol id="sm-13d">
+         <name>CRC32RESRW1_H</name>
+         <value>0x98d</value>
+      </symbol>
+      <symbol id="sm-13e">
+         <name>CRC32RESRW0</name>
+         <value>0x98e</value>
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+      <symbol id="sm-13f">
+         <name>CRC32RESRW0_L</name>
+         <value>0x98e</value>
+      </symbol>
+      <symbol id="sm-140">
+         <name>CRC32RESRW0_H</name>
+         <value>0x98f</value>
+      </symbol>
+      <symbol id="sm-141">
+         <name>CRC16DIW0</name>
+         <value>0x990</value>
+      </symbol>
+      <symbol id="sm-142">
+         <name>CRC16DIW0_L</name>
+         <value>0x990</value>
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+      <symbol id="sm-143">
+         <name>CRC16DIW0_H</name>
+         <value>0x991</value>
+      </symbol>
+      <symbol id="sm-144">
+         <name>CRC16DIRBW0</name>
+         <value>0x996</value>
+      </symbol>
+      <symbol id="sm-145">
+         <name>CRC16DIRBW0_L</name>
+         <value>0x996</value>
+      </symbol>
+      <symbol id="sm-146">
+         <name>CRC16DIRBW0_H</name>
+         <value>0x997</value>
+      </symbol>
+      <symbol id="sm-147">
+         <name>CRC16INIRESW0</name>
+         <value>0x998</value>
+      </symbol>
+      <symbol id="sm-148">
+         <name>CRC16INIRESW0_L</name>
+         <value>0x998</value>
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+      <symbol id="sm-149">
+         <name>CRC16INIRESW0_H</name>
+         <value>0x999</value>
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+      <symbol id="sm-14a">
+         <name>CRC16RESRW0</name>
+         <value>0x99e</value>
+      </symbol>
+      <symbol id="sm-14b">
+         <name>CRC16RESRW0_L</name>
+         <value>0x99e</value>
+      </symbol>
+      <symbol id="sm-14c">
+         <name>CRC16RESRW0_H</name>
+         <value>0x99f</value>
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+      <symbol id="sm-14d">
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+         <value>0x160</value>
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+      <symbol id="sm-14e">
+         <name>CSCTL0_L</name>
+         <value>0x160</value>
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+         <name>CSCTL0_H</name>
+         <value>0x161</value>
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+      <symbol id="sm-150">
+         <name>CSCTL1</name>
+         <value>0x162</value>
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+         <name>CSCTL1_L</name>
+         <value>0x162</value>
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+      <symbol id="sm-152">
+         <name>CSCTL1_H</name>
+         <value>0x163</value>
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+      <symbol id="sm-153">
+         <name>CSCTL2</name>
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+      <symbol id="sm-154">
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+         <value>0x164</value>
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+      <symbol id="sm-155">
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+         <value>0x165</value>
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+         <name>CSCTL3</name>
+         <value>0x166</value>
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+      <symbol id="sm-157">
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+         <value>0x166</value>
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+      <symbol id="sm-158">
+         <name>CSCTL3_H</name>
+         <value>0x167</value>
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+         <value>0x168</value>
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+      <symbol id="sm-15b">
+         <name>CSCTL4_H</name>
+         <value>0x169</value>
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+      <symbol id="sm-15c">
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+         <name>CSCTL5_L</name>
+         <value>0x16a</value>
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+      <symbol id="sm-15e">
+         <name>CSCTL5_H</name>
+         <value>0x16b</value>
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+         <name>CSCTL6</name>
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+      <symbol id="sm-160">
+         <name>CSCTL6_L</name>
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+      <symbol id="sm-161">
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+         <value>0x16d</value>
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+         <value>0x50f</value>
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+         <value>0x510</value>
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+         <value>0x511</value>
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+         <value>0x512</value>
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+         <value>0x514</value>
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+      <symbol id="sm-26c">
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+         <value>0x516</value>
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+         <value>0x516</value>
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+         <value>0x518</value>
+      </symbol>
+      <symbol id="sm-26f">
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+         <value>0x51a</value>
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+         <value>0x51a</value>
+      </symbol>
+      <symbol id="sm-271">
+         <name>DMA0SZ_H</name>
+         <value>0x51b</value>
+      </symbol>
+      <symbol id="sm-272">
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+         <value>0x520</value>
+      </symbol>
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+         <value>0x520</value>
+      </symbol>
+      <symbol id="sm-274">
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+         <value>0x521</value>
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+      <symbol id="sm-275">
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+         <value>0x522</value>
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+         <value>0x522</value>
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+      <symbol id="sm-277">
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+         <value>0x524</value>
+      </symbol>
+      <symbol id="sm-278">
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+         <value>0x526</value>
+      </symbol>
+      <symbol id="sm-279">
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+         <value>0x526</value>
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+      <symbol id="sm-27a">
+         <name>DMA1DAH</name>
+         <value>0x528</value>
+      </symbol>
+      <symbol id="sm-27b">
+         <name>DMA1SZ</name>
+         <value>0x52a</value>
+      </symbol>
+      <symbol id="sm-27c">
+         <name>DMA1SZ_L</name>
+         <value>0x52a</value>
+      </symbol>
+      <symbol id="sm-27d">
+         <name>DMA1SZ_H</name>
+         <value>0x52b</value>
+      </symbol>
+      <symbol id="sm-27e">
+         <name>DMA2CTL</name>
+         <value>0x530</value>
+      </symbol>
+      <symbol id="sm-27f">
+         <name>DMA2CTL_L</name>
+         <value>0x530</value>
+      </symbol>
+      <symbol id="sm-280">
+         <name>DMA2CTL_H</name>
+         <value>0x531</value>
+      </symbol>
+      <symbol id="sm-281">
+         <name>DMA2SA</name>
+         <value>0x532</value>
+      </symbol>
+      <symbol id="sm-282">
+         <name>DMA2SAL</name>
+         <value>0x532</value>
+      </symbol>
+      <symbol id="sm-283">
+         <name>DMA2SAH</name>
+         <value>0x534</value>
+      </symbol>
+      <symbol id="sm-284">
+         <name>DMA2DA</name>
+         <value>0x536</value>
+      </symbol>
+      <symbol id="sm-285">
+         <name>DMA2DAL</name>
+         <value>0x536</value>
+      </symbol>
+      <symbol id="sm-286">
+         <name>DMA2DAH</name>
+         <value>0x538</value>
+      </symbol>
+      <symbol id="sm-287">
+         <name>DMA2SZ</name>
+         <value>0x53a</value>
+      </symbol>
+      <symbol id="sm-288">
+         <name>DMA2SZ_L</name>
+         <value>0x53a</value>
+      </symbol>
+      <symbol id="sm-289">
+         <name>DMA2SZ_H</name>
+         <value>0x53b</value>
+      </symbol>
+      <symbol id="sm-28a">
+         <name>DMA3CTL</name>
+         <value>0x540</value>
+      </symbol>
+      <symbol id="sm-28b">
+         <name>DMA3CTL_L</name>
+         <value>0x540</value>
+      </symbol>
+      <symbol id="sm-28c">
+         <name>DMA3CTL_H</name>
+         <value>0x541</value>
+      </symbol>
+      <symbol id="sm-28d">
+         <name>DMA3SA</name>
+         <value>0x542</value>
+      </symbol>
+      <symbol id="sm-28e">
+         <name>DMA3SAL</name>
+         <value>0x542</value>
+      </symbol>
+      <symbol id="sm-28f">
+         <name>DMA3SAH</name>
+         <value>0x544</value>
+      </symbol>
+      <symbol id="sm-290">
+         <name>DMA3DA</name>
+         <value>0x546</value>
+      </symbol>
+      <symbol id="sm-291">
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+         <value>0x380</value>
+      </symbol>
+      <symbol id="sm-3e2">
+         <name>TA1CTL_H</name>
+         <value>0x381</value>
+      </symbol>
+      <symbol id="sm-3e3">
+         <name>TA1CCTL0</name>
+         <value>0x382</value>
+      </symbol>
+      <symbol id="sm-3e4">
+         <name>TA1CCTL0_L</name>
+         <value>0x382</value>
+      </symbol>
+      <symbol id="sm-3e5">
+         <name>TA1CCTL0_H</name>
+         <value>0x383</value>
+      </symbol>
+      <symbol id="sm-3e6">
+         <name>TA1CCTL1</name>
+         <value>0x384</value>
+      </symbol>
+      <symbol id="sm-3e7">
+         <name>TA1CCTL1_L</name>
+         <value>0x384</value>
+      </symbol>
+      <symbol id="sm-3e8">
+         <name>TA1CCTL1_H</name>
+         <value>0x385</value>
+      </symbol>
+      <symbol id="sm-3e9">
+         <name>TA1CCTL2</name>
+         <value>0x386</value>
+      </symbol>
+      <symbol id="sm-3ea">
+         <name>TA1CCTL2_L</name>
+         <value>0x386</value>
+      </symbol>
+      <symbol id="sm-3eb">
+         <name>TA1CCTL2_H</name>
+         <value>0x387</value>
+      </symbol>
+      <symbol id="sm-3ec">
+         <name>TA1R</name>
+         <value>0x390</value>
+      </symbol>
+      <symbol id="sm-3ed">
+         <name>TA1R_L</name>
+         <value>0x390</value>
+      </symbol>
+      <symbol id="sm-3ee">
+         <name>TA1R_H</name>
+         <value>0x391</value>
+      </symbol>
+      <symbol id="sm-3ef">
+         <name>TA1CCR0</name>
+         <value>0x392</value>
+      </symbol>
+      <symbol id="sm-3f0">
+         <name>TA1CCR0_L</name>
+         <value>0x392</value>
+      </symbol>
+      <symbol id="sm-3f1">
+         <name>TA1CCR0_H</name>
+         <value>0x393</value>
+      </symbol>
+      <symbol id="sm-3f2">
+         <name>TA1CCR1</name>
+         <value>0x394</value>
+      </symbol>
+      <symbol id="sm-3f3">
+         <name>TA1CCR1_L</name>
+         <value>0x394</value>
+      </symbol>
+      <symbol id="sm-3f4">
+         <name>TA1CCR1_H</name>
+         <value>0x395</value>
+      </symbol>
+      <symbol id="sm-3f5">
+         <name>TA1CCR2</name>
+         <value>0x396</value>
+      </symbol>
+      <symbol id="sm-3f6">
+         <name>TA1CCR2_L</name>
+         <value>0x396</value>
+      </symbol>
+      <symbol id="sm-3f7">
+         <name>TA1CCR2_H</name>
+         <value>0x397</value>
+      </symbol>
+      <symbol id="sm-3f8">
+         <name>TA1EX0</name>
+         <value>0x3a0</value>
+      </symbol>
+      <symbol id="sm-3f9">
+         <name>TA1EX0_L</name>
+         <value>0x3a0</value>
+      </symbol>
+      <symbol id="sm-3fa">
+         <name>TA1EX0_H</name>
+         <value>0x3a1</value>
+      </symbol>
+      <symbol id="sm-3fb">
+         <name>TA1IV</name>
+         <value>0x3ae</value>
+      </symbol>
+      <symbol id="sm-3fc">
+         <name>TA1IV_L</name>
+         <value>0x3ae</value>
+      </symbol>
+      <symbol id="sm-3fd">
+         <name>TA1IV_H</name>
+         <value>0x3af</value>
+      </symbol>
+      <symbol id="sm-3fe">
+         <name>TA2CTL</name>
+         <value>0x400</value>
+      </symbol>
+      <symbol id="sm-3ff">
+         <name>TA2CTL_L</name>
+         <value>0x400</value>
+      </symbol>
+      <symbol id="sm-400">
+         <name>TA2CTL_H</name>
+         <value>0x401</value>
+      </symbol>
+      <symbol id="sm-401">
+         <name>TA2CCTL0</name>
+         <value>0x402</value>
+      </symbol>
+      <symbol id="sm-402">
+         <name>TA2CCTL0_L</name>
+         <value>0x402</value>
+      </symbol>
+      <symbol id="sm-403">
+         <name>TA2CCTL0_H</name>
+         <value>0x403</value>
+      </symbol>
+      <symbol id="sm-404">
+         <name>TA2CCTL1</name>
+         <value>0x404</value>
+      </symbol>
+      <symbol id="sm-405">
+         <name>TA2CCTL1_L</name>
+         <value>0x404</value>
+      </symbol>
+      <symbol id="sm-406">
+         <name>TA2CCTL1_H</name>
+         <value>0x405</value>
+      </symbol>
+      <symbol id="sm-407">
+         <name>TA2R</name>
+         <value>0x410</value>
+      </symbol>
+      <symbol id="sm-408">
+         <name>TA2R_L</name>
+         <value>0x410</value>
+      </symbol>
+      <symbol id="sm-409">
+         <name>TA2R_H</name>
+         <value>0x411</value>
+      </symbol>
+      <symbol id="sm-40a">
+         <name>TA2CCR0</name>
+         <value>0x412</value>
+      </symbol>
+      <symbol id="sm-40b">
+         <name>TA2CCR0_L</name>
+         <value>0x412</value>
+      </symbol>
+      <symbol id="sm-40c">
+         <name>TA2CCR0_H</name>
+         <value>0x413</value>
+      </symbol>
+      <symbol id="sm-40d">
+         <name>TA2CCR1</name>
+         <value>0x414</value>
+      </symbol>
+      <symbol id="sm-40e">
+         <name>TA2CCR1_L</name>
+         <value>0x414</value>
+      </symbol>
+      <symbol id="sm-40f">
+         <name>TA2CCR1_H</name>
+         <value>0x415</value>
+      </symbol>
+      <symbol id="sm-410">
+         <name>TA2EX0</name>
+         <value>0x420</value>
+      </symbol>
+      <symbol id="sm-411">
+         <name>TA2EX0_L</name>
+         <value>0x420</value>
+      </symbol>
+      <symbol id="sm-412">
+         <name>TA2EX0_H</name>
+         <value>0x421</value>
+      </symbol>
+      <symbol id="sm-413">
+         <name>TA2IV</name>
+         <value>0x42e</value>
+      </symbol>
+      <symbol id="sm-414">
+         <name>TA2IV_L</name>
+         <value>0x42e</value>
+      </symbol>
+      <symbol id="sm-415">
+         <name>TA2IV_H</name>
+         <value>0x42f</value>
+      </symbol>
+      <symbol id="sm-416">
+         <name>TA3CTL</name>
+         <value>0x440</value>
+      </symbol>
+      <symbol id="sm-417">
+         <name>TA3CTL_L</name>
+         <value>0x440</value>
+      </symbol>
+      <symbol id="sm-418">
+         <name>TA3CTL_H</name>
+         <value>0x441</value>
+      </symbol>
+      <symbol id="sm-419">
+         <name>TA3CCTL0</name>
+         <value>0x442</value>
+      </symbol>
+      <symbol id="sm-41a">
+         <name>TA3CCTL0_L</name>
+         <value>0x442</value>
+      </symbol>
+      <symbol id="sm-41b">
+         <name>TA3CCTL0_H</name>
+         <value>0x443</value>
+      </symbol>
+      <symbol id="sm-41c">
+         <name>TA3CCTL1</name>
+         <value>0x444</value>
+      </symbol>
+      <symbol id="sm-41d">
+         <name>TA3CCTL1_L</name>
+         <value>0x444</value>
+      </symbol>
+      <symbol id="sm-41e">
+         <name>TA3CCTL1_H</name>
+         <value>0x445</value>
+      </symbol>
+      <symbol id="sm-41f">
+         <name>TA3R</name>
+         <value>0x450</value>
+      </symbol>
+      <symbol id="sm-420">
+         <name>TA3R_L</name>
+         <value>0x450</value>
+      </symbol>
+      <symbol id="sm-421">
+         <name>TA3R_H</name>
+         <value>0x451</value>
+      </symbol>
+      <symbol id="sm-422">
+         <name>TA3CCR0</name>
+         <value>0x452</value>
+      </symbol>
+      <symbol id="sm-423">
+         <name>TA3CCR0_L</name>
+         <value>0x452</value>
+      </symbol>
+      <symbol id="sm-424">
+         <name>TA3CCR0_H</name>
+         <value>0x453</value>
+      </symbol>
+      <symbol id="sm-425">
+         <name>TA3CCR1</name>
+         <value>0x454</value>
+      </symbol>
+      <symbol id="sm-426">
+         <name>TA3CCR1_L</name>
+         <value>0x454</value>
+      </symbol>
+      <symbol id="sm-427">
+         <name>TA3CCR1_H</name>
+         <value>0x455</value>
+      </symbol>
+      <symbol id="sm-428">
+         <name>TA3EX0</name>
+         <value>0x460</value>
+      </symbol>
+      <symbol id="sm-429">
+         <name>TA3EX0_L</name>
+         <value>0x460</value>
+      </symbol>
+      <symbol id="sm-42a">
+         <name>TA3EX0_H</name>
+         <value>0x461</value>
+      </symbol>
+      <symbol id="sm-42b">
+         <name>TA3IV</name>
+         <value>0x46e</value>
+      </symbol>
+      <symbol id="sm-42c">
+         <name>TA3IV_L</name>
+         <value>0x46e</value>
+      </symbol>
+      <symbol id="sm-42d">
+         <name>TA3IV_H</name>
+         <value>0x46f</value>
+      </symbol>
+      <symbol id="sm-42e">
+         <name>TA4CTL</name>
+         <value>0x7c0</value>
+      </symbol>
+      <symbol id="sm-42f">
+         <name>TA4CTL_L</name>
+         <value>0x7c0</value>
+      </symbol>
+      <symbol id="sm-430">
+         <name>TA4CTL_H</name>
+         <value>0x7c1</value>
+      </symbol>
+      <symbol id="sm-431">
+         <name>TA4CCTL0</name>
+         <value>0x7c2</value>
+      </symbol>
+      <symbol id="sm-432">
+         <name>TA4CCTL0_L</name>
+         <value>0x7c2</value>
+      </symbol>
+      <symbol id="sm-433">
+         <name>TA4CCTL0_H</name>
+         <value>0x7c3</value>
+      </symbol>
+      <symbol id="sm-434">
+         <name>TA4CCTL1</name>
+         <value>0x7c4</value>
+      </symbol>
+      <symbol id="sm-435">
+         <name>TA4CCTL1_L</name>
+         <value>0x7c4</value>
+      </symbol>
+      <symbol id="sm-436">
+         <name>TA4CCTL1_H</name>
+         <value>0x7c5</value>
+      </symbol>
+      <symbol id="sm-437">
+         <name>TA4CCTL2</name>
+         <value>0x7c6</value>
+      </symbol>
+      <symbol id="sm-438">
+         <name>TA4CCTL2_L</name>
+         <value>0x7c6</value>
+      </symbol>
+      <symbol id="sm-439">
+         <name>TA4CCTL2_H</name>
+         <value>0x7c7</value>
+      </symbol>
+      <symbol id="sm-43a">
+         <name>TA4R</name>
+         <value>0x7d0</value>
+      </symbol>
+      <symbol id="sm-43b">
+         <name>TA4R_L</name>
+         <value>0x7d0</value>
+      </symbol>
+      <symbol id="sm-43c">
+         <name>TA4R_H</name>
+         <value>0x7d1</value>
+      </symbol>
+      <symbol id="sm-43d">
+         <name>TA4CCR0</name>
+         <value>0x7d2</value>
+      </symbol>
+      <symbol id="sm-43e">
+         <name>TA4CCR0_L</name>
+         <value>0x7d2</value>
+      </symbol>
+      <symbol id="sm-43f">
+         <name>TA4CCR0_H</name>
+         <value>0x7d3</value>
+      </symbol>
+      <symbol id="sm-440">
+         <name>TA4CCR1</name>
+         <value>0x7d4</value>
+      </symbol>
+      <symbol id="sm-441">
+         <name>TA4CCR1_L</name>
+         <value>0x7d4</value>
+      </symbol>
+      <symbol id="sm-442">
+         <name>TA4CCR1_H</name>
+         <value>0x7d5</value>
+      </symbol>
+      <symbol id="sm-443">
+         <name>TA4CCR2</name>
+         <value>0x7d6</value>
+      </symbol>
+      <symbol id="sm-444">
+         <name>TA4CCR2_L</name>
+         <value>0x7d6</value>
+      </symbol>
+      <symbol id="sm-445">
+         <name>TA4CCR2_H</name>
+         <value>0x7d7</value>
+      </symbol>
+      <symbol id="sm-446">
+         <name>TA4EX0</name>
+         <value>0x7e0</value>
+      </symbol>
+      <symbol id="sm-447">
+         <name>TA4EX0_L</name>
+         <value>0x7e0</value>
+      </symbol>
+      <symbol id="sm-448">
+         <name>TA4EX0_H</name>
+         <value>0x7e1</value>
+      </symbol>
+      <symbol id="sm-449">
+         <name>TA4IV</name>
+         <value>0x7ee</value>
+      </symbol>
+      <symbol id="sm-44a">
+         <name>TA4IV_L</name>
+         <value>0x7ee</value>
+      </symbol>
+      <symbol id="sm-44b">
+         <name>TA4IV_H</name>
+         <value>0x7ef</value>
+      </symbol>
+      <symbol id="sm-44c">
+         <name>TB0CTL</name>
+         <value>0x3c0</value>
+      </symbol>
+      <symbol id="sm-44d">
+         <name>TB0CTL_L</name>
+         <value>0x3c0</value>
+      </symbol>
+      <symbol id="sm-44e">
+         <name>TB0CTL_H</name>
+         <value>0x3c1</value>
+      </symbol>
+      <symbol id="sm-44f">
+         <name>TB0CCTL0</name>
+         <value>0x3c2</value>
+      </symbol>
+      <symbol id="sm-450">
+         <name>TB0CCTL0_L</name>
+         <value>0x3c2</value>
+      </symbol>
+      <symbol id="sm-451">
+         <name>TB0CCTL0_H</name>
+         <value>0x3c3</value>
+      </symbol>
+      <symbol id="sm-452">
+         <name>TB0CCTL1</name>
+         <value>0x3c4</value>
+      </symbol>
+      <symbol id="sm-453">
+         <name>TB0CCTL1_L</name>
+         <value>0x3c4</value>
+      </symbol>
+      <symbol id="sm-454">
+         <name>TB0CCTL1_H</name>
+         <value>0x3c5</value>
+      </symbol>
+      <symbol id="sm-455">
+         <name>TB0CCTL2</name>
+         <value>0x3c6</value>
+      </symbol>
+      <symbol id="sm-456">
+         <name>TB0CCTL2_L</name>
+         <value>0x3c6</value>
+      </symbol>
+      <symbol id="sm-457">
+         <name>TB0CCTL2_H</name>
+         <value>0x3c7</value>
+      </symbol>
+      <symbol id="sm-458">
+         <name>TB0CCTL3</name>
+         <value>0x3c8</value>
+      </symbol>
+      <symbol id="sm-459">
+         <name>TB0CCTL3_L</name>
+         <value>0x3c8</value>
+      </symbol>
+      <symbol id="sm-45a">
+         <name>TB0CCTL3_H</name>
+         <value>0x3c9</value>
+      </symbol>
+      <symbol id="sm-45b">
+         <name>TB0CCTL4</name>
+         <value>0x3ca</value>
+      </symbol>
+      <symbol id="sm-45c">
+         <name>TB0CCTL4_L</name>
+         <value>0x3ca</value>
+      </symbol>
+      <symbol id="sm-45d">
+         <name>TB0CCTL4_H</name>
+         <value>0x3cb</value>
+      </symbol>
+      <symbol id="sm-45e">
+         <name>TB0CCTL5</name>
+         <value>0x3cc</value>
+      </symbol>
+      <symbol id="sm-45f">
+         <name>TB0CCTL5_L</name>
+         <value>0x3cc</value>
+      </symbol>
+      <symbol id="sm-460">
+         <name>TB0CCTL5_H</name>
+         <value>0x3cd</value>
+      </symbol>
+      <symbol id="sm-461">
+         <name>TB0CCTL6</name>
+         <value>0x3ce</value>
+      </symbol>
+      <symbol id="sm-462">
+         <name>TB0CCTL6_L</name>
+         <value>0x3ce</value>
+      </symbol>
+      <symbol id="sm-463">
+         <name>TB0CCTL6_H</name>
+         <value>0x3cf</value>
+      </symbol>
+      <symbol id="sm-464">
+         <name>TB0R</name>
+         <value>0x3d0</value>
+      </symbol>
+      <symbol id="sm-465">
+         <name>TB0R_L</name>
+         <value>0x3d0</value>
+      </symbol>
+      <symbol id="sm-466">
+         <name>TB0R_H</name>
+         <value>0x3d1</value>
+      </symbol>
+      <symbol id="sm-467">
+         <name>TB0CCR0</name>
+         <value>0x3d2</value>
+      </symbol>
+      <symbol id="sm-468">
+         <name>TB0CCR0_L</name>
+         <value>0x3d2</value>
+      </symbol>
+      <symbol id="sm-469">
+         <name>TB0CCR0_H</name>
+         <value>0x3d3</value>
+      </symbol>
+      <symbol id="sm-46a">
+         <name>TB0CCR1</name>
+         <value>0x3d4</value>
+      </symbol>
+      <symbol id="sm-46b">
+         <name>TB0CCR1_L</name>
+         <value>0x3d4</value>
+      </symbol>
+      <symbol id="sm-46c">
+         <name>TB0CCR1_H</name>
+         <value>0x3d5</value>
+      </symbol>
+      <symbol id="sm-46d">
+         <name>TB0CCR2</name>
+         <value>0x3d6</value>
+      </symbol>
+      <symbol id="sm-46e">
+         <name>TB0CCR2_L</name>
+         <value>0x3d6</value>
+      </symbol>
+      <symbol id="sm-46f">
+         <name>TB0CCR2_H</name>
+         <value>0x3d7</value>
+      </symbol>
+      <symbol id="sm-470">
+         <name>TB0CCR3</name>
+         <value>0x3d8</value>
+      </symbol>
+      <symbol id="sm-471">
+         <name>TB0CCR3_L</name>
+         <value>0x3d8</value>
+      </symbol>
+      <symbol id="sm-472">
+         <name>TB0CCR3_H</name>
+         <value>0x3d9</value>
+      </symbol>
+      <symbol id="sm-473">
+         <name>TB0CCR4</name>
+         <value>0x3da</value>
+      </symbol>
+      <symbol id="sm-474">
+         <name>TB0CCR4_L</name>
+         <value>0x3da</value>
+      </symbol>
+      <symbol id="sm-475">
+         <name>TB0CCR4_H</name>
+         <value>0x3db</value>
+      </symbol>
+      <symbol id="sm-476">
+         <name>TB0CCR5</name>
+         <value>0x3dc</value>
+      </symbol>
+      <symbol id="sm-477">
+         <name>TB0CCR5_L</name>
+         <value>0x3dc</value>
+      </symbol>
+      <symbol id="sm-478">
+         <name>TB0CCR5_H</name>
+         <value>0x3dd</value>
+      </symbol>
+      <symbol id="sm-479">
+         <name>TB0CCR6</name>
+         <value>0x3de</value>
+      </symbol>
+      <symbol id="sm-47a">
+         <name>TB0CCR6_L</name>
+         <value>0x3de</value>
+      </symbol>
+      <symbol id="sm-47b">
+         <name>TB0CCR6_H</name>
+         <value>0x3df</value>
+      </symbol>
+      <symbol id="sm-47c">
+         <name>TB0EX0</name>
+         <value>0x3e0</value>
+      </symbol>
+      <symbol id="sm-47d">
+         <name>TB0EX0_L</name>
+         <value>0x3e0</value>
+      </symbol>
+      <symbol id="sm-47e">
+         <name>TB0EX0_H</name>
+         <value>0x3e1</value>
+      </symbol>
+      <symbol id="sm-47f">
+         <name>TB0IV</name>
+         <value>0x3ee</value>
+      </symbol>
+      <symbol id="sm-480">
+         <name>TB0IV_L</name>
+         <value>0x3ee</value>
+      </symbol>
+      <symbol id="sm-481">
+         <name>TB0IV_H</name>
+         <value>0x3ef</value>
+      </symbol>
+      <symbol id="sm-482">
+         <name>WDTCTL</name>
+         <value>0x15c</value>
+      </symbol>
+      <symbol id="sm-483">
+         <name>WDTCTL_L</name>
+         <value>0x15c</value>
+      </symbol>
+      <symbol id="sm-484">
+         <name>WDTCTL_H</name>
+         <value>0x15d</value>
+      </symbol>
+      <symbol id="sm-485">
+         <name>UCA0CTLW0</name>
+         <value>0x5c0</value>
+      </symbol>
+      <symbol id="sm-486">
+         <name>UCA0CTLW0_L</name>
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+      <symbol id="sm-967">
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+      <symbol id="sm-9ba">
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+      </symbol>
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+         <value>0x2b60</value>
+         <object_component_ref idref="oc-69b"/>
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+         <value>0xfffe</value>
+         <object_component_ref idref="oc-69e"/>
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+      <symbol id="sm-9f7">
+         <name>__mpu_init</name>
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+         <object_component_ref idref="oc-792"/>
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+      <symbol id="sm-a1c">
+         <name>__TI_auto_init_nopinit_hold_wdt</name>
+         <value>0x10990</value>
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+      <symbol id="sm-a25">
+         <name>_system_post_cinit</name>
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+         <name>_system_pre_init</name>
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+         <object_component_ref idref="oc-6aa"/>
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+   </symbol_table>
+   <title>Link successful</title>
+</link_info>
diff --git a/Apps/FlightSoftware/MotorControl/Release/bsp.d b/Apps/FlightSoftware/MotorControl/Release/bsp.d
new file mode 100644
index 000000000..361aebd9d
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/bsp.d
@@ -0,0 +1,109 @@
+# FIXED
+
+bsp.obj: ../bsp.c
+bsp.obj: ../bsp.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/driverlib.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/inc/hw_memmap.h
+bsp.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+bsp.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+bsp.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+bsp.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+bsp.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+bsp.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+bsp.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+bsp.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+bsp.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+bsp.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+bsp.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+bsp.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+bsp.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+bsp.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+bsp.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/hspll.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/sysctl.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/dma.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_b_i2c.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/rtc_b.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/crc.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/adc12_b.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/esi.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/saph.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/cs.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/ram.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/mpy32.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/crc32.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/comp_e.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/framctl.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/aes256.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/sfr.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/wdt_a.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/timer_a.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/pmm.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/rtc_c.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/uups.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/framctl_a.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_a_uart.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/gpio.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/mpu.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/tlv.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/sdhs.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_a_spi.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/timer_b.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/ref_a.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_b_spi.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/mtif.h
+bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/lcd_c.h
+
+../bsp.c: 
+../bsp.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/driverlib.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/hspll.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/sysctl.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/dma.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_b_i2c.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/rtc_b.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/crc.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/adc12_b.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/esi.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/saph.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/cs.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/ram.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/mpy32.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/crc32.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/comp_e.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/framctl.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/aes256.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/sfr.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/wdt_a.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/timer_a.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/pmm.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/rtc_c.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/uups.h: 
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diff --git a/Apps/FlightSoftware/MotorControl/Release/ccsObjs.opt b/Apps/FlightSoftware/MotorControl/Release/ccsObjs.opt
new file mode 100644
index 000000000..a85d9f0c7
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/ccsObjs.opt
@@ -0,0 +1 @@
+"./bsp.obj" "./i2c.obj" "./main.obj" "./driverlib/adc12_b.obj" "./driverlib/aes256.obj" "./driverlib/comp_e.obj" "./driverlib/crc.obj" "./driverlib/crc32.obj" "./driverlib/cs.obj" "./driverlib/dma.obj" "./driverlib/esi.obj" "./driverlib/eusci_a_spi.obj" "./driverlib/eusci_a_uart.obj" "./driverlib/eusci_b_i2c.obj" "./driverlib/eusci_b_spi.obj" "./driverlib/framctl.obj" "./driverlib/framctl_a.obj" "./driverlib/gpio.obj" "./driverlib/hspll.obj" "./driverlib/lcd_c.obj" "./driverlib/mpu.obj" "./driverlib/mpy32.obj" "./driverlib/mtif.obj" "./driverlib/pmm.obj" "./driverlib/ram.obj" "./driverlib/ref_a.obj" "./driverlib/rtc_b.obj" "./driverlib/rtc_c.obj" "./driverlib/saph.obj" "./driverlib/sdhs.obj" "./driverlib/sfr.obj" "./driverlib/sysctl.obj" "./driverlib/timer_a.obj" "./driverlib/timer_b.obj" "./driverlib/tlv.obj" "./driverlib/uups.obj" "./driverlib/wdt_a.obj" "../lnk_msp430fr5994.cmd" -llibmpu_init.a -lIQmathLib.a -llibmath.a -llibc.a 
\ No newline at end of file
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/adc12_b.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/adc12_b.d
new file mode 100644
index 000000000..a2faa6d3b
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/adc12_b.d
@@ -0,0 +1,45 @@
+# FIXED
+
+driverlib/adc12_b.obj: ../driverlib/adc12_b.c
+driverlib/adc12_b.obj: ../driverlib/inc/hw_memmap.h
+driverlib/adc12_b.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/adc12_b.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/adc12_b.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/adc12_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/adc12_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/adc12_b.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/adc12_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/adc12_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
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+driverlib/adc12_b.obj: ../driverlib/adc12_b.h
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+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
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+../driverlib/adc12_b.h: 
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+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/adc12_b.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/adc12_b.obj
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/aes256.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/aes256.d
new file mode 100644
index 000000000..4440bcc2c
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/aes256.d
@@ -0,0 +1,45 @@
+# FIXED
+
+driverlib/aes256.obj: ../driverlib/aes256.c
+driverlib/aes256.obj: ../driverlib/inc/hw_memmap.h
+driverlib/aes256.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/aes256.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/aes256.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/aes256.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/aes256.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/aes256.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/aes256.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/aes256.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/aes256.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/aes256.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/aes256.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/aes256.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/aes256.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/aes256.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/aes256.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+driverlib/aes256.obj: ../driverlib/aes256.h
+driverlib/aes256.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
+driverlib/aes256.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
+driverlib/aes256.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
+
+../driverlib/aes256.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
+../driverlib/aes256.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/aes256.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/aes256.obj
new file mode 100644
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/comp_e.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/comp_e.d
new file mode 100644
index 000000000..3061197f1
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/comp_e.d
@@ -0,0 +1,45 @@
+# FIXED
+
+driverlib/comp_e.obj: ../driverlib/comp_e.c
+driverlib/comp_e.obj: ../driverlib/inc/hw_memmap.h
+driverlib/comp_e.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/comp_e.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/comp_e.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/comp_e.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+driverlib/comp_e.obj: ../driverlib/comp_e.h
+driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
+driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
+driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
+
+../driverlib/comp_e.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
+../driverlib/comp_e.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/comp_e.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/comp_e.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29a9552bf711a14291ec08abf085b64b6a28c092
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/crc.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/crc.d
new file mode 100644
index 000000000..4ea5bb8bd
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/crc.d
@@ -0,0 +1,45 @@
+# FIXED
+
+driverlib/crc.obj: ../driverlib/crc.c
+driverlib/crc.obj: ../driverlib/inc/hw_memmap.h
+driverlib/crc.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/crc.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/crc.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/crc.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+driverlib/crc.obj: ../driverlib/crc.h
+driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
+driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
+driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
+
+../driverlib/crc.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
+../driverlib/crc.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/crc.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/crc.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bda3de909f3ebf3be0710b6867e4114feb34fb3e
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HcmV?d00001

diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/crc32.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/crc32.d
new file mode 100644
index 000000000..5d816749e
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/crc32.d
@@ -0,0 +1,45 @@
+# FIXED
+
+driverlib/crc32.obj: ../driverlib/crc32.c
+driverlib/crc32.obj: ../driverlib/inc/hw_memmap.h
+driverlib/crc32.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/crc32.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/crc32.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/crc32.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+driverlib/crc32.obj: ../driverlib/crc32.h
+driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
+driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
+driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
+
+../driverlib/crc32.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
+../driverlib/crc32.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/crc32.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/crc32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..433ad6f302d68323e59a977ff3605fc521bff9df
GIT binary patch
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/cs.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/cs.d
new file mode 100644
index 000000000..99dbd91ca
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/cs.d
@@ -0,0 +1,45 @@
+# FIXED
+
+driverlib/cs.obj: ../driverlib/cs.c
+driverlib/cs.obj: ../driverlib/inc/hw_memmap.h
+driverlib/cs.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/cs.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/cs.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/cs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/cs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
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+driverlib/cs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+driverlib/cs.obj: ../driverlib/cs.h
+driverlib/cs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
+driverlib/cs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
+driverlib/cs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
+
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+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
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+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
+../driverlib/cs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/cs.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/cs.obj
new file mode 100644
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/dma.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/dma.d
new file mode 100644
index 000000000..b5a61a66e
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/dma.d
@@ -0,0 +1,45 @@
+# FIXED
+
+driverlib/dma.obj: ../driverlib/dma.c
+driverlib/dma.obj: ../driverlib/inc/hw_memmap.h
+driverlib/dma.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/dma.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/dma.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/dma.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+driverlib/dma.obj: ../driverlib/dma.h
+driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
+driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
+driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
+
+../driverlib/dma.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
+../driverlib/dma.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/dma.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/dma.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62ede558ea14b800bf6cbfdcdce5e431d1450534
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/esi.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/esi.d
new file mode 100644
index 000000000..a6916674e
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/esi.d
@@ -0,0 +1,37 @@
+# FIXED
+
+driverlib/esi.obj: ../driverlib/esi.c
+driverlib/esi.obj: ../driverlib/inc/hw_memmap.h
+driverlib/esi.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/esi.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/esi.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/esi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/esi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/esi.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/esi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/esi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/esi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/esi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/esi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/esi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/esi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/esi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/esi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+
+../driverlib/esi.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/esi.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/esi.obj
new file mode 100644
index 0000000000000000000000000000000000000000..976bbd65186b8d6e7de9d6a16ed18fca69b6202d
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HcmV?d00001

diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_a_spi.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_a_spi.d
new file mode 100644
index 000000000..a523305c3
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_a_spi.d
@@ -0,0 +1,45 @@
+# FIXED
+
+driverlib/eusci_a_spi.obj: ../driverlib/eusci_a_spi.c
+driverlib/eusci_a_spi.obj: ../driverlib/inc/hw_memmap.h
+driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+driverlib/eusci_a_spi.obj: ../driverlib/eusci_a_spi.h
+driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
+driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
+driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
+
+../driverlib/eusci_a_spi.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
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+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
+../driverlib/eusci_a_spi.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_a_spi.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_a_spi.obj
new file mode 100644
index 0000000000000000000000000000000000000000..218476ba2dd79e12b943b2dbe00578bec42290c0
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_a_uart.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_a_uart.d
new file mode 100644
index 000000000..606861e5b
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_a_uart.d
@@ -0,0 +1,45 @@
+# FIXED
+
+driverlib/eusci_a_uart.obj: ../driverlib/eusci_a_uart.c
+driverlib/eusci_a_uart.obj: ../driverlib/inc/hw_memmap.h
+driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+driverlib/eusci_a_uart.obj: ../driverlib/eusci_a_uart.h
+driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
+driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
+driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
+
+../driverlib/eusci_a_uart.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
+../driverlib/eusci_a_uart.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_a_uart.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_a_uart.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12f893cd9d118896255eaca93552842b18d3d6ed
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_b_i2c.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_b_i2c.d
new file mode 100644
index 000000000..9bccedb45
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_b_i2c.d
@@ -0,0 +1,45 @@
+# FIXED
+
+driverlib/eusci_b_i2c.obj: ../driverlib/eusci_b_i2c.c
+driverlib/eusci_b_i2c.obj: ../driverlib/inc/hw_memmap.h
+driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+driverlib/eusci_b_i2c.obj: ../driverlib/eusci_b_i2c.h
+driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
+driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
+driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
+
+../driverlib/eusci_b_i2c.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
+../driverlib/eusci_b_i2c.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_b_i2c.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_b_i2c.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad24984a0e4f1a3f9c5ca5df01ee0893e4b733e4
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_b_spi.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_b_spi.d
new file mode 100644
index 000000000..0444b8d6c
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_b_spi.d
@@ -0,0 +1,45 @@
+# FIXED
+
+driverlib/eusci_b_spi.obj: ../driverlib/eusci_b_spi.c
+driverlib/eusci_b_spi.obj: ../driverlib/inc/hw_memmap.h
+driverlib/eusci_b_spi.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/eusci_b_spi.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/eusci_b_spi.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/eusci_b_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/eusci_b_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/eusci_b_spi.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/eusci_b_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/eusci_b_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/eusci_b_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/eusci_b_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/eusci_b_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/eusci_b_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/eusci_b_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/eusci_b_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/eusci_b_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+driverlib/eusci_b_spi.obj: ../driverlib/eusci_b_spi.h
+driverlib/eusci_b_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
+driverlib/eusci_b_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
+driverlib/eusci_b_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
+
+../driverlib/eusci_b_spi.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
+../driverlib/eusci_b_spi.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_b_spi.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_b_spi.obj
new file mode 100644
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/framctl.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/framctl.d
new file mode 100644
index 000000000..810b9f330
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/framctl.d
@@ -0,0 +1,37 @@
+# FIXED
+
+driverlib/framctl.obj: ../driverlib/framctl.c
+driverlib/framctl.obj: ../driverlib/inc/hw_memmap.h
+driverlib/framctl.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/framctl.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/framctl.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/framctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/framctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/framctl.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/framctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/framctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/framctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/framctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/framctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/framctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/framctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/framctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/framctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+
+../driverlib/framctl.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/framctl.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/framctl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0afb529c9f731f8c4889002c66717c534c59255
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/framctl_a.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/framctl_a.d
new file mode 100644
index 000000000..998c8b6df
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/framctl_a.d
@@ -0,0 +1,45 @@
+# FIXED
+
+driverlib/framctl_a.obj: ../driverlib/framctl_a.c
+driverlib/framctl_a.obj: ../driverlib/inc/hw_memmap.h
+driverlib/framctl_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/framctl_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/framctl_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/framctl_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+driverlib/framctl_a.obj: ../driverlib/framctl_a.h
+driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
+driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
+driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
+
+../driverlib/framctl_a.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
+../driverlib/framctl_a.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/framctl_a.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/framctl_a.obj
new file mode 100644
index 0000000000000000000000000000000000000000..878c655bc46e46a92fc7586f5740b302c350c56c
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literal 0
HcmV?d00001

diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/gpio.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/gpio.d
new file mode 100644
index 000000000..250fad31f
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/gpio.d
@@ -0,0 +1,45 @@
+# FIXED
+
+driverlib/gpio.obj: ../driverlib/gpio.c
+driverlib/gpio.obj: ../driverlib/inc/hw_memmap.h
+driverlib/gpio.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/gpio.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/gpio.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/gpio.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+driverlib/gpio.obj: ../driverlib/gpio.h
+driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
+driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
+driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
+
+../driverlib/gpio.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
+../driverlib/gpio.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/gpio.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/gpio.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b662621e2d52ec39b3271fccf97cdb54a7d47f9
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/hspll.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/hspll.d
new file mode 100644
index 000000000..d6e03143c
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/hspll.d
@@ -0,0 +1,37 @@
+# FIXED
+
+driverlib/hspll.obj: ../driverlib/hspll.c
+driverlib/hspll.obj: ../driverlib/inc/hw_memmap.h
+driverlib/hspll.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/hspll.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/hspll.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/hspll.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/hspll.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/hspll.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/hspll.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/hspll.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/hspll.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/hspll.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/hspll.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/hspll.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/hspll.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/hspll.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/hspll.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+
+../driverlib/hspll.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/hspll.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/hspll.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39f930618b6d995a88bbf06f44b74a845c2e7a83
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/lcd_c.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/lcd_c.d
new file mode 100644
index 000000000..52e8e8582
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/lcd_c.d
@@ -0,0 +1,37 @@
+# FIXED
+
+driverlib/lcd_c.obj: ../driverlib/lcd_c.c
+driverlib/lcd_c.obj: ../driverlib/inc/hw_memmap.h
+driverlib/lcd_c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/lcd_c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/lcd_c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/lcd_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/lcd_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/lcd_c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/lcd_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/lcd_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/lcd_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/lcd_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/lcd_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/lcd_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/lcd_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/lcd_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/lcd_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+
+../driverlib/lcd_c.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/lcd_c.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/lcd_c.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b8b99f2129276ea2748bb2b877af6fab6ae6510
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/mpu.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/mpu.d
new file mode 100644
index 000000000..f0d32ca3d
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/mpu.d
@@ -0,0 +1,45 @@
+# FIXED
+
+driverlib/mpu.obj: ../driverlib/mpu.c
+driverlib/mpu.obj: ../driverlib/inc/hw_memmap.h
+driverlib/mpu.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/mpu.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/mpu.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/mpu.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+driverlib/mpu.obj: ../driverlib/mpu.h
+driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
+driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
+driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
+
+../driverlib/mpu.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
+../driverlib/mpu.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/mpu.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/mpu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2995b9f4d73633873767083618e93bc1730155f5
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literal 0
HcmV?d00001

diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/mpy32.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/mpy32.d
new file mode 100644
index 000000000..73ce1f5a1
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/mpy32.d
@@ -0,0 +1,45 @@
+# FIXED
+
+driverlib/mpy32.obj: ../driverlib/mpy32.c
+driverlib/mpy32.obj: ../driverlib/inc/hw_memmap.h
+driverlib/mpy32.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/mpy32.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/mpy32.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/mpy32.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+driverlib/mpy32.obj: ../driverlib/mpy32.h
+driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
+driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
+driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
+
+../driverlib/mpy32.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
+../driverlib/mpy32.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/mpy32.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/mpy32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a09bbe773fbde3e1d889fb598e289c237fb9d31
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/mtif.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/mtif.d
new file mode 100644
index 000000000..1e01776ae
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/mtif.d
@@ -0,0 +1,37 @@
+# FIXED
+
+driverlib/mtif.obj: ../driverlib/mtif.c
+driverlib/mtif.obj: ../driverlib/inc/hw_memmap.h
+driverlib/mtif.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/mtif.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/mtif.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/mtif.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/mtif.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/mtif.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/mtif.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/mtif.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/mtif.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/mtif.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/mtif.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/mtif.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/mtif.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/mtif.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/mtif.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+
+../driverlib/mtif.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/mtif.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/mtif.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51ce18d687467c6f8bfc480a4660c64a24039260
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/pmm.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/pmm.d
new file mode 100644
index 000000000..f51821dd7
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/pmm.d
@@ -0,0 +1,45 @@
+# FIXED
+
+driverlib/pmm.obj: ../driverlib/pmm.c
+driverlib/pmm.obj: ../driverlib/inc/hw_memmap.h
+driverlib/pmm.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/pmm.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/pmm.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/pmm.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+driverlib/pmm.obj: ../driverlib/pmm.h
+driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
+driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
+driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
+
+../driverlib/pmm.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
+../driverlib/pmm.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/pmm.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/pmm.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1224a966eea3218d6fac31ade2232e0cb56f7b94
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/ram.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/ram.d
new file mode 100644
index 000000000..c9c239747
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/ram.d
@@ -0,0 +1,45 @@
+# FIXED
+
+driverlib/ram.obj: ../driverlib/ram.c
+driverlib/ram.obj: ../driverlib/inc/hw_memmap.h
+driverlib/ram.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/ram.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/ram.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/ram.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+driverlib/ram.obj: ../driverlib/ram.h
+driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
+driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
+driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
+
+../driverlib/ram.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
+../driverlib/ram.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/ram.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/ram.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecc39b7cf89a987ddd3b21b9b376048392b7f632
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/ref_a.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/ref_a.d
new file mode 100644
index 000000000..1b91a78a8
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/ref_a.d
@@ -0,0 +1,45 @@
+# FIXED
+
+driverlib/ref_a.obj: ../driverlib/ref_a.c
+driverlib/ref_a.obj: ../driverlib/inc/hw_memmap.h
+driverlib/ref_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/ref_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/ref_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/ref_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/ref_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/ref_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/ref_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/ref_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/ref_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/ref_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/ref_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/ref_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/ref_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/ref_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/ref_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+driverlib/ref_a.obj: ../driverlib/ref_a.h
+driverlib/ref_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
+driverlib/ref_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
+driverlib/ref_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
+
+../driverlib/ref_a.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/ref_a.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/ref_a.obj
new file mode 100644
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/rtc_b.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/rtc_b.d
new file mode 100644
index 000000000..b2b6a1801
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/rtc_b.d
@@ -0,0 +1,37 @@
+# FIXED
+
+driverlib/rtc_b.obj: ../driverlib/rtc_b.c
+driverlib/rtc_b.obj: ../driverlib/inc/hw_memmap.h
+driverlib/rtc_b.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/rtc_b.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/rtc_b.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/rtc_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/rtc_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/rtc_b.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/rtc_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/rtc_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/rtc_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/rtc_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/rtc_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/rtc_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/rtc_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/rtc_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/rtc_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+
+../driverlib/rtc_b.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/rtc_b.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/rtc_b.obj
new file mode 100644
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/rtc_c.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/rtc_c.d
new file mode 100644
index 000000000..59b141f05
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/rtc_c.d
@@ -0,0 +1,45 @@
+# FIXED
+
+driverlib/rtc_c.obj: ../driverlib/rtc_c.c
+driverlib/rtc_c.obj: ../driverlib/inc/hw_memmap.h
+driverlib/rtc_c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/rtc_c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/rtc_c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/rtc_c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+driverlib/rtc_c.obj: ../driverlib/rtc_c.h
+driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
+driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
+driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
+
+../driverlib/rtc_c.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
+../driverlib/rtc_c.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/rtc_c.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/rtc_c.obj
new file mode 100644
index 0000000000000000000000000000000000000000..443e2ddbdd794f9a36a8f795740661be6266ad0b
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/saph.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/saph.d
new file mode 100644
index 000000000..faea60371
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/saph.d
@@ -0,0 +1,37 @@
+# FIXED
+
+driverlib/saph.obj: ../driverlib/saph.c
+driverlib/saph.obj: ../driverlib/inc/hw_memmap.h
+driverlib/saph.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/saph.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/saph.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/saph.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/saph.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/saph.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/saph.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/saph.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/saph.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/saph.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/saph.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/saph.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/saph.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/saph.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/saph.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+
+../driverlib/saph.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/saph.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/saph.obj
new file mode 100644
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/sdhs.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/sdhs.d
new file mode 100644
index 000000000..32d249838
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/sdhs.d
@@ -0,0 +1,37 @@
+# FIXED
+
+driverlib/sdhs.obj: ../driverlib/sdhs.c
+driverlib/sdhs.obj: ../driverlib/inc/hw_memmap.h
+driverlib/sdhs.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/sdhs.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/sdhs.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/sdhs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/sdhs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/sdhs.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/sdhs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/sdhs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/sdhs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/sdhs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/sdhs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/sdhs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/sdhs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/sdhs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/sdhs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+
+../driverlib/sdhs.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/sdhs.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/sdhs.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b12f2ba32855576aff366f994864e0cadacb769
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/sfr.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/sfr.d
new file mode 100644
index 000000000..c7a94b196
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/sfr.d
@@ -0,0 +1,45 @@
+# FIXED
+
+driverlib/sfr.obj: ../driverlib/sfr.c
+driverlib/sfr.obj: ../driverlib/inc/hw_memmap.h
+driverlib/sfr.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/sfr.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/sfr.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/sfr.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+driverlib/sfr.obj: ../driverlib/sfr.h
+driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
+driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
+driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
+
+../driverlib/sfr.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
+../driverlib/sfr.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/sfr.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/sfr.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb76c8691e24e70a4f9f1322c8031f3d69fb9214
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/subdir_rules.mk b/Apps/FlightSoftware/MotorControl/Release/driverlib/subdir_rules.mk
new file mode 100644
index 000000000..5af439c24
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/subdir_rules.mk
@@ -0,0 +1,15 @@
+################################################################################
+# Automatically-generated file. Do not edit!
+################################################################################
+
+SHELL = cmd.exe
+
+# Each subdirectory must supply rules for building sources it contributes
+driverlib/%.obj: ../driverlib/%.c $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: MSP430 Compiler'
+	"C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/bin/cl430" -vmspx --data_model=restricted -O2 --use_hw_mpy=F5 --include_path="C:/ti/ccs930/ccs/ccs_base/msp430/include" --include_path="E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib" --include_path="C:/ti/ccs930/ccs/ccs_base/msp430ware_3_80_11_07/iqmathlib/include" --include_path="E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl" --include_path="C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include" --advice:power=all --advice:hw_config=all --define=__MSP430FR5994__ --define=_MPU_ENABLE --printf_support=minimal --diag_warning=225 --diag_wrap=off --display_error_number --silicon_errata=CPU21 --silicon_errata=CPU22 --silicon_errata=CPU40 --preproc_with_compile --preproc_dependency="driverlib/$(basename $(<F)).d_raw" --obj_directory="driverlib" $(GEN_OPTS__FLAG) "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
+
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/subdir_vars.mk b/Apps/FlightSoftware/MotorControl/Release/driverlib/subdir_vars.mk
new file mode 100644
index 000000000..59ec27a1d
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/subdir_vars.mk
@@ -0,0 +1,224 @@
+################################################################################
+# Automatically-generated file. Do not edit!
+################################################################################
+
+SHELL = cmd.exe
+
+# Add inputs and outputs from these tool invocations to the build variables 
+C_SRCS += \
+../driverlib/adc12_b.c \
+../driverlib/aes256.c \
+../driverlib/comp_e.c \
+../driverlib/crc.c \
+../driverlib/crc32.c \
+../driverlib/cs.c \
+../driverlib/dma.c \
+../driverlib/esi.c \
+../driverlib/eusci_a_spi.c \
+../driverlib/eusci_a_uart.c \
+../driverlib/eusci_b_i2c.c \
+../driverlib/eusci_b_spi.c \
+../driverlib/framctl.c \
+../driverlib/framctl_a.c \
+../driverlib/gpio.c \
+../driverlib/hspll.c \
+../driverlib/lcd_c.c \
+../driverlib/mpu.c \
+../driverlib/mpy32.c \
+../driverlib/mtif.c \
+../driverlib/pmm.c \
+../driverlib/ram.c \
+../driverlib/ref_a.c \
+../driverlib/rtc_b.c \
+../driverlib/rtc_c.c \
+../driverlib/saph.c \
+../driverlib/sdhs.c \
+../driverlib/sfr.c \
+../driverlib/sysctl.c \
+../driverlib/timer_a.c \
+../driverlib/timer_b.c \
+../driverlib/tlv.c \
+../driverlib/uups.c \
+../driverlib/wdt_a.c 
+
+C_DEPS += \
+./driverlib/adc12_b.d \
+./driverlib/aes256.d \
+./driverlib/comp_e.d \
+./driverlib/crc.d \
+./driverlib/crc32.d \
+./driverlib/cs.d \
+./driverlib/dma.d \
+./driverlib/esi.d \
+./driverlib/eusci_a_spi.d \
+./driverlib/eusci_a_uart.d \
+./driverlib/eusci_b_i2c.d \
+./driverlib/eusci_b_spi.d \
+./driverlib/framctl.d \
+./driverlib/framctl_a.d \
+./driverlib/gpio.d \
+./driverlib/hspll.d \
+./driverlib/lcd_c.d \
+./driverlib/mpu.d \
+./driverlib/mpy32.d \
+./driverlib/mtif.d \
+./driverlib/pmm.d \
+./driverlib/ram.d \
+./driverlib/ref_a.d \
+./driverlib/rtc_b.d \
+./driverlib/rtc_c.d \
+./driverlib/saph.d \
+./driverlib/sdhs.d \
+./driverlib/sfr.d \
+./driverlib/sysctl.d \
+./driverlib/timer_a.d \
+./driverlib/timer_b.d \
+./driverlib/tlv.d \
+./driverlib/uups.d \
+./driverlib/wdt_a.d 
+
+OBJS += \
+./driverlib/adc12_b.obj \
+./driverlib/aes256.obj \
+./driverlib/comp_e.obj \
+./driverlib/crc.obj \
+./driverlib/crc32.obj \
+./driverlib/cs.obj \
+./driverlib/dma.obj \
+./driverlib/esi.obj \
+./driverlib/eusci_a_spi.obj \
+./driverlib/eusci_a_uart.obj \
+./driverlib/eusci_b_i2c.obj \
+./driverlib/eusci_b_spi.obj \
+./driverlib/framctl.obj \
+./driverlib/framctl_a.obj \
+./driverlib/gpio.obj \
+./driverlib/hspll.obj \
+./driverlib/lcd_c.obj \
+./driverlib/mpu.obj \
+./driverlib/mpy32.obj \
+./driverlib/mtif.obj \
+./driverlib/pmm.obj \
+./driverlib/ram.obj \
+./driverlib/ref_a.obj \
+./driverlib/rtc_b.obj \
+./driverlib/rtc_c.obj \
+./driverlib/saph.obj \
+./driverlib/sdhs.obj \
+./driverlib/sfr.obj \
+./driverlib/sysctl.obj \
+./driverlib/timer_a.obj \
+./driverlib/timer_b.obj \
+./driverlib/tlv.obj \
+./driverlib/uups.obj \
+./driverlib/wdt_a.obj 
+
+OBJS__QUOTED += \
+"driverlib\adc12_b.obj" \
+"driverlib\aes256.obj" \
+"driverlib\comp_e.obj" \
+"driverlib\crc.obj" \
+"driverlib\crc32.obj" \
+"driverlib\cs.obj" \
+"driverlib\dma.obj" \
+"driverlib\esi.obj" \
+"driverlib\eusci_a_spi.obj" \
+"driverlib\eusci_a_uart.obj" \
+"driverlib\eusci_b_i2c.obj" \
+"driverlib\eusci_b_spi.obj" \
+"driverlib\framctl.obj" \
+"driverlib\framctl_a.obj" \
+"driverlib\gpio.obj" \
+"driverlib\hspll.obj" \
+"driverlib\lcd_c.obj" \
+"driverlib\mpu.obj" \
+"driverlib\mpy32.obj" \
+"driverlib\mtif.obj" \
+"driverlib\pmm.obj" \
+"driverlib\ram.obj" \
+"driverlib\ref_a.obj" \
+"driverlib\rtc_b.obj" \
+"driverlib\rtc_c.obj" \
+"driverlib\saph.obj" \
+"driverlib\sdhs.obj" \
+"driverlib\sfr.obj" \
+"driverlib\sysctl.obj" \
+"driverlib\timer_a.obj" \
+"driverlib\timer_b.obj" \
+"driverlib\tlv.obj" \
+"driverlib\uups.obj" \
+"driverlib\wdt_a.obj" 
+
+C_DEPS__QUOTED += \
+"driverlib\adc12_b.d" \
+"driverlib\aes256.d" \
+"driverlib\comp_e.d" \
+"driverlib\crc.d" \
+"driverlib\crc32.d" \
+"driverlib\cs.d" \
+"driverlib\dma.d" \
+"driverlib\esi.d" \
+"driverlib\eusci_a_spi.d" \
+"driverlib\eusci_a_uart.d" \
+"driverlib\eusci_b_i2c.d" \
+"driverlib\eusci_b_spi.d" \
+"driverlib\framctl.d" \
+"driverlib\framctl_a.d" \
+"driverlib\gpio.d" \
+"driverlib\hspll.d" \
+"driverlib\lcd_c.d" \
+"driverlib\mpu.d" \
+"driverlib\mpy32.d" \
+"driverlib\mtif.d" \
+"driverlib\pmm.d" \
+"driverlib\ram.d" \
+"driverlib\ref_a.d" \
+"driverlib\rtc_b.d" \
+"driverlib\rtc_c.d" \
+"driverlib\saph.d" \
+"driverlib\sdhs.d" \
+"driverlib\sfr.d" \
+"driverlib\sysctl.d" \
+"driverlib\timer_a.d" \
+"driverlib\timer_b.d" \
+"driverlib\tlv.d" \
+"driverlib\uups.d" \
+"driverlib\wdt_a.d" 
+
+C_SRCS__QUOTED += \
+"../driverlib/adc12_b.c" \
+"../driverlib/aes256.c" \
+"../driverlib/comp_e.c" \
+"../driverlib/crc.c" \
+"../driverlib/crc32.c" \
+"../driverlib/cs.c" \
+"../driverlib/dma.c" \
+"../driverlib/esi.c" \
+"../driverlib/eusci_a_spi.c" \
+"../driverlib/eusci_a_uart.c" \
+"../driverlib/eusci_b_i2c.c" \
+"../driverlib/eusci_b_spi.c" \
+"../driverlib/framctl.c" \
+"../driverlib/framctl_a.c" \
+"../driverlib/gpio.c" \
+"../driverlib/hspll.c" \
+"../driverlib/lcd_c.c" \
+"../driverlib/mpu.c" \
+"../driverlib/mpy32.c" \
+"../driverlib/mtif.c" \
+"../driverlib/pmm.c" \
+"../driverlib/ram.c" \
+"../driverlib/ref_a.c" \
+"../driverlib/rtc_b.c" \
+"../driverlib/rtc_c.c" \
+"../driverlib/saph.c" \
+"../driverlib/sdhs.c" \
+"../driverlib/sfr.c" \
+"../driverlib/sysctl.c" \
+"../driverlib/timer_a.c" \
+"../driverlib/timer_b.c" \
+"../driverlib/tlv.c" \
+"../driverlib/uups.c" \
+"../driverlib/wdt_a.c" 
+
+
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/sysctl.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/sysctl.d
new file mode 100644
index 000000000..b56d343ec
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/sysctl.d
@@ -0,0 +1,45 @@
+# FIXED
+
+driverlib/sysctl.obj: ../driverlib/sysctl.c
+driverlib/sysctl.obj: ../driverlib/inc/hw_memmap.h
+driverlib/sysctl.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/sysctl.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/sysctl.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/sysctl.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+driverlib/sysctl.obj: ../driverlib/sysctl.h
+driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
+driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
+driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
+
+../driverlib/sysctl.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
+../driverlib/sysctl.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/sysctl.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/sysctl.obj
new file mode 100644
index 0000000000000000000000000000000000000000..165e5fecaceb398e45a9d72cae49645c639611ca
GIT binary patch
literal 33784
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/timer_a.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/timer_a.d
new file mode 100644
index 000000000..627bbae68
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/timer_a.d
@@ -0,0 +1,45 @@
+# FIXED
+
+driverlib/timer_a.obj: ../driverlib/timer_a.c
+driverlib/timer_a.obj: ../driverlib/inc/hw_memmap.h
+driverlib/timer_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/timer_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/timer_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/timer_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+driverlib/timer_a.obj: ../driverlib/timer_a.h
+driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
+driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
+driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
+
+../driverlib/timer_a.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
+../driverlib/timer_a.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/timer_a.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/timer_a.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d40c964d25e3ebf8af84efa030cc82a7354e2452
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/timer_b.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/timer_b.d
new file mode 100644
index 000000000..c4e008660
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/timer_b.d
@@ -0,0 +1,45 @@
+# FIXED
+
+driverlib/timer_b.obj: ../driverlib/timer_b.c
+driverlib/timer_b.obj: ../driverlib/inc/hw_memmap.h
+driverlib/timer_b.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/timer_b.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/timer_b.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/timer_b.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+driverlib/timer_b.obj: ../driverlib/timer_b.h
+driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
+driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
+driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
+
+../driverlib/timer_b.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
+../driverlib/timer_b.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/timer_b.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/timer_b.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdd6e60777440fe6ab7ae05d7cde6de5d2e9ebf7
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/tlv.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/tlv.d
new file mode 100644
index 000000000..cc4f3016b
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/tlv.d
@@ -0,0 +1,45 @@
+# FIXED
+
+driverlib/tlv.obj: ../driverlib/tlv.c
+driverlib/tlv.obj: ../driverlib/inc/hw_memmap.h
+driverlib/tlv.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/tlv.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/tlv.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/tlv.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+driverlib/tlv.obj: ../driverlib/tlv.h
+driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
+driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
+driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
+
+../driverlib/tlv.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
+../driverlib/tlv.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/tlv.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/tlv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0377d5b863941275217cfea1d62c83c36b17879
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/uups.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/uups.d
new file mode 100644
index 000000000..36698f0d5
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/uups.d
@@ -0,0 +1,37 @@
+# FIXED
+
+driverlib/uups.obj: ../driverlib/uups.c
+driverlib/uups.obj: ../driverlib/inc/hw_memmap.h
+driverlib/uups.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/uups.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/uups.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/uups.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/uups.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/uups.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/uups.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/uups.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/uups.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/uups.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/uups.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/uups.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/uups.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/uups.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/uups.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+
+../driverlib/uups.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/uups.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/uups.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a37ab99f6f6bea06f9ce417aaf887e96b078313c
GIT binary patch
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/wdt_a.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/wdt_a.d
new file mode 100644
index 000000000..15641a834
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/wdt_a.d
@@ -0,0 +1,45 @@
+# FIXED
+
+driverlib/wdt_a.obj: ../driverlib/wdt_a.c
+driverlib/wdt_a.obj: ../driverlib/inc/hw_memmap.h
+driverlib/wdt_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+driverlib/wdt_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+driverlib/wdt_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+driverlib/wdt_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+driverlib/wdt_a.obj: ../driverlib/wdt_a.h
+driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
+driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
+driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
+
+../driverlib/wdt_a.c: 
+../driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
+../driverlib/wdt_a.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/wdt_a.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/wdt_a.obj
new file mode 100644
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diff --git a/Apps/FlightSoftware/MotorControl/Release/i2c.d b/Apps/FlightSoftware/MotorControl/Release/i2c.d
new file mode 100644
index 000000000..aa83d2c6a
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/i2c.d
@@ -0,0 +1,133 @@
+# FIXED
+
+i2c.obj: ../i2c.c
+i2c.obj: ../i2c.h
+i2c.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/driverlib.h
+i2c.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/inc/hw_memmap.h
+i2c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+i2c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+i2c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+i2c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
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+i2c.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/lcd_c.h
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+i2c.obj: ../i2c.h
+i2c.obj: ../pi.h
+i2c.obj: ../mod6_cnt.h
+i2c.obj: ../impulse.h
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+../i2c.h: 
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+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/pmm.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/rtc_c.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/uups.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/framctl_a.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_a_uart.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/gpio.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/mpu.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/tlv.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/sdhs.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_a_spi.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/timer_b.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/ref_a.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_b_spi.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/mtif.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/lcd_c.h: 
+../main.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430ware_3_80_11_07/iqmathlib/include/IQmathLib.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/limits.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdlib.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
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+../bsp.h: 
+../i2c.h: 
+../pi.h: 
+../mod6_cnt.h: 
+../impulse.h: 
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diff --git a/Apps/FlightSoftware/MotorControl/Release/main.d b/Apps/FlightSoftware/MotorControl/Release/main.d
new file mode 100644
index 000000000..89a39608e
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/main.d
@@ -0,0 +1,133 @@
+# FIXED
+
+main.obj: ../main.c
+main.obj: ../main.h
+main.obj: C:/ti/ccs930/ccs/ccs_base/msp430ware_3_80_11_07/iqmathlib/include/IQmathLib.h
+main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/limits.h
+main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdlib.h
+main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
+main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
+main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
+main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
+main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
+main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
+main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
+main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
+main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
+main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/driverlib.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/inc/hw_memmap.h
+main.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
+main.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
+main.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
+main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
+main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
+main.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
+main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/hspll.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/sysctl.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/dma.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_b_i2c.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/rtc_b.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/crc.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/adc12_b.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/esi.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/saph.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/cs.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/ram.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/mpy32.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/crc32.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/comp_e.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/framctl.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/aes256.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/sfr.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/wdt_a.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/timer_a.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/pmm.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/rtc_c.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/uups.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/framctl_a.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_a_uart.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/gpio.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/mpu.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/tlv.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/sdhs.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_a_spi.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/timer_b.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/ref_a.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_b_spi.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/mtif.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/lcd_c.h
+main.obj: ../bsp.h
+main.obj: ../i2c.h
+main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/driverlib.h
+main.obj: ../main.h
+main.obj: ../pi.h
+main.obj: ../mod6_cnt.h
+main.obj: ../impulse.h
+
+../main.c: 
+../main.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430ware_3_80_11_07/iqmathlib/include/IQmathLib.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/limits.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdlib.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/driverlib.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/inc/hw_memmap.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
+C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
+C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/hspll.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/sysctl.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/dma.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_b_i2c.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/rtc_b.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/crc.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/adc12_b.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/esi.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/saph.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/cs.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/ram.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/mpy32.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/crc32.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/comp_e.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/framctl.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/aes256.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/sfr.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/wdt_a.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/timer_a.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/pmm.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/rtc_c.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/uups.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/framctl_a.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_a_uart.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/gpio.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/mpu.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/tlv.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/sdhs.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_a_spi.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/timer_b.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/ref_a.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_b_spi.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/mtif.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/lcd_c.h: 
+../bsp.h: 
+../i2c.h: 
+E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/driverlib.h: 
+../main.h: 
+../pi.h: 
+../mod6_cnt.h: 
+../impulse.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/main.obj b/Apps/FlightSoftware/MotorControl/Release/main.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dd2aceeb45b8071a7992de6ca7383779b7a52d5
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diff --git a/Apps/FlightSoftware/MotorControl/Release/makefile b/Apps/FlightSoftware/MotorControl/Release/makefile
new file mode 100644
index 000000000..20332c1e6
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/makefile
@@ -0,0 +1,207 @@
+################################################################################
+# Automatically-generated file. Do not edit!
+################################################################################
+
+SHELL = cmd.exe
+
+CG_TOOL_ROOT := C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS
+
+GEN_OPTS__FLAG := 
+GEN_CMDS__FLAG := 
+
+ORDERED_OBJS += \
+"./bsp.obj" \
+"./i2c.obj" \
+"./main.obj" \
+"./driverlib/adc12_b.obj" \
+"./driverlib/aes256.obj" \
+"./driverlib/comp_e.obj" \
+"./driverlib/crc.obj" \
+"./driverlib/crc32.obj" \
+"./driverlib/cs.obj" \
+"./driverlib/dma.obj" \
+"./driverlib/esi.obj" \
+"./driverlib/eusci_a_spi.obj" \
+"./driverlib/eusci_a_uart.obj" \
+"./driverlib/eusci_b_i2c.obj" \
+"./driverlib/eusci_b_spi.obj" \
+"./driverlib/framctl.obj" \
+"./driverlib/framctl_a.obj" \
+"./driverlib/gpio.obj" \
+"./driverlib/hspll.obj" \
+"./driverlib/lcd_c.obj" \
+"./driverlib/mpu.obj" \
+"./driverlib/mpy32.obj" \
+"./driverlib/mtif.obj" \
+"./driverlib/pmm.obj" \
+"./driverlib/ram.obj" \
+"./driverlib/ref_a.obj" \
+"./driverlib/rtc_b.obj" \
+"./driverlib/rtc_c.obj" \
+"./driverlib/saph.obj" \
+"./driverlib/sdhs.obj" \
+"./driverlib/sfr.obj" \
+"./driverlib/sysctl.obj" \
+"./driverlib/timer_a.obj" \
+"./driverlib/timer_b.obj" \
+"./driverlib/tlv.obj" \
+"./driverlib/uups.obj" \
+"./driverlib/wdt_a.obj" \
+"../lnk_msp430fr5994.cmd" \
+$(GEN_CMDS__FLAG) \
+-llibmpu_init.a \
+-lIQmathLib.a \
+-llibmath.a \
+-llibc.a \
+
+-include ../makefile.init
+
+RM := DEL /F
+RMDIR := RMDIR /S/Q
+
+# All of the sources participating in the build are defined here
+-include sources.mk
+-include subdir_vars.mk
+-include driverlib/subdir_vars.mk
+-include subdir_rules.mk
+-include driverlib/subdir_rules.mk
+-include objects.mk
+
+ifneq ($(MAKECMDGOALS),clean)
+ifneq ($(strip $(C55_DEPS)),)
+-include $(C55_DEPS)
+endif
+ifneq ($(strip $(C_UPPER_DEPS)),)
+-include $(C_UPPER_DEPS)
+endif
+ifneq ($(strip $(S67_DEPS)),)
+-include $(S67_DEPS)
+endif
+ifneq ($(strip $(S62_DEPS)),)
+-include $(S62_DEPS)
+endif
+ifneq ($(strip $(S_DEPS)),)
+-include $(S_DEPS)
+endif
+ifneq ($(strip $(OPT_DEPS)),)
+-include $(OPT_DEPS)
+endif
+ifneq ($(strip $(C??_DEPS)),)
+-include $(C??_DEPS)
+endif
+ifneq ($(strip $(ASM_UPPER_DEPS)),)
+-include $(ASM_UPPER_DEPS)
+endif
+ifneq ($(strip $(S??_DEPS)),)
+-include $(S??_DEPS)
+endif
+ifneq ($(strip $(C64_DEPS)),)
+-include $(C64_DEPS)
+endif
+ifneq ($(strip $(CXX_DEPS)),)
+-include $(CXX_DEPS)
+endif
+ifneq ($(strip $(S64_DEPS)),)
+-include $(S64_DEPS)
+endif
+ifneq ($(strip $(INO_DEPS)),)
+-include $(INO_DEPS)
+endif
+ifneq ($(strip $(CLA_DEPS)),)
+-include $(CLA_DEPS)
+endif
+ifneq ($(strip $(S55_DEPS)),)
+-include $(S55_DEPS)
+endif
+ifneq ($(strip $(SV7A_DEPS)),)
+-include $(SV7A_DEPS)
+endif
+ifneq ($(strip $(C62_DEPS)),)
+-include $(C62_DEPS)
+endif
+ifneq ($(strip $(C67_DEPS)),)
+-include $(C67_DEPS)
+endif
+ifneq ($(strip $(PDE_DEPS)),)
+-include $(PDE_DEPS)
+endif
+ifneq ($(strip $(K_DEPS)),)
+-include $(K_DEPS)
+endif
+ifneq ($(strip $(C_DEPS)),)
+-include $(C_DEPS)
+endif
+ifneq ($(strip $(CC_DEPS)),)
+-include $(CC_DEPS)
+endif
+ifneq ($(strip $(C++_DEPS)),)
+-include $(C++_DEPS)
+endif
+ifneq ($(strip $(C43_DEPS)),)
+-include $(C43_DEPS)
+endif
+ifneq ($(strip $(S43_DEPS)),)
+-include $(S43_DEPS)
+endif
+ifneq ($(strip $(ASM_DEPS)),)
+-include $(ASM_DEPS)
+endif
+ifneq ($(strip $(S_UPPER_DEPS)),)
+-include $(S_UPPER_DEPS)
+endif
+ifneq ($(strip $(CPP_DEPS)),)
+-include $(CPP_DEPS)
+endif
+ifneq ($(strip $(SA_DEPS)),)
+-include $(SA_DEPS)
+endif
+endif
+
+-include ../makefile.defs
+
+# Add inputs and outputs from these tool invocations to the build variables 
+EXE_OUTPUTS += \
+MotorControl.out \
+
+EXE_OUTPUTS__QUOTED += \
+"MotorControl.out" \
+
+BIN_OUTPUTS += \
+MotorControl.hex \
+
+BIN_OUTPUTS__QUOTED += \
+"MotorControl.hex" \
+
+
+# All Target
+all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+	@$(MAKE) --no-print-directory -Onone "MotorControl.out"
+
+# Tool invocations
+MotorControl.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS)
+	@echo 'Building target: "$@"'
+	@echo 'Invoking: MSP430 Linker'
+	"C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/bin/cl430" -vmspx --data_model=restricted -O2 --use_hw_mpy=F5 --advice:power=all --advice:hw_config=all --define=__MSP430FR5994__ --define=_MPU_ENABLE --printf_support=minimal --diag_warning=225 --diag_wrap=off --display_error_number --silicon_errata=CPU21 --silicon_errata=CPU22 --silicon_errata=CPU40 -z -m"MotorControl.map" --heap_size=160 --stack_size=160 --cinit_hold_wdt=on -i"C:/ti/ccs930/ccs/ccs_base/msp430/include" -i"C:/ti/ccs930/ccs/ccs_base/msp430ware_3_80_11_07/iqmathlib/libraries/CCS/MPY32/5xx_6xx" -i"C:/ti/ccs930/ccs/ccs_base/msp430/lib/5xx_6xx_FRxx" -i"C:/ti/ccs930/ccs/ccs_base/msp430/lib/FR59xx" -i"C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/lib" -i"C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include" --priority --reread_libs --define=_MPU_ENABLE --diag_wrap=off --display_error_number --warn_sections --xml_link_info="MotorControl_linkInfo.xml" --use_hw_mpy=F5 --rom_model -o "MotorControl.out" $(ORDERED_OBJS)
+	@echo 'Finished building target: "$@"'
+	@echo ' '
+
+MotorControl.hex: $(EXE_OUTPUTS)
+	@echo 'Building files: $(strip $(EXE_OUTPUTS__QUOTED))'
+	@echo 'Invoking: MSP430 Hex Utility'
+	"C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/bin/hex430" --memwidth=8 --romwidth=8 -o "MotorControl.hex" $(EXE_OUTPUTS__QUOTED)
+	@echo 'Finished building: $(strip $(EXE_OUTPUTS__QUOTED))'
+	@echo ' '
+
+# Other Targets
+clean:
+	-$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED)
+	-$(RM) "bsp.obj" "i2c.obj" "main.obj" "driverlib\adc12_b.obj" "driverlib\aes256.obj" "driverlib\comp_e.obj" "driverlib\crc.obj" "driverlib\crc32.obj" "driverlib\cs.obj" "driverlib\dma.obj" "driverlib\esi.obj" "driverlib\eusci_a_spi.obj" "driverlib\eusci_a_uart.obj" "driverlib\eusci_b_i2c.obj" "driverlib\eusci_b_spi.obj" "driverlib\framctl.obj" "driverlib\framctl_a.obj" "driverlib\gpio.obj" "driverlib\hspll.obj" "driverlib\lcd_c.obj" "driverlib\mpu.obj" "driverlib\mpy32.obj" "driverlib\mtif.obj" "driverlib\pmm.obj" "driverlib\ram.obj" "driverlib\ref_a.obj" "driverlib\rtc_b.obj" "driverlib\rtc_c.obj" "driverlib\saph.obj" "driverlib\sdhs.obj" "driverlib\sfr.obj" "driverlib\sysctl.obj" "driverlib\timer_a.obj" "driverlib\timer_b.obj" "driverlib\tlv.obj" "driverlib\uups.obj" "driverlib\wdt_a.obj" 
+	-$(RM) "bsp.d" "i2c.d" "main.d" "driverlib\adc12_b.d" "driverlib\aes256.d" "driverlib\comp_e.d" "driverlib\crc.d" "driverlib\crc32.d" "driverlib\cs.d" "driverlib\dma.d" "driverlib\esi.d" "driverlib\eusci_a_spi.d" "driverlib\eusci_a_uart.d" "driverlib\eusci_b_i2c.d" "driverlib\eusci_b_spi.d" "driverlib\framctl.d" "driverlib\framctl_a.d" "driverlib\gpio.d" "driverlib\hspll.d" "driverlib\lcd_c.d" "driverlib\mpu.d" "driverlib\mpy32.d" "driverlib\mtif.d" "driverlib\pmm.d" "driverlib\ram.d" "driverlib\ref_a.d" "driverlib\rtc_b.d" "driverlib\rtc_c.d" "driverlib\saph.d" "driverlib\sdhs.d" "driverlib\sfr.d" "driverlib\sysctl.d" "driverlib\timer_a.d" "driverlib\timer_b.d" "driverlib\tlv.d" "driverlib\uups.d" "driverlib\wdt_a.d" 
+	-@echo 'Finished clean'
+	-@echo ' '
+
+.PHONY: all clean dependents
+.SECONDARY:
+
+-include ../makefile.targets
+
diff --git a/Apps/FlightSoftware/MotorControl/Release/objects.mk b/Apps/FlightSoftware/MotorControl/Release/objects.mk
new file mode 100644
index 000000000..53c9324f0
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/objects.mk
@@ -0,0 +1,8 @@
+################################################################################
+# Automatically-generated file. Do not edit!
+################################################################################
+
+USER_OBJS :=
+
+LIBS := -llibmpu_init.a -lIQmathLib.a -llibmath.a -llibc.a
+
diff --git a/Apps/FlightSoftware/MotorControl/Release/sources.mk b/Apps/FlightSoftware/MotorControl/Release/sources.mk
new file mode 100644
index 000000000..c6795b62c
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/sources.mk
@@ -0,0 +1,116 @@
+################################################################################
+# Automatically-generated file. Do not edit!
+################################################################################
+
+C55_SRCS := 
+A_SRCS := 
+ASM_UPPER_SRCS := 
+EXE_SRCS := 
+LDS_UPPER_SRCS := 
+CPP_SRCS := 
+CMD_SRCS := 
+O_SRCS := 
+ELF_SRCS := 
+C??_SRCS := 
+C64_SRCS := 
+C67_SRCS := 
+SA_SRCS := 
+S64_SRCS := 
+OPT_SRCS := 
+CXX_SRCS := 
+S67_SRCS := 
+S??_SRCS := 
+PDE_SRCS := 
+SV7A_SRCS := 
+K_SRCS := 
+CLA_SRCS := 
+S55_SRCS := 
+LD_UPPER_SRCS := 
+OUT_SRCS := 
+INO_SRCS := 
+LIB_SRCS := 
+ASM_SRCS := 
+S_UPPER_SRCS := 
+S43_SRCS := 
+LD_SRCS := 
+CMD_UPPER_SRCS := 
+C_UPPER_SRCS := 
+C++_SRCS := 
+C43_SRCS := 
+OBJ_SRCS := 
+LDS_SRCS := 
+S_SRCS := 
+CC_SRCS := 
+S62_SRCS := 
+C62_SRCS := 
+C_SRCS := 
+C55_DEPS := 
+C_UPPER_DEPS := 
+S67_DEPS := 
+S62_DEPS := 
+S_DEPS := 
+OPT_DEPS := 
+C??_DEPS := 
+ASM_UPPER_DEPS := 
+S??_DEPS := 
+C64_DEPS := 
+CXX_DEPS := 
+S64_DEPS := 
+INO_DEPS := 
+CLA_DEPS := 
+S55_DEPS := 
+SV7A_DEPS := 
+EXE_OUTPUTS := 
+C62_DEPS := 
+C67_DEPS := 
+PDE_DEPS := 
+K_DEPS := 
+C_DEPS := 
+CC_DEPS := 
+BIN_OUTPUTS := 
+C++_DEPS := 
+C43_DEPS := 
+S43_DEPS := 
+OBJS := 
+ASM_DEPS := 
+S_UPPER_DEPS := 
+CPP_DEPS := 
+SA_DEPS := 
+C++_DEPS__QUOTED := 
+OPT_DEPS__QUOTED := 
+S_UPPER_DEPS__QUOTED := 
+SA_DEPS__QUOTED := 
+C??_DEPS__QUOTED := 
+S67_DEPS__QUOTED := 
+C55_DEPS__QUOTED := 
+CC_DEPS__QUOTED := 
+ASM_UPPER_DEPS__QUOTED := 
+SV7A_DEPS__QUOTED := 
+S??_DEPS__QUOTED := 
+OBJS__QUOTED := 
+C67_DEPS__QUOTED := 
+K_DEPS__QUOTED := 
+S55_DEPS__QUOTED := 
+INO_DEPS__QUOTED := 
+C62_DEPS__QUOTED := 
+C_DEPS__QUOTED := 
+C_UPPER_DEPS__QUOTED := 
+C43_DEPS__QUOTED := 
+CPP_DEPS__QUOTED := 
+BIN_OUTPUTS__QUOTED := 
+C64_DEPS__QUOTED := 
+CXX_DEPS__QUOTED := 
+CLA_DEPS__QUOTED := 
+S_DEPS__QUOTED := 
+ASM_DEPS__QUOTED := 
+S43_DEPS__QUOTED := 
+EXE_OUTPUTS__QUOTED := 
+S64_DEPS__QUOTED := 
+S62_DEPS__QUOTED := 
+PDE_DEPS__QUOTED := 
+
+# Every subdirectory with source files must be described here
+SUBDIRS := \
+. \
+driverlib \
+
diff --git a/Apps/FlightSoftware/MotorControl/Release/subdir_rules.mk b/Apps/FlightSoftware/MotorControl/Release/subdir_rules.mk
new file mode 100644
index 000000000..628d31c76
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/subdir_rules.mk
@@ -0,0 +1,15 @@
+################################################################################
+# Automatically-generated file. Do not edit!
+################################################################################
+
+SHELL = cmd.exe
+
+# Each subdirectory must supply rules for building sources it contributes
+%.obj: ../%.c $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
+	@echo 'Building file: "$<"'
+	@echo 'Invoking: MSP430 Compiler'
+	"C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/bin/cl430" -vmspx --data_model=restricted -O2 --use_hw_mpy=F5 --include_path="C:/ti/ccs930/ccs/ccs_base/msp430/include" --include_path="E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib" --include_path="C:/ti/ccs930/ccs/ccs_base/msp430ware_3_80_11_07/iqmathlib/include" --include_path="E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl" --include_path="C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include" --advice:power=all --advice:hw_config=all --define=__MSP430FR5994__ --define=_MPU_ENABLE --printf_support=minimal --diag_warning=225 --diag_wrap=off --display_error_number --silicon_errata=CPU21 --silicon_errata=CPU22 --silicon_errata=CPU40 --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
+	@echo 'Finished building: "$<"'
+	@echo ' '
+
+
diff --git a/Apps/FlightSoftware/MotorControl/Release/subdir_vars.mk b/Apps/FlightSoftware/MotorControl/Release/subdir_vars.mk
new file mode 100644
index 000000000..bbad840d4
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/Release/subdir_vars.mk
@@ -0,0 +1,41 @@
+################################################################################
+# Automatically-generated file. Do not edit!
+################################################################################
+
+SHELL = cmd.exe
+
+# Add inputs and outputs from these tool invocations to the build variables 
+CMD_SRCS += \
+../lnk_msp430fr5994.cmd 
+
+C_SRCS += \
+../bsp.c \
+../i2c.c \
+../main.c 
+
+C_DEPS += \
+./bsp.d \
+./i2c.d \
+./main.d 
+
+OBJS += \
+./bsp.obj \
+./i2c.obj \
+./main.obj 
+
+OBJS__QUOTED += \
+"bsp.obj" \
+"i2c.obj" \
+"main.obj" 
+
+C_DEPS__QUOTED += \
+"bsp.d" \
+"i2c.d" \
+"main.d" 
+
+C_SRCS__QUOTED += \
+"../bsp.c" \
+"../i2c.c" \
+"../main.c" 
+
+
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/adc12_b.c b/Apps/FlightSoftware/MotorControl/driverlib/adc12_b.c
new file mode 100644
index 000000000..ad28633e2
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/adc12_b.c
@@ -0,0 +1,291 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// adc12_b.c - Driver for the adc12_b Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup adc12_b_api adc12_b
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_ADC12_B__
+#include "adc12_b.h"
+
+#include <assert.h>
+
+bool ADC12_B_init(uint16_t baseAddress, ADC12_B_initParam *param)
+{
+    //Make sure the ENC bit is cleared before initializing the ADC12
+    HWREG8(baseAddress + OFS_ADC12CTL0_L) &= ~ADC12ENC;
+
+    bool retVal = STATUS_SUCCESS;
+
+    //Turn OFF ADC12B Module & Clear Interrupt Registers
+    HWREG16(baseAddress + OFS_ADC12CTL0) &= ~(ADC12ON + ADC12ENC + ADC12SC);
+    HWREG16(baseAddress + OFS_ADC12IER0)  &= 0x0000; //Reset ALL interrupt enables
+    HWREG16(baseAddress + OFS_ADC12IER1)  &= 0x0000;
+    HWREG16(baseAddress + OFS_ADC12IER2)  &= 0x0000;
+    HWREG16(baseAddress + OFS_ADC12IFGR0)  &= 0x0000; //Reset ALL interrupt flags
+    HWREG16(baseAddress + OFS_ADC12IFGR1)  &= 0x0000;
+    HWREG16(baseAddress + OFS_ADC12IFGR2)  &= 0x0000;
+
+    //Set ADC12B Control 1
+    HWREG16(baseAddress + OFS_ADC12CTL1) =
+        param->sampleHoldSignalSourceSelect //Setup the Sample-and-Hold Source
+        + (param->clockSourceDivider & ADC12DIV_7) //Set Clock Divider
+        + (param->clockSourcePredivider & ADC12PDIV__64)
+        + param->clockSourceSelect; //Setup Clock Source
+
+    //Set ADC12B Control 2
+    HWREG16(baseAddress + OFS_ADC12CTL2) =
+        ADC12RES_2; //Default resolution to 12-bits
+
+    //Set ADC12B Control 3
+    HWREG16(baseAddress + OFS_ADC12CTL3) =
+        param->internalChannelMap; // Map internal channels
+
+    return (retVal) ;
+}
+
+void ADC12_B_enable (uint16_t baseAddress)
+{
+    // Clear ENC bit
+    HWREG8(baseAddress + OFS_ADC12CTL0_L) &= ~ADC12ENC;
+
+    //Enable the ADC12B Module
+    HWREG8(baseAddress + OFS_ADC12CTL0_L) |= ADC12ON;
+}
+
+void ADC12_B_disable (uint16_t baseAddress)
+{
+    // Clear ENC bit
+    HWREG8(baseAddress + OFS_ADC12CTL0_L) &= ~ADC12ENC;
+
+    // Must be implemented due to ADC66 errata
+    // Wait for ADC to finish conversion
+    while (ADC12_B_isBusy(baseAddress)) ;
+
+    //Disable ADC12B module
+    HWREG8(baseAddress + OFS_ADC12CTL0_L) &= ~ADC12ON;
+}
+
+void ADC12_B_setupSamplingTimer (uint16_t baseAddress,
+    uint16_t clockCycleHoldCountLowMem,
+    uint16_t clockCycleHoldCountHighMem,
+    uint16_t multipleSamplesEnabled)
+{
+    HWREG16(baseAddress + OFS_ADC12CTL1) |= ADC12SHP;
+
+    //Reset clock cycle hold counts and msc bit before setting them
+    HWREG16(baseAddress + OFS_ADC12CTL0) &=
+        ~(ADC12SHT0_15 + ADC12SHT1_15 + ADC12MSC);
+
+    //Set clock cycle hold counts and msc bit
+    HWREG16(baseAddress + OFS_ADC12CTL0) |= clockCycleHoldCountLowMem
+                                          + (clockCycleHoldCountHighMem << 4)
+                                          + multipleSamplesEnabled;
+}
+
+void ADC12_B_disableSamplingTimer (uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_ADC12CTL1) &= ~(ADC12SHP);
+}
+
+void ADC12_B_configureMemory(uint16_t baseAddress,
+    ADC12_B_configureMemoryParam *param)
+{
+    //Make sure the ENC bit is cleared before configuring a Memory Buffer Control
+    assert( !(HWREG16(baseAddress + OFS_ADC12CTL0) & ADC12ENC) );
+
+    if(!(HWREG16(baseAddress + OFS_ADC12CTL0) & ADC12ENC))
+    {
+        //Set the offset in respect to ADC12MCTL0
+        uint16_t memoryBufferControlOffset =
+            (OFS_ADC12MCTL0 + param->memoryBufferControlIndex);
+
+        //Reset the memory buffer control and Set the input source
+        HWREG16(baseAddress + memoryBufferControlOffset) =
+            param->inputSourceSelect //Set Input Source
+            + param->refVoltageSourceSelect //Set Vref+/-
+            + param->endOfSequence; //Set End of Sequence
+
+        HWREG16(baseAddress + memoryBufferControlOffset)
+            &= ~(ADC12WINC);
+
+        HWREG16(baseAddress + memoryBufferControlOffset)
+            |= param->windowComparatorSelect;
+        //(OFS_ADC12MCTL0_H + memoryIndex) == offset of OFS_ADC12MCTLX_H
+
+        HWREG16(baseAddress + memoryBufferControlOffset)
+            &= ~(ADC12DIF);
+
+        HWREG16(baseAddress + memoryBufferControlOffset)
+            |= param->differentialModeSelect;
+        //(OFS_ADC12MCTL0_H + memoryIndex) == offset of OFS_ADC12MCTLX_H
+    }
+}
+void ADC12_B_setWindowCompAdvanced (uint16_t baseAddress,
+    uint16_t highThreshold,
+    uint16_t lowThreshold)
+{
+    HWREG16(baseAddress + OFS_ADC12HI) = highThreshold;
+    HWREG16(baseAddress + OFS_ADC12LO) = lowThreshold;
+}
+
+void ADC12_B_enableInterrupt (uint16_t baseAddress,
+    uint16_t interruptMask0,
+    uint16_t interruptMask1,
+    uint16_t interruptMask2)
+{
+    HWREG16(baseAddress + OFS_ADC12IER0) |= interruptMask0;
+    HWREG16(baseAddress + OFS_ADC12IER1) |= interruptMask1;
+    HWREG16(baseAddress + OFS_ADC12IER2) |= interruptMask2;
+}
+
+void ADC12_B_disableInterrupt (uint16_t baseAddress,
+    uint16_t interruptMask0,
+    uint16_t interruptMask1,
+    uint16_t interruptMask2)
+{
+    HWREG16(baseAddress + OFS_ADC12IER0) &= ~(interruptMask0);
+    HWREG16(baseAddress + OFS_ADC12IER1) &= ~(interruptMask1);
+    HWREG16(baseAddress + OFS_ADC12IER2) &= ~(interruptMask2);
+}
+
+void ADC12_B_clearInterrupt (uint16_t baseAddress,
+	uint8_t interruptRegisterChoice,
+    uint16_t memoryInterruptFlagMask)
+{
+	HWREG16(baseAddress + OFS_ADC12IFGR0 + 2*interruptRegisterChoice) &=
+        ~(memoryInterruptFlagMask);
+
+}
+
+uint16_t ADC12_B_getInterruptStatus (uint16_t baseAddress,
+	uint8_t interruptRegisterChoice,
+	uint16_t memoryInterruptFlagMask)
+{
+    return ( HWREG16(baseAddress + OFS_ADC12IFGR0 + 2*interruptRegisterChoice)
+    		& memoryInterruptFlagMask );
+}
+
+void ADC12_B_startConversion (uint16_t baseAddress,
+    uint16_t startingMemoryBufferIndex,
+    uint8_t conversionSequenceModeSelect)
+{
+    //Reset the ENC bit to set the starting memory address and conversion mode
+    //sequence
+    HWREG8(baseAddress + OFS_ADC12CTL0_L) &= ~(ADC12ENC);
+    //Reset the bits about to be set
+    HWREG16(baseAddress + OFS_ADC12CTL3) &= ~(ADC12CSTARTADD_31);
+    HWREG16(baseAddress + OFS_ADC12CTL1) &= ~(ADC12CONSEQ_3);
+
+    HWREG16(baseAddress + OFS_ADC12CTL3) |= startingMemoryBufferIndex;
+    HWREG16(baseAddress + OFS_ADC12CTL1) |= conversionSequenceModeSelect;
+    HWREG8(baseAddress + OFS_ADC12CTL0_L) |= ADC12ENC + ADC12SC;
+}
+
+void ADC12_B_disableConversions (uint16_t baseAddress, bool preempt)
+{
+    if (ADC12_B_PREEMPTCONVERSION == preempt){
+        HWREG8(baseAddress + OFS_ADC12CTL1_L) &= ~(ADC12CONSEQ_3);
+        //Reset conversion sequence mode to single-channel, single-conversion
+    } else if (~(HWREG8(baseAddress + OFS_ADC12CTL1_L) & ADC12CONSEQ_3)){
+        //To prevent preemption of a single-channel, single-conversion we must
+        //wait for the ADC core to finish the conversion.
+        while (ADC12_B_isBusy(baseAddress)) ;
+    }
+
+    HWREG8(baseAddress + OFS_ADC12CTL0_L) &= ~(ADC12ENC);
+}
+
+uint16_t ADC12_B_getResults (uint16_t baseAddress, uint8_t memoryBufferIndex)
+{
+    return ( HWREG16(baseAddress + (OFS_ADC12MEM0 + memoryBufferIndex)) );
+    //(0x60 + memoryBufferIndex) == offset of ADC12MEMx
+}
+
+void ADC12_B_setResolution (uint16_t baseAddress,
+    uint8_t resolutionSelect)
+{
+    HWREG8(baseAddress + OFS_ADC12CTL2_L) &= ~(ADC12RES_3);
+    HWREG8(baseAddress + OFS_ADC12CTL2_L) |= resolutionSelect;
+}
+
+void ADC12_B_setSampleHoldSignalInversion (uint16_t baseAddress,
+    uint16_t invertedSignal)
+{
+    HWREG16(baseAddress + OFS_ADC12CTL1) &= ~(ADC12ISSH);
+    HWREG16(baseAddress + OFS_ADC12CTL1) |= invertedSignal;
+}
+
+void ADC12_B_setDataReadBackFormat (uint16_t baseAddress,
+    uint8_t readBackFormat)
+{
+    HWREG8(baseAddress + OFS_ADC12CTL2_L) &= ~(ADC12DF);
+    HWREG8(baseAddress + OFS_ADC12CTL2_L) |= readBackFormat;
+}
+
+void ADC12_B_setAdcPowerMode (uint16_t baseAddress,
+    uint8_t powerMode)
+{
+    HWREG8(baseAddress + OFS_ADC12CTL2_L) &= ~(ADC12PWRMD);
+    HWREG8(baseAddress + OFS_ADC12CTL2_L) |= powerMode;
+}
+
+uint32_t ADC12_B_getMemoryAddressForDMA (uint16_t baseAddress,
+    uint8_t memoryIndex)
+{
+    return ( baseAddress + (OFS_ADC12MEM0 + memoryIndex) );
+    //(0x60 + memoryIndex) == offset of ADC12MEMx
+}
+
+uint8_t ADC12_B_isBusy (uint16_t baseAddress)
+{
+    return (HWREG8(baseAddress + OFS_ADC12CTL1_L) & ADC12BUSY);
+}
+
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for adc12_b_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/adc12_b.h b/Apps/FlightSoftware/MotorControl/driverlib/adc12_b.h
new file mode 100644
index 000000000..446341e2d
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/adc12_b.h
@@ -0,0 +1,1496 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// adc12_b.h - Driver for the ADC12_B Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_ADC12_B_H__
+#define __MSP430WARE_ADC12_B_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_ADC12_B__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "inc/hw_memmap.h"
+//*****************************************************************************
+//
+//! \brief Used in the ADC12_B_init() function as the param parameter.
+//
+//*****************************************************************************
+typedef struct ADC12_B_initParam {
+    //! Is the signal that will trigger a sample-and-hold for an input signal
+    //! to be converted.
+    //! \n Valid values are:
+    //! - \b ADC12_B_SAMPLEHOLDSOURCE_SC [Default]
+    //! - \b ADC12_B_SAMPLEHOLDSOURCE_1
+    //! - \b ADC12_B_SAMPLEHOLDSOURCE_2
+    //! - \b ADC12_B_SAMPLEHOLDSOURCE_3
+    //! - \b ADC12_B_SAMPLEHOLDSOURCE_4
+    //! - \b ADC12_B_SAMPLEHOLDSOURCE_5
+    //! - \b ADC12_B_SAMPLEHOLDSOURCE_6
+    //! - \b ADC12_B_SAMPLEHOLDSOURCE_7 - This parameter is device specific and
+    //!    sources should be found in the device's datasheet.
+    uint16_t sampleHoldSignalSourceSelect;
+    //! Selects the clock that will be used by the ADC12B core, and the
+    //! sampling timer if a sampling pulse mode is enabled.
+    //! \n Valid values are:
+    //! - \b ADC12_B_CLOCKSOURCE_ADC12OSC [Default] - MODOSC 5 MHz oscillator
+    //!    from the UCS
+    //! - \b ADC12_B_CLOCKSOURCE_ACLK - The Auxiliary Clock
+    //! - \b ADC12_B_CLOCKSOURCE_MCLK - The Master Clock
+    //! - \b ADC12_B_CLOCKSOURCE_SMCLK - The Sub-Master Clock
+    uint8_t clockSourceSelect;
+    //! Selects the amount that the clock will be divided.
+    //! \n Valid values are:
+    //! - \b ADC12_B_CLOCKDIVIDER_1 [Default]
+    //! - \b ADC12_B_CLOCKDIVIDER_2
+    //! - \b ADC12_B_CLOCKDIVIDER_3
+    //! - \b ADC12_B_CLOCKDIVIDER_4
+    //! - \b ADC12_B_CLOCKDIVIDER_5
+    //! - \b ADC12_B_CLOCKDIVIDER_6
+    //! - \b ADC12_B_CLOCKDIVIDER_7
+    //! - \b ADC12_B_CLOCKDIVIDER_8
+    uint16_t clockSourceDivider;
+    //! Selects the amount that the clock will be predivided.
+    //! \n Valid values are:
+    //! - \b ADC12_B_CLOCKPREDIVIDER__1 [Default]
+    //! - \b ADC12_B_CLOCKPREDIVIDER__4
+    //! - \b ADC12_B_CLOCKPREDIVIDER__32
+    //! - \b ADC12_B_CLOCKPREDIVIDER__64
+    uint16_t clockSourcePredivider;
+    //! Selects what internal channel to map for ADC input channels
+    //! \n Valid values are:
+    //! - \b ADC12_B_MAPINTCH3
+    //! - \b ADC12_B_MAPINTCH2
+    //! - \b ADC12_B_MAPINTCH1
+    //! - \b ADC12_B_MAPINTCH0
+    //! - \b ADC12_B_TEMPSENSEMAP
+    //! - \b ADC12_B_BATTMAP
+    //! - \b ADC12_B_NOINTCH
+    uint16_t internalChannelMap;
+} ADC12_B_initParam;
+
+//*****************************************************************************
+//
+//! \brief Used in the ADC12_B_configureMemory() function as the param
+//! parameter.
+//
+//*****************************************************************************
+typedef struct ADC12_B_configureMemoryParam {
+    //! Is the selected memory buffer to set the configuration for.
+    //! \n Valid values are:
+    //! - \b ADC12_B_MEMORY_0
+    //! - \b ADC12_B_MEMORY_1
+    //! - \b ADC12_B_MEMORY_2
+    //! - \b ADC12_B_MEMORY_3
+    //! - \b ADC12_B_MEMORY_4
+    //! - \b ADC12_B_MEMORY_5
+    //! - \b ADC12_B_MEMORY_6
+    //! - \b ADC12_B_MEMORY_7
+    //! - \b ADC12_B_MEMORY_8
+    //! - \b ADC12_B_MEMORY_9
+    //! - \b ADC12_B_MEMORY_10
+    //! - \b ADC12_B_MEMORY_11
+    //! - \b ADC12_B_MEMORY_12
+    //! - \b ADC12_B_MEMORY_13
+    //! - \b ADC12_B_MEMORY_14
+    //! - \b ADC12_B_MEMORY_15
+    //! - \b ADC12_B_MEMORY_16
+    //! - \b ADC12_B_MEMORY_17
+    //! - \b ADC12_B_MEMORY_18
+    //! - \b ADC12_B_MEMORY_19
+    //! - \b ADC12_B_MEMORY_20
+    //! - \b ADC12_B_MEMORY_21
+    //! - \b ADC12_B_MEMORY_22
+    //! - \b ADC12_B_MEMORY_23
+    //! - \b ADC12_B_MEMORY_24
+    //! - \b ADC12_B_MEMORY_25
+    //! - \b ADC12_B_MEMORY_26
+    //! - \b ADC12_B_MEMORY_27
+    //! - \b ADC12_B_MEMORY_28
+    //! - \b ADC12_B_MEMORY_29
+    //! - \b ADC12_B_MEMORY_30
+    //! - \b ADC12_B_MEMORY_31
+    uint8_t memoryBufferControlIndex;
+    //! Is the input that will store the converted data into the specified
+    //! memory buffer.
+    //! \n Valid values are:
+    //! - \b ADC12_B_INPUT_A0 [Default]
+    //! - \b ADC12_B_INPUT_A1
+    //! - \b ADC12_B_INPUT_A2
+    //! - \b ADC12_B_INPUT_A3
+    //! - \b ADC12_B_INPUT_A4
+    //! - \b ADC12_B_INPUT_A5
+    //! - \b ADC12_B_INPUT_A6
+    //! - \b ADC12_B_INPUT_A7
+    //! - \b ADC12_B_INPUT_A8
+    //! - \b ADC12_B_INPUT_A9
+    //! - \b ADC12_B_INPUT_A10
+    //! - \b ADC12_B_INPUT_A11
+    //! - \b ADC12_B_INPUT_A12
+    //! - \b ADC12_B_INPUT_A13
+    //! - \b ADC12_B_INPUT_A14
+    //! - \b ADC12_B_INPUT_A15
+    //! - \b ADC12_B_INPUT_A16
+    //! - \b ADC12_B_INPUT_A17
+    //! - \b ADC12_B_INPUT_A18
+    //! - \b ADC12_B_INPUT_A19
+    //! - \b ADC12_B_INPUT_A20
+    //! - \b ADC12_B_INPUT_A21
+    //! - \b ADC12_B_INPUT_A22
+    //! - \b ADC12_B_INPUT_A23
+    //! - \b ADC12_B_INPUT_A24
+    //! - \b ADC12_B_INPUT_A25
+    //! - \b ADC12_B_INPUT_A26
+    //! - \b ADC12_B_INPUT_A27
+    //! - \b ADC12_B_INPUT_A28
+    //! - \b ADC12_B_INPUT_A29
+    //! - \b ADC12_B_INPUT_TCMAP
+    //! - \b ADC12_B_INPUT_BATMAP
+    uint8_t inputSourceSelect;
+    //! Is the reference voltage source to set as the upper/lower limits for
+    //! the conversion stored in the specified memory.
+    //! \n Valid values are:
+    //! - \b ADC12_B_VREFPOS_AVCC_VREFNEG_VSS [Default]
+    //! - \b ADC12_B_VREFPOS_INTBUF_VREFNEG_VSS
+    //! - \b ADC12_B_VREFPOS_EXTNEG_VREFNEG_VSS
+    //! - \b ADC12_B_VREFPOS_EXTBUF_VREFNEG_VSS
+    //! - \b ADC12_B_VREFPOS_EXTPOS_VREFNEG_VSS
+    //! - \b ADC12_B_VREFPOS_AVCC_VREFNEG_EXTBUF
+    //! - \b ADC12_B_VREFPOS_AVCC_VREFNEG_EXTPOS
+    //! - \b ADC12_B_VREFPOS_INTBUF_VREFNEG_EXTPOS
+    //! - \b ADC12_B_VREFPOS_AVCC_VREFNEG_INTBUF
+    //! - \b ADC12_B_VREFPOS_EXTPOS_VREFNEG_INTBUF
+    //! - \b ADC12_B_VREFPOS_AVCC_VREFNEG_EXTNEG
+    //! - \b ADC12_B_VREFPOS_INTBUF_VREFNEG_EXTNEG
+    //! - \b ADC12_B_VREFPOS_EXTPOS_VREFNEG_EXTNEG
+    //! - \b ADC12_B_VREFPOS_EXTBUF_VREFNEG_EXTNEG
+    uint16_t refVoltageSourceSelect;
+    //! Indicates that the specified memory buffer will be the end of the
+    //! sequence if a sequenced conversion mode is selected
+    //! \n Valid values are:
+    //! - \b ADC12_B_NOTENDOFSEQUENCE [Default] - The specified memory buffer
+    //!    will NOT be the end of the sequence OR a sequenced conversion mode
+    //!    is not selected.
+    //! - \b ADC12_B_ENDOFSEQUENCE - The specified memory buffer will be the
+    //!    end of the sequence.
+    uint16_t endOfSequence;
+    //! Sets the window comparator mode
+    //! \n Valid values are:
+    //! - \b ADC12_B_WINDOW_COMPARATOR_DISABLE [Default]
+    //! - \b ADC12_B_WINDOW_COMPARATOR_ENABLE
+    uint16_t windowComparatorSelect;
+    //! Sets the differential mode
+    //! \n Valid values are:
+    //! - \b ADC12_B_DIFFERENTIAL_MODE_DISABLE [Default]
+    //! - \b ADC12_B_DIFFERENTIAL_MODE_ENABLE
+    uint16_t differentialModeSelect;
+} ADC12_B_configureMemoryParam;
+
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the clockSourceDivider
+// parameter for functions: ADC12_B_init(); the param parameter for functions:
+// ADC12_B_init().
+//
+//*****************************************************************************
+#define ADC12_B_CLOCKDIVIDER_1                                     (ADC12DIV_0)
+#define ADC12_B_CLOCKDIVIDER_2                                     (ADC12DIV_1)
+#define ADC12_B_CLOCKDIVIDER_3                                     (ADC12DIV_2)
+#define ADC12_B_CLOCKDIVIDER_4                                     (ADC12DIV_3)
+#define ADC12_B_CLOCKDIVIDER_5                                     (ADC12DIV_4)
+#define ADC12_B_CLOCKDIVIDER_6                                     (ADC12DIV_5)
+#define ADC12_B_CLOCKDIVIDER_7                                     (ADC12DIV_6)
+#define ADC12_B_CLOCKDIVIDER_8                                     (ADC12DIV_7)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the clockSourceSelect
+// parameter for functions: ADC12_B_init(); the param parameter for functions:
+// ADC12_B_init().
+//
+//*****************************************************************************
+#define ADC12_B_CLOCKSOURCE_ADC12OSC                              (ADC12SSEL_0)
+#define ADC12_B_CLOCKSOURCE_ACLK                                  (ADC12SSEL_1)
+#define ADC12_B_CLOCKSOURCE_MCLK                                  (ADC12SSEL_2)
+#define ADC12_B_CLOCKSOURCE_SMCLK                                 (ADC12SSEL_3)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the clockSourcePredivider
+// parameter for functions: ADC12_B_init(); the param parameter for functions:
+// ADC12_B_init().
+//
+//*****************************************************************************
+#define ADC12_B_CLOCKPREDIVIDER__1                               (ADC12PDIV__1)
+#define ADC12_B_CLOCKPREDIVIDER__4                               (ADC12PDIV__4)
+#define ADC12_B_CLOCKPREDIVIDER__32                             (ADC12PDIV__32)
+#define ADC12_B_CLOCKPREDIVIDER__64                             (ADC12PDIV__64)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: ADC12_B_init(); the sampleHoldSignalSourceSelect parameter for
+// functions: ADC12_B_init().
+//
+//*****************************************************************************
+#define ADC12_B_SAMPLEHOLDSOURCE_SC                                (ADC12SHS_0)
+#define ADC12_B_SAMPLEHOLDSOURCE_1                                 (ADC12SHS_1)
+#define ADC12_B_SAMPLEHOLDSOURCE_2                                 (ADC12SHS_2)
+#define ADC12_B_SAMPLEHOLDSOURCE_3                                 (ADC12SHS_3)
+#define ADC12_B_SAMPLEHOLDSOURCE_4                                 (ADC12SHS_4)
+#define ADC12_B_SAMPLEHOLDSOURCE_5                                 (ADC12SHS_5)
+#define ADC12_B_SAMPLEHOLDSOURCE_6                                 (ADC12SHS_6)
+#define ADC12_B_SAMPLEHOLDSOURCE_7                                 (ADC12SHS_7)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the internalChannelMap
+// parameter for functions: ADC12_B_init(); the param parameter for functions:
+// ADC12_B_init().
+//
+//*****************************************************************************
+#define ADC12_B_MAPINTCH3                                        (ADC12ICH3MAP)
+#define ADC12_B_MAPINTCH2                                        (ADC12ICH2MAP)
+#define ADC12_B_MAPINTCH1                                        (ADC12ICH1MAP)
+#define ADC12_B_MAPINTCH0                                        (ADC12ICH0MAP)
+#define ADC12_B_TEMPSENSEMAP                                       (ADC12TCMAP)
+#define ADC12_B_BATTMAP                                           (ADC12BATMAP)
+#define ADC12_B_NOINTCH                                                  (0x00)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the clockCycleHoldCountLowMem
+// parameter for functions: ADC12_B_setupSamplingTimer(); the
+// clockCycleHoldCountHighMem parameter for functions:
+// ADC12_B_setupSamplingTimer().
+//
+//*****************************************************************************
+#define ADC12_B_CYCLEHOLD_4_CYCLES                                (ADC12SHT0_0)
+#define ADC12_B_CYCLEHOLD_8_CYCLES                                (ADC12SHT0_1)
+#define ADC12_B_CYCLEHOLD_16_CYCLES                               (ADC12SHT0_2)
+#define ADC12_B_CYCLEHOLD_32_CYCLES                               (ADC12SHT0_3)
+#define ADC12_B_CYCLEHOLD_64_CYCLES                               (ADC12SHT0_4)
+#define ADC12_B_CYCLEHOLD_96_CYCLES                               (ADC12SHT0_5)
+#define ADC12_B_CYCLEHOLD_128_CYCLES                              (ADC12SHT0_6)
+#define ADC12_B_CYCLEHOLD_192_CYCLES                              (ADC12SHT0_7)
+#define ADC12_B_CYCLEHOLD_256_CYCLES                              (ADC12SHT0_8)
+#define ADC12_B_CYCLEHOLD_384_CYCLES                              (ADC12SHT0_9)
+#define ADC12_B_CYCLEHOLD_512_CYCLES                             (ADC12SHT0_10)
+#define ADC12_B_CYCLEHOLD_768_CYCLES                             (ADC12SHT0_11)
+#define ADC12_B_CYCLEHOLD_1024_CYCLES                            (ADC12SHT0_12)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the multipleSamplesEnabled
+// parameter for functions: ADC12_B_setupSamplingTimer().
+//
+//*****************************************************************************
+#define ADC12_B_MULTIPLESAMPLESDISABLE                            (!(ADC12MSC))
+#define ADC12_B_MULTIPLESAMPLESENABLE                                (ADC12MSC)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: ADC12_B_configureMemory().
+//
+//*****************************************************************************
+#define ADC12_B_DIFFERENTIAL_MODE_DISABLE                                (0x00)
+#define ADC12_B_DIFFERENTIAL_MODE_ENABLE                             (ADC12DIF)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: ADC12_B_configureMemory().
+//
+//*****************************************************************************
+#define ADC12_B_NOTENDOFSEQUENCE                                  (!(ADC12EOS))
+#define ADC12_B_ENDOFSEQUENCE                                        (ADC12EOS)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: ADC12_B_configureMemory().
+//
+//*****************************************************************************
+#define ADC12_B_VREFPOS_AVCC_VREFNEG_VSS                         (ADC12VRSEL_0)
+#define ADC12_B_VREFPOS_INTBUF_VREFNEG_VSS                       (ADC12VRSEL_1)
+#define ADC12_B_VREFPOS_EXTNEG_VREFNEG_VSS                       (ADC12VRSEL_2)
+#define ADC12_B_VREFPOS_EXTBUF_VREFNEG_VSS                       (ADC12VRSEL_3)
+#define ADC12_B_VREFPOS_EXTPOS_VREFNEG_VSS                       (ADC12VRSEL_4)
+#define ADC12_B_VREFPOS_AVCC_VREFNEG_EXTBUF                      (ADC12VRSEL_5)
+#define ADC12_B_VREFPOS_AVCC_VREFNEG_EXTPOS                      (ADC12VRSEL_6)
+#define ADC12_B_VREFPOS_INTBUF_VREFNEG_EXTPOS                    (ADC12VRSEL_7)
+#define ADC12_B_VREFPOS_AVCC_VREFNEG_INTBUF                      (ADC12VRSEL_9)
+#define ADC12_B_VREFPOS_EXTPOS_VREFNEG_INTBUF                   (ADC12VRSEL_11)
+#define ADC12_B_VREFPOS_AVCC_VREFNEG_EXTNEG                     (ADC12VRSEL_12)
+#define ADC12_B_VREFPOS_INTBUF_VREFNEG_EXTNEG                   (ADC12VRSEL_13)
+#define ADC12_B_VREFPOS_EXTPOS_VREFNEG_EXTNEG                   (ADC12VRSEL_14)
+#define ADC12_B_VREFPOS_EXTBUF_VREFNEG_EXTNEG                   (ADC12VRSEL_15)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: ADC12_B_configureMemory().
+//
+//*****************************************************************************
+#define ADC12_B_INPUT_A0                                          (ADC12INCH_0)
+#define ADC12_B_INPUT_A1                                          (ADC12INCH_1)
+#define ADC12_B_INPUT_A2                                          (ADC12INCH_2)
+#define ADC12_B_INPUT_A3                                          (ADC12INCH_3)
+#define ADC12_B_INPUT_A4                                          (ADC12INCH_4)
+#define ADC12_B_INPUT_A5                                          (ADC12INCH_5)
+#define ADC12_B_INPUT_A6                                          (ADC12INCH_6)
+#define ADC12_B_INPUT_A7                                          (ADC12INCH_7)
+#define ADC12_B_INPUT_A8                                          (ADC12INCH_8)
+#define ADC12_B_INPUT_A9                                          (ADC12INCH_9)
+#define ADC12_B_INPUT_A10                                        (ADC12INCH_10)
+#define ADC12_B_INPUT_A11                                        (ADC12INCH_11)
+#define ADC12_B_INPUT_A12                                        (ADC12INCH_12)
+#define ADC12_B_INPUT_A13                                        (ADC12INCH_13)
+#define ADC12_B_INPUT_A14                                        (ADC12INCH_14)
+#define ADC12_B_INPUT_A15                                        (ADC12INCH_15)
+#define ADC12_B_INPUT_A16                                        (ADC12INCH_16)
+#define ADC12_B_INPUT_A17                                        (ADC12INCH_17)
+#define ADC12_B_INPUT_A18                                        (ADC12INCH_18)
+#define ADC12_B_INPUT_A19                                        (ADC12INCH_19)
+#define ADC12_B_INPUT_A20                                        (ADC12INCH_20)
+#define ADC12_B_INPUT_A21                                        (ADC12INCH_21)
+#define ADC12_B_INPUT_A22                                        (ADC12INCH_22)
+#define ADC12_B_INPUT_A23                                        (ADC12INCH_23)
+#define ADC12_B_INPUT_A24                                        (ADC12INCH_24)
+#define ADC12_B_INPUT_A25                                        (ADC12INCH_25)
+#define ADC12_B_INPUT_A26                                        (ADC12INCH_26)
+#define ADC12_B_INPUT_A27                                        (ADC12INCH_27)
+#define ADC12_B_INPUT_A28                                        (ADC12INCH_28)
+#define ADC12_B_INPUT_A29                                        (ADC12INCH_29)
+#define ADC12_B_INPUT_TCMAP                                      (ADC12INCH_30)
+#define ADC12_B_INPUT_BATMAP                                     (ADC12INCH_31)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: ADC12_B_configureMemory().
+//
+//*****************************************************************************
+#define ADC12_B_WINDOW_COMPARATOR_DISABLE                                (0x00)
+#define ADC12_B_WINDOW_COMPARATOR_ENABLE                            (ADC12WINC)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the memoryIndex parameter for
+// functions: ADC12_B_getMemoryAddressForDMA(); the memoryBufferIndex parameter
+// for functions: ADC12_B_getResults(); the param parameter for functions:
+// ADC12_B_configureMemory().
+//
+//*****************************************************************************
+#define ADC12_B_MEMORY_0                                                 (0x00)
+#define ADC12_B_MEMORY_1                                                 (0x02)
+#define ADC12_B_MEMORY_2                                                 (0x04)
+#define ADC12_B_MEMORY_3                                                 (0x06)
+#define ADC12_B_MEMORY_4                                                 (0x08)
+#define ADC12_B_MEMORY_5                                                 (0x0A)
+#define ADC12_B_MEMORY_6                                                 (0x0C)
+#define ADC12_B_MEMORY_7                                                 (0x0E)
+#define ADC12_B_MEMORY_8                                                 (0x10)
+#define ADC12_B_MEMORY_9                                                 (0x12)
+#define ADC12_B_MEMORY_10                                                (0x14)
+#define ADC12_B_MEMORY_11                                                (0x16)
+#define ADC12_B_MEMORY_12                                                (0x18)
+#define ADC12_B_MEMORY_13                                                (0x1A)
+#define ADC12_B_MEMORY_14                                                (0x1C)
+#define ADC12_B_MEMORY_15                                                (0x1E)
+#define ADC12_B_MEMORY_16                                                (0x20)
+#define ADC12_B_MEMORY_17                                                (0x22)
+#define ADC12_B_MEMORY_18                                                (0x24)
+#define ADC12_B_MEMORY_19                                                (0x26)
+#define ADC12_B_MEMORY_20                                                (0x28)
+#define ADC12_B_MEMORY_21                                                (0x2A)
+#define ADC12_B_MEMORY_22                                                (0x2C)
+#define ADC12_B_MEMORY_23                                                (0x2E)
+#define ADC12_B_MEMORY_24                                                (0x30)
+#define ADC12_B_MEMORY_25                                                (0x32)
+#define ADC12_B_MEMORY_26                                                (0x34)
+#define ADC12_B_MEMORY_27                                                (0x36)
+#define ADC12_B_MEMORY_28                                                (0x38)
+#define ADC12_B_MEMORY_29                                                (0x3A)
+#define ADC12_B_MEMORY_30                                                (0x3C)
+#define ADC12_B_MEMORY_31                                                (0x3E)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the interruptMask0 parameter
+// for functions: ADC12_B_enableInterrupt(), and ADC12_B_disableInterrupt().
+//
+//*****************************************************************************
+#define ADC12_B_IE0                                                  (ADC12IE0)
+#define ADC12_B_IE1                                                  (ADC12IE1)
+#define ADC12_B_IE2                                                  (ADC12IE2)
+#define ADC12_B_IE3                                                  (ADC12IE3)
+#define ADC12_B_IE4                                                  (ADC12IE4)
+#define ADC12_B_IE5                                                  (ADC12IE5)
+#define ADC12_B_IE6                                                  (ADC12IE6)
+#define ADC12_B_IE7                                                  (ADC12IE7)
+#define ADC12_B_IE8                                                  (ADC12IE8)
+#define ADC12_B_IE9                                                  (ADC12IE9)
+#define ADC12_B_IE10                                                (ADC12IE10)
+#define ADC12_B_IE11                                                (ADC12IE11)
+#define ADC12_B_IE12                                                (ADC12IE12)
+#define ADC12_B_IE13                                                (ADC12IE13)
+#define ADC12_B_IE14                                                (ADC12IE14)
+#define ADC12_B_IE15                                                (ADC12IE15)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the interruptMask1 parameter
+// for functions: ADC12_B_enableInterrupt(), and ADC12_B_disableInterrupt().
+//
+//*****************************************************************************
+#define ADC12_B_IE16                                                (ADC12IE16)
+#define ADC12_B_IE17                                                (ADC12IE17)
+#define ADC12_B_IE18                                                (ADC12IE18)
+#define ADC12_B_IE19                                                (ADC12IE19)
+#define ADC12_B_IE20                                                (ADC12IE20)
+#define ADC12_B_IE21                                                (ADC12IE21)
+#define ADC12_B_IE22                                                (ADC12IE22)
+#define ADC12_B_IE23                                                (ADC12IE23)
+#define ADC12_B_IE24                                                (ADC12IE24)
+#define ADC12_B_IE25                                                (ADC12IE25)
+#define ADC12_B_IE26                                                (ADC12IE26)
+#define ADC12_B_IE27                                                (ADC12IE27)
+#define ADC12_B_IE28                                                (ADC12IE28)
+#define ADC12_B_IE29                                                (ADC12IE29)
+#define ADC12_B_IE30                                                (ADC12IE30)
+#define ADC12_B_IE31                                                (ADC12IE31)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the interruptMask2 parameter
+// for functions: ADC12_B_enableInterrupt(), and ADC12_B_disableInterrupt().
+//
+//*****************************************************************************
+#define ADC12_B_INIE                                                (ADC12INIE)
+#define ADC12_B_LOIE                                                (ADC12LOIE)
+#define ADC12_B_HIIE                                                (ADC12HIIE)
+#define ADC12_B_OVIE                                                (ADC12OVIE)
+#define ADC12_B_TOVIE                                              (ADC12TOVIE)
+#define ADC12_B_RDYIE                                              (ADC12RDYIE)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the memoryInterruptFlagMask
+// parameter for functions: ADC12_B_clearInterrupt(), and
+// ADC12_B_getInterruptStatus().
+//
+//*****************************************************************************
+#define ADC12_B_IFG0                                                (ADC12IFG0)
+#define ADC12_B_IFG1                                                (ADC12IFG1)
+#define ADC12_B_IFG2                                                (ADC12IFG2)
+#define ADC12_B_IFG3                                                (ADC12IFG3)
+#define ADC12_B_IFG4                                                (ADC12IFG4)
+#define ADC12_B_IFG5                                                (ADC12IFG5)
+#define ADC12_B_IFG6                                                (ADC12IFG6)
+#define ADC12_B_IFG7                                                (ADC12IFG7)
+#define ADC12_B_IFG8                                                (ADC12IFG8)
+#define ADC12_B_IFG9                                                (ADC12IFG9)
+#define ADC12_B_IFG10                                              (ADC12IFG10)
+#define ADC12_B_IFG11                                              (ADC12IFG11)
+#define ADC12_B_IFG12                                              (ADC12IFG12)
+#define ADC12_B_IFG13                                              (ADC12IFG13)
+#define ADC12_B_IFG14                                              (ADC12IFG14)
+#define ADC12_B_IFG15                                              (ADC12IFG15)
+#define ADC12_B_IFG16                                              (ADC12IFG16)
+#define ADC12_B_IFG17                                              (ADC12IFG17)
+#define ADC12_B_IFG18                                              (ADC12IFG18)
+#define ADC12_B_IFG19                                              (ADC12IFG19)
+#define ADC12_B_IFG20                                              (ADC12IFG20)
+#define ADC12_B_IFG21                                              (ADC12IFG21)
+#define ADC12_B_IFG22                                              (ADC12IFG22)
+#define ADC12_B_IFG23                                              (ADC12IFG23)
+#define ADC12_B_IFG24                                              (ADC12IFG24)
+#define ADC12_B_IFG25                                              (ADC12IFG25)
+#define ADC12_B_IFG26                                              (ADC12IFG26)
+#define ADC12_B_IFG27                                              (ADC12IFG27)
+#define ADC12_B_IFG28                                              (ADC12IFG28)
+#define ADC12_B_IFG29                                              (ADC12IFG29)
+#define ADC12_B_IFG30                                              (ADC12IFG30)
+#define ADC12_B_IFG31                                              (ADC12IFG31)
+#define ADC12_B_INIFG                                              (ADC12INIFG)
+#define ADC12_B_LOIFG                                              (ADC12LOIFG)
+#define ADC12_B_HIIFG                                              (ADC12HIIFG)
+#define ADC12_B_OVIFG                                              (ADC12OVIFG)
+#define ADC12_B_TOVIFG                                            (ADC12TOVIFG)
+#define ADC12_B_RDYIFG                                            (ADC12RDYIFG)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the startingMemoryBufferIndex
+// parameter for functions: ADC12_B_startConversion().
+//
+//*****************************************************************************
+#define ADC12_B_START_AT_ADC12MEM0                           (ADC12CSTARTADD_0)
+#define ADC12_B_START_AT_ADC12MEM1                           (ADC12CSTARTADD_1)
+#define ADC12_B_START_AT_ADC12MEM2                           (ADC12CSTARTADD_2)
+#define ADC12_B_START_AT_ADC12MEM3                           (ADC12CSTARTADD_3)
+#define ADC12_B_START_AT_ADC12MEM4                           (ADC12CSTARTADD_4)
+#define ADC12_B_START_AT_ADC12MEM5                           (ADC12CSTARTADD_5)
+#define ADC12_B_START_AT_ADC12MEM6                           (ADC12CSTARTADD_6)
+#define ADC12_B_START_AT_ADC12MEM7                           (ADC12CSTARTADD_7)
+#define ADC12_B_START_AT_ADC12MEM8                           (ADC12CSTARTADD_8)
+#define ADC12_B_START_AT_ADC12MEM9                           (ADC12CSTARTADD_9)
+#define ADC12_B_START_AT_ADC12MEM10                         (ADC12CSTARTADD_10)
+#define ADC12_B_START_AT_ADC12MEM11                         (ADC12CSTARTADD_11)
+#define ADC12_B_START_AT_ADC12MEM12                         (ADC12CSTARTADD_12)
+#define ADC12_B_START_AT_ADC12MEM13                         (ADC12CSTARTADD_13)
+#define ADC12_B_START_AT_ADC12MEM14                         (ADC12CSTARTADD_14)
+#define ADC12_B_START_AT_ADC12MEM15                         (ADC12CSTARTADD_15)
+#define ADC12_B_START_AT_ADC12MEM16                         (ADC12CSTARTADD_16)
+#define ADC12_B_START_AT_ADC12MEM17                         (ADC12CSTARTADD_17)
+#define ADC12_B_START_AT_ADC12MEM18                         (ADC12CSTARTADD_18)
+#define ADC12_B_START_AT_ADC12MEM19                         (ADC12CSTARTADD_19)
+#define ADC12_B_START_AT_ADC12MEM20                         (ADC12CSTARTADD_20)
+#define ADC12_B_START_AT_ADC12MEM21                         (ADC12CSTARTADD_21)
+#define ADC12_B_START_AT_ADC12MEM22                         (ADC12CSTARTADD_22)
+#define ADC12_B_START_AT_ADC12MEM23                         (ADC12CSTARTADD_23)
+#define ADC12_B_START_AT_ADC12MEM24                         (ADC12CSTARTADD_24)
+#define ADC12_B_START_AT_ADC12MEM25                         (ADC12CSTARTADD_25)
+#define ADC12_B_START_AT_ADC12MEM26                         (ADC12CSTARTADD_26)
+#define ADC12_B_START_AT_ADC12MEM27                         (ADC12CSTARTADD_27)
+#define ADC12_B_START_AT_ADC12MEM28                         (ADC12CSTARTADD_28)
+#define ADC12_B_START_AT_ADC12MEM29                         (ADC12CSTARTADD_29)
+#define ADC12_B_START_AT_ADC12MEM30                         (ADC12CSTARTADD_30)
+#define ADC12_B_START_AT_ADC12MEM31                         (ADC12CSTARTADD_31)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the
+// conversionSequenceModeSelect parameter for functions:
+// ADC12_B_startConversion().
+//
+//*****************************************************************************
+#define ADC12_B_SINGLECHANNEL                                   (ADC12CONSEQ_0)
+#define ADC12_B_SEQOFCHANNELS                                   (ADC12CONSEQ_1)
+#define ADC12_B_REPEATED_SINGLECHANNEL                          (ADC12CONSEQ_2)
+#define ADC12_B_REPEATED_SEQOFCHANNELS                          (ADC12CONSEQ_3)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the preempt parameter for
+// functions: ADC12_B_disableConversions().
+//
+//*****************************************************************************
+#define ADC12_B_COMPLETECONVERSION                                        false
+#define ADC12_B_PREEMPTCONVERSION                                          true
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the resolutionSelect
+// parameter for functions: ADC12_B_setResolution().
+//
+//*****************************************************************************
+#define ADC12_B_RESOLUTION_8BIT                                (ADC12RES__8BIT)
+#define ADC12_B_RESOLUTION_10BIT                              (ADC12RES__10BIT)
+#define ADC12_B_RESOLUTION_12BIT                              (ADC12RES__12BIT)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the invertedSignal parameter
+// for functions: ADC12_B_setSampleHoldSignalInversion().
+//
+//*****************************************************************************
+#define ADC12_B_NONINVERTEDSIGNAL                                (!(ADC12ISSH))
+#define ADC12_B_INVERTEDSIGNAL                                      (ADC12ISSH)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the readBackFormat parameter
+// for functions: ADC12_B_setDataReadBackFormat().
+//
+//*****************************************************************************
+#define ADC12_B_UNSIGNED_BINARY                                    (!(ADC12DF))
+#define ADC12_B_SIGNED_2SCOMPLEMENT                                   (ADC12DF)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the powerMode parameter for
+// functions: ADC12_B_setAdcPowerMode().
+//
+//*****************************************************************************
+#define ADC12_B_REGULARPOWERMODE                                (!(ADC12PWRMD))
+#define ADC12_B_LOWPOWERMODE                                       (ADC12PWRMD)
+
+//*****************************************************************************
+//
+// The following are values that can be passed toThe following are values that
+// can be returned by the ADC12_B_isBusy() function.
+//
+//*****************************************************************************
+#define ADC12_B_NOTBUSY                                                    0x00
+#define ADC12_B_BUSY                                                  ADC12BUSY
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Initializes the ADC12B Module.
+//!
+//! This function initializes the ADC module to allow for analog-to-digital
+//! conversions. Specifically this function sets up the sample-and-hold signal
+//! and clock sources for the ADC core to use for conversions. Upon successful
+//! completion of the initialization all of the ADC control registers will be
+//! reset, excluding the memory controls and reference module bits, the given
+//! parameters will be set, and the ADC core will be turned on (Note, that the
+//! ADC core only draws power during conversions and remains off when not
+//! converting).Note that sample/hold signal sources are device dependent. Note
+//! that if re-initializing the ADC after starting a conversion with the
+//! startConversion() function, the disableConversion() must be called BEFORE
+//! this function can be called.
+//!
+//! \param baseAddress is the base address of the ADC12B module.
+//! \param param is the pointer to struct for initialization.
+//!
+//! \return STATUS_SUCCESS or STATUS_FAILURE of the initialization process.
+//
+//*****************************************************************************
+extern bool ADC12_B_init(uint16_t baseAddress,
+                         ADC12_B_initParam *param);
+
+//*****************************************************************************
+//
+//! \brief Enables the ADC12B block.
+//!
+//! This will enable operation of the ADC12B block.
+//!
+//! \param baseAddress is the base address of the ADC12B module.
+//!
+//! Modified bits are \b ADC12ON of \b ADC12CTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void ADC12_B_enable(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Disables the ADC12B block.
+//!
+//! This will disable operation of the ADC12B block.
+//!
+//! \param baseAddress is the base address of the ADC12B module.
+//!
+//! Modified bits are \b ADC12ON of \b ADC12CTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void ADC12_B_disable(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Sets up and enables the Sampling Timer Pulse Mode.
+//!
+//! This function sets up the sampling timer pulse mode which allows the
+//! sample/hold signal to trigger a sampling timer to sample-and-hold an input
+//! signal for a specified number of clock cycles without having to hold the
+//! sample/hold signal for the entire period of sampling. Note that if a
+//! conversion has been started with the startConversion() function, then a
+//! call to disableConversions() is required before this function may be
+//! called.
+//!
+//! \param baseAddress is the base address of the ADC12B module.
+//! \param clockCycleHoldCountLowMem sets the amount of clock cycles to sample-
+//!        and-hold for the higher memory buffers 0-7.
+//!        Valid values are:
+//!        - \b ADC12_B_CYCLEHOLD_4_CYCLES [Default]
+//!        - \b ADC12_B_CYCLEHOLD_8_CYCLES
+//!        - \b ADC12_B_CYCLEHOLD_16_CYCLES
+//!        - \b ADC12_B_CYCLEHOLD_32_CYCLES
+//!        - \b ADC12_B_CYCLEHOLD_64_CYCLES
+//!        - \b ADC12_B_CYCLEHOLD_96_CYCLES
+//!        - \b ADC12_B_CYCLEHOLD_128_CYCLES
+//!        - \b ADC12_B_CYCLEHOLD_192_CYCLES
+//!        - \b ADC12_B_CYCLEHOLD_256_CYCLES
+//!        - \b ADC12_B_CYCLEHOLD_384_CYCLES
+//!        - \b ADC12_B_CYCLEHOLD_512_CYCLES
+//!        - \b ADC12_B_CYCLEHOLD_768_CYCLES
+//!        - \b ADC12_B_CYCLEHOLD_1024_CYCLES
+//!        \n Modified bits are \b ADC12SHT0x of \b ADC12CTL0 register.
+//! \param clockCycleHoldCountHighMem sets the amount of clock cycles to
+//!        sample-and-hold for the higher memory buffers 8-15.
+//!        Valid values are:
+//!        - \b ADC12_B_CYCLEHOLD_4_CYCLES [Default]
+//!        - \b ADC12_B_CYCLEHOLD_8_CYCLES
+//!        - \b ADC12_B_CYCLEHOLD_16_CYCLES
+//!        - \b ADC12_B_CYCLEHOLD_32_CYCLES
+//!        - \b ADC12_B_CYCLEHOLD_64_CYCLES
+//!        - \b ADC12_B_CYCLEHOLD_96_CYCLES
+//!        - \b ADC12_B_CYCLEHOLD_128_CYCLES
+//!        - \b ADC12_B_CYCLEHOLD_192_CYCLES
+//!        - \b ADC12_B_CYCLEHOLD_256_CYCLES
+//!        - \b ADC12_B_CYCLEHOLD_384_CYCLES
+//!        - \b ADC12_B_CYCLEHOLD_512_CYCLES
+//!        - \b ADC12_B_CYCLEHOLD_768_CYCLES
+//!        - \b ADC12_B_CYCLEHOLD_1024_CYCLES
+//!        \n Modified bits are \b ADC12SHT1x of \b ADC12CTL0 register.
+//! \param multipleSamplesEnabled allows multiple conversions to start without
+//!        a trigger signal from the sample/hold signal
+//!        Valid values are:
+//!        - \b ADC12_B_MULTIPLESAMPLESDISABLE [Default] - a timer trigger will
+//!           be needed to start every ADC conversion.
+//!        - \b ADC12_B_MULTIPLESAMPLESENABLE - during a sequenced and/or
+//!           repeated conversion mode, after the first conversion, no
+//!           sample/hold signal is necessary to start subsequent sample/hold
+//!           and convert processes.
+//!        \n Modified bits are \b ADC12MSC of \b ADC12CTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void ADC12_B_setupSamplingTimer(uint16_t baseAddress,
+                                       uint16_t clockCycleHoldCountLowMem,
+                                       uint16_t clockCycleHoldCountHighMem,
+                                       uint16_t multipleSamplesEnabled);
+
+//*****************************************************************************
+//
+//! \brief Disables Sampling Timer Pulse Mode.
+//!
+//! Disables the Sampling Timer Pulse Mode. Note that if a conversion has been
+//! started with the startConversion() function, then a call to
+//! disableConversions() is required before this function may be called.
+//!
+//! \param baseAddress is the base address of the ADC12B module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void ADC12_B_disableSamplingTimer(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Configures the controls of the selected memory buffer.
+//!
+//! Maps an input signal conversion into the selected memory buffer, as well as
+//! the positive and negative reference voltages for each conversion being
+//! stored into this memory buffer. If the internal reference is used for the
+//! positive reference voltage, the internal REF module must be used to control
+//! the voltage level. Note that if a conversion has been started with the
+//! startConversion() function, then a call to disableConversions() is required
+//! before this function may be called. If conversion is not disabled, this
+//! function does nothing.
+//!
+//! \param baseAddress is the base address of the ADC12B module.
+//! \param param is the pointer to struct for ADC12B memory configuration.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void ADC12_B_configureMemory(uint16_t baseAddress,
+                                    ADC12_B_configureMemoryParam *param);
+
+//*****************************************************************************
+//
+//! \brief Sets the high and low threshold for the window comparator feature.
+//!
+//! Sets the high and low threshold for the window comparator feature. Use the
+//! ADC12HIIE, ADC12INIE, ADC12LOIE interrupts to utilize this feature.
+//!
+//! \param baseAddress is the base address of the ADC12B module.
+//! \param highThreshold is the upper bound that could trip an interrupt for
+//!        the window comparator.
+//! \param lowThreshold is the lower bound that could trip on interrupt for the
+//!        window comparator.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void ADC12_B_setWindowCompAdvanced(uint16_t baseAddress,
+                                          uint16_t highThreshold,
+                                          uint16_t lowThreshold);
+
+//*****************************************************************************
+//
+//! \brief Enables selected ADC12B interrupt sources.
+//!
+//! Enables the indicated ADC12B interrupt sources.  Only the sources that are
+//! enabled can be reflected to the processor interrupt; disabled sources have
+//! no effect on the processor. <b>Does not clear interrupt flags.
+//!
+//! \param baseAddress is the base address of the ADC12B module.
+//! \param interruptMask0 is the bit mask of the memory buffer and overflow
+//!        interrupt sources to be enabled. If the desired interrupt is not
+//!        available in the selection for interruptMask0, then simply pass in a
+//!        '0' for this value.
+//!        Valid values are:
+//!        - \b ADC12_B_IE0
+//!        - \b ADC12_B_IE1
+//!        - \b ADC12_B_IE2
+//!        - \b ADC12_B_IE3
+//!        - \b ADC12_B_IE4
+//!        - \b ADC12_B_IE5
+//!        - \b ADC12_B_IE6
+//!        - \b ADC12_B_IE7
+//!        - \b ADC12_B_IE8
+//!        - \b ADC12_B_IE9
+//!        - \b ADC12_B_IE10
+//!        - \b ADC12_B_IE11
+//!        - \b ADC12_B_IE12
+//!        - \b ADC12_B_IE13
+//!        - \b ADC12_B_IE14
+//!        - \b ADC12_B_IE15
+//! \param interruptMask1 is the bit mask of the memory buffer and overflow
+//!        interrupt sources to be enabled. If the desired interrupt is not
+//!        available in the selection for interruptMask1, then simply pass in a
+//!        '0' for this value.
+//!        Valid values are:
+//!        - \b ADC12_B_IE16
+//!        - \b ADC12_B_IE17
+//!        - \b ADC12_B_IE18
+//!        - \b ADC12_B_IE19
+//!        - \b ADC12_B_IE20
+//!        - \b ADC12_B_IE21
+//!        - \b ADC12_B_IE22
+//!        - \b ADC12_B_IE23
+//!        - \b ADC12_B_IE24
+//!        - \b ADC12_B_IE25
+//!        - \b ADC12_B_IE26
+//!        - \b ADC12_B_IE27
+//!        - \b ADC12_B_IE28
+//!        - \b ADC12_B_IE29
+//!        - \b ADC12_B_IE30
+//!        - \b ADC12_B_IE31
+//! \param interruptMask2 is the bit mask of the memory buffer and overflow
+//!        interrupt sources to be enabled. If the desired interrupt is not
+//!        available in the selection for interruptMask2, then simply pass in a
+//!        '0' for this value.
+//!        Valid values are:
+//!        - \b ADC12_B_INIE - Interrupt enable for a conversion in the result
+//!           register is either greater than the ADC12LO or lower than the
+//!           ADC12HI threshold. GIE bit must be set to enable the interrupt.
+//!        - \b ADC12_B_LOIE - Interrupt enable for the falling short of the
+//!           lower limit interrupt of the window comparator for the result
+//!           register. GIE bit must be set to enable the interrupt.
+//!        - \b ADC12_B_HIIE - Interrupt enable for the exceeding the upper
+//!           limit of the window comparator for the result register. GIE bit
+//!           must be set to enable the interrupt.
+//!        - \b ADC12_B_OVIE - Interrupt enable for a conversion that is about
+//!           to save to a memory buffer that has not been read out yet. GIE
+//!           bit must be set to enable the interrupt.
+//!        - \b ADC12_B_TOVIE - enable for a conversion that is about to start
+//!           before the previous conversion has been completed. GIE bit must
+//!           be set to enable the interrupt.
+//!        - \b ADC12_B_RDYIE - enable for the local buffered reference ready
+//!           signal. GIE bit must be set to enable the interrupt.
+//!
+//! Modified bits of \b ADC12IERx register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void ADC12_B_enableInterrupt(uint16_t baseAddress,
+                                    uint16_t interruptMask0,
+                                    uint16_t interruptMask1,
+                                    uint16_t interruptMask2);
+
+//*****************************************************************************
+//
+//! \brief Disables selected ADC12B interrupt sources.
+//!
+//! Disables the indicated ADC12B interrupt sources. Only the sources that are
+//! enabled can be reflected to the processor interrupt; disabled sources have
+//! no effect on the processor.
+//!
+//! \param baseAddress is the base address of the ADC12B module.
+//! \param interruptMask0 is the bit mask of the memory buffer and overflow
+//!        interrupt sources to be disabled. If the desired interrupt is not
+//!        available in the selection for interruptMask0, then simply pass in a
+//!        '0' for this value.
+//!        Valid values are:
+//!        - \b ADC12_B_IE0
+//!        - \b ADC12_B_IE1
+//!        - \b ADC12_B_IE2
+//!        - \b ADC12_B_IE3
+//!        - \b ADC12_B_IE4
+//!        - \b ADC12_B_IE5
+//!        - \b ADC12_B_IE6
+//!        - \b ADC12_B_IE7
+//!        - \b ADC12_B_IE8
+//!        - \b ADC12_B_IE9
+//!        - \b ADC12_B_IE10
+//!        - \b ADC12_B_IE11
+//!        - \b ADC12_B_IE12
+//!        - \b ADC12_B_IE13
+//!        - \b ADC12_B_IE14
+//!        - \b ADC12_B_IE15
+//! \param interruptMask1 is the bit mask of the memory buffer and overflow
+//!        interrupt sources to be disabled. If the desired interrupt is not
+//!        available in the selection for interruptMask1, then simply pass in a
+//!        '0' for this value.
+//!        Valid values are:
+//!        - \b ADC12_B_IE16
+//!        - \b ADC12_B_IE17
+//!        - \b ADC12_B_IE18
+//!        - \b ADC12_B_IE19
+//!        - \b ADC12_B_IE20
+//!        - \b ADC12_B_IE21
+//!        - \b ADC12_B_IE22
+//!        - \b ADC12_B_IE23
+//!        - \b ADC12_B_IE24
+//!        - \b ADC12_B_IE25
+//!        - \b ADC12_B_IE26
+//!        - \b ADC12_B_IE27
+//!        - \b ADC12_B_IE28
+//!        - \b ADC12_B_IE29
+//!        - \b ADC12_B_IE30
+//!        - \b ADC12_B_IE31
+//! \param interruptMask2 is the bit mask of the memory buffer and overflow
+//!        interrupt sources to be disabled. If the desired interrupt is not
+//!        available in the selection for interruptMask2, then simply pass in a
+//!        '0' for this value.
+//!        Valid values are:
+//!        - \b ADC12_B_INIE - Interrupt enable for a conversion in the result
+//!           register is either greater than the ADC12LO or lower than the
+//!           ADC12HI threshold. GIE bit must be set to enable the interrupt.
+//!        - \b ADC12_B_LOIE - Interrupt enable for the falling short of the
+//!           lower limit interrupt of the window comparator for the result
+//!           register. GIE bit must be set to enable the interrupt.
+//!        - \b ADC12_B_HIIE - Interrupt enable for the exceeding the upper
+//!           limit of the window comparator for the result register. GIE bit
+//!           must be set to enable the interrupt.
+//!        - \b ADC12_B_OVIE - Interrupt enable for a conversion that is about
+//!           to save to a memory buffer that has not been read out yet. GIE
+//!           bit must be set to enable the interrupt.
+//!        - \b ADC12_B_TOVIE - enable for a conversion that is about to start
+//!           before the previous conversion has been completed. GIE bit must
+//!           be set to enable the interrupt.
+//!        - \b ADC12_B_RDYIE - enable for the local buffered reference ready
+//!           signal. GIE bit must be set to enable the interrupt.
+//!
+//! Modified bits of \b ADC12IERx register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void ADC12_B_disableInterrupt(uint16_t baseAddress,
+                                     uint16_t interruptMask0,
+                                     uint16_t interruptMask1,
+                                     uint16_t interruptMask2);
+
+//*****************************************************************************
+//
+//! \brief Clears ADC12B selected interrupt flags.
+//!
+//! Modified registers are ADC12IFG .
+//!
+//! \param baseAddress is the base address of the ADC12B module.
+//! \param interruptRegisterChoice is either 0, 1, or 2, to choose the correct
+//!        interrupt register to update
+//! \param memoryInterruptFlagMask is the bit mask of the memory buffer and
+//!        overflow interrupt flags to be cleared.
+//!        Valid values are:
+//!        - \b ADC12_B_IFG0 - interruptRegisterChoice = 0
+//!        - \b ADC12_B_IFG1
+//!        - \b ADC12_B_IFG2
+//!        - \b ADC12_B_IFG3
+//!        - \b ADC12_B_IFG4
+//!        - \b ADC12_B_IFG5
+//!        - \b ADC12_B_IFG6
+//!        - \b ADC12_B_IFG7
+//!        - \b ADC12_B_IFG8
+//!        - \b ADC12_B_IFG9
+//!        - \b ADC12_B_IFG10
+//!        - \b ADC12_B_IFG11
+//!        - \b ADC12_B_IFG12
+//!        - \b ADC12_B_IFG13
+//!        - \b ADC12_B_IFG14
+//!        - \b ADC12_B_IFG15
+//!        - \b ADC12_B_IFG16 - interruptRegisterChoice = 1
+//!        - \b ADC12_B_IFG17
+//!        - \b ADC12_B_IFG18
+//!        - \b ADC12_B_IFG19
+//!        - \b ADC12_B_IFG20
+//!        - \b ADC12_B_IFG21
+//!        - \b ADC12_B_IFG22
+//!        - \b ADC12_B_IFG23
+//!        - \b ADC12_B_IFG24
+//!        - \b ADC12_B_IFG25
+//!        - \b ADC12_B_IFG26
+//!        - \b ADC12_B_IFG27
+//!        - \b ADC12_B_IFG28
+//!        - \b ADC12_B_IFG29
+//!        - \b ADC12_B_IFG30
+//!        - \b ADC12_B_IFG31
+//!        - \b ADC12_B_INIFG - interruptRegisterChoice = 2
+//!        - \b ADC12_B_LOIFG
+//!        - \b ADC12_B_HIIFG
+//!        - \b ADC12_B_OVIFG
+//!        - \b ADC12_B_TOVIFG
+//!        - \b ADC12_B_RDYIFG - The selected ADC12B interrupt flags are
+//!           cleared, so that it no longer asserts. The memory buffer
+//!           interrupt flags are only cleared when the memory buffer is
+//!           accessed. Note that the overflow interrupts do not have an
+//!           interrupt flag to clear; they must be accessed directly from the
+//!           interrupt vector.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void ADC12_B_clearInterrupt(uint16_t baseAddress,
+                                   uint8_t interruptRegisterChoice,
+                                   uint16_t memoryInterruptFlagMask);
+
+//*****************************************************************************
+//
+//! \brief Returns the status of the selected memory interrupt flags.
+//!
+//! Returns the status of the selected memory interrupt flags. Note that the
+//! overflow interrupts do not have an interrupt flag to clear; they must be
+//! accessed directly from the interrupt vector.
+//!
+//! \param baseAddress is the base address of the ADC12B module.
+//! \param interruptRegisterChoice is either 0, 1, or 2, to choose the correct
+//!        interrupt register to update
+//! \param memoryInterruptFlagMask is the bit mask of the memory buffer and
+//!        overflow interrupt flags to be cleared.
+//!        Valid values are:
+//!        - \b ADC12_B_IFG0 - interruptRegisterChoice = 0
+//!        - \b ADC12_B_IFG1
+//!        - \b ADC12_B_IFG2
+//!        - \b ADC12_B_IFG3
+//!        - \b ADC12_B_IFG4
+//!        - \b ADC12_B_IFG5
+//!        - \b ADC12_B_IFG6
+//!        - \b ADC12_B_IFG7
+//!        - \b ADC12_B_IFG8
+//!        - \b ADC12_B_IFG9
+//!        - \b ADC12_B_IFG10
+//!        - \b ADC12_B_IFG11
+//!        - \b ADC12_B_IFG12
+//!        - \b ADC12_B_IFG13
+//!        - \b ADC12_B_IFG14
+//!        - \b ADC12_B_IFG15
+//!        - \b ADC12_B_IFG16 - interruptRegisterChoice = 1
+//!        - \b ADC12_B_IFG17
+//!        - \b ADC12_B_IFG18
+//!        - \b ADC12_B_IFG19
+//!        - \b ADC12_B_IFG20
+//!        - \b ADC12_B_IFG21
+//!        - \b ADC12_B_IFG22
+//!        - \b ADC12_B_IFG23
+//!        - \b ADC12_B_IFG24
+//!        - \b ADC12_B_IFG25
+//!        - \b ADC12_B_IFG26
+//!        - \b ADC12_B_IFG27
+//!        - \b ADC12_B_IFG28
+//!        - \b ADC12_B_IFG29
+//!        - \b ADC12_B_IFG30
+//!        - \b ADC12_B_IFG31
+//!        - \b ADC12_B_INIFG - interruptRegisterChoice = 2
+//!        - \b ADC12_B_LOIFG
+//!        - \b ADC12_B_HIIFG
+//!        - \b ADC12_B_OVIFG
+//!        - \b ADC12_B_TOVIFG
+//!        - \b ADC12_B_RDYIFG - The selected ADC12B interrupt flags are
+//!           cleared, so that it no longer asserts. The memory buffer
+//!           interrupt flags are only cleared when the memory buffer is
+//!           accessed. Note that the overflow interrupts do not have an
+//!           interrupt flag to clear; they must be accessed directly from the
+//!           interrupt vector.
+//!
+//! \return The current interrupt flag status for the corresponding mask.
+//
+//*****************************************************************************
+extern uint16_t ADC12_B_getInterruptStatus(uint16_t baseAddress,
+                                           uint8_t interruptRegisterChoice,
+                                           uint16_t memoryInterruptFlagMask);
+
+//*****************************************************************************
+//
+//! \brief Enables/Starts an Analog-to-Digital Conversion.
+//!
+//! Enables/starts the conversion process of the ADC. If the sample/hold signal
+//! source chosen during initialization was ADC12OSC, then the conversion is
+//! started immediately, otherwise the chosen sample/hold signal source starts
+//! the conversion by a rising edge of the signal. Keep in mind when selecting
+//! conversion modes, that for sequenced and/or repeated modes, to keep the
+//! sample/hold-and-convert process continuing without a trigger from the
+//! sample/hold signal source, the multiple samples must be enabled using the
+//! ADC12_B_setupSamplingTimer() function. Note that after this function is
+//! called, the ADC12_B_stopConversions() has to be called to re-initialize the
+//! ADC, reconfigure a memory buffer control, enable/disable the sampling
+//! timer, or to change the internal reference voltage.
+//!
+//! \param baseAddress is the base address of the ADC12B module.
+//! \param startingMemoryBufferIndex is the memory buffer that will hold the
+//!        first or only conversion.
+//!        Valid values are:
+//!        - \b ADC12_B_START_AT_ADC12MEM0 [Default]
+//!        - \b ADC12_B_START_AT_ADC12MEM1
+//!        - \b ADC12_B_START_AT_ADC12MEM2
+//!        - \b ADC12_B_START_AT_ADC12MEM3
+//!        - \b ADC12_B_START_AT_ADC12MEM4
+//!        - \b ADC12_B_START_AT_ADC12MEM5
+//!        - \b ADC12_B_START_AT_ADC12MEM6
+//!        - \b ADC12_B_START_AT_ADC12MEM7
+//!        - \b ADC12_B_START_AT_ADC12MEM8
+//!        - \b ADC12_B_START_AT_ADC12MEM9
+//!        - \b ADC12_B_START_AT_ADC12MEM10
+//!        - \b ADC12_B_START_AT_ADC12MEM11
+//!        - \b ADC12_B_START_AT_ADC12MEM12
+//!        - \b ADC12_B_START_AT_ADC12MEM13
+//!        - \b ADC12_B_START_AT_ADC12MEM14
+//!        - \b ADC12_B_START_AT_ADC12MEM15
+//!        - \b ADC12_B_START_AT_ADC12MEM16
+//!        - \b ADC12_B_START_AT_ADC12MEM17
+//!        - \b ADC12_B_START_AT_ADC12MEM18
+//!        - \b ADC12_B_START_AT_ADC12MEM19
+//!        - \b ADC12_B_START_AT_ADC12MEM20
+//!        - \b ADC12_B_START_AT_ADC12MEM21
+//!        - \b ADC12_B_START_AT_ADC12MEM22
+//!        - \b ADC12_B_START_AT_ADC12MEM23
+//!        - \b ADC12_B_START_AT_ADC12MEM24
+//!        - \b ADC12_B_START_AT_ADC12MEM25
+//!        - \b ADC12_B_START_AT_ADC12MEM26
+//!        - \b ADC12_B_START_AT_ADC12MEM27
+//!        - \b ADC12_B_START_AT_ADC12MEM28
+//!        - \b ADC12_B_START_AT_ADC12MEM29
+//!        - \b ADC12_B_START_AT_ADC12MEM30
+//!        - \b ADC12_B_START_AT_ADC12MEM31
+//!        \n Modified bits are \b ADC12CSTARTADDx of \b ADC12CTL1 register.
+//! \param conversionSequenceModeSelect determines the ADC operating mode.
+//!        Valid values are:
+//!        - \b ADC12_B_SINGLECHANNEL [Default] - one-time conversion of a
+//!           single channel into a single memory buffer.
+//!        - \b ADC12_B_SEQOFCHANNELS - one time conversion of multiple
+//!           channels into the specified starting memory buffer and each
+//!           subsequent memory buffer up until the conversion is stored in a
+//!           memory buffer dedicated as the end-of-sequence by the memory's
+//!           control register.
+//!        - \b ADC12_B_REPEATED_SINGLECHANNEL - repeated conversions of one
+//!           channel into a single memory buffer.
+//!        - \b ADC12_B_REPEATED_SEQOFCHANNELS - repeated conversions of
+//!           multiple channels into the specified starting memory buffer and
+//!           each subsequent memory buffer up until the conversion is stored
+//!           in a memory buffer dedicated as the end-of-sequence by the
+//!           memory's control register.
+//!        \n Modified bits are \b ADC12CONSEQx of \b ADC12CTL1 register.
+//!
+//! Modified bits of \b ADC12CTL1 register and bits of \b ADC12CTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void ADC12_B_startConversion(uint16_t baseAddress,
+                                    uint16_t startingMemoryBufferIndex,
+                                    uint8_t conversionSequenceModeSelect);
+
+//*****************************************************************************
+//
+//! \brief Disables the ADC from converting any more signals.
+//!
+//! Disables the ADC from converting any more signals. If there is a conversion
+//! in progress, this function can stop it immediately if the preempt parameter
+//! is set as ADC12_B_PREEMPTCONVERSION, by changing the conversion mode to
+//! single-channel, single-conversion and disabling conversions. If the
+//! conversion mode is set as single-channel, single-conversion and this
+//! function is called without preemption, then the ADC core conversion status
+//! is polled until the conversion is complete before disabling conversions to
+//! prevent unpredictable data. If the ADC12_B_startConversion() has been
+//! called, then this function has to be called to re-initialize the ADC,
+//! reconfigure a memory buffer control, enable/disable the sampling pulse
+//! mode, or change the internal reference voltage.
+//!
+//! \param baseAddress is the base address of the ADC12B module.
+//! \param preempt specifies if the current conversion should be preemptively
+//!        stopped before the end of the conversion.
+//!        Valid values are:
+//!        - \b ADC12_B_COMPLETECONVERSION - Allows the ADC12B to end the
+//!           current conversion before disabling conversions.
+//!        - \b ADC12_B_PREEMPTCONVERSION - Stops the ADC12B immediately, with
+//!           unpredictable results of the current conversion.
+//!
+//! Modified bits of \b ADC12CTL1 register and bits of \b ADC12CTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void ADC12_B_disableConversions(uint16_t baseAddress,
+                                       bool preempt);
+
+//*****************************************************************************
+//
+//! \brief Returns the raw contents of the specified memory buffer.
+//!
+//! Returns the raw contents of the specified memory buffer. The format of the
+//! content depends on the read-back format of the data: if the data is in
+//! signed 2's complement format then the contents in the memory buffer will be
+//! left-justified with the least-significant bits as 0's, whereas if the data
+//! is in unsigned format then the contents in the memory buffer will be right-
+//! justified with the most-significant bits as 0's.
+//!
+//! \param baseAddress is the base address of the ADC12B module.
+//! \param memoryBufferIndex is the specified memory buffer to read.
+//!        Valid values are:
+//!        - \b ADC12_B_MEMORY_0
+//!        - \b ADC12_B_MEMORY_1
+//!        - \b ADC12_B_MEMORY_2
+//!        - \b ADC12_B_MEMORY_3
+//!        - \b ADC12_B_MEMORY_4
+//!        - \b ADC12_B_MEMORY_5
+//!        - \b ADC12_B_MEMORY_6
+//!        - \b ADC12_B_MEMORY_7
+//!        - \b ADC12_B_MEMORY_8
+//!        - \b ADC12_B_MEMORY_9
+//!        - \b ADC12_B_MEMORY_10
+//!        - \b ADC12_B_MEMORY_11
+//!        - \b ADC12_B_MEMORY_12
+//!        - \b ADC12_B_MEMORY_13
+//!        - \b ADC12_B_MEMORY_14
+//!        - \b ADC12_B_MEMORY_15
+//!        - \b ADC12_B_MEMORY_16
+//!        - \b ADC12_B_MEMORY_17
+//!        - \b ADC12_B_MEMORY_18
+//!        - \b ADC12_B_MEMORY_19
+//!        - \b ADC12_B_MEMORY_20
+//!        - \b ADC12_B_MEMORY_21
+//!        - \b ADC12_B_MEMORY_22
+//!        - \b ADC12_B_MEMORY_23
+//!        - \b ADC12_B_MEMORY_24
+//!        - \b ADC12_B_MEMORY_25
+//!        - \b ADC12_B_MEMORY_26
+//!        - \b ADC12_B_MEMORY_27
+//!        - \b ADC12_B_MEMORY_28
+//!        - \b ADC12_B_MEMORY_29
+//!        - \b ADC12_B_MEMORY_30
+//!        - \b ADC12_B_MEMORY_31
+//!
+//! \return A signed integer of the contents of the specified memory buffer.
+//
+//*****************************************************************************
+extern uint16_t ADC12_B_getResults(uint16_t baseAddress,
+                                   uint8_t memoryBufferIndex);
+
+//*****************************************************************************
+//
+//! \brief Use to change the resolution of the converted data.
+//!
+//! This function can be used to change the resolution of the converted data
+//! from the default of 12-bits.
+//!
+//! \param baseAddress is the base address of the ADC12B module.
+//! \param resolutionSelect determines the resolution of the converted data.
+//!        Valid values are:
+//!        - \b ADC12_B_RESOLUTION_8BIT
+//!        - \b ADC12_B_RESOLUTION_10BIT
+//!        - \b ADC12_B_RESOLUTION_12BIT [Default]
+//!        \n Modified bits are \b ADC12RESx of \b ADC12CTL2 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void ADC12_B_setResolution(uint16_t baseAddress,
+                                  uint8_t resolutionSelect);
+
+//*****************************************************************************
+//
+//! \brief Use to invert or un-invert the sample/hold signal.
+//!
+//! This function can be used to invert or un-invert the sample/hold signal.
+//! Note that if a conversion has been started with the startConversion()
+//! function, then a call to disableConversions() is required before this
+//! function may be called.
+//!
+//! \param baseAddress is the base address of the ADC12B module.
+//! \param invertedSignal set if the sample/hold signal should be inverted
+//!        Valid values are:
+//!        - \b ADC12_B_NONINVERTEDSIGNAL [Default] - a sample-and-hold of an
+//!           input signal for conversion will be started on a rising edge of
+//!           the sample/hold signal.
+//!        - \b ADC12_B_INVERTEDSIGNAL - a sample-and-hold of an input signal
+//!           for conversion will be started on a falling edge of the
+//!           sample/hold signal.
+//!        \n Modified bits are \b ADC12ISSH of \b ADC12CTL1 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void ADC12_B_setSampleHoldSignalInversion(uint16_t baseAddress,
+                                                 uint16_t invertedSignal);
+
+//*****************************************************************************
+//
+//! \brief Use to set the read-back format of the converted data.
+//!
+//! Sets the format of the converted data: how it will be stored into the
+//! memory buffer, and how it should be read back. The format can be set as
+//! right-justified (default), which indicates that the number will be
+//! unsigned, or left-justified, which indicates that the number will be signed
+//! in 2's complement format. This change affects all memory buffers for
+//! subsequent conversions.
+//!
+//! \param baseAddress is the base address of the ADC12B module.
+//! \param readBackFormat is the specified format to store the conversions in
+//!        the memory buffer.
+//!        Valid values are:
+//!        - \b ADC12_B_UNSIGNED_BINARY [Default]
+//!        - \b ADC12_B_SIGNED_2SCOMPLEMENT
+//!        \n Modified bits are \b ADC12DF of \b ADC12CTL2 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void ADC12_B_setDataReadBackFormat(uint16_t baseAddress,
+                                          uint8_t readBackFormat);
+
+//*****************************************************************************
+//
+//! \brief Use to set the ADC's power conservation mode if the sampling rate is
+//! at 50-ksps or less.
+//!
+//! Sets ADC's power mode. If the user has a sampling rate greater than
+//! 50-ksps, then he/she can only enable ADC12_B_REGULARPOWERMODE. If the
+//! sampling rate is 50-ksps or less, the user can enable ADC12_B_LOWPOWERMODE
+//! granting additional power savings.
+//!
+//! \param baseAddress is the base address of the ADC12B module.
+//! \param powerMode is the specified maximum sampling rate.
+//!        Valid values are:
+//!        - \b ADC12_B_REGULARPOWERMODE [Default] - If sampling rate is
+//!           greater than 50-ksps, there is no power saving feature available.
+//!        - \b ADC12_B_LOWPOWERMODE - If sampling rate is less than or equal
+//!           to 50-ksps, select this value to save power
+//!        \n Modified bits are \b ADC12SR of \b ADC12CTL2 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void ADC12_B_setAdcPowerMode(uint16_t baseAddress,
+                                    uint8_t powerMode);
+
+//*****************************************************************************
+//
+//! \brief Returns the address of the specified memory buffer for the DMA
+//! module.
+//!
+//! Returns the address of the specified memory buffer. This can be used in
+//! conjunction with the DMA to store the converted data directly to memory.
+//!
+//! \param baseAddress is the base address of the ADC12B module.
+//! \param memoryIndex is the memory buffer to return the address of.
+//!        Valid values are:
+//!        - \b ADC12_B_MEMORY_0
+//!        - \b ADC12_B_MEMORY_1
+//!        - \b ADC12_B_MEMORY_2
+//!        - \b ADC12_B_MEMORY_3
+//!        - \b ADC12_B_MEMORY_4
+//!        - \b ADC12_B_MEMORY_5
+//!        - \b ADC12_B_MEMORY_6
+//!        - \b ADC12_B_MEMORY_7
+//!        - \b ADC12_B_MEMORY_8
+//!        - \b ADC12_B_MEMORY_9
+//!        - \b ADC12_B_MEMORY_10
+//!        - \b ADC12_B_MEMORY_11
+//!        - \b ADC12_B_MEMORY_12
+//!        - \b ADC12_B_MEMORY_13
+//!        - \b ADC12_B_MEMORY_14
+//!        - \b ADC12_B_MEMORY_15
+//!        - \b ADC12_B_MEMORY_16
+//!        - \b ADC12_B_MEMORY_17
+//!        - \b ADC12_B_MEMORY_18
+//!        - \b ADC12_B_MEMORY_19
+//!        - \b ADC12_B_MEMORY_20
+//!        - \b ADC12_B_MEMORY_21
+//!        - \b ADC12_B_MEMORY_22
+//!        - \b ADC12_B_MEMORY_23
+//!        - \b ADC12_B_MEMORY_24
+//!        - \b ADC12_B_MEMORY_25
+//!        - \b ADC12_B_MEMORY_26
+//!        - \b ADC12_B_MEMORY_27
+//!        - \b ADC12_B_MEMORY_28
+//!        - \b ADC12_B_MEMORY_29
+//!        - \b ADC12_B_MEMORY_30
+//!        - \b ADC12_B_MEMORY_31
+//!
+//! \return address of the specified memory buffer
+//
+//*****************************************************************************
+extern uint32_t ADC12_B_getMemoryAddressForDMA(uint16_t baseAddress,
+                                               uint8_t memoryIndex);
+
+//*****************************************************************************
+//
+//! \brief Returns the busy status of the ADC12B core.
+//!
+//! Returns the status of the ADC core if there is a conversion currently
+//! taking place.
+//!
+//! \param baseAddress is the base address of the ADC12B module.
+//!
+//! \return ADC12_B_BUSY or ADC12_B_NOTBUSY dependent if there is a conversion
+//!         currently taking place.
+//!         Return one of the following:
+//!         - \b ADC12_B_NOTBUSY
+//!         - \b ADC12_B_BUSY
+//!         \n indicating if a conversion is taking place
+//
+//*****************************************************************************
+extern uint8_t ADC12_B_isBusy(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_ADC12_B_H__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/aes256.c b/Apps/FlightSoftware/MotorControl/driverlib/aes256.c
new file mode 100644
index 000000000..848b28fed
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/aes256.c
@@ -0,0 +1,368 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// aes256.c - Driver for the aes256 Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup aes256_api aes256
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_AES256__
+#include "aes256.h"
+
+#include <assert.h>
+
+uint8_t AES256_setCipherKey (uint16_t baseAddress,
+	const uint8_t * cipherKey,
+	uint16_t keyLength)
+{
+	uint8_t i;
+	uint16_t sCipherKey;
+
+	HWREG16(baseAddress + OFS_AESACTL0) &= (~(AESKL_1 + AESKL_2));
+
+	switch(keyLength)
+	{
+		case AES256_KEYLENGTH_128BIT :
+			HWREG16(baseAddress + OFS_AESACTL0) |= AESKL__128;
+			break;
+
+		case AES256_KEYLENGTH_192BIT :
+			HWREG16(baseAddress + OFS_AESACTL0) |= AESKL__192;
+			break;
+
+		case AES256_KEYLENGTH_256BIT :
+			HWREG16(baseAddress + OFS_AESACTL0) |= AESKL__256;
+			break;
+
+		default :
+			return STATUS_FAIL;
+		}
+
+		keyLength = keyLength / 8;
+
+		for (i = 0; i < keyLength; i = i + 2)
+		{
+			sCipherKey = (uint16_t)(cipherKey[i]);
+			sCipherKey = sCipherKey | ((uint16_t)(cipherKey[i + 1]) << 8);
+			HWREG16(baseAddress + OFS_AESAKEY) = sCipherKey;
+		}
+
+	    // Wait until key is written
+            while(0x00 == (HWREG16(baseAddress + OFS_AESASTAT) & AESKEYWR ));
+	    return STATUS_SUCCESS;
+}
+
+void AES256_encryptData (uint16_t baseAddress,
+	const uint8_t * data,
+	uint8_t * encryptedData)
+{
+	uint8_t i;
+	uint16_t tempData = 0;
+	uint16_t tempVariable = 0;
+
+	// Set module to encrypt mode
+	HWREG16(baseAddress + OFS_AESACTL0) &= ~AESOP_3;
+
+
+	// Write data to encrypt to module
+	for (i = 0; i < 16; i = i + 2)
+	{
+		tempVariable = (uint16_t)(data[i]);
+		tempVariable = tempVariable | ((uint16_t)(data[i+1]) << 8);
+		HWREG16(baseAddress + OFS_AESADIN) = tempVariable;
+	}
+
+	// Key that is already written shall be used
+	// Encryption is initialized by setting AESKEYWR to 1
+	HWREG16(baseAddress + OFS_AESASTAT) |= AESKEYWR;
+
+	// Wait unit finished ~167 MCLK
+	while(AESBUSY == (HWREG16(baseAddress + OFS_AESASTAT) & AESBUSY) );
+
+	// Write encrypted data back to variable
+	for (i = 0; i < 16; i = i + 2)
+	{
+		tempData = HWREG16(baseAddress + OFS_AESADOUT);
+		*(encryptedData + i) = (uint8_t)tempData;
+		*(encryptedData +i + 1) = (uint8_t)(tempData >> 8);
+
+
+	}
+}
+
+void AES256_decryptData (uint16_t baseAddress,
+	const uint8_t * data,
+	uint8_t * decryptedData)
+{
+	uint8_t i;
+	uint16_t tempData = 0;
+	uint16_t tempVariable = 0;
+
+	// Set module to decrypt mode
+	HWREG16(baseAddress + OFS_AESACTL0) |= (AESOP_3);
+
+	// Write data to decrypt to module
+	for (i = 0; i < 16; i = i + 2)
+	{
+		tempVariable = (uint16_t)(data[i+1]  << 8);
+		tempVariable = tempVariable | ((uint16_t)(data[i]));
+		HWREG16(baseAddress + OFS_AESADIN) = tempVariable;
+	}
+
+	// Key that is already written shall be used
+	// Now decryption starts
+	HWREG16(baseAddress + OFS_AESASTAT) |= AESKEYWR;
+
+	// Wait unit finished ~167 MCLK
+	while(AESBUSY == (HWREG16(baseAddress + OFS_AESASTAT) & AESBUSY ));
+
+	// Write encrypted data back to variable
+	for (i = 0; i < 16; i = i + 2)
+	{
+		tempData = HWREG16(baseAddress + OFS_AESADOUT);
+		*(decryptedData + i) = (uint8_t)tempData;
+		*(decryptedData +i + 1) = (uint8_t)(tempData >> 8);
+	}
+}
+
+uint8_t AES256_setDecipherKey (uint16_t baseAddress,
+	const uint8_t * cipherKey,
+	uint16_t keyLength
+	)
+{
+	uint8_t i;
+	uint16_t tempVariable = 0;
+	
+	// Set module to decrypt mode
+	HWREG16(baseAddress + OFS_AESACTL0) &= ~(AESOP0);
+	HWREG16(baseAddress + OFS_AESACTL0) |= AESOP1;
+
+	switch(keyLength)
+	{
+		case AES256_KEYLENGTH_128BIT :
+			HWREG16(baseAddress + OFS_AESACTL0) |= AESKL__128;
+			break;
+
+		case AES256_KEYLENGTH_192BIT :
+			HWREG16(baseAddress + OFS_AESACTL0) |= AESKL__192;
+			break;
+
+		case AES256_KEYLENGTH_256BIT :
+			HWREG16(baseAddress + OFS_AESACTL0) |= AESKL__256;
+			break;
+
+		default :
+			return STATUS_FAIL;
+	}
+
+
+	keyLength = keyLength / 8;
+
+
+	// Write cipher key to key register
+	for (i = 0; i < keyLength; i = i + 2)
+	{
+		tempVariable = (uint16_t)(cipherKey[i]);
+		tempVariable = tempVariable | ((uint16_t)(cipherKey[i + 1]) << 8);
+		HWREG16(baseAddress + OFS_AESAKEY) = tempVariable;
+	}
+
+	// Wait until key is processed ~52 MCLK
+	while((HWREG16(baseAddress + OFS_AESASTAT) & AESBUSY) == AESBUSY);
+
+	return STATUS_SUCCESS;
+}
+
+void AES256_clearInterrupt (uint16_t baseAddress )
+{
+	HWREG16(baseAddress + OFS_AESACTL0) &=  ~AESRDYIFG;
+}
+
+uint32_t AES256_getInterruptStatus (uint16_t baseAddress)
+{
+    return ((HWREG16(baseAddress + OFS_AESACTL0) & AESRDYIFG) << 0x04);
+}
+
+void AES256_enableInterrupt (uint16_t baseAddress)
+{
+	HWREG16(baseAddress + OFS_AESACTL0) |=  AESRDYIE;
+}
+
+void AES256_disableInterrupt (uint16_t baseAddress)
+{
+	HWREG16(baseAddress + OFS_AESACTL0) &=  ~AESRDYIE;
+}
+
+void AES256_reset (uint16_t baseAddress)
+{
+	HWREG16(baseAddress + OFS_AESACTL0) |=  AESSWRST;
+}
+
+void AES256_startEncryptData (uint16_t baseAddress,
+	const uint8_t * data)
+{
+	uint8_t i;
+	uint16_t tempVariable = 0;
+
+	// Set module to encrypt mode
+	HWREG16(baseAddress + OFS_AESACTL0) &= ~AESOP_3;
+
+
+	// Write data to encrypt to module
+	for (i = 0; i < 16; i = i + 2)
+	{
+		tempVariable = (uint16_t)(data[i]);
+		tempVariable = tempVariable | ((uint16_t)(data[i+1 ]) << 8);
+		HWREG16(baseAddress + OFS_AESADIN) = tempVariable;
+	}
+
+	// Key that is already written shall be used
+	// Encryption is initialized by setting AESKEYWR to 1
+	HWREG16(baseAddress + OFS_AESASTAT) |= AESKEYWR;
+}
+
+void AES256_startDecryptData (uint16_t baseAddress,
+	const uint8_t * data)
+{
+	uint8_t i;
+	uint16_t tempVariable = 0;
+
+	// Set module to decrypt mode
+	HWREG16(baseAddress + OFS_AESACTL0) |= (AESOP_3);
+
+	// Write data to decrypt to module
+	for (i = 0; i < 16; i = i + 2)
+	{
+		tempVariable = (uint16_t)(data[i+1]  << 8);
+		tempVariable = tempVariable | ((uint16_t)(data[i]));
+		HWREG16(baseAddress + OFS_AESADIN) = tempVariable;
+	}
+
+	// Key that is already written shall be used
+	// Now decryption starts
+	HWREG16(baseAddress + OFS_AESASTAT) |= AESKEYWR;
+}
+
+uint8_t AES256_startSetDecipherKey (uint16_t baseAddress,
+	const uint8_t * cipherKey,
+	uint16_t keyLength)
+{
+	uint8_t i;
+	uint16_t tempVariable = 0;
+
+	HWREG16(baseAddress + OFS_AESACTL0) &= ~(AESOP0);
+	HWREG16(baseAddress + OFS_AESACTL0) |= AESOP1;
+
+	switch(keyLength)
+	{
+		case AES256_KEYLENGTH_128BIT :
+			HWREG16(baseAddress + OFS_AESACTL0) |= AESKL__128;
+			break;
+
+		case AES256_KEYLENGTH_192BIT :
+			HWREG16(baseAddress + OFS_AESACTL0) |= AESKL__192;
+			break;
+
+		case AES256_KEYLENGTH_256BIT :
+			HWREG16(baseAddress + OFS_AESACTL0) |= AESKL__256;
+			break;
+
+		default :
+			return STATUS_FAIL;
+		}
+
+	keyLength = keyLength / 8;
+
+	// Write cipher key to key register
+	for (i = 0; i < keyLength; i = i + 2)
+	{
+		tempVariable = (uint16_t)(cipherKey[i]);
+		tempVariable = tempVariable | ((uint16_t)(cipherKey[i+1]) << 8);
+		HWREG16(baseAddress + OFS_AESAKEY) = tempVariable;
+	}
+
+	return STATUS_SUCCESS;
+}
+
+uint8_t  AES256_getDataOut(uint16_t baseAddress,
+							uint8_t *outputData
+							)
+{
+	uint8_t i;
+	uint16_t tempData = 0;
+
+	// If module is busy, exit and return failure
+	if( AESBUSY == (HWREG16(baseAddress + OFS_AESASTAT) & AESBUSY))
+		return STATUS_FAIL;
+
+	// Write encrypted data back to variable
+	for (i = 0; i < 16; i = i + 2)
+	{
+		tempData = HWREG16(baseAddress + OFS_AESADOUT);
+		*(outputData + i ) = (uint8_t)tempData;
+		*(outputData +i + 1) = (uint8_t)(tempData >> 8);
+	}
+
+	return STATUS_SUCCESS;
+}
+
+uint16_t AES256_isBusy (uint16_t baseAddress)
+{
+    return (HWREG16(baseAddress + OFS_AESASTAT) & AESBUSY);
+}
+
+void AES256_clearErrorFlag (uint16_t baseAddress )
+{
+	HWREG16(baseAddress + OFS_AESACTL0) &=  ~AESERRFG;
+}
+
+uint32_t AES256_getErrorFlagStatus (uint16_t baseAddress)
+{
+    return (HWREG16(baseAddress + OFS_AESACTL0) & AESERRFG);
+}
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for aes256_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/aes256.h b/Apps/FlightSoftware/MotorControl/driverlib/aes256.h
new file mode 100644
index 000000000..7c0c69706
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/aes256.h
@@ -0,0 +1,418 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// aes256.h - Driver for the AES256 Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_AES256_H__
+#define __MSP430WARE_AES256_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_AES256__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the keyLength parameter for
+// functions: AES256_setCipherKey(), AES256_setDecipherKey(), and
+// AES256_startSetDecipherKey().
+//
+//*****************************************************************************
+#define AES256_KEYLENGTH_128BIT                                             128
+#define AES256_KEYLENGTH_192BIT                                             192
+#define AES256_KEYLENGTH_256BIT                                             256
+
+//*****************************************************************************
+//
+// The following are values that can be passed toThe following are values that
+// can be returned by the AES256_getErrorFlagStatus() function.
+//
+//*****************************************************************************
+#define AES256_ERROR_OCCURRED                                          AESERRFG
+#define AES256_NO_ERROR                                                    0x00
+
+//*****************************************************************************
+//
+// The following are values that can be passed toThe following are values that
+// can be returned by the AES256_isBusy() function.
+//
+//*****************************************************************************
+#define AES256_BUSY                                                     AESBUSY
+#define AES256_NOT_BUSY                                                    0x00
+
+//*****************************************************************************
+//
+// The following are values that can be passed toThe following are values that
+// can be returned by the AES256_getInterruptStatus() function.
+//
+//*****************************************************************************
+#define AES256_READY_INTERRUPT                                         AESRDYIE
+#define AES256_NOTREADY_INTERRUPT                                          0x00
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Loads a 128, 192 or 256 bit cipher key to AES256 module.
+//!
+//! This function loads a 128, 192 or 256 bit cipher key to AES256 module.
+//! Requires both a key as well as the length of the key provided. Acceptable
+//! key lengths are AES256_KEYLENGTH_128BIT, AES256_KEYLENGTH_192BIT, or
+//! AES256_KEYLENGTH_256BIT
+//!
+//! \param baseAddress is the base address of the AES256 module.
+//! \param cipherKey is a pointer to an uint8_t array with a length of 16 bytes
+//!        that contains a 128 bit cipher key.
+//! \param keyLength is the length of the key.
+//!        Valid values are:
+//!        - \b AES256_KEYLENGTH_128BIT
+//!        - \b AES256_KEYLENGTH_192BIT
+//!        - \b AES256_KEYLENGTH_256BIT
+//!
+//! \return STATUS_SUCCESS or STATUS_FAIL of key loading
+//
+//*****************************************************************************
+extern uint8_t AES256_setCipherKey(uint16_t baseAddress,
+                                   const uint8_t *cipherKey,
+                                   uint16_t keyLength);
+
+//*****************************************************************************
+//
+//! \brief Encrypts a block of data using the AES256 module.
+//!
+//! The cipher key that is used for encryption should be loaded in advance by
+//! using function AES256_setCipherKey()
+//!
+//! \param baseAddress is the base address of the AES256 module.
+//! \param data is a pointer to an uint8_t array with a length of 16 bytes that
+//!        contains data to be encrypted.
+//! \param encryptedData is a pointer to an uint8_t array with a length of 16
+//!        bytes in that the encrypted data will be written.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void AES256_encryptData(uint16_t baseAddress,
+                               const uint8_t *data,
+                               uint8_t *encryptedData);
+
+//*****************************************************************************
+//
+//! \brief Decrypts a block of data using the AES256 module.
+//!
+//! This function requires a pregenerated decryption key. A key can be loaded
+//! and pregenerated by using function AES256_setDecipherKey() or
+//! AES256_startSetDecipherKey(). The decryption takes 167 MCLK.
+//!
+//! \param baseAddress is the base address of the AES256 module.
+//! \param data is a pointer to an uint8_t array with a length of 16 bytes that
+//!        contains encrypted data to be decrypted.
+//! \param decryptedData is a pointer to an uint8_t array with a length of 16
+//!        bytes in that the decrypted data will be written.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void AES256_decryptData(uint16_t baseAddress,
+                               const uint8_t *data,
+                               uint8_t *decryptedData);
+
+//*****************************************************************************
+//
+//! \brief Sets the decipher key.
+//!
+//! The API AES256_startSetDecipherKey or AES256_setDecipherKey must be invoked
+//! before invoking AES256_startDecryptData.
+//!
+//! \param baseAddress is the base address of the AES256 module.
+//! \param cipherKey is a pointer to an uint8_t array with a length of 16 bytes
+//!        that contains a 128 bit cipher key.
+//! \param keyLength is the length of the key.
+//!        Valid values are:
+//!        - \b AES256_KEYLENGTH_128BIT
+//!        - \b AES256_KEYLENGTH_192BIT
+//!        - \b AES256_KEYLENGTH_256BIT
+//!
+//! \return STATUS_SUCCESS or STATUS_FAIL of key loading
+//
+//*****************************************************************************
+extern uint8_t AES256_setDecipherKey(uint16_t baseAddress,
+                                     const uint8_t *cipherKey,
+                                     uint16_t keyLength);
+
+//*****************************************************************************
+//
+//! \brief Clears the AES256 ready interrupt flag.
+//!
+//! This function clears the AES256 ready interrupt flag. This flag is
+//! automatically cleared when AES256ADOUT is read, or when AES256AKEY or
+//! AES256ADIN is written. This function should be used when the flag needs to
+//! be reset and it has not been automatically cleared by one of the previous
+//! actions.
+//!
+//! \param baseAddress is the base address of the AES256 module.
+//!
+//! Modified bits are \b AESRDYIFG of \b AESACTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void AES256_clearInterrupt(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Gets the AES256 ready interrupt flag status.
+//!
+//! This function checks the AES256 ready interrupt flag. This flag is
+//! automatically cleared when AES256ADOUT is read, or when AES256AKEY or
+//! AES256ADIN is written. This function can be used to confirm that this has
+//! been done.
+//!
+//! \param baseAddress is the base address of the AES256 module.
+//!
+//! \return One of the following:
+//!         - \b AES256_READY_INTERRUPT
+//!         - \b AES256_NOTREADY_INTERRUPT
+//!         \n indicating the status of the AES256 ready status
+//
+//*****************************************************************************
+extern uint32_t AES256_getInterruptStatus(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Enables AES256 ready interrupt.
+//!
+//! Enables AES256 ready interrupt. This interrupt is reset by a PUC, but not
+//! reset by AES256_reset.
+//!
+//! \param baseAddress is the base address of the AES256 module.
+//!
+//! Modified bits are \b AESRDYIE of \b AESACTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void AES256_enableInterrupt(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Disables AES256 ready interrupt.
+//!
+//! Disables AES256 ready interrupt. This interrupt is reset by a PUC, but not
+//! reset by AES256_reset.
+//!
+//! \param baseAddress is the base address of the AES256 module.
+//!
+//! Modified bits are \b AESRDYIE of \b AESACTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void AES256_disableInterrupt(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Resets AES256 Module immediately.
+//!
+//! This function performs a software reset on the AES256 Module, note that
+//! this does not affect the AES256 ready interrupt.
+//!
+//! \param baseAddress is the base address of the AES256 module.
+//!
+//! Modified bits are \b AESSWRST of \b AESACTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void AES256_reset(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Starts an encryption process on the AES256 module.
+//!
+//! The cipher key that is used for decryption should be loaded in advance by
+//! using function AES256_setCipherKey(). This is a non-blocking equivalent of
+//! AES256_encryptData(). It is recommended to use the interrupt functionality
+//! to check for procedure completion then use the AES256_getDataOut() API to
+//! retrieve the encrypted data.
+//!
+//! \param baseAddress is the base address of the AES256 module.
+//! \param data is a pointer to an uint8_t array with a length of 16 bytes that
+//!        contains data to be encrypted.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void AES256_startEncryptData(uint16_t baseAddress,
+                                    const uint8_t *data);
+
+//*****************************************************************************
+//
+//! \brief Decrypts a block of data using the AES256 module.
+//!
+//! This is the non-blocking equivalent of AES256_decryptData(). This function
+//! requires a pregenerated decryption key. A key can be loaded and
+//! pregenerated by using function AES256_setDecipherKey() or
+//! AES256_startSetDecipherKey(). The decryption takes 167 MCLK. It is
+//! recommended to use interrupt to check for procedure completion then use the
+//! AES256_getDataOut() API to retrieve the decrypted data.
+//!
+//! \param baseAddress is the base address of the AES256 module.
+//! \param data is a pointer to an uint8_t array with a length of 16 bytes that
+//!        contains encrypted data to be decrypted.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void AES256_startDecryptData(uint16_t baseAddress,
+                                    const uint8_t *data);
+
+//*****************************************************************************
+//
+//! \brief Sets the decipher key
+//!
+//! The API AES256_startSetDecipherKey() or AES256_setDecipherKey() must be
+//! invoked before invoking AES256_startDecryptData.
+//!
+//! \param baseAddress is the base address of the AES256 module.
+//! \param cipherKey is a pointer to an uint8_t array with a length of 16 bytes
+//!        that contains a 128 bit cipher key.
+//! \param keyLength is the length of the key.
+//!        Valid values are:
+//!        - \b AES256_KEYLENGTH_128BIT
+//!        - \b AES256_KEYLENGTH_192BIT
+//!        - \b AES256_KEYLENGTH_256BIT
+//!
+//! \return STATUS_SUCCESS or STATUS_FAIL of key loading
+//
+//*****************************************************************************
+extern uint8_t AES256_startSetDecipherKey(uint16_t baseAddress,
+                                          const uint8_t *cipherKey,
+                                          uint16_t keyLength);
+
+//*****************************************************************************
+//
+//! \brief Reads back the output data from AES256 module.
+//!
+//! This function is meant to use after an encryption or decryption process
+//! that was started and finished by initiating an interrupt by use of
+//! AES256_startEncryptData or AES256_startDecryptData functions.
+//!
+//! \param baseAddress is the base address of the AES256 module.
+//! \param outputData is a pointer to an uint8_t array with a length of 16
+//!        bytes in that the data will be written.
+//!
+//! \return STATUS_SUCCESS if data is valid, otherwise STATUS_FAIL
+//
+//*****************************************************************************
+extern uint8_t AES256_getDataOut(uint16_t baseAddress,
+                                 uint8_t *outputData);
+
+//*****************************************************************************
+//
+//! \brief Gets the AES256 module busy status.
+//!
+//! Gets the AES256 module busy status. If a key or data are written while the
+//! AES256 module is busy, an error flag will be thrown.
+//!
+//! \param baseAddress is the base address of the AES256 module.
+//!
+//! \return One of the following:
+//!         - \b AES256_BUSY
+//!         - \b AES256_NOT_BUSY
+//!         \n indicating if the AES256 module is busy
+//
+//*****************************************************************************
+extern uint16_t AES256_isBusy(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Clears the AES256 error flag.
+//!
+//! Clears the AES256 error flag that results from a key or data being written
+//! while the AES256 module is busy.
+//!
+//! \param baseAddress is the base address of the AES256 module.
+//!
+//! Modified bits are \b AESERRFG of \b AESACTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void AES256_clearErrorFlag(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Gets the AES256 error flag status.
+//!
+//! Checks the AES256 error flag that results from a key or data being written
+//! while the AES256 module is busy. If the flag is set, it needs to be cleared
+//! using AES256_clearErrorFlag.
+//!
+//! \param baseAddress is the base address of the AES256 module.
+//!
+//! \return One of the following:
+//!         - \b AES256_ERROR_OCCURRED
+//!         - \b AES256_NO_ERROR
+//!         \n indicating the error flag status
+//
+//*****************************************************************************
+extern uint32_t AES256_getErrorFlagStatus(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_AES256_H__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/comp_e.c b/Apps/FlightSoftware/MotorControl/driverlib/comp_e.c
new file mode 100644
index 000000000..9f851b079
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/comp_e.c
@@ -0,0 +1,277 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// comp_e.c - Driver for the comp_e Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup comp_e_api comp_e
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_COMP_E__
+#include "comp_e.h"
+
+#include <assert.h>
+
+static uint16_t __getRegisterSettingForInput(uint32_t input)
+{
+    switch(input)
+    {
+        case COMP_E_INPUT0:
+            return CEIPSEL_0;
+        case COMP_E_INPUT1:
+            return CEIPSEL_1;
+        case COMP_E_INPUT2:
+            return CEIPSEL_2;
+        case COMP_E_INPUT3:
+            return CEIPSEL_3;
+        case COMP_E_INPUT4:
+            return CEIPSEL_4;
+        case COMP_E_INPUT5:
+            return CEIPSEL_5;
+        case COMP_E_INPUT6:
+            return CEIPSEL_6;
+        case COMP_E_INPUT7:
+            return CEIPSEL_7;
+        case COMP_E_INPUT8:
+            return CEIPSEL_8;
+        case COMP_E_INPUT9:
+            return CEIPSEL_9;
+        case COMP_E_INPUT10:
+            return CEIPSEL_10;
+        case COMP_E_INPUT11:
+            return CEIPSEL_11;
+        case COMP_E_INPUT12:
+            return CEIPSEL_12;
+        case COMP_E_INPUT13:
+            return CEIPSEL_13;
+        case COMP_E_INPUT14:
+            return CEIPSEL_14;
+        case COMP_E_INPUT15:
+            return CEIPSEL_15;
+        case COMP_E_VREF:
+            return COMP_E_VREF;
+        default:
+            return 0x11;
+    }
+}
+
+bool Comp_E_init(uint16_t baseAddress, Comp_E_initParam *param)
+{
+    uint8_t positiveTerminalInput = __getRegisterSettingForInput(
+            param->posTerminalInput);
+    uint8_t negativeTerminalInput = __getRegisterSettingForInput(
+            param->negTerminalInput);
+    bool retVal = STATUS_SUCCESS;
+
+    //Reset COMPE Control 1 & Interrupt Registers for initialization (OFS_CECTL3
+    //is not reset because it controls the input buffers of the analog signals
+    //and may cause parasitic effects if an analog signal is still attached and
+    //the buffer is re-enabled
+    HWREG16(baseAddress + OFS_CECTL0) &= 0x0000;
+    HWREG16(baseAddress + OFS_CEINT)  &= 0x0000;
+
+    //Clear reference voltage and reference source
+    HWREG16(baseAddress + OFS_CECTL2) &= ~(CERS_3 | CEREFL_3);
+    
+    //Set the Positive Terminal
+    if (COMP_E_VREF != positiveTerminalInput){
+        //Enable Positive Terminal Input Mux and Set it to the appropriate input
+        HWREG16(baseAddress + OFS_CECTL0) |= CEIPEN + positiveTerminalInput;
+
+        //Disable the input buffer
+        HWREG16(baseAddress + OFS_CECTL3) |= (1 << positiveTerminalInput);
+    } else {
+        //Reset and Set COMPE Control 2 Register
+        HWREG16(baseAddress + OFS_CECTL2) &= ~(CERSEL); //Set Vref to go to (+)terminal
+    }
+
+    //Set the Negative Terminal
+    if (COMP_E_VREF != negativeTerminalInput){
+        //Enable Negative Terminal Input Mux and Set it to the appropriate input
+        HWREG16(baseAddress + OFS_CECTL0) |= CEIMEN + (negativeTerminalInput << 8);
+
+        //Disable the input buffer
+        HWREG16(baseAddress + OFS_CECTL3) |= (1 << negativeTerminalInput);
+    } else {
+        //Reset and Set COMPE Control 2 Register
+        HWREG16(baseAddress + OFS_CECTL2) |= CERSEL; //Set Vref to go to (-) terminal
+    }
+
+    //Reset and Set COMPE Control 1 Register
+    HWREG16(baseAddress + OFS_CECTL1) =
+        + param->outputFilterEnableAndDelayLevel //Set the filter enable bit and delay
+        + param->invertedOutputPolarity; //Set the polarity of the output
+
+    return (retVal);
+}
+void Comp_E_setReferenceVoltage (uint16_t baseAddress,
+    uint16_t supplyVoltageReferenceBase,
+    uint16_t lowerLimitSupplyVoltageFractionOf32,
+    uint16_t upperLimitSupplyVoltageFractionOf32)
+{
+    HWREG16(baseAddress + OFS_CECTL1) &= ~(CEMRVS); //Set to VREF0
+
+    //Reset COMPE Control 2 Bits (Except for CERSEL which is set in Comp_Init() )
+    HWREG16(baseAddress + OFS_CECTL2) &= CERSEL;
+
+    //Set Voltage Source (Vcc | Vref, resistor ladder or not)
+    if (COMP_E_REFERENCE_AMPLIFIER_DISABLED == supplyVoltageReferenceBase){
+        HWREG16(baseAddress + OFS_CECTL2) |= CERS_1; //Vcc with resistor ladder
+    } else if (lowerLimitSupplyVoltageFractionOf32 == 32){
+        //If the lower limit is 32, then the upper limit has to be 32 due to the
+        //assertion that upper must be >= to the lower limit. If the numerator is
+        //equal to 32, then the equation would be 32/32 == 1, therefore no resistor
+        //ladder is needed
+        HWREG16(baseAddress + OFS_CECTL2) |= CERS_3; //Vref, no resistor ladder
+    } else {
+        HWREG16(baseAddress + OFS_CECTL2) |= CERS_2; //Vref with resistor ladder
+    }
+
+    //Set COMPE Control 2 Register
+    HWREG16(baseAddress + OFS_CECTL2) |=
+        supplyVoltageReferenceBase //Set Supply Voltage Base
+        + ((upperLimitSupplyVoltageFractionOf32 - 1) << 8) //Set Supply Voltage Num.
+        + (lowerLimitSupplyVoltageFractionOf32 - 1);
+}
+
+void Comp_E_setReferenceAccuracy (uint16_t baseAddress,
+    uint16_t referenceAccuracy)
+{
+    HWREG16(baseAddress + OFS_CECTL2) &= ~(CEREFACC);
+    HWREG16(baseAddress + OFS_CECTL2) |= referenceAccuracy;
+}
+
+void Comp_E_setPowerMode (uint16_t baseAddress,
+    uint16_t powerMode)
+{
+    HWREG16(baseAddress + OFS_CECTL1) &= ~(COMP_E_NORMAL_MODE | COMP_E_ULTRA_LOW_POWER_MODE);
+    HWREG16(baseAddress + OFS_CECTL1) |= powerMode;
+}
+
+void Comp_E_enableInterrupt (uint16_t baseAddress,
+    uint16_t interruptMask)
+{
+    //Set the Interrupt enable bit
+    HWREG16(baseAddress + OFS_CEINT) |= interruptMask;
+}
+
+void Comp_E_disableInterrupt (uint16_t baseAddress,
+    uint16_t interruptMask)
+{
+    HWREG16(baseAddress + OFS_CEINT) &= ~(interruptMask);
+}
+
+void Comp_E_clearInterrupt (uint16_t baseAddress,
+    uint16_t interruptFlagMask)
+{
+    HWREG16(baseAddress + OFS_CEINT) &= ~(interruptFlagMask);
+}
+
+uint8_t Comp_E_getInterruptStatus (uint16_t baseAddress,
+    uint16_t interruptFlagMask)
+{
+    return ( HWREG16(baseAddress + OFS_CEINT) & interruptFlagMask );
+}
+
+void Comp_E_setInterruptEdgeDirection (uint16_t baseAddress,
+    uint16_t edgeDirection)
+{
+    //Set the edge direction that will trigger an interrupt
+    if (COMP_E_RISINGEDGE == edgeDirection){
+        HWREG16(baseAddress + OFS_CECTL1) &= ~(CEIES);
+    } else if (COMP_E_FALLINGEDGE == edgeDirection){
+        HWREG16(baseAddress + OFS_CECTL1) |= CEIES;
+    }
+}
+
+void Comp_E_toggleInterruptEdgeDirection (uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_CECTL1) ^= CEIES;
+}
+
+void Comp_E_enable (uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_CECTL1) |= CEON;
+}
+
+void Comp_E_disable (uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_CECTL1) &= ~(CEON);
+}
+
+void Comp_E_shortInputs (uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_CECTL1) |= CESHORT;
+}
+
+void Comp_E_unshortInputs (uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_CECTL1) &= ~(CESHORT);
+}
+
+void Comp_E_disableInputBuffer (uint16_t baseAddress,
+    uint16_t inputPort)
+{
+    HWREG16(baseAddress + OFS_CECTL3) |= (inputPort);
+}
+
+void Comp_E_enableInputBuffer (uint16_t baseAddress, uint16_t inputPort)
+{
+    HWREG16(baseAddress + OFS_CECTL3) &= ~(inputPort);
+}
+
+void Comp_E_swapIO (uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_CECTL1) ^= CEEX; //Toggle CEEX bit
+}
+
+uint16_t Comp_E_outputValue (uint16_t baseAddress)
+{
+    return (HWREG16(baseAddress + OFS_CECTL1) & CEOUT);
+}
+
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for comp_e_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/comp_e.h b/Apps/FlightSoftware/MotorControl/driverlib/comp_e.h
new file mode 100644
index 000000000..5346da3cd
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/comp_e.h
@@ -0,0 +1,666 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// comp_e.h - Driver for the COMP_E Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_COMP_E_H__
+#define __MSP430WARE_COMP_E_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_COMP_E__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "inc/hw_memmap.h"
+//*****************************************************************************
+//
+//! \brief Used in the Comp_E_init() function as the param parameter.
+//
+//*****************************************************************************
+typedef struct Comp_E_initParam {
+    //! Selects the input to the positive terminal.
+    //! \n Valid values are:
+    //! - \b COMP_E_INPUT0 [Default]
+    //! - \b COMP_E_INPUT1
+    //! - \b COMP_E_INPUT2
+    //! - \b COMP_E_INPUT3
+    //! - \b COMP_E_INPUT4
+    //! - \b COMP_E_INPUT5
+    //! - \b COMP_E_INPUT6
+    //! - \b COMP_E_INPUT7
+    //! - \b COMP_E_INPUT8
+    //! - \b COMP_E_INPUT9
+    //! - \b COMP_E_INPUT10
+    //! - \b COMP_E_INPUT11
+    //! - \b COMP_E_INPUT12
+    //! - \b COMP_E_INPUT13
+    //! - \b COMP_E_INPUT14
+    //! - \b COMP_E_INPUT15
+    //! - \b COMP_E_VREF
+    uint16_t posTerminalInput;
+    //! Selects the input to the negative terminal.
+    //! \n Valid values are:
+    //! - \b COMP_E_INPUT0 [Default]
+    //! - \b COMP_E_INPUT1
+    //! - \b COMP_E_INPUT2
+    //! - \b COMP_E_INPUT3
+    //! - \b COMP_E_INPUT4
+    //! - \b COMP_E_INPUT5
+    //! - \b COMP_E_INPUT6
+    //! - \b COMP_E_INPUT7
+    //! - \b COMP_E_INPUT8
+    //! - \b COMP_E_INPUT9
+    //! - \b COMP_E_INPUT10
+    //! - \b COMP_E_INPUT11
+    //! - \b COMP_E_INPUT12
+    //! - \b COMP_E_INPUT13
+    //! - \b COMP_E_INPUT14
+    //! - \b COMP_E_INPUT15
+    //! - \b COMP_E_VREF
+    uint16_t negTerminalInput;
+    //! Controls the output filter delay state, which is either off or enabled
+    //! with a specified delay level. This parameter is device specific and
+    //! delay levels should be found in the device's datasheet.
+    //! \n Valid values are:
+    //! - \b COMP_E_FILTEROUTPUT_OFF [Default]
+    //! - \b COMP_E_FILTEROUTPUT_DLYLVL1
+    //! - \b COMP_E_FILTEROUTPUT_DLYLVL2
+    //! - \b COMP_E_FILTEROUTPUT_DLYLVL3
+    //! - \b COMP_E_FILTEROUTPUT_DLYLVL4
+    uint8_t outputFilterEnableAndDelayLevel;
+    //! Controls if the output will be inverted or not
+    //! \n Valid values are:
+    //! - \b COMP_E_NORMALOUTPUTPOLARITY - indicates the output should be
+    //!    normal
+    //! - \b COMP_E_INVERTEDOUTPUTPOLARITY - the output should be inverted
+    uint16_t invertedOutputPolarity;
+} Comp_E_initParam;
+
+
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the
+// outputFilterEnableAndDelayLevel parameter for functions: Comp_E_init(); the
+// param parameter for functions: Comp_E_init().
+//
+//*****************************************************************************
+#define COMP_E_FILTEROUTPUT_OFF                                            0x00
+#define COMP_E_FILTEROUTPUT_DLYLVL1                            (CEF + CEFDLY_0)
+#define COMP_E_FILTEROUTPUT_DLYLVL2                            (CEF + CEFDLY_1)
+#define COMP_E_FILTEROUTPUT_DLYLVL3                            (CEF + CEFDLY_2)
+#define COMP_E_FILTEROUTPUT_DLYLVL4                            (CEF + CEFDLY_3)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the posTerminalInput
+// parameter for functions: Comp_E_init(); the inputPort parameter for
+// functions: Comp_E_disableInputBuffer(), and Comp_E_enableInputBuffer(); the
+// param parameter for functions: Comp_E_init(), and Comp_E_init(); the
+// negTerminalInput parameter for functions: Comp_E_init().
+//
+//*****************************************************************************
+#define COMP_E_INPUT0                                                    (0x01)
+#define COMP_E_INPUT1                                                    (0x02)
+#define COMP_E_INPUT2                                                    (0x04)
+#define COMP_E_INPUT3                                                    (0x08)
+#define COMP_E_INPUT4                                                    (0x10)
+#define COMP_E_INPUT5                                                    (0x20)
+#define COMP_E_INPUT6                                                    (0x40)
+#define COMP_E_INPUT7                                                    (0x80)
+#define COMP_E_INPUT8                                                   (0x100)
+#define COMP_E_INPUT9                                                   (0x200)
+#define COMP_E_INPUT10                                                  (0x400)
+#define COMP_E_INPUT11                                                  (0x800)
+#define COMP_E_INPUT12                                                 (0x1000)
+#define COMP_E_INPUT13                                                 (0x2000)
+#define COMP_E_INPUT14                                                 (0x4000)
+#define COMP_E_INPUT15                                                 (0x8000)
+#define COMP_E_VREF                                                      (0x9F)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the invertedOutputPolarity
+// parameter for functions: Comp_E_init(); the param parameter for functions:
+// Comp_E_init().
+//
+//*****************************************************************************
+#define COMP_E_NORMALOUTPUTPOLARITY                               (!(CEOUTPOL))
+#define COMP_E_INVERTEDOUTPUTPOLARITY                                (CEOUTPOL)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the
+// supplyVoltageReferenceBase parameter for functions:
+// Comp_E_setReferenceVoltage().
+//
+//*****************************************************************************
+#define COMP_E_REFERENCE_AMPLIFIER_DISABLED                          (CEREFL_0)
+#define COMP_E_VREFBASE1_2V                                          (CEREFL_1)
+#define COMP_E_VREFBASE2_0V                                          (CEREFL_2)
+#define COMP_E_VREFBASE2_5V                                          (CEREFL_3)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the referenceAccuracy
+// parameter for functions: Comp_E_setReferenceAccuracy().
+//
+//*****************************************************************************
+#define COMP_E_ACCURACY_STATIC                                      (!CEREFACC)
+#define COMP_E_ACCURACY_CLOCKED                                      (CEREFACC)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the powerMode parameter for
+// functions: Comp_E_setPowerMode().
+//
+//*****************************************************************************
+#define COMP_E_HIGH_SPEED_MODE                                      (CEPWRMD_0)
+#define COMP_E_NORMAL_MODE                                          (CEPWRMD_1)
+#define COMP_E_ULTRA_LOW_POWER_MODE                                 (CEPWRMD_2)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the interruptMask parameter
+// for functions: Comp_E_enableInterrupt(), and Comp_E_disableInterrupt().
+//
+//*****************************************************************************
+#define COMP_E_OUTPUT_INTERRUPT                                          (CEIE)
+#define COMP_E_INVERTED_POLARITY_INTERRUPT                              (CEIIE)
+#define COMP_E_READY_INTERRUPT                                        (CERDYIE)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the interruptFlagMask
+// parameter for functions: Comp_E_clearInterrupt(), and
+// Comp_E_getInterruptStatus() as well as returned by the
+// Comp_E_getInterruptStatus() function.
+//
+//*****************************************************************************
+#define COMP_E_OUTPUT_INTERRUPT_FLAG                                    (CEIFG)
+#define COMP_E_INTERRUPT_FLAG_INVERTED_POLARITY                        (CEIIFG)
+#define COMP_E_INTERRUPT_FLAG_READY                                  (CERDYIFG)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the edgeDirection parameter
+// for functions: Comp_E_setInterruptEdgeDirection().
+//
+//*****************************************************************************
+#define COMP_E_RISINGEDGE                                            (!(CEIES))
+#define COMP_E_FALLINGEDGE                                              (CEIES)
+
+//*****************************************************************************
+//
+// The following are values that can be passed toThe following are values that
+// can be returned by the Comp_E_outputValue() function.
+//
+//*****************************************************************************
+#define COMP_E_LOW                                                        (0x0)
+#define COMP_E_HIGH                                                     (CEOUT)
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Initializes the Comp_E Module.
+//!
+//! Upon successful initialization of the Comp_E module, this function will
+//! have reset all necessary register bits and set the given options in the
+//! registers. To actually use the Comp_E module, the Comp_E_enable() function
+//! must be explicitly called before use. If a Reference Voltage is set to a
+//! terminal, the Voltage should be set using the setReferenceVoltage()
+//! function.
+//!
+//! \param baseAddress is the base address of the COMP_E module.
+//! \param param is the pointer to struct for initialization.
+//!
+//! \return STATUS_SUCCESS or STATUS_FAILURE of the initialization process
+//
+//*****************************************************************************
+extern bool Comp_E_init(uint16_t baseAddress,
+                        Comp_E_initParam *param);
+
+//*****************************************************************************
+//
+//! \brief Generates a Reference Voltage to the terminal selected during
+//! initialization.
+//!
+//! Use this function to generate a voltage to serve as a reference to the
+//! terminal selected at initialization. The voltage is determined by the
+//! equation: Vbase * (Numerator / 32). If the upper and lower limit voltage
+//! numerators are equal, then a static reference is defined, whereas they are
+//! different then a hysteresis effect is generated.
+//!
+//! \param baseAddress is the base address of the COMP_E module.
+//! \param supplyVoltageReferenceBase decides the source and max amount of
+//!        Voltage that can be used as a reference.
+//!        Valid values are:
+//!        - \b COMP_E_REFERENCE_AMPLIFIER_DISABLED
+//!        - \b COMP_E_VREFBASE1_2V
+//!        - \b COMP_E_VREFBASE2_0V
+//!        - \b COMP_E_VREFBASE2_5V
+//!        \n Modified bits are \b CEREFL of \b CECTL2 register.
+//! \param lowerLimitSupplyVoltageFractionOf32 is the numerator of the equation
+//!        to generate the reference voltage for the lower limit reference
+//!        voltage.
+//!        \n Modified bits are \b CEREF0 of \b CECTL2 register.
+//! \param upperLimitSupplyVoltageFractionOf32 is the numerator of the equation
+//!        to generate the reference voltage for the upper limit reference
+//!        voltage.
+//!        \n Modified bits are \b CEREF1 of \b CECTL2 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Comp_E_setReferenceVoltage(uint16_t baseAddress,
+                                       uint16_t supplyVoltageReferenceBase,
+                                       uint16_t lowerLimitSupplyVoltageFractionOf32,
+                                       uint16_t upperLimitSupplyVoltageFractionOf32);
+
+//*****************************************************************************
+//
+//! \brief Sets the reference accuracy
+//!
+//! The reference accuracy is set to the desired setting. Clocked is better for
+//! low power operations but has a lower accuracy.
+//!
+//! \param baseAddress is the base address of the COMP_E module.
+//! \param referenceAccuracy is the reference accuracy setting of the COMP_E.
+//!        Valid values are:
+//!        - \b COMP_E_ACCURACY_STATIC
+//!        - \b COMP_E_ACCURACY_CLOCKED - for low power / low accuracy
+//!        \n Modified bits are \b CEREFACC of \b CECTL2 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Comp_E_setReferenceAccuracy(uint16_t baseAddress,
+                                        uint16_t referenceAccuracy);
+
+//*****************************************************************************
+//
+//! \brief Sets the power mode
+//!
+//! \param baseAddress is the base address of the COMP_E module.
+//! \param powerMode decides the power mode
+//!        Valid values are:
+//!        - \b COMP_E_HIGH_SPEED_MODE
+//!        - \b COMP_E_NORMAL_MODE
+//!        - \b COMP_E_ULTRA_LOW_POWER_MODE
+//!        \n Modified bits are \b CEPWRMD of \b CECTL1 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Comp_E_setPowerMode(uint16_t baseAddress,
+                                uint16_t powerMode);
+
+//*****************************************************************************
+//
+//! \brief Enables selected Comp_E interrupt sources.
+//!
+//! Enables the indicated Comp_E interrupt sources.  Only the sources that are
+//! enabled can be reflected to the processor interrupt; disabled sources have
+//! no effect on the processor. <b>Does not clear interrupt flags.</b>
+//!
+//! \param baseAddress is the base address of the COMP_E module.
+//! \param interruptMask
+//!        Mask value is the logical OR of any of the following:
+//!        - \b COMP_E_OUTPUT_INTERRUPT - Output interrupt
+//!        - \b COMP_E_INVERTED_POLARITY_INTERRUPT - Output interrupt inverted
+//!           polarity
+//!        - \b COMP_E_READY_INTERRUPT - Ready interrupt
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Comp_E_enableInterrupt(uint16_t baseAddress,
+                                   uint16_t interruptMask);
+
+//*****************************************************************************
+//
+//! \brief Disables selected Comp_E interrupt sources.
+//!
+//! Disables the indicated Comp_E interrupt sources.  Only the sources that are
+//! enabled can be reflected to the processor interrupt; disabled sources have
+//! no effect on the processor.
+//!
+//! \param baseAddress is the base address of the COMP_E module.
+//! \param interruptMask
+//!        Mask value is the logical OR of any of the following:
+//!        - \b COMP_E_OUTPUT_INTERRUPT - Output interrupt
+//!        - \b COMP_E_INVERTED_POLARITY_INTERRUPT - Output interrupt inverted
+//!           polarity
+//!        - \b COMP_E_READY_INTERRUPT - Ready interrupt
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Comp_E_disableInterrupt(uint16_t baseAddress,
+                                    uint16_t interruptMask);
+
+//*****************************************************************************
+//
+//! \brief Clears Comp_E interrupt flags.
+//!
+//! The Comp_E interrupt source is cleared, so that it no longer asserts. The
+//! highest interrupt flag is automatically cleared when an interrupt vector
+//! generator is used.
+//!
+//! \param baseAddress is the base address of the COMP_E module.
+//! \param interruptFlagMask
+//!        Mask value is the logical OR of any of the following:
+//!        - \b COMP_E_OUTPUT_INTERRUPT_FLAG - Output interrupt flag
+//!        - \b COMP_E_INTERRUPT_FLAG_INVERTED_POLARITY - Output interrupt flag
+//!           inverted polarity
+//!        - \b COMP_E_INTERRUPT_FLAG_READY - Ready interrupt flag
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Comp_E_clearInterrupt(uint16_t baseAddress,
+                                  uint16_t interruptFlagMask);
+
+//*****************************************************************************
+//
+//! \brief Gets the current Comp_E interrupt status.
+//!
+//! This returns the interrupt status for the Comp_E module based on which flag
+//! is passed.
+//!
+//! \param baseAddress is the base address of the COMP_E module.
+//! \param interruptFlagMask
+//!        Mask value is the logical OR of any of the following:
+//!        - \b COMP_E_OUTPUT_INTERRUPT_FLAG - Output interrupt flag
+//!        - \b COMP_E_INTERRUPT_FLAG_INVERTED_POLARITY - Output interrupt flag
+//!           inverted polarity
+//!        - \b COMP_E_INTERRUPT_FLAG_READY - Ready interrupt flag
+//!
+//! \return Logical OR of any of the following:
+//!         - \b COMP_E_OUTPUT_INTERRUPT_FLAG Output interrupt flag
+//!         - \b COMP_E_INTERRUPT_FLAG_INVERTED_POLARITY Output interrupt flag
+//!         inverted polarity
+//!         - \b COMP_E_INTERRUPT_FLAG_READY Ready interrupt flag
+//!         \n indicating the status of the masked flags
+//
+//*****************************************************************************
+extern uint8_t Comp_E_getInterruptStatus(uint16_t baseAddress,
+                                         uint16_t interruptFlagMask);
+
+//*****************************************************************************
+//
+//! \brief Explicitly sets the edge direction that would trigger an interrupt.
+//!
+//! This function will set which direction the output will have to go, whether
+//! rising or falling, to generate an interrupt based on a non-inverted
+//! interrupt.
+//!
+//! \param baseAddress is the base address of the COMP_E module.
+//! \param edgeDirection determines which direction the edge would have to go
+//!        to generate an interrupt based on the non-inverted interrupt flag.
+//!        Valid values are:
+//!        - \b COMP_E_RISINGEDGE [Default] - sets the bit to generate an
+//!           interrupt when the output of the Comp_E rises from LOW to HIGH if
+//!           the normal interrupt bit is set(and HIGH to LOW if the inverted
+//!           interrupt enable bit is set).
+//!        - \b COMP_E_FALLINGEDGE - sets the bit to generate an interrupt when
+//!           the output of the Comp_E falls from HIGH to LOW if the normal
+//!           interrupt bit is set(and LOW to HIGH if the inverted interrupt
+//!           enable bit is set).
+//!        \n Modified bits are \b CEIES of \b CECTL1 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Comp_E_setInterruptEdgeDirection(uint16_t baseAddress,
+                                             uint16_t edgeDirection);
+
+//*****************************************************************************
+//
+//! \brief Toggles the edge direction that would trigger an interrupt.
+//!
+//! This function will toggle which direction the output will have to go,
+//! whether rising or falling, to generate an interrupt based on a non-inverted
+//! interrupt. If the direction was rising, it is now falling, if it was
+//! falling, it is now rising.
+//!
+//! \param baseAddress is the base address of the COMP_E module.
+//!
+//! Modified bits are \b CEIES of \b CECTL1 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Comp_E_toggleInterruptEdgeDirection(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Turns on the Comp_E module.
+//!
+//! This function sets the bit that enables the operation of the Comp_E module.
+//!
+//! \param baseAddress is the base address of the COMP_E module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Comp_E_enable(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Turns off the Comp_E module.
+//!
+//! This function clears the CEON bit disabling the operation of the Comp_E
+//! module, saving from excess power consumption.
+//!
+//! \param baseAddress is the base address of the COMP_E module.
+//!
+//! Modified bits are \b CEON of \b CECTL1 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Comp_E_disable(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Shorts the two input pins chosen during initialization.
+//!
+//! This function sets the bit that shorts the devices attached to the input
+//! pins chosen from the initialization of the Comp_E.
+//!
+//! \param baseAddress is the base address of the COMP_E module.
+//!
+//! Modified bits are \b CESHORT of \b CECTL1 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Comp_E_shortInputs(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Disables the short of the two input pins chosen during
+//! initialization.
+//!
+//! This function clears the bit that shorts the devices attached to the input
+//! pins chosen from the initialization of the Comp_E.
+//!
+//! \param baseAddress is the base address of the COMP_E module.
+//!
+//! Modified bits are \b CESHORT of \b CECTL1 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Comp_E_unshortInputs(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Disables the input buffer of the selected input port to effectively
+//! allow for analog signals.
+//!
+//! This function sets the bit to disable the buffer for the specified input
+//! port to allow for analog signals from any of the Comp_E input pins. This
+//! bit is automatically set when the input is initialized to be used with the
+//! Comp_E module. This function should be used whenever an analog input is
+//! connected to one of these pins to prevent parasitic voltage from causing
+//! unexpected results.
+//!
+//! \param baseAddress is the base address of the COMP_E module.
+//! \param inputPort is the port in which the input buffer will be disabled.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b COMP_E_INPUT0 [Default]
+//!        - \b COMP_E_INPUT1
+//!        - \b COMP_E_INPUT2
+//!        - \b COMP_E_INPUT3
+//!        - \b COMP_E_INPUT4
+//!        - \b COMP_E_INPUT5
+//!        - \b COMP_E_INPUT6
+//!        - \b COMP_E_INPUT7
+//!        - \b COMP_E_INPUT8
+//!        - \b COMP_E_INPUT9
+//!        - \b COMP_E_INPUT10
+//!        - \b COMP_E_INPUT11
+//!        - \b COMP_E_INPUT12
+//!        - \b COMP_E_INPUT13
+//!        - \b COMP_E_INPUT14
+//!        - \b COMP_E_INPUT15
+//!        - \b COMP_E_VREF
+//!        \n Modified bits are \b CEPDx of \b CECTL3 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Comp_E_disableInputBuffer(uint16_t baseAddress,
+                                      uint16_t inputPort);
+
+//*****************************************************************************
+//
+//! \brief Enables the input buffer of the selected input port to allow for
+//! digital signals.
+//!
+//! This function clears the bit to enable the buffer for the specified input
+//! port to allow for digital signals from any of the Comp_E input pins. This
+//! should not be reset if there is an analog signal connected to the specified
+//! input pin to prevent from unexpected results.
+//!
+//! \param baseAddress is the base address of the COMP_E module.
+//! \param inputPort is the port in which the input buffer will be enabled.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b COMP_E_INPUT0 [Default]
+//!        - \b COMP_E_INPUT1
+//!        - \b COMP_E_INPUT2
+//!        - \b COMP_E_INPUT3
+//!        - \b COMP_E_INPUT4
+//!        - \b COMP_E_INPUT5
+//!        - \b COMP_E_INPUT6
+//!        - \b COMP_E_INPUT7
+//!        - \b COMP_E_INPUT8
+//!        - \b COMP_E_INPUT9
+//!        - \b COMP_E_INPUT10
+//!        - \b COMP_E_INPUT11
+//!        - \b COMP_E_INPUT12
+//!        - \b COMP_E_INPUT13
+//!        - \b COMP_E_INPUT14
+//!        - \b COMP_E_INPUT15
+//!        - \b COMP_E_VREF
+//!        \n Modified bits are \b CEPDx of \b CECTL3 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Comp_E_enableInputBuffer(uint16_t baseAddress,
+                                     uint16_t inputPort);
+
+//*****************************************************************************
+//
+//! \brief Toggles the bit that swaps which terminals the inputs go to, while
+//! also inverting the output of the Comp_E.
+//!
+//! This function toggles the bit that controls which input goes to which
+//! terminal. After initialization, this bit is set to 0, after toggling it
+//! once the inputs are routed to the opposite terminal and the output is
+//! inverted.
+//!
+//! \param baseAddress is the base address of the COMP_E module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Comp_E_swapIO(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Returns the output value of the Comp_E module.
+//!
+//! Returns the output value of the Comp_E module.
+//!
+//! \param baseAddress is the base address of the COMP_E module.
+//!
+//! \return One of the following:
+//!         - \b COMP_E_LOW
+//!         - \b COMP_E_HIGH
+//!         \n indicating the output value of the Comp_E module
+//
+//*****************************************************************************
+extern uint16_t Comp_E_outputValue(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_COMP_E_H__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/crc.c b/Apps/FlightSoftware/MotorControl/driverlib/crc.c
new file mode 100644
index 000000000..6b1bd6718
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/crc.c
@@ -0,0 +1,103 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// crc.c - Driver for the crc Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup crc_api crc
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_CRC__
+#include "crc.h"
+
+#include <assert.h>
+
+void CRC_setSeed (uint16_t baseAddress,
+    uint16_t seed)
+{
+    HWREG16(baseAddress + OFS_CRCINIRES) = seed;
+}
+
+void CRC_set16BitData (uint16_t baseAddress,
+    uint16_t dataIn)
+{
+    HWREG16(baseAddress + OFS_CRCDI) = dataIn;
+}
+
+void CRC_set8BitData (uint16_t baseAddress,
+    uint8_t dataIn)
+{
+    HWREG8(baseAddress + OFS_CRCDI_L) = dataIn;
+}
+
+void CRC_set16BitDataReversed (uint16_t baseAddress,
+    uint16_t dataIn)
+{
+    HWREG16(baseAddress + OFS_CRCDIRB) = dataIn;
+}
+
+void CRC_set8BitDataReversed (uint16_t baseAddress,
+    uint8_t dataIn)
+{
+    HWREG8(baseAddress + OFS_CRCDIRB_L) = dataIn;
+}
+
+uint16_t CRC_getData (uint16_t baseAddress)
+{
+    return ( HWREG16(baseAddress + OFS_CRCDI) );
+}
+
+uint16_t CRC_getResult (uint16_t baseAddress)
+{
+    return ( HWREG16(baseAddress + OFS_CRCINIRES) );
+}
+
+uint16_t CRC_getResultBitsReversed (uint16_t baseAddress)
+{
+    return ( HWREG16(baseAddress + OFS_CRCRESR) );
+}
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for crc_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/crc.h b/Apps/FlightSoftware/MotorControl/driverlib/crc.h
new file mode 100644
index 000000000..3e7193291
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/crc.h
@@ -0,0 +1,209 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// crc.h - Driver for the CRC Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_CRC_H__
+#define __MSP430WARE_CRC_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_CRC__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Sets the seed for the CRC.
+//!
+//! This function sets the seed for the CRC to begin generating a signature
+//! with the given seed and all passed data. Using this function resets the CRC
+//! signature.
+//!
+//! \param baseAddress is the base address of the CRC module.
+//! \param seed is the seed for the CRC to start generating a signature from.
+//!        \n Modified bits are \b CRCINIRES of \b CRCINIRES register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void CRC_setSeed(uint16_t baseAddress,
+                        uint16_t seed);
+
+//*****************************************************************************
+//
+//! \brief Sets the 16 bit data to add into the CRC module to generate a new
+//! signature.
+//!
+//! This function sets the given data into the CRC module to generate the new
+//! signature from the current signature and new data.
+//!
+//! \param baseAddress is the base address of the CRC module.
+//! \param dataIn is the data to be added, through the CRC module, to the
+//!        signature.
+//!        \n Modified bits are \b CRCDI of \b CRCDI register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void CRC_set16BitData(uint16_t baseAddress,
+                             uint16_t dataIn);
+
+//*****************************************************************************
+//
+//! \brief Sets the 8 bit data to add into the CRC module to generate a new
+//! signature.
+//!
+//! This function sets the given data into the CRC module to generate the new
+//! signature from the current signature and new data.
+//!
+//! \param baseAddress is the base address of the CRC module.
+//! \param dataIn is the data to be added, through the CRC module, to the
+//!        signature.
+//!        \n Modified bits are \b CRCDI of \b CRCDI register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void CRC_set8BitData(uint16_t baseAddress,
+                            uint8_t dataIn);
+
+//*****************************************************************************
+//
+//! \brief Translates the 16 bit data by reversing the bits in each byte and
+//! then sets this data to add into the CRC module to generate a new signature.
+//!
+//! This function first reverses the bits in each byte of the data and then
+//! generates the new signature from the current signature and new translated
+//! data.
+//!
+//! \param baseAddress is the base address of the CRC module.
+//! \param dataIn is the data to be added, through the CRC module, to the
+//!        signature.
+//!        \n Modified bits are \b CRCDIRB of \b CRCDIRB register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void CRC_set16BitDataReversed(uint16_t baseAddress,
+                                     uint16_t dataIn);
+
+//*****************************************************************************
+//
+//! \brief Translates the 8 bit data by reversing the bits in each byte and
+//! then sets this data to add into the CRC module to generate a new signature.
+//!
+//! This function first reverses the bits in each byte of the data and then
+//! generates the new signature from the current signature and new translated
+//! data.
+//!
+//! \param baseAddress is the base address of the CRC module.
+//! \param dataIn is the data to be added, through the CRC module, to the
+//!        signature.
+//!        \n Modified bits are \b CRCDIRB of \b CRCDIRB register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void CRC_set8BitDataReversed(uint16_t baseAddress,
+                                    uint8_t dataIn);
+
+//*****************************************************************************
+//
+//! \brief Returns the value currently in the Data register.
+//!
+//! This function returns the value currently in the data register. If set in
+//! byte bits reversed format, then the translated data would be returned.
+//!
+//! \param baseAddress is the base address of the CRC module.
+//!
+//! \return The value currently in the data register
+//
+//*****************************************************************************
+extern uint16_t CRC_getData(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Returns the value pf the Signature Result.
+//!
+//! This function returns the value of the signature result generated by the
+//! CRC.
+//!
+//! \param baseAddress is the base address of the CRC module.
+//!
+//! \return The value currently in the data register
+//
+//*****************************************************************************
+extern uint16_t CRC_getResult(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Returns the bit-wise reversed format of the Signature Result.
+//!
+//! This function returns the bit-wise reversed format of the Signature Result.
+//!
+//! \param baseAddress is the base address of the CRC module.
+//!
+//! \return The bit-wise reversed format of the Signature Result
+//
+//*****************************************************************************
+extern uint16_t CRC_getResultBitsReversed(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_CRC_H__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/crc32.c b/Apps/FlightSoftware/MotorControl/driverlib/crc32.c
new file mode 100644
index 000000000..6583abb40
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/crc32.c
@@ -0,0 +1,157 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// crc32.c - Driver for the crc32 Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup crc32_api crc32
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_CRC32__
+#include "crc32.h"
+
+#include <assert.h>
+
+void CRC32_setSeed(uint32_t seed, uint8_t crcMode)
+{
+    if (CRC16_MODE == crcMode) {
+        HWREG16(CRC32_BASE + OFS_CRC16INIRESW0) = seed;
+    }
+    else
+    {
+        HWREG16(CRC32_BASE + OFS_CRC32INIRESW1) = ((seed & 0xFFFF0000)
+                >> 16);
+        HWREG16(CRC32_BASE + OFS_CRC32INIRESW0) = (seed & 0xFFFF);
+    }
+}
+
+void CRC32_set8BitData(uint8_t dataIn, uint8_t crcMode)
+{
+    if (CRC16_MODE == crcMode) {
+        HWREG8(CRC32_BASE + OFS_CRC16DIW0_L) = dataIn;
+    }
+    else {
+        HWREG8(CRC32_BASE + OFS_CRC32DIW0_L) = dataIn;
+    }
+}
+
+void CRC32_set16BitData(uint16_t dataIn, uint8_t crcMode)
+{
+    if (CRC16_MODE == crcMode) {
+        HWREG16(CRC32_BASE + OFS_CRC16DIW0) = dataIn;
+    }
+    else {
+        HWREG16(CRC32_BASE + OFS_CRC32DIW0) = dataIn;
+    }
+
+}
+
+void CRC32_set32BitData(uint32_t dataIn)
+{
+
+    HWREG16(CRC32_BASE + OFS_CRC32DIW0) = dataIn & 0xFFFF;
+    HWREG16(CRC32_BASE + OFS_CRC32DIW1) = (uint16_t) ((dataIn & 0xFFFF0000)
+            >> 16);
+}
+
+void CRC32_set8BitDataReversed(uint8_t dataIn, uint8_t crcMode)
+{
+
+    if (CRC16_MODE == crcMode) {
+        HWREG8(CRC32_BASE + OFS_CRC16DIRBW0_L) = dataIn;
+    } else {
+        HWREG8(CRC32_BASE + OFS_CRC32DIRBW1_L) = dataIn;
+    }
+}
+
+void CRC32_set16BitDataReversed(uint16_t dataIn, uint8_t crcMode)
+{
+
+    if (CRC16_MODE == crcMode) {
+        HWREG16(CRC32_BASE + OFS_CRC16DIRBW0) = dataIn;
+    } else {
+        HWREG16(CRC32_BASE + OFS_CRC32DIRBW1) = dataIn;
+    }
+}
+
+void CRC32_set32BitDataReversed(uint32_t dataIn)
+{
+    HWREG16(CRC32_BASE + OFS_CRC32DIRBW1) = dataIn & 0xFFFF;
+    HWREG16(CRC32_BASE + OFS_CRC32DIRBW0) = (uint16_t) ((dataIn & 0xFFFF0000)
+            >> 16);
+}
+
+uint32_t CRC32_getResult(uint8_t crcMode)
+{
+    if (CRC16_MODE == crcMode) {
+        return (HWREG16(CRC32_BASE + OFS_CRC16INIRESW0) );
+    }
+    else
+    {
+        uint32_t result = 0;
+        result = HWREG16(CRC32_BASE + OFS_CRC32INIRESW1);
+        result = (result << 16);
+        result |= HWREG16(CRC32_BASE + OFS_CRC32INIRESW0);
+        return (result);
+    }
+}
+
+uint32_t CRC32_getResultReversed(uint8_t crcMode)
+{
+    if (CRC16_MODE == crcMode) {
+        return (HWREG16(CRC32_BASE + OFS_CRC16RESRW0) );
+    }
+    else
+    {
+        uint32_t result = 0;
+        result = HWREG16(CRC32_BASE + OFS_CRC32RESRW0);
+        result = (result << 16);
+        result |= HWREG16(CRC32_BASE + OFS_CRC32RESRW1);
+        return (result);
+    }
+}
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for crc32_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/crc32.h b/Apps/FlightSoftware/MotorControl/driverlib/crc32.h
new file mode 100644
index 000000000..b7ce136e8
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/crc32.h
@@ -0,0 +1,263 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// crc32.h - Driver for the CRC32 Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_CRC32_H__
+#define __MSP430WARE_CRC32_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_CRC32__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the crcMode parameter for
+// functions: CRC32_setSeed(), CRC32_getResult(), CRC32_getResultReversed(),
+// CRC32_set8BitDataReversed(), CRC32_set16BitDataReversed(),
+// CRC32_set8BitData(), and CRC32_set16BitData().
+//
+//*****************************************************************************
+#define CRC32_MODE                                                       (0x01)
+#define CRC16_MODE                                                       (0x00)
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Sets the seed for the CRC32.
+//!
+//! This function sets the seed for the CRC32 to begin generating a signature
+//! with the given seed and all passed data. Using this function resets the
+//! CRC32 signature.
+//!
+//! \param seed is the seed for the CRC32 to start generating a signature from.
+//!        \n Modified bits are \b CRC32INIRESL0 of \b CRC32INIRESL0 register.
+//! \param crcMode selects the mode of operation for the CRC32
+//!        Valid values are:
+//!        - \b CRC32_MODE - 32 Bit Mode
+//!        - \b CRC16_MODE - 16 Bit Mode
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void CRC32_setSeed(uint32_t seed,
+                          uint8_t crcMode);
+
+//*****************************************************************************
+//
+//! \brief Sets the 8 bit data to add into the CRC32 module to generate a new
+//! signature.
+//!
+//! This function sets the given data into the CRC32 module to generate the new
+//! signature from the current signature and new data. Bit 0 is treated as the
+//! LSB.
+//!
+//! \param dataIn is the data to be added, through the CRC32 module, to the
+//!        signature.
+//! \param crcMode selects the mode of operation for the CRC32
+//!        Valid values are:
+//!        - \b CRC32_MODE - 32 Bit Mode
+//!        - \b CRC16_MODE - 16 Bit Mode
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void CRC32_set8BitData(uint8_t dataIn,
+                              uint8_t crcMode);
+
+//*****************************************************************************
+//
+//! \brief Sets the 16 bit data to add into the CRC32 module to generate a new
+//! signature.
+//!
+//! This function sets the given data into the CRC32 module to generate the new
+//! signature from the current signature and new data. Bit 0 is treated as the
+//! LSB.
+//!
+//! \param dataIn is the data to be added, through the CRC32 module, to the
+//!        signature.
+//! \param crcMode selects the mode of operation for the CRC32
+//!        Valid values are:
+//!        - \b CRC32_MODE - 32 Bit Mode
+//!        - \b CRC16_MODE - 16 Bit Mode
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void CRC32_set16BitData(uint16_t dataIn,
+                               uint8_t crcMode);
+
+//*****************************************************************************
+//
+//! \brief Sets the 32 bit data to add into the CRC32 module to generate a new
+//! signature.
+//!
+//! This function sets the given data into the CRC32 module to generate the new
+//! signature from the current signature and new data. Bit 0 is treated as the
+//! LSB.
+//!
+//! \param dataIn is the data to be added, through the CRC32 module, to the
+//!        signature.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void CRC32_set32BitData(uint32_t dataIn);
+
+//*****************************************************************************
+//
+//! \brief Translates the data by reversing the bits in each 8 bit data and
+//! then sets this data to add into the CRC32 module to generate a new
+//! signature.
+//!
+//! This function first reverses the bits in each byte of the data and then
+//! generates the new signature from the current signature and new translated
+//! data. Bit 0 is treated as the MSB.
+//!
+//! \param dataIn is the data to be added, through the CRC32 module, to the
+//!        signature.
+//! \param crcMode selects the mode of operation for the CRC32
+//!        Valid values are:
+//!        - \b CRC32_MODE - 32 Bit Mode
+//!        - \b CRC16_MODE - 16 Bit Mode
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void CRC32_set8BitDataReversed(uint8_t dataIn,
+                                      uint8_t crcMode);
+
+//*****************************************************************************
+//
+//! \brief Translates the data by reversing the bits in each 16 bit data and
+//! then sets this data to add into the CRC32 module to generate a new
+//! signature.
+//!
+//! This function first reverses the bits in each byte of the data and then
+//! generates the new signature from the current signature and new translated
+//! data. Bit 0 is treated as the MSB.
+//!
+//! \param dataIn is the data to be added, through the CRC32 module, to the
+//!        signature.
+//! \param crcMode selects the mode of operation for the CRC32
+//!        Valid values are:
+//!        - \b CRC32_MODE - 32 Bit Mode
+//!        - \b CRC16_MODE - 16 Bit Mode
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void CRC32_set16BitDataReversed(uint16_t dataIn,
+                                       uint8_t crcMode);
+
+//*****************************************************************************
+//
+//! \brief Translates the data by reversing the bits in each 32 bit data and
+//! then sets this data to add into the CRC32 module to generate a new
+//! signature.
+//!
+//! This function first reverses the bits in each byte of the data and then
+//! generates the new signature from the current signature and new translated
+//! data. Bit 0 is treated as the MSB.
+//!
+//! \param dataIn is the data to be added, through the CRC32 module, to the
+//!        signature.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void CRC32_set32BitDataReversed(uint32_t dataIn);
+
+//*****************************************************************************
+//
+//! \brief Returns the value of the signature result.
+//!
+//! This function returns the value of the signature result generated by the
+//! CRC32. Bit 0 is treated as LSB.
+//!
+//! \param crcMode selects the mode of operation for the CRC32
+//!        Valid values are:
+//!        - \b CRC32_MODE - 32 Bit Mode
+//!        - \b CRC16_MODE - 16 Bit Mode
+//!
+//! \return The signature result
+//
+//*****************************************************************************
+extern uint32_t CRC32_getResult(uint8_t crcMode);
+
+//*****************************************************************************
+//
+//! \brief Returns the bit-wise reversed format of the 32 bit signature result.
+//!
+//! This function returns the bit-wise reversed format of the signature result.
+//! Bit 0 is treated as MSB.
+//!
+//! \param crcMode selects the mode of operation for the CRC32
+//!        Valid values are:
+//!        - \b CRC32_MODE - 32 Bit Mode
+//!        - \b CRC16_MODE - 16 Bit Mode
+//!
+//! \return The bit-wise reversed format of the signature result
+//
+//*****************************************************************************
+extern uint32_t CRC32_getResultReversed(uint8_t crcMode);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_CRC32_H__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/cs.c b/Apps/FlightSoftware/MotorControl/driverlib/cs.c
new file mode 100644
index 000000000..5e16538ca
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/cs.c
@@ -0,0 +1,996 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// cs.c - Driver for the cs Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup cs_api cs
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#if defined(__MSP430_HAS_CS__) || defined(__MSP430_HAS_SFR__)
+#include "cs.h"
+
+#include <assert.h>
+
+//*****************************************************************************
+//
+// The following value is used by CS_getACLK, CS_getSMCLK, CS_getMCLK to
+// determine the operating frequency based on the available DCO frequencies.
+//
+//*****************************************************************************
+#define CS_DCO_FREQ_1                                            1000000
+#define CS_DCO_FREQ_2                                            2670000
+#define CS_DCO_FREQ_3                                            3330000
+#define CS_DCO_FREQ_4                                            4000000
+#define CS_DCO_FREQ_5                                            5330000
+#define CS_DCO_FREQ_6                                            6670000
+#define CS_DCO_FREQ_7                                            8000000
+#define CS_DCO_FREQ_8                                           16000000
+#define CS_DCO_FREQ_9                                           20000000
+#define CS_DCO_FREQ_10                                          24000000
+
+//*****************************************************************************
+//
+// Internal very low power VLOCLK, low frequency oscillator with 10kHz typical
+// frequency, internal low-power oscillator MODCLK with 5 MHz typical
+// frequency and LFMODCLK is MODCLK divided by 128.
+//
+//*****************************************************************************
+#define CS_VLOCLK_FREQUENCY                                        10000
+#define CS_MODCLK_FREQUENCY                                      5000000
+#define CS_LFMODCLK_FREQUENCY                                      39062
+
+//*****************************************************************************
+//
+// The following value is used by CS_XT1Start, CS_bypassXT1,
+// CS_XT1StartWithTimeout, CS_bypassXT1WithTimeout to properly set
+// the XTS bit. This frequency threshold is specified in the User's Guide.
+//
+//*****************************************************************************
+#define LFXT_FREQUENCY_THRESHOLD                                          50000
+
+//*****************************************************************************
+//
+// LFXT crystal frequency. Should be set with
+// CS_externalClockSourceInit if LFXT is used and user intends to invoke
+// CS_getSMCLK, CS_getMCLK, CS_getACLK and
+// CS_turnOnLFXT, CS_LFXTByPass, CS_turnOnLFXTWithTimeout,
+// CS_LFXTByPassWithTimeout.
+//
+//*****************************************************************************
+static uint32_t privateLFXTClockFrequency = 0;
+
+//*****************************************************************************
+//
+// The HFXT crystal frequency. Should be set with
+// CS_externalClockSourceInit if HFXT is used and user intends to invoke
+// CS_getSMCLK, CS_getMCLK, CS_getACLK,
+// CS_turnOnLFXT, CS_LFXTByPass, CS_turnOnLFXTWithTimeout,
+// CS_LFXTByPassWithTimeout.
+//
+//*****************************************************************************
+static uint32_t privateHFXTClockFrequency = 0;
+
+static uint32_t privateCSASourceClockFromDCO (uint8_t clockdivider)
+{
+    uint32_t CLKFrequency = 0;
+
+    if (HWREG16(CS_BASE + OFS_CSCTL1)& DCORSEL) {
+            switch(HWREG16(CS_BASE + OFS_CSCTL1) & DCOFSEL_7) {
+                case DCOFSEL_0:
+                    CLKFrequency=CS_DCO_FREQ_1/clockdivider;
+                    break;
+                case DCOFSEL_1:
+                    CLKFrequency=CS_DCO_FREQ_5/clockdivider;
+                    break;
+                case DCOFSEL_2:
+                    CLKFrequency=CS_DCO_FREQ_6/clockdivider;
+                    break;
+                case DCOFSEL_3:
+                    CLKFrequency=CS_DCO_FREQ_7/clockdivider;
+                    break;
+                case DCOFSEL_4:
+                    CLKFrequency=CS_DCO_FREQ_8/clockdivider;
+                    break;
+                case DCOFSEL_5:
+                    CLKFrequency=CS_DCO_FREQ_9/clockdivider;
+                    break;
+                case DCOFSEL_6:
+                case DCOFSEL_7:
+                    CLKFrequency=CS_DCO_FREQ_10/clockdivider;
+                    break;
+                default:
+                    CLKFrequency=0;
+                    break;
+            }
+        }
+        else {
+            switch(HWREG16(CS_BASE + OFS_CSCTL1) & DCOFSEL_7) {
+                case DCOFSEL_0:
+                    CLKFrequency=CS_DCO_FREQ_1/clockdivider;
+                    break;
+                case DCOFSEL_1:
+                    CLKFrequency=CS_DCO_FREQ_2/clockdivider;
+                    break;
+                case DCOFSEL_2:
+                    CLKFrequency=CS_DCO_FREQ_3/clockdivider;
+                    break;
+                case DCOFSEL_3:
+                    CLKFrequency=CS_DCO_FREQ_4/clockdivider;
+                    break;
+                case DCOFSEL_4:
+                    CLKFrequency=CS_DCO_FREQ_5/clockdivider;
+                    break;
+                case DCOFSEL_5:
+                    CLKFrequency=CS_DCO_FREQ_6/clockdivider;
+                    break;
+                case DCOFSEL_6:
+                case DCOFSEL_7:
+                    CLKFrequency=CS_DCO_FREQ_7/clockdivider;
+                    break;
+                default:
+                    CLKFrequency=0;
+                    break;
+            }
+
+        }
+
+    return (CLKFrequency);
+}
+
+static uint32_t privateCSAComputeCLKFrequency (uint16_t CLKSource,
+    uint16_t CLKSourceDivider
+    )
+{
+    uint32_t CLKFrequency = 0;
+    uint8_t CLKSourceFrequencyDivider = 1;
+    uint8_t i = 0;
+
+    //Determine Frequency divider
+    for ( i = 0; i < CLKSourceDivider; i++) {
+        CLKSourceFrequencyDivider *= 2;
+    }
+
+    //Unlock CS control register
+    HWREG16(CS_BASE + OFS_CSCTL0) = CSKEY;
+
+    //Determine clock source based on CLKSource
+    switch (CLKSource) {
+
+        //If LFXT is selected as clock source
+        case SELM__LFXTCLK:
+            CLKFrequency = (privateLFXTClockFrequency /
+                            CLKSourceFrequencyDivider);
+
+            //Check if LFXTOFFG is not set. If fault flag is set
+            //VLO is used as source clock
+            if (HWREG8(CS_BASE + OFS_CSCTL5) & LFXTOFFG) {
+                HWREG8(CS_BASE + OFS_CSCTL5) &= ~(LFXTOFFG);
+                //Clear OFIFG fault flag
+                HWREG8(SFR_BASE + OFS_SFRIFG1) &= ~OFIFG;
+
+                if (HWREG8(CS_BASE + OFS_CSCTL5) & LFXTOFFG) {
+                            CLKFrequency = CS_LFMODCLK_FREQUENCY;
+                }
+            }
+            break;
+
+        case SELM__VLOCLK:
+            CLKFrequency =
+                (CS_VLOCLK_FREQUENCY / CLKSourceFrequencyDivider);
+            break;
+
+        case SELM__LFMODOSC:
+            CLKFrequency =
+                (CS_LFMODCLK_FREQUENCY / CLKSourceFrequencyDivider);
+
+            break;
+
+        case SELM__DCOCLK:
+            CLKFrequency =
+            privateCSASourceClockFromDCO( CLKSourceFrequencyDivider);
+
+            break;
+
+        case SELM__MODOSC:
+            CLKFrequency =
+                (CS_MODCLK_FREQUENCY / CLKSourceFrequencyDivider);
+
+            break;
+
+        case SELM__HFXTCLK:
+            CLKFrequency =
+                (privateHFXTClockFrequency / CLKSourceFrequencyDivider);
+
+            if (HWREG8(CS_BASE + OFS_CSCTL5) & HFXTOFFG) {
+
+                HWREG8(CS_BASE + OFS_CSCTL5) &= ~HFXTOFFG;
+                //Clear OFIFG fault flag
+                HWREG8(SFR_BASE + OFS_SFRIFG1) &= ~OFIFG;
+            }
+
+            if (HWREG8(CS_BASE + OFS_CSCTL5) & HFXTOFFG) {
+                CLKFrequency = CS_MODCLK_FREQUENCY;
+            }
+            break;
+    }
+
+    //Lock CS control register
+    HWREG8(CS_BASE + OFS_CSCTL0_H) = 0x00;
+
+    return (CLKFrequency);
+}
+
+void CS_setExternalClockSource (uint32_t LFXTCLK_frequency,
+    uint32_t HFXTCLK_frequency
+    )
+{
+    privateLFXTClockFrequency = LFXTCLK_frequency;
+    privateHFXTClockFrequency = HFXTCLK_frequency;
+}
+
+void CS_initClockSignal (uint8_t selectedClockSignal,
+    uint16_t clockSource,
+    uint16_t clockSourceDivider
+    )
+{
+
+    //Verify User has selected a valid Frequency divider
+    assert(
+            (CS_CLOCK_DIVIDER_1 == clockSourceDivider) ||
+            (CS_CLOCK_DIVIDER_2 == clockSourceDivider) ||
+            (CS_CLOCK_DIVIDER_4 == clockSourceDivider) ||
+            (CS_CLOCK_DIVIDER_8 == clockSourceDivider) ||
+            (CS_CLOCK_DIVIDER_16 == clockSourceDivider) ||
+            (CS_CLOCK_DIVIDER_32 == clockSourceDivider)
+            );
+
+    //Unlock CS control register
+    HWREG16(CS_BASE + OFS_CSCTL0) = CSKEY;
+
+    uint16_t temp = HWREG16(CS_BASE + OFS_CSCTL3);
+    switch (selectedClockSignal) {
+        case CS_ACLK:
+            assert(
+                    (CS_LFXTCLK_SELECT == clockSource)  ||
+                    (CS_VLOCLK_SELECT == clockSource)   ||
+                    (CS_LFMODOSC_SELECT == clockSource)
+                    );
+
+            clockSourceDivider = clockSourceDivider << 8;
+            clockSource = clockSource << 8;
+
+            HWREG16(CS_BASE + OFS_CSCTL2) &= ~(SELA_7);
+            HWREG16(CS_BASE + OFS_CSCTL2) |= (clockSource);
+            HWREG16(CS_BASE + OFS_CSCTL3) = temp & ~(DIVA0 + DIVA1 + DIVA2) | 
+                                                clockSourceDivider;
+            break;
+        case CS_SMCLK:
+            assert(
+                (CS_LFXTCLK_SELECT == clockSource) ||
+                (CS_VLOCLK_SELECT  == clockSource) ||
+                (CS_DCOCLK_SELECT  == clockSource) ||
+                (CS_HFXTCLK_SELECT == clockSource) ||
+                (CS_LFMODOSC_SELECT== clockSource) ||
+                (CS_MODOSC_SELECT  == clockSource)
+                );
+
+            clockSource = clockSource << 4;
+            clockSourceDivider = clockSourceDivider << 4;
+
+            HWREG16(CS_BASE + OFS_CSCTL2) &= ~(SELS_7);
+            HWREG16(CS_BASE + OFS_CSCTL2) |= clockSource;
+            HWREG16(CS_BASE + OFS_CSCTL3) = temp & ~(DIVS0 + DIVS1 + DIVS2) |
+                                                clockSourceDivider;
+            break;
+        case CS_MCLK:
+            assert(
+            (CS_LFXTCLK_SELECT == clockSource) ||
+            (CS_VLOCLK_SELECT  == clockSource) ||
+            (CS_DCOCLK_SELECT  == clockSource) ||
+            (CS_HFXTCLK_SELECT == clockSource) ||
+            (CS_LFMODOSC_SELECT== clockSource) ||
+            (CS_MODOSC_SELECT  == clockSource)
+            );
+
+            HWREG16(CS_BASE + OFS_CSCTL2) &= ~(SELM_7);
+            HWREG16(CS_BASE + OFS_CSCTL2) |= clockSource;
+            HWREG16(CS_BASE + OFS_CSCTL3) = temp & ~(DIVM0 + DIVM1 + DIVM2) |
+                                                clockSourceDivider;
+            break;
+    }
+
+    //Lock CS control register
+    HWREG8(CS_BASE + OFS_CSCTL0_H) = 0x00;
+}
+
+void CS_turnOnLFXT (uint16_t lfxtdrive
+    )
+{
+    assert(privateLFXTClockFrequency != 0);
+
+    assert((lfxtdrive == CS_LFXT_DRIVE_0 ) ||
+           (lfxtdrive == CS_LFXT_DRIVE_1 ) ||
+           (lfxtdrive == CS_LFXT_DRIVE_2 ) ||
+           (lfxtdrive == CS_LFXT_DRIVE_3 ));
+
+    //Unlock CS control register
+    HWREG16(CS_BASE + OFS_CSCTL0) = CSKEY;
+
+    //Switch ON LFXT oscillator
+    HWREG16(CS_BASE + OFS_CSCTL4) &= ~LFXTOFF;
+
+    //Highest drive setting for LFXTstartup
+    HWREG16(CS_BASE + OFS_CSCTL4_L) |= LFXTDRIVE1_L + LFXTDRIVE0_L;
+
+    HWREG16(CS_BASE + OFS_CSCTL4) &= ~LFXTBYPASS;
+
+    //Wait for Crystal to stabilize
+    while (HWREG8(CS_BASE + OFS_CSCTL5) & LFXTOFFG)
+    {
+        //Clear OSC flaut Flags fault flags
+        HWREG8(CS_BASE + OFS_CSCTL5) &= ~(LFXTOFFG);
+
+        //Clear OFIFG fault flag
+        HWREG8(SFR_BASE + OFS_SFRIFG1) &= ~OFIFG;
+    }
+
+    //Set requested Drive mode
+    HWREG16(CS_BASE + OFS_CSCTL4) = ( HWREG16(CS_BASE + OFS_CSCTL4) &
+            ~(LFXTDRIVE_3)
+            ) |
+        (lfxtdrive);
+
+    //Lock CS control register
+    HWREG8(CS_BASE + OFS_CSCTL0_H) = 0x00;
+}
+
+void CS_turnOffSMCLK(void)
+{
+    //Unlock CS control register
+    HWREG16(CS_BASE + OFS_CSCTL0) = CSKEY;
+
+    HWREG16(CS_BASE + OFS_CSCTL4) |= SMCLKOFF;
+
+    //Lock CS control register
+    HWREG8(CS_BASE + OFS_CSCTL0_H) = 0x00;
+}
+void CS_turnOnSMCLK(void)
+{
+    //Unlock CS control register
+    HWREG16(CS_BASE + OFS_CSCTL0) = CSKEY;
+
+    HWREG16(CS_BASE + OFS_CSCTL4) &= ~SMCLKOFF;
+
+    //Lock CS control register
+    HWREG8(CS_BASE + OFS_CSCTL0_H) = 0x00;
+}
+void CS_bypassLFXT (void)
+{
+    //Verify user has set frequency of LFXT with SetExternalClockSource
+    assert(privateLFXTClockFrequency != 0);
+
+    //Unlock CS control register
+    HWREG16(CS_BASE + OFS_CSCTL0) = CSKEY;
+
+    assert(privateLFXTClockFrequency < LFXT_FREQUENCY_THRESHOLD);
+
+    //Set LFXT in LF mode Switch off LFXT oscillator and enable BYPASS mode
+    HWREG16(CS_BASE + OFS_CSCTL4) |= (LFXTBYPASS + LFXTOFF);
+
+    //Wait until LFXT stabilizes
+    while (HWREG8(CS_BASE + OFS_CSCTL5) & LFXTOFFG)
+    {
+        //Clear OSC flaut Flags fault flags
+        HWREG8(CS_BASE + OFS_CSCTL5) &= ~(LFXTOFFG);
+
+        //Clear the global fault flag. In case the LFXT caused the global fault
+        //flag to get set this will clear the global error condition. If any
+        //error condition persists, global flag will get again.
+        HWREG8(SFR_BASE + OFS_SFRIFG1) &= ~OFIFG;
+    }
+
+    //Lock CS control register
+    HWREG8(CS_BASE + OFS_CSCTL0_H) = 0x00;
+}
+
+bool CS_turnOnLFXTWithTimeout (uint16_t lfxtdrive,
+        uint32_t timeout
+    )
+{
+    assert(privateLFXTClockFrequency != 0);
+
+    assert((lfxtdrive == CS_LFXT_DRIVE_0 ) ||
+           (lfxtdrive == CS_LFXT_DRIVE_1 ) ||
+           (lfxtdrive == CS_LFXT_DRIVE_2 ) ||
+           (lfxtdrive == CS_LFXT_DRIVE_3 ));
+
+    assert(timeout > 0);
+
+    //Unlock CS control register
+    HWREG16(CS_BASE + OFS_CSCTL0) = CSKEY;
+
+    //Switch ON LFXT oscillator
+    HWREG16(CS_BASE + OFS_CSCTL4) &= ~LFXTOFF;
+
+    //Highest drive setting for LFXTstartup
+    HWREG16(CS_BASE + OFS_CSCTL4_L) |= LFXTDRIVE1_L + LFXTDRIVE0_L;
+
+    HWREG16(CS_BASE + OFS_CSCTL4) &= ~LFXTBYPASS;
+
+    while ((HWREG8(CS_BASE + OFS_CSCTL5) & LFXTOFFG) && --timeout)
+    {
+        //Clear OSC fault Flags fault flags
+        HWREG8(CS_BASE + OFS_CSCTL5) &= ~(LFXTOFFG);
+
+        //Clear the global fault flag. In case the LFXT caused the global fault
+        //flag to get set this will clear the global error condition. If any
+        //error condition persists, global flag will get again.
+        HWREG8(SFR_BASE + OFS_SFRIFG1) &= ~OFIFG;
+    }
+
+    if(timeout) {
+        //Set requested Drive mode
+        HWREG16(CS_BASE + OFS_CSCTL4) = ( HWREG16(CS_BASE + OFS_CSCTL4) &
+                                                 ~(LFXTDRIVE_3)
+                                                 ) |
+                                               (lfxtdrive);
+        //Lock CS control register
+        HWREG8(CS_BASE + OFS_CSCTL0_H) = 0x00;
+        return (STATUS_SUCCESS);
+    }
+    else {
+        //Lock CS control register
+        HWREG8(CS_BASE + OFS_CSCTL0_H) = 0x00;
+        return (STATUS_FAIL);
+    }
+}
+
+bool CS_bypassLFXTWithTimeout (uint32_t timeout
+    )
+{
+    assert(privateLFXTClockFrequency != 0);
+
+    assert(privateLFXTClockFrequency < LFXT_FREQUENCY_THRESHOLD);
+
+    assert(timeout > 0);
+
+    //Unlock CS control register
+    HWREG16(CS_BASE + OFS_CSCTL0) = CSKEY;
+
+    //Set LFXT in LF mode Switch off LFXT oscillator and enable BYPASS mode
+    HWREG16(CS_BASE + OFS_CSCTL4) |= (LFXTBYPASS + LFXTOFF);
+
+    while ((HWREG8(CS_BASE + OFS_CSCTL5) & LFXTOFFG) && --timeout)
+    {
+        //Clear OSC fault Flags fault flags
+        HWREG8(CS_BASE + OFS_CSCTL5) &= ~(LFXTOFFG);
+
+        //Clear the global fault flag. In case the LFXT caused the global fault
+        //flag to get set this will clear the global error condition. If any
+        //error condition persists, global flag will get again.
+        HWREG8(SFR_BASE + OFS_SFRIFG1) &= ~OFIFG;
+
+    }
+
+    //Lock CS control register
+    HWREG8(CS_BASE + OFS_CSCTL0_H) = 0x00;
+
+    if (timeout) {
+        return (STATUS_SUCCESS);
+    }
+    else {
+        return (STATUS_FAIL);
+    }
+}
+
+void CS_turnOffLFXT (void)
+{
+    //Unlock CS control register
+    HWREG16(CS_BASE + OFS_CSCTL0) = CSKEY;
+
+    //Switch off LFXT oscillator
+    HWREG16(CS_BASE + OFS_CSCTL4) |= LFXTOFF;
+
+    //Lock CS control register
+    HWREG8(CS_BASE + OFS_CSCTL0_H) = 0x00;
+}
+
+void CS_turnOnHFXT (uint16_t hfxtdrive
+    )
+{
+    assert(privateHFXTClockFrequency != 0);
+
+    assert((hfxtdrive == CS_HFXT_DRIVE_4MHZ_8MHZ   )||
+           (hfxtdrive == CS_HFXT_DRIVE_8MHZ_16MHZ  )||
+           (hfxtdrive == CS_HFXT_DRIVE_16MHZ_24MHZ )||
+           (hfxtdrive == CS_HFXT_DRIVE_24MHZ_32MHZ ));
+
+    //Unlock CS control register
+    HWREG16(CS_BASE + OFS_CSCTL0) = CSKEY;
+
+    //Switch ON HFXT oscillator
+    HWREG16(CS_BASE + OFS_CSCTL4) &= ~HFXTOFF;
+
+    //Disable HFXTBYPASS mode and Switch on HFXT oscillator
+    HWREG16(CS_BASE + OFS_CSCTL4) &= ~HFXTBYPASS;
+
+    //If HFFrequency is (16, 24] MHz
+    if (privateHFXTClockFrequency > 16000000) {
+        HWREG16(CS_BASE + OFS_CSCTL4) |= HFFREQ_3;
+    }
+    //If HFFrequency is (8, 16] MHz
+    else if (privateHFXTClockFrequency > 8000000) {
+        HWREG16(CS_BASE + OFS_CSCTL4) &= ~HFFREQ_3;
+        HWREG16(CS_BASE + OFS_CSCTL4) |= HFFREQ_2;
+    }
+    //If HFFrequency is (4, 8] MHz
+    else if (privateHFXTClockFrequency > 4000000) {
+        HWREG16(CS_BASE + OFS_CSCTL4) &= ~HFFREQ_3;
+        HWREG16(CS_BASE + OFS_CSCTL4) |= HFFREQ_1;
+    }
+    //If HFFrequency is [0, 4] MHz
+    else {
+        HWREG16(CS_BASE + OFS_CSCTL4) &= ~HFFREQ_3;
+    }
+
+    while (HWREG8(CS_BASE + OFS_CSCTL5) & HFXTOFFG) {
+        //Clear OSC fault flags
+        HWREG8(CS_BASE + OFS_CSCTL5) &= ~(HFXTOFFG);
+
+        //Clear OFIFG fault flag
+        HWREG8(SFR_BASE + OFS_SFRIFG1) &= ~OFIFG;
+    }
+
+    HWREG16(CS_BASE + OFS_CSCTL4) = ( HWREG16(CS_BASE + OFS_CSCTL4) &
+                                         ~(CS_HFXT_DRIVE_24MHZ_32MHZ)
+                                         ) |
+                                       (hfxtdrive);
+
+    //Lock CS control register
+    HWREG8(CS_BASE + OFS_CSCTL0_H) = 0x00;
+}
+
+void CS_bypassHFXT (void)
+{
+    //Verify user has initialized value of HFXTClock
+    assert(privateHFXTClockFrequency != 0);
+
+    //Unlock CS control register
+    HWREG16(CS_BASE + OFS_CSCTL0) = CSKEY;
+
+    //Switch off HFXT oscillator and set it to BYPASS mode
+    HWREG16(CS_BASE + OFS_CSCTL4) |= ( HFXTBYPASS + HFXTOFF );
+
+    //If HFFrequency is (16, 24] MHz
+    if (privateHFXTClockFrequency > 16000000) {
+        HWREG16(CS_BASE + OFS_CSCTL4) |= HFFREQ_3;
+    }
+    //If HFFrequency is (8, 16] MHz
+    else if (privateHFXTClockFrequency > 8000000) {
+        HWREG16(CS_BASE + OFS_CSCTL4) &= ~HFFREQ_3;
+        HWREG16(CS_BASE + OFS_CSCTL4) |= HFFREQ_2;
+    }
+    //If HFFrequency is (4, 8] MHz
+    else if (privateHFXTClockFrequency > 4000000) {
+        HWREG16(CS_BASE + OFS_CSCTL4) &= ~HFFREQ_3;
+        HWREG16(CS_BASE + OFS_CSCTL4) |= HFFREQ_1;
+    }
+    //If HFFrequency is [0, 4] MHz
+    else {
+        HWREG16(CS_BASE + OFS_CSCTL4) &= ~HFFREQ_3;
+    }
+
+    while (HWREG8(CS_BASE + OFS_CSCTL5) & HFXTOFFG) {
+        //Clear OSC fault flags
+        HWREG8(CS_BASE + OFS_CSCTL5) &= ~(HFXTOFFG);
+
+        //Clear OFIFG fault flag
+        HWREG8(SFR_BASE + OFS_SFRIFG1) &= ~OFIFG;
+    }
+
+    //Lock CS control register
+    HWREG8(CS_BASE + OFS_CSCTL0_H) = 0x00;
+}
+
+bool CS_turnOnHFXTWithTimeout (uint16_t hfxtdrive,
+    uint32_t timeout
+    )
+{
+    //Verify user has initialized value of HFXTClock
+    assert(privateHFXTClockFrequency != 0);
+
+    assert(timeout > 0);
+
+    //Unlock CS control register
+    HWREG16(CS_BASE + OFS_CSCTL0) = CSKEY;
+
+    //Switch on HFXT oscillator
+    HWREG16(CS_BASE + OFS_CSCTL4) &= ~HFXTOFF;
+
+    //Disable HFXTBYPASS mode
+    HWREG16(CS_BASE + OFS_CSCTL4) &= ~HFXTBYPASS;
+
+    //If HFFrequency is (16, 24] MHz
+    if (privateHFXTClockFrequency > 16000000) {
+        HWREG16(CS_BASE + OFS_CSCTL4) |= HFFREQ_3;
+    }
+    //If HFFrequency is (8, 16] MHz
+    else if (privateHFXTClockFrequency > 8000000) {
+        HWREG16(CS_BASE + OFS_CSCTL4) &= ~HFFREQ_3;
+        HWREG16(CS_BASE + OFS_CSCTL4) |= HFFREQ_2;
+    }
+    //If HFFrequency is (4, 8] MHz
+    else if (privateHFXTClockFrequency > 4000000) {
+        HWREG16(CS_BASE + OFS_CSCTL4) &= ~HFFREQ_3;
+        HWREG16(CS_BASE + OFS_CSCTL4) |= HFFREQ_1;
+    }
+    //If HFFrequency is [0, 4] MHz
+    else {
+        HWREG16(CS_BASE + OFS_CSCTL4) &= ~HFFREQ_3;
+    }
+
+    while ((HWREG8(CS_BASE + OFS_CSCTL5) & HFXTOFFG) && --timeout)
+    {
+        //Clear OSC fault Flags fault flags
+        HWREG8(CS_BASE + OFS_CSCTL5) &= ~(HFXTOFFG);
+
+        // Clear the global fault flag. In case the LFXT caused the global fault
+        // flag to get set this will clear the global error condition. If any
+        // error condition persists, global flag will get again.
+        HWREG8(SFR_BASE + OFS_SFRIFG1) &= ~OFIFG;
+
+    }
+
+    if (timeout) {
+        //Set drive strength for HFXT
+        HWREG16(CS_BASE + OFS_CSCTL4) = ( HWREG16(CS_BASE + OFS_CSCTL4) &
+                                             ~(CS_HFXT_DRIVE_24MHZ_32MHZ)
+                                             ) |
+                                           (hfxtdrive);
+        //Lock CS control register
+        HWREG8(CS_BASE + OFS_CSCTL0_H) = 0x00;
+        return (STATUS_SUCCESS);
+    }
+    else {
+        //Lock CS control register
+        HWREG8(CS_BASE + OFS_CSCTL0_H) = 0x00;
+        return (STATUS_FAIL);
+    }
+}
+
+bool CS_bypassHFXTWithTimeout (uint32_t timeout
+    )
+{
+    //Verify user has initialized value of HFXTClock
+    assert(privateHFXTClockFrequency != 0);
+
+    assert(timeout > 0);
+
+    // Unlock CS control register
+    HWREG16(CS_BASE + OFS_CSCTL0) = CSKEY;
+
+    //If HFFrequency is (16, 24] MHz
+    if (privateHFXTClockFrequency > 16000000) {
+        HWREG16(CS_BASE + OFS_CSCTL4) |= HFFREQ_3;
+    }
+    //If HFFrequency is (8, 16] MHz
+    else if (privateHFXTClockFrequency > 8000000) {
+        HWREG16(CS_BASE + OFS_CSCTL4) &= ~HFFREQ_3;
+        HWREG16(CS_BASE + OFS_CSCTL4) |= HFFREQ_2;
+    }
+    //If HFFrequency is (4, 8] MHz
+    else if (privateHFXTClockFrequency > 4000000) {
+        HWREG16(CS_BASE + OFS_CSCTL4) &= ~HFFREQ_3;
+        HWREG16(CS_BASE + OFS_CSCTL4) |= HFFREQ_1;
+    }
+    //If HFFrequency is [0, 4] MHz
+    else {
+        HWREG16(CS_BASE + OFS_CSCTL4) &= ~HFFREQ_3;
+    }
+
+    //Switch off HFXT oscillator and enable BYPASS mode
+    HWREG16(CS_BASE + OFS_CSCTL4) |= (HFXTBYPASS + HFXTOFF);
+
+    while ((HWREG8(CS_BASE + OFS_CSCTL5) & HFXTOFFG) && --timeout)
+    {
+        //Clear OSC fault flags
+        HWREG8(CS_BASE + OFS_CSCTL5) &= ~(HFXTOFFG);
+
+        // Clear the global fault flag. In case the LFXT caused the global fault
+        // flag to get set this will clear the global error condition. If any
+        // error condition persists, global flag will get again.
+        HWREG8(SFR_BASE + OFS_SFRIFG1) &= ~OFIFG;
+    }
+
+    // Lock CS control register
+    HWREG8(CS_BASE + OFS_CSCTL0_H) = 0x00;
+
+    if (timeout) {
+        return (STATUS_SUCCESS);
+    }
+    else {
+        return (STATUS_FAIL);
+    }
+}
+
+void CS_turnOffHFXT (void)
+{
+    //Unlock CS control register
+    HWREG16(CS_BASE + OFS_CSCTL0) = CSKEY;
+
+    //Switch off HFXT oscillator
+    HWREG16(CS_BASE + OFS_CSCTL4) |= HFXTOFF;
+
+    //Lock CS control register
+    HWREG8(CS_BASE + OFS_CSCTL0_H) = 0x00;
+}
+
+void CS_enableClockRequest (uint8_t selectClock
+    )
+{
+    assert(
+            (CS_ACLK  == selectClock )||
+            (CS_SMCLK == selectClock )||
+            (CS_MCLK  == selectClock )||
+            (CS_MODOSC== selectClock ));
+
+    //Unlock CS control register
+    HWREG16(CS_BASE + OFS_CSCTL0) = CSKEY;
+
+    HWREG8(CS_BASE + OFS_CSCTL6) |= selectClock;
+
+    //Lock CS control register
+    HWREG8(CS_BASE + OFS_CSCTL0_H) = 0x00;
+}
+
+void CS_disableClockRequest (uint8_t selectClock
+    )
+{
+    assert(
+            (CS_ACLK  == selectClock )||
+            (CS_SMCLK == selectClock )||
+            (CS_MCLK  == selectClock )||
+            (CS_MODOSC== selectClock ));
+
+    //Unlock CS control register
+    HWREG16(CS_BASE + OFS_CSCTL0) = CSKEY;
+
+    HWREG8(CS_BASE + OFS_CSCTL6) &= ~selectClock;
+
+    //Lock CS control register
+    HWREG8(CS_BASE + OFS_CSCTL0_H) = 0x00;
+}
+
+uint8_t CS_getFaultFlagStatus (uint8_t mask
+    )
+{
+    assert(
+                (CS_HFXTOFFG == mask )||
+                (CS_LFXTOFFG == mask )
+                );
+    return (HWREG8(CS_BASE + OFS_CSCTL5) & mask);
+}
+
+void CS_clearFaultFlag (uint8_t mask
+    )
+{
+    assert(
+            (CS_HFXTOFFG == mask )||
+            (CS_LFXTOFFG == mask )
+            );
+
+    //Unlock CS control register
+    HWREG16(CS_BASE + OFS_CSCTL0) = CSKEY;
+
+    HWREG8(CS_BASE + OFS_CSCTL5) &= ~mask;
+
+    //Lock CS control register
+    HWREG8(CS_BASE + OFS_CSCTL0_H) = 0x00;
+}
+
+uint32_t CS_getACLK (void)
+{
+
+    //Find ACLK source
+    uint16_t ACLKSource = (HWREG16(CS_BASE + OFS_CSCTL2) & SELA_7);
+    ACLKSource = ACLKSource >> 8;
+
+    //Find ACLK frequency divider
+    uint16_t ACLKSourceDivider = HWREG16(CS_BASE + OFS_CSCTL3) & SELA_7;
+    ACLKSourceDivider = ACLKSourceDivider >> 8;
+
+    return (privateCSAComputeCLKFrequency(
+                ACLKSource,
+                ACLKSourceDivider));
+
+}
+
+uint32_t CS_getSMCLK (void)
+{
+        //Find SMCLK source
+        uint16_t SMCLKSource = HWREG8(CS_BASE + OFS_CSCTL2) & SELS_7;
+
+        SMCLKSource = SMCLKSource >> 4;
+
+        //Find SMCLK frequency divider
+        uint16_t SMCLKSourceDivider = HWREG16(CS_BASE + OFS_CSCTL3) & SELS_7;
+        SMCLKSourceDivider = SMCLKSourceDivider >> 4;
+
+        return (privateCSAComputeCLKFrequency(
+                    SMCLKSource,
+                    SMCLKSourceDivider )
+                );
+}
+
+uint32_t CS_getMCLK (void)
+{
+        //Find MCLK source
+        uint16_t MCLKSource = (HWREG16(CS_BASE + OFS_CSCTL2) & SELM_7);
+        //Find MCLK frequency divider
+        uint16_t MCLKSourceDivider = HWREG16(CS_BASE + OFS_CSCTL3) & SELM_7;
+
+        return (privateCSAComputeCLKFrequency(
+                    MCLKSource,
+                    MCLKSourceDivider )
+                );
+}
+
+void CS_turnOffVLO(void)
+{
+    //Unlock CS control register
+    HWREG16(CS_BASE + OFS_CSCTL0) = CSKEY;
+
+    HWREG16(CS_BASE + OFS_CSCTL4) |= VLOOFF;
+
+    //Lock CS control register
+    HWREG8(CS_BASE + OFS_CSCTL0_H) = 0x00;
+}
+
+uint16_t CS_clearAllOscFlagsWithTimeout(uint32_t timeout)
+{
+    assert(timeout > 0);
+
+    //Unlock CS control register
+    HWREG16(CS_BASE + OFS_CSCTL0) = CSKEY;
+
+    do {
+        //Clear all osc fault flags
+        HWREG8(CS_BASE + OFS_CSCTL5) &= ~(LFXTOFFG + HFXTOFFG);
+
+        //Clear the global osc fault flag
+        HWREG8(SFR_BASE + OFS_SFRIFG1) &= ~OFIFG;
+
+        //Check LFXT fault flags
+    } while ((HWREG8(SFR_BASE + OFS_SFRIFG1) & OFIFG) && --timeout);
+
+    //Lock CS control register
+    HWREG8(CS_BASE + OFS_CSCTL0_H) = 0x00;
+
+    return (HWREG8(CS_BASE + OFS_CSCTL5) & (LFXTOFFG + HFXTOFFG));
+}
+
+void CS_setDCOFreq(uint16_t dcorsel,
+        uint16_t dcofsel)
+{
+    assert(
+                (dcofsel==CS_DCOFSEL_0)||
+                (dcofsel==CS_DCOFSEL_1)||
+                (dcofsel==CS_DCOFSEL_2)||
+                (dcofsel==CS_DCOFSEL_3)||
+                (dcofsel==CS_DCOFSEL_4)||
+                (dcofsel==CS_DCOFSEL_5)||
+                (dcofsel==CS_DCOFSEL_6)
+                );
+
+    //Verify user has selected a valid DCO Frequency Range option
+    assert(
+            (dcorsel==CS_DCORSEL_0)||
+            (dcorsel==CS_DCORSEL_1));
+
+    uint16_t tempCSCTL3 = 0;
+    //Unlock CS control register
+    HWREG16(CS_BASE + OFS_CSCTL0) = CSKEY;
+
+    //Assuming SMCLK and MCLK are sourced from DCO
+    //Store CSCTL3 settings to recover later
+    tempCSCTL3 = HWREG16(CS_BASE + OFS_CSCTL3);
+
+    //Keep overshoot transient within specification by setting clk
+    //sources to divide by 4
+    //Clear the DIVS & DIVM masks (~0x77) and set both fields to 4 divider
+    HWREG16(CS_BASE + OFS_CSCTL3) = HWREG16(CS_BASE + OFS_CSCTL3) &
+        (~(0x77)) | DIVS1 | DIVM1;
+
+    //Set user's frequency selection for DCO
+    HWREG16(CS_BASE + OFS_CSCTL1) = (dcorsel + dcofsel);
+
+    //Delay by ~10us to let DCO settle. cycles to wait = 20 cycles buffer + 
+    //(10us * (x MHz/4))
+    switch(dcofsel)
+    {
+        case(CS_DCOFSEL_0):
+            //1 MHz or 1 MHz
+            (dcorsel == CS_DCORSEL_0) ? __delay_cycles(23) : __delay_cycles(23);
+            break;
+        case(CS_DCOFSEL_1):
+            //2.67 MHz or 5.33 MHz
+            (dcorsel == CS_DCORSEL_0) ? __delay_cycles(27) : __delay_cycles(34);
+            break;
+        case(CS_DCOFSEL_2):
+            //3.33 MHz or 6.67 MHz
+            (dcorsel == CS_DCORSEL_0) ? __delay_cycles(29) : __delay_cycles(37);
+            break;
+        case(CS_DCOFSEL_3):
+            //4 MHz or 8 MHz
+            (dcorsel == CS_DCORSEL_0) ? __delay_cycles(30) : __delay_cycles(40);
+            break;
+        case(CS_DCOFSEL_4):
+            //5.33 MHz or 16 MHz
+            (dcorsel == CS_DCORSEL_0) ? __delay_cycles(34) : __delay_cycles(60);
+            break;
+        case(CS_DCOFSEL_5):
+            //6.67 MHz or 21 MHz
+            (dcorsel == CS_DCORSEL_0) ? __delay_cycles(37) : __delay_cycles(73);
+            break;
+        case(CS_DCOFSEL_6):
+            //8 MHz or 24 MHz
+            (dcorsel == CS_DCORSEL_0) ? __delay_cycles(40) : __delay_cycles(80);
+            break;
+        default:
+            //Should not be used, but default is 8 MHz or 24 MHz
+            (dcorsel == CS_DCORSEL_0) ? __delay_cycles(40) : __delay_cycles(80);
+            break;
+    }
+
+    //Set all dividers
+    HWREG16(CS_BASE + OFS_CSCTL3) = tempCSCTL3;
+
+    //Lock CS control register
+    HWREG8(CS_BASE + OFS_CSCTL0_H) = 0x00;
+}
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for cs_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/cs.h b/Apps/FlightSoftware/MotorControl/driverlib/cs.h
new file mode 100644
index 000000000..3809cb68d
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/cs.h
@@ -0,0 +1,644 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// cs.h - Driver for the CS Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_CS_H__
+#define __MSP430WARE_CS_H__
+
+#include "inc/hw_memmap.h"
+
+#if defined(__MSP430_HAS_CS__) || defined(__MSP430_HAS_SFR__)
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the clockSourceDivider
+// parameter for functions: CS_initClockSignal().
+//
+//*****************************************************************************
+#define CS_CLOCK_DIVIDER_1                                              DIVM__1
+#define CS_CLOCK_DIVIDER_2                                              DIVM__2
+#define CS_CLOCK_DIVIDER_4                                              DIVM__4
+#define CS_CLOCK_DIVIDER_8                                              DIVM__8
+#define CS_CLOCK_DIVIDER_16                                            DIVM__16
+#define CS_CLOCK_DIVIDER_32                                            DIVM__32
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the selectClock parameter for
+// functions: CS_enableClockRequest(), and CS_disableClockRequest(); the
+// selectedClockSignal parameter for functions: CS_initClockSignal().
+//
+//*****************************************************************************
+#define CS_ACLK                                                            0x01
+#define CS_MCLK                                                            0x02
+#define CS_SMCLK                                                           0x04
+#define CS_MODOSC                                                   MODCLKREQEN
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the clockSource parameter for
+// functions: CS_initClockSignal().
+//
+//*****************************************************************************
+#define CS_VLOCLK_SELECT                                           SELM__VLOCLK
+#define CS_DCOCLK_SELECT                                           SELM__DCOCLK
+#define CS_LFXTCLK_SELECT                                         SELM__LFXTCLK
+#define CS_HFXTCLK_SELECT                                         SELM__HFXTCLK
+#define CS_LFMODOSC_SELECT                                       SELM__LFMODOSC
+#define CS_MODOSC_SELECT                                           SELM__MODOSC
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the lfxtdrive parameter for
+// functions: CS_turnOnLFXT(), and CS_turnOnLFXTWithTimeout().
+//
+//*****************************************************************************
+#define CS_LFXT_DRIVE_0                                             LFXTDRIVE_0
+#define CS_LFXT_DRIVE_1                                             LFXTDRIVE_1
+#define CS_LFXT_DRIVE_2                                             LFXTDRIVE_2
+#define CS_LFXT_DRIVE_3                                             LFXTDRIVE_3
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the hfxtdrive parameter for
+// functions: CS_turnOnHFXT(), and CS_turnOnHFXTWithTimeout().
+//
+//*****************************************************************************
+#define CS_HFXT_DRIVE_4MHZ_8MHZ                                     HFXTDRIVE_0
+#define CS_HFXT_DRIVE_8MHZ_16MHZ                                    HFXTDRIVE_1
+#define CS_HFXT_DRIVE_16MHZ_24MHZ                                   HFXTDRIVE_2
+#define CS_HFXT_DRIVE_24MHZ_32MHZ                                   HFXTDRIVE_3
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the mask parameter for
+// functions: CS_getFaultFlagStatus(), and CS_clearFaultFlag() as well as
+// returned by the CS_getFaultFlagStatus() function.
+//
+//*****************************************************************************
+#define CS_LFXTOFFG                                                    LFXTOFFG
+#define CS_HFXTOFFG                                                    HFXTOFFG
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the dcorsel parameter for
+// functions: CS_setDCOFreq().
+//
+//*****************************************************************************
+#define CS_DCORSEL_0                                                       0x00
+#define CS_DCORSEL_1                                                    DCORSEL
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the dcofsel parameter for
+// functions: CS_setDCOFreq().
+//
+//*****************************************************************************
+#define CS_DCOFSEL_0                                                  DCOFSEL_0
+#define CS_DCOFSEL_1                                                  DCOFSEL_1
+#define CS_DCOFSEL_2                                                  DCOFSEL_2
+#define CS_DCOFSEL_3                                                  DCOFSEL_3
+#define CS_DCOFSEL_4                                                  DCOFSEL_4
+#define CS_DCOFSEL_5                                                  DCOFSEL_5
+#define CS_DCOFSEL_6                                                  DCOFSEL_6
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Sets the external clock source
+//!
+//! This function sets the external clock sources LFXT and HFXT crystal
+//! oscillator frequency values. This function must be called if an external
+//! crystal LFXT or HFXT is used and the user intends to call CS_getMCLK,
+//! CS_getSMCLK, CS_getACLK and CS_turnOnLFXT, CS_LFXTByPass,
+//! CS_turnOnLFXTWithTimeout, CS_LFXTByPassWithTimeout, CS_turnOnHFXT,
+//! CS_HFXTByPass, CS_turnOnHFXTWithTimeout, CS_HFXTByPassWithTimeout.
+//!
+//! \param LFXTCLK_frequency is the LFXT crystal frequencies in Hz
+//! \param HFXTCLK_frequency is the HFXT crystal frequencies in Hz
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void CS_setExternalClockSource(uint32_t LFXTCLK_frequency,
+                                      uint32_t HFXTCLK_frequency);
+
+//*****************************************************************************
+//
+//! \brief Initializes clock signal
+//!
+//! This function initializes each of the clock signals. The user must ensure
+//! that this function is called for each clock signal. If not, the default
+//! state is assumed for the particular clock signal. Refer to MSP430ware
+//! documentation for CS module or Device Family User's Guide for details of
+//! default clock signal states.
+//!
+//! \param selectedClockSignal Selected clock signal
+//!        Valid values are:
+//!        - \b CS_ACLK
+//!        - \b CS_MCLK
+//!        - \b CS_SMCLK
+//!        - \b CS_MODOSC
+//! \param clockSource is the selected clock signal
+//!        Valid values are:
+//!        - \b CS_VLOCLK_SELECT
+//!        - \b CS_DCOCLK_SELECT - [Not available for ACLK]
+//!        - \b CS_LFXTCLK_SELECT
+//!        - \b CS_HFXTCLK_SELECT - [Not available for ACLK]
+//!        - \b CS_LFMODOSC_SELECT
+//!        - \b CS_MODOSC_SELECT - [Not available for ACLK]
+//! \param clockSourceDivider is the selected clock divider to calculate clock
+//!        signal from clock source.
+//!        Valid values are:
+//!        - \b CS_CLOCK_DIVIDER_1 - [Default for ACLK]
+//!        - \b CS_CLOCK_DIVIDER_2
+//!        - \b CS_CLOCK_DIVIDER_4
+//!        - \b CS_CLOCK_DIVIDER_8 - [Default for SMCLK and MCLK]
+//!        - \b CS_CLOCK_DIVIDER_16
+//!        - \b CS_CLOCK_DIVIDER_32
+//!
+//! Modified bits of \b CSCTL0 register, bits of \b CSCTL3 register and bits of
+//! \b CSCTL2 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void CS_initClockSignal(uint8_t selectedClockSignal,
+                               uint16_t clockSource,
+                               uint16_t clockSourceDivider);
+
+//*****************************************************************************
+//
+//! \brief Initializes the LFXT crystal in low frequency mode.
+//!
+//! Initializes the LFXT crystal oscillator in low frequency mode. Loops until
+//! all oscillator fault flags are cleared, with no timeout. See the device-
+//! specific data sheet for appropriate drive settings. IMPORTANT: User must
+//! call CS_setExternalClockSource function to set frequency of external clocks
+//! before calling this function.
+//!
+//! \param lfxtdrive is the target drive strength for the LFXT crystal
+//!        oscillator.
+//!        Valid values are:
+//!        - \b CS_LFXT_DRIVE_0
+//!        - \b CS_LFXT_DRIVE_1
+//!        - \b CS_LFXT_DRIVE_2
+//!        - \b CS_LFXT_DRIVE_3 [Default]
+//!
+//! Modified bits of \b CSCTL0 register, bits of \b CSCTL5 register, bits of \b
+//! CSCTL4 register and bits of \b SFRIFG1 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void CS_turnOnLFXT(uint16_t lfxtdrive);
+
+//*****************************************************************************
+//
+//! \brief Turns off SMCLK using the SMCLKOFF bit.
+//!
+//!
+//! Modified bits of \b CSCTL4 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void CS_turnOffSMCLK(void);
+
+//*****************************************************************************
+//
+//! \brief Turns on SMCLK using the SMCLKOFF bit.
+//!
+//!
+//! Modified bits of \b CSCTL4 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void CS_turnOnSMCLK(void);
+
+//*****************************************************************************
+//
+//! \brief Bypasses the LFXT crystal oscillator.
+//!
+//! Bypasses the LFXT crystal oscillator. Loops until all oscillator fault
+//! flags are cleared, with no timeout. IMPORTANT: User must call
+//! CS_setExternalClockSource function to set frequency of external clocks
+//! before calling this function.
+//!
+//!
+//! Modified bits of \b CSCTL0 register, bits of \b CSCTL5 register, bits of \b
+//! CSCTL4 register and bits of \b SFRIFG register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void CS_bypassLFXT(void);
+
+//*****************************************************************************
+//
+//! \brief Initializes the LFXT crystal oscillator in low frequency mode with
+//! timeout.
+//!
+//! Initializes the LFXT crystal oscillator in low frequency mode with timeout.
+//! Loops until all oscillator fault flags are cleared or until a timeout
+//! counter is decremented and equals to zero. See the device-specific
+//! datasheet for appropriate drive settings. IMPORTANT: User must call
+//! CS_setExternalClockSource to set frequency of external clocks before
+//! calling this function.
+//!
+//! \param lfxtdrive is the target drive strength for the LFXT crystal
+//!        oscillator.
+//!        Valid values are:
+//!        - \b CS_LFXT_DRIVE_0
+//!        - \b CS_LFXT_DRIVE_1
+//!        - \b CS_LFXT_DRIVE_2
+//!        - \b CS_LFXT_DRIVE_3 [Default]
+//! \param timeout is the count value that gets decremented every time the loop
+//!        that clears oscillator fault flags gets executed.
+//!
+//! Modified bits of \b CSCTL0 register, bits of \b CSCTL5 register, bits of \b
+//! CSCTL4 register and bits of \b SFRIFG1 register.
+//!
+//! \return STATUS_SUCCESS or STATUS_FAIL indicating if the LFXT crystal
+//!         oscillator was initialized successfully
+//
+//*****************************************************************************
+extern bool CS_turnOnLFXTWithTimeout(uint16_t lfxtdrive,
+                                     uint32_t timeout);
+
+//*****************************************************************************
+//
+//! \brief Bypass the LFXT crystal oscillator with timeout.
+//!
+//! Bypasses the LFXT crystal oscillator with timeout. Loops until all
+//! oscillator fault flags are cleared or until a timeout counter is
+//! decremented and equals to zero. NOTE: User must call
+//! CS_setExternalClockSource to set frequency of external clocks before
+//! calling this function.
+//!
+//! \param timeout is the count value that gets decremented every time the loop
+//!        that clears oscillator fault flags gets executed.
+//!
+//! Modified bits of \b CSCTL0 register, bits of \b CSCTL5 register, bits of \b
+//! CSCTL4 register and bits of \b SFRIFG register.
+//!
+//! \return STATUS_SUCCESS or STATUS_FAIL
+//
+//*****************************************************************************
+extern bool CS_bypassLFXTWithTimeout(uint32_t timeout);
+
+//*****************************************************************************
+//
+//! \brief Stops the LFXT oscillator using the LFXTOFF bit.
+//!
+//!
+//! Modified bits of \b CSCTL4 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void CS_turnOffLFXT(void);
+
+//*****************************************************************************
+//
+//! \brief Starts the HFXFT crystal
+//!
+//! Initializes the HFXT crystal oscillator, which supports crystal frequencies
+//! between 0 MHz and 24 MHz, depending on the selected drive strength. Loops
+//! until all oscillator fault flags are cleared, with no timeout. See the
+//! device-specific data sheet for appropriate drive settings. NOTE: User must
+//! call CS_setExternalClockSource to set frequency of external clocks before
+//! calling this function.
+//!
+//! \param hfxtdrive is the target drive strength for the HFXT crystal
+//!        oscillator.
+//!        Valid values are:
+//!        - \b CS_HFXT_DRIVE_4MHZ_8MHZ
+//!        - \b CS_HFXT_DRIVE_8MHZ_16MHZ
+//!        - \b CS_HFXT_DRIVE_16MHZ_24MHZ
+//!        - \b CS_HFXT_DRIVE_24MHZ_32MHZ [Default]
+//!
+//! Modified bits of \b CSCTL5 register, bits of \b CSCTL4 register and bits of
+//! \b SFRIFG1 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void CS_turnOnHFXT(uint16_t hfxtdrive);
+
+//*****************************************************************************
+//
+//! \brief Bypasses the HFXT crystal oscillator
+//!
+//! Bypasses the HFXT crystal oscillator, which supports crystal frequencies
+//! between 0 MHz and 24 MHz. Loops until all oscillator fault flags are
+//! cleared, with no timeout.NOTE: User must call CS_setExternalClockSource to
+//! set frequency of external clocks before calling this function.
+//!
+//!
+//! Modified bits of \b CSCTL5 register, bits of \b CSCTL4 register and bits of
+//! \b SFRIFG register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void CS_bypassHFXT(void);
+
+//*****************************************************************************
+//
+//! \brief Initializes the HFXT crystal oscillator with timeout.
+//!
+//! Initializes the HFXT crystal oscillator, which supports crystal frequencies
+//! between 0 MHz and 24 MHz, depending on the selected drive strength. Loops
+//! until all oscillator fault flags are cleared or until a timeout counter is
+//! decremented and equals to zero. See the device-specific data sheet for
+//! appropriate drive settings. NOTE: User must call CS_setExternalClockSource
+//! to set frequency of external clocks before calling this function.
+//!
+//! \param hfxtdrive is the target drive strength for the HFXT crystal
+//!        oscillator.
+//!        Valid values are:
+//!        - \b CS_HFXT_DRIVE_4MHZ_8MHZ
+//!        - \b CS_HFXT_DRIVE_8MHZ_16MHZ
+//!        - \b CS_HFXT_DRIVE_16MHZ_24MHZ
+//!        - \b CS_HFXT_DRIVE_24MHZ_32MHZ [Default]
+//! \param timeout is the count value that gets decremented every time the loop
+//!        that clears oscillator fault flags gets executed.
+//!
+//! Modified bits of \b CSCTL5 register, bits of \b CSCTL4 register and bits of
+//! \b SFRIFG1 register.
+//!
+//! \return STATUS_SUCCESS or STATUS_FAIL
+//
+//*****************************************************************************
+extern bool CS_turnOnHFXTWithTimeout(uint16_t hfxtdrive,
+                                     uint32_t timeout);
+
+//*****************************************************************************
+//
+//! \brief Bypasses the HFXT crystal  oscillator with timeout
+//!
+//! Bypasses the HFXT crystal oscillator, which supports crystal frequencies
+//! between 0 MHz and 24 MHz. Loops until all oscillator fault flags are
+//! cleared or until a timeout counter is decremented and equals to zero. NOTE:
+//! User must call CS_setExternalClockSource to set frequency of external
+//! clocks before calling this function.
+//!
+//! \param timeout is the count value that gets decremented every time the loop
+//!        that clears oscillator fault flags gets executed.
+//!
+//! Modified bits of \b CSCTL5 register, bits of \b CSCTL4 register and bits of
+//! \b SFRIFG1 register.
+//!
+//! \return STATUS_SUCCESS or STATUS_FAIL
+//
+//*****************************************************************************
+extern bool CS_bypassHFXTWithTimeout(uint32_t timeout);
+
+//*****************************************************************************
+//
+//! \brief Stops the HFXT oscillator using the HFXTOFF bit.
+//!
+//!
+//! Modified bits of \b CSCTL4 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void CS_turnOffHFXT(void);
+
+//*****************************************************************************
+//
+//! \brief Enables conditional module requests
+//!
+//! \param selectClock selects specific request enables.
+//!        Valid values are:
+//!        - \b CS_ACLK
+//!        - \b CS_MCLK
+//!        - \b CS_SMCLK
+//!        - \b CS_MODOSC
+//!
+//! Modified bits of \b CSCTL6 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void CS_enableClockRequest(uint8_t selectClock);
+
+//*****************************************************************************
+//
+//! \brief Disables conditional module requests
+//!
+//! \param selectClock selects specific request enables.
+//!        Valid values are:
+//!        - \b CS_ACLK
+//!        - \b CS_MCLK
+//!        - \b CS_SMCLK
+//!        - \b CS_MODOSC
+//!
+//! Modified bits of \b CSCTL6 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void CS_disableClockRequest(uint8_t selectClock);
+
+//*****************************************************************************
+//
+//! \brief Gets the current CS fault flag status.
+//!
+//! \param mask is the masked interrupt flag status to be returned. Mask
+//!        parameter can be either any of the following selection.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b CS_LFXTOFFG - LFXT oscillator fault flag
+//!        - \b CS_HFXTOFFG - HFXT oscillator fault flag
+//!
+//! \return Logical OR of any of the following:
+//!         - \b CS_LFXTOFFG LFXT oscillator fault flag
+//!         - \b CS_HFXTOFFG HFXT oscillator fault flag
+//!         \n indicating the status of the masked interrupts
+//
+//*****************************************************************************
+extern uint8_t CS_getFaultFlagStatus(uint8_t mask);
+
+//*****************************************************************************
+//
+//! \brief Clears the current CS fault flag status for the masked bit.
+//!
+//! \param mask is the masked interrupt flag status to be returned. mask
+//!        parameter can be any one of the following
+//!        Mask value is the logical OR of any of the following:
+//!        - \b CS_LFXTOFFG - LFXT oscillator fault flag
+//!        - \b CS_HFXTOFFG - HFXT oscillator fault flag
+//!
+//! Modified bits of \b CSCTL5 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void CS_clearFaultFlag(uint8_t mask);
+
+//*****************************************************************************
+//
+//! \brief Get the current ACLK frequency.
+//!
+//! If a oscillator fault is set, the frequency returned will be based on the
+//! fail safe mechanism of CS module. The user of this API must ensure that
+//! CS_externalClockSourceInit API was invoked before in case LFXT or HFXT is
+//! being used.
+//!
+//!
+//! \return Current ACLK frequency in Hz
+//
+//*****************************************************************************
+extern uint32_t CS_getACLK(void);
+
+//*****************************************************************************
+//
+//! \brief Get the current SMCLK frequency.
+//!
+//! If a oscillator fault is set, the frequency returned will be based on the
+//! fail safe mechanism of CS module. The user of this API must ensure that
+//! CS_externalClockSourceInit API was invoked before in case LFXT or HFXT is
+//! being used.
+//!
+//!
+//! \return Current SMCLK frequency in Hz
+//
+//*****************************************************************************
+extern uint32_t CS_getSMCLK(void);
+
+//*****************************************************************************
+//
+//! \brief Get the current MCLK frequency.
+//!
+//! If a oscillator fault is set, the frequency returned will be based on the
+//! fail safe mechanism of CS module. The user of this API must ensure that
+//! CS_externalClockSourceInit API was invoked before in case LFXT or HFXT is
+//! being used.
+//!
+//!
+//! \return Current MCLK frequency in Hz
+//
+//*****************************************************************************
+extern uint32_t CS_getMCLK(void);
+
+//*****************************************************************************
+//
+//! \brief Turns off VLO
+//!
+//!
+//! Modified bits of \b CSCTL4 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void CS_turnOffVLO(void);
+
+//*****************************************************************************
+//
+//! \brief Clears all the Oscillator Flags
+//!
+//! \param timeout is the count value that gets decremented every time the loop
+//!        that clears oscillator fault flags gets executed.
+//!
+//! Modified bits of \b CSCTL5 register and bits of \b SFRIFG1 register.
+//!
+//! \return the mask of the oscillator flag status
+//
+//*****************************************************************************
+extern uint16_t CS_clearAllOscFlagsWithTimeout(uint32_t timeout);
+
+//*****************************************************************************
+//
+//! \brief Set DCO frequency
+//!
+//! \param dcorsel selects frequency range option.
+//!        Valid values are:
+//!        - \b CS_DCORSEL_0 [Default] - Low Frequency Option
+//!        - \b CS_DCORSEL_1 - High Frequency Option
+//! \param dcofsel selects valid frequency options based on dco frequency range
+//!        selection (dcorsel)
+//!        Valid values are:
+//!        - \b CS_DCOFSEL_0 - Low frequency option 1MHz. High frequency option
+//!           1MHz.
+//!        - \b CS_DCOFSEL_1 - Low frequency option 2.67MHz. High frequency
+//!           option 5.33MHz.
+//!        - \b CS_DCOFSEL_2 - Low frequency option 3.33MHz. High frequency
+//!           option 6.67MHz.
+//!        - \b CS_DCOFSEL_3 - Low frequency option 4MHz. High frequency option
+//!           8MHz.
+//!        - \b CS_DCOFSEL_4 - Low frequency option 5.33MHz. High frequency
+//!           option 16MHz.
+//!        - \b CS_DCOFSEL_5 - Low frequency option 6.67MHz. High frequency
+//!           option 20MHz.
+//!        - \b CS_DCOFSEL_6 - Low frequency option 8MHz. High frequency option
+//!           24MHz.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void CS_setDCOFreq(uint16_t dcorsel,
+                          uint16_t dcofsel);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_CS_H__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/dma.c b/Apps/FlightSoftware/MotorControl/driverlib/dma.c
new file mode 100644
index 000000000..3f7817102
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/dma.c
@@ -0,0 +1,194 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// dma.c - Driver for the dma Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup dma_api dma
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#if defined(__MSP430_HAS_DMAX_3__) || defined(__MSP430_HAS_DMAX_6__)
+#include "dma.h"
+
+#include <assert.h>
+
+void DMA_init( DMA_initParam *param){
+    uint8_t triggerOffset = (param->channelSelect >> 4);
+
+    //Reset and Set DMA Control 0 Register
+    HWREG16(DMA_BASE + param->channelSelect + OFS_DMA0CTL) =
+        param->transferModeSelect //Set Transfer Mode
+        + param->transferUnitSelect //Set Transfer Unit Size
+        + param->triggerTypeSelect; //Set Trigger Type
+
+    //Set Transfer Size Amount
+    HWREG16(DMA_BASE + param->channelSelect + OFS_DMA0SZ) = param->transferSize;
+
+    if (triggerOffset & 0x01){   //Odd Channel
+        HWREG16(DMA_BASE + (triggerOffset & 0x0E)) &= 0x00FF; //Reset Trigger Select
+        HWREG16(DMA_BASE +
+            (triggerOffset & 0x0E)) |= (param->triggerSourceSelect << 8);
+    } else   { //Even Channel
+        HWREG16(DMA_BASE + (triggerOffset & 0x0E)) &= 0xFF00; //Reset Trigger Select
+        HWREG16(DMA_BASE + (triggerOffset & 0x0E)) |= param->triggerSourceSelect;
+    }
+}
+void DMA_setTransferSize (uint8_t channelSelect,
+    uint16_t transferSize)
+{
+    //Set Transfer Size Amount
+    HWREG16(DMA_BASE + channelSelect + OFS_DMA0SZ) = transferSize;
+}
+
+uint16_t DMA_getTransferSize (uint8_t channelSelect)
+{
+    //Get Transfer Size Amount
+    return HWREG16(DMA_BASE + channelSelect + OFS_DMA0SZ);
+}
+
+void DMA_setSrcAddress (uint8_t channelSelect,
+    uint32_t srcAddress,
+    uint16_t directionSelect)
+{
+    //Set the Source Address
+    __data16_write_addr((unsigned short)(DMA_BASE + channelSelect + OFS_DMA0SA),
+        srcAddress);
+
+    //Reset bits before setting them
+    HWREG16(DMA_BASE + channelSelect + OFS_DMA0CTL) &= ~(DMASRCINCR_3);
+    HWREG16(DMA_BASE + channelSelect + OFS_DMA0CTL) |= directionSelect;
+}
+
+void DMA_setDstAddress (uint8_t channelSelect,
+    uint32_t dstAddress,
+    uint16_t directionSelect)
+{
+    //Set the Destination Address
+    __data16_write_addr((unsigned short)(DMA_BASE + channelSelect + OFS_DMA0DA),
+        dstAddress);
+
+    //Reset bits before setting them
+    HWREG16(DMA_BASE + channelSelect + OFS_DMA0CTL) &= ~(DMADSTINCR_3);
+    HWREG16(DMA_BASE + channelSelect + OFS_DMA0CTL) |= (directionSelect << 2);
+}
+
+void DMA_enableTransfers (uint8_t channelSelect)
+{
+    HWREG16(DMA_BASE + channelSelect + OFS_DMA0CTL) |= DMAEN;
+}
+
+void DMA_disableTransfers (uint8_t channelSelect)
+{
+    HWREG16(DMA_BASE + channelSelect + OFS_DMA0CTL) &= ~(DMAEN);
+}
+
+void DMA_startTransfer (uint8_t channelSelect)
+{
+    HWREG16(DMA_BASE + channelSelect + OFS_DMA0CTL) |= DMAREQ;
+}
+
+void DMA_enableInterrupt (uint8_t channelSelect)
+{
+    HWREG16(DMA_BASE + channelSelect + OFS_DMA0CTL) |= DMAIE;
+}
+
+void DMA_disableInterrupt (uint8_t channelSelect)
+{
+    HWREG16(DMA_BASE + channelSelect + OFS_DMA0CTL) &= ~(DMAIE);
+}
+
+uint16_t DMA_getInterruptStatus (uint8_t channelSelect)
+{
+    return (HWREG16(DMA_BASE + channelSelect + OFS_DMA0CTL) & DMAIFG);
+}
+
+void DMA_clearInterrupt (uint8_t channelSelect)
+{
+    HWREG16(DMA_BASE + channelSelect + OFS_DMA0CTL) &= ~(DMAIFG);
+}
+
+uint16_t DMA_getNMIAbortStatus (uint8_t channelSelect)
+{
+    return (HWREG16(DMA_BASE + channelSelect + OFS_DMA0CTL) & DMAABORT);
+}
+
+void DMA_clearNMIAbort (uint8_t channelSelect)
+{
+    HWREG16(DMA_BASE + channelSelect + OFS_DMA0CTL) &= ~(DMAABORT);
+}
+
+void DMA_disableTransferDuringReadModifyWrite (void)
+{
+    HWREG16(DMA_BASE + OFS_DMACTL4) |= DMARMWDIS;
+}
+
+void DMA_enableTransferDuringReadModifyWrite (void)
+{
+    HWREG16(DMA_BASE + OFS_DMACTL4) &= ~(DMARMWDIS);
+}
+
+void DMA_enableRoundRobinPriority (void)
+{
+    HWREG16(DMA_BASE + OFS_DMACTL4) |= ROUNDROBIN;
+}
+
+void DMA_disableRoundRobinPriority (void)
+{
+    HWREG16(DMA_BASE + OFS_DMACTL4) &= ~(ROUNDROBIN);
+}
+
+void DMA_enableNMIAbort (void)
+{
+    HWREG16(DMA_BASE + OFS_DMACTL4) |= ENNMI;
+}
+
+void DMA_disableNMIAbort (void)
+{
+    HWREG16(DMA_BASE + OFS_DMACTL4) &= ~(ENNMI);
+}
+
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for dma_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/dma.h b/Apps/FlightSoftware/MotorControl/driverlib/dma.h
new file mode 100644
index 000000000..7b112aa9d
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/dma.h
@@ -0,0 +1,747 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// dma.h - Driver for the DMA Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_DMA_H__
+#define __MSP430WARE_DMA_H__
+
+#include "inc/hw_memmap.h"
+
+#if defined(__MSP430_HAS_DMAX_3__) || defined(__MSP430_HAS_DMAX_6__)
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "inc/hw_memmap.h"
+//*****************************************************************************
+//
+//! \brief Used in the DMA_init() function as the param parameter.
+//
+//*****************************************************************************
+typedef struct DMA_initParam {
+    //! Is the specified channel to initialize.
+    //! \n Valid values are:
+    //! - \b DMA_CHANNEL_0
+    //! - \b DMA_CHANNEL_1
+    //! - \b DMA_CHANNEL_2
+    //! - \b DMA_CHANNEL_3
+    //! - \b DMA_CHANNEL_4
+    //! - \b DMA_CHANNEL_5
+    //! - \b DMA_CHANNEL_6
+    //! - \b DMA_CHANNEL_7
+    uint8_t channelSelect;
+    //! Is the transfer mode of the selected channel.
+    //! \n Valid values are:
+    //! - \b DMA_TRANSFER_SINGLE [Default] - Single transfer, transfers
+    //!    disabled after transferAmount of transfers.
+    //! - \b DMA_TRANSFER_BLOCK - Multiple transfers of transferAmount,
+    //!    transfers disabled once finished.
+    //! - \b DMA_TRANSFER_BURSTBLOCK - Multiple transfers of transferAmount
+    //!    interleaved with CPU activity, transfers disabled once finished.
+    //! - \b DMA_TRANSFER_REPEATED_SINGLE - Repeated single transfer by
+    //!    trigger.
+    //! - \b DMA_TRANSFER_REPEATED_BLOCK - Multiple transfers of transferAmount
+    //!    by trigger.
+    //! - \b DMA_TRANSFER_REPEATED_BURSTBLOCK - Multiple transfers of
+    //!    transferAmount by trigger interleaved with CPU activity.
+    uint16_t transferModeSelect;
+    //! Is the amount of transfers to complete in a block transfer mode, as
+    //! well as how many transfers to complete before the interrupt flag is
+    //! set. Valid value is between 1-65535, if 0, no transfers will occur.
+    uint16_t transferSize;
+    //! Is the source that will trigger the start of each transfer, note that
+    //! the sources are device specific.
+    //! \n Valid values are:
+    //! - \b DMA_TRIGGERSOURCE_0 [Default]
+    //! - \b DMA_TRIGGERSOURCE_1
+    //! - \b DMA_TRIGGERSOURCE_2
+    //! - \b DMA_TRIGGERSOURCE_3
+    //! - \b DMA_TRIGGERSOURCE_4
+    //! - \b DMA_TRIGGERSOURCE_5
+    //! - \b DMA_TRIGGERSOURCE_6
+    //! - \b DMA_TRIGGERSOURCE_7
+    //! - \b DMA_TRIGGERSOURCE_8
+    //! - \b DMA_TRIGGERSOURCE_9
+    //! - \b DMA_TRIGGERSOURCE_10
+    //! - \b DMA_TRIGGERSOURCE_11
+    //! - \b DMA_TRIGGERSOURCE_12
+    //! - \b DMA_TRIGGERSOURCE_13
+    //! - \b DMA_TRIGGERSOURCE_14
+    //! - \b DMA_TRIGGERSOURCE_15
+    //! - \b DMA_TRIGGERSOURCE_16
+    //! - \b DMA_TRIGGERSOURCE_17
+    //! - \b DMA_TRIGGERSOURCE_18
+    //! - \b DMA_TRIGGERSOURCE_19
+    //! - \b DMA_TRIGGERSOURCE_20
+    //! - \b DMA_TRIGGERSOURCE_21
+    //! - \b DMA_TRIGGERSOURCE_22
+    //! - \b DMA_TRIGGERSOURCE_23
+    //! - \b DMA_TRIGGERSOURCE_24
+    //! - \b DMA_TRIGGERSOURCE_25
+    //! - \b DMA_TRIGGERSOURCE_26
+    //! - \b DMA_TRIGGERSOURCE_27
+    //! - \b DMA_TRIGGERSOURCE_28
+    //! - \b DMA_TRIGGERSOURCE_29
+    //! - \b DMA_TRIGGERSOURCE_30
+    //! - \b DMA_TRIGGERSOURCE_31
+    uint8_t triggerSourceSelect;
+    //! Is the specified size of transfers.
+    //! \n Valid values are:
+    //! - \b DMA_SIZE_SRCWORD_DSTWORD [Default]
+    //! - \b DMA_SIZE_SRCBYTE_DSTWORD
+    //! - \b DMA_SIZE_SRCWORD_DSTBYTE
+    //! - \b DMA_SIZE_SRCBYTE_DSTBYTE
+    uint8_t transferUnitSelect;
+    //! Is the type of trigger that the trigger signal needs to be to start a
+    //! transfer.
+    //! \n Valid values are:
+    //! - \b DMA_TRIGGER_RISINGEDGE [Default]
+    //! - \b DMA_TRIGGER_HIGH - A trigger would be a high signal from the
+    //!    trigger source, to be held high through the length of the
+    //!    transfer(s).
+    uint8_t triggerTypeSelect;
+} DMA_initParam;
+
+
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the triggerSourceSelect
+// parameter for functions: DMA_init(); the param parameter for functions:
+// DMA_init().
+//
+//*****************************************************************************
+#define DMA_TRIGGERSOURCE_0                                              (0x00)
+#define DMA_TRIGGERSOURCE_1                                              (0x01)
+#define DMA_TRIGGERSOURCE_2                                              (0x02)
+#define DMA_TRIGGERSOURCE_3                                              (0x03)
+#define DMA_TRIGGERSOURCE_4                                              (0x04)
+#define DMA_TRIGGERSOURCE_5                                              (0x05)
+#define DMA_TRIGGERSOURCE_6                                              (0x06)
+#define DMA_TRIGGERSOURCE_7                                              (0x07)
+#define DMA_TRIGGERSOURCE_8                                              (0x08)
+#define DMA_TRIGGERSOURCE_9                                              (0x09)
+#define DMA_TRIGGERSOURCE_10                                             (0x0A)
+#define DMA_TRIGGERSOURCE_11                                             (0x0B)
+#define DMA_TRIGGERSOURCE_12                                             (0x0C)
+#define DMA_TRIGGERSOURCE_13                                             (0x0D)
+#define DMA_TRIGGERSOURCE_14                                             (0x0E)
+#define DMA_TRIGGERSOURCE_15                                             (0x0F)
+#define DMA_TRIGGERSOURCE_16                                             (0x10)
+#define DMA_TRIGGERSOURCE_17                                             (0x11)
+#define DMA_TRIGGERSOURCE_18                                             (0x12)
+#define DMA_TRIGGERSOURCE_19                                             (0x13)
+#define DMA_TRIGGERSOURCE_20                                             (0x14)
+#define DMA_TRIGGERSOURCE_21                                             (0x15)
+#define DMA_TRIGGERSOURCE_22                                             (0x16)
+#define DMA_TRIGGERSOURCE_23                                             (0x17)
+#define DMA_TRIGGERSOURCE_24                                             (0x18)
+#define DMA_TRIGGERSOURCE_25                                             (0x19)
+#define DMA_TRIGGERSOURCE_26                                             (0x1A)
+#define DMA_TRIGGERSOURCE_27                                             (0x1B)
+#define DMA_TRIGGERSOURCE_28                                             (0x1C)
+#define DMA_TRIGGERSOURCE_29                                             (0x1D)
+#define DMA_TRIGGERSOURCE_30                                             (0x1E)
+#define DMA_TRIGGERSOURCE_31                                             (0x1F)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: DMA_init(); the transferModeSelect parameter for functions:
+// DMA_init().
+//
+//*****************************************************************************
+#define DMA_TRANSFER_SINGLE                                           (DMADT_0)
+#define DMA_TRANSFER_BLOCK                                            (DMADT_1)
+#define DMA_TRANSFER_BURSTBLOCK                                       (DMADT_2)
+#define DMA_TRANSFER_REPEATED_SINGLE                                  (DMADT_4)
+#define DMA_TRANSFER_REPEATED_BLOCK                                   (DMADT_5)
+#define DMA_TRANSFER_REPEATED_BURSTBLOCK                              (DMADT_6)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the channelSelect parameter
+// for functions: DMA_init(), DMA_setTransferSize(), DMA_getTransferSize(),
+// DMA_setSrcAddress(), DMA_setDstAddress(), DMA_enableTransfers(),
+// DMA_disableTransfers(), DMA_startTransfer(), DMA_enableInterrupt(),
+// DMA_disableInterrupt(), DMA_getInterruptStatus(), DMA_clearInterrupt(),
+// DMA_getNMIAbortStatus(), and DMA_clearNMIAbort(); the param parameter for
+// functions: DMA_init().
+//
+//*****************************************************************************
+#define DMA_CHANNEL_0                                                    (0x00)
+#define DMA_CHANNEL_1                                                    (0x10)
+#define DMA_CHANNEL_2                                                    (0x20)
+#define DMA_CHANNEL_3                                                    (0x30)
+#define DMA_CHANNEL_4                                                    (0x40)
+#define DMA_CHANNEL_5                                                    (0x50)
+#define DMA_CHANNEL_6                                                    (0x60)
+#define DMA_CHANNEL_7                                                    (0x70)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the triggerTypeSelect
+// parameter for functions: DMA_init(); the param parameter for functions:
+// DMA_init().
+//
+//*****************************************************************************
+#define DMA_TRIGGER_RISINGEDGE                                    (!(DMALEVEL))
+#define DMA_TRIGGER_HIGH                                             (DMALEVEL)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the transferUnitSelect
+// parameter for functions: DMA_init(); the param parameter for functions:
+// DMA_init().
+//
+//*****************************************************************************
+#define DMA_SIZE_SRCWORD_DSTWORD                   (!(DMASRCBYTE + DMADSTBYTE))
+#define DMA_SIZE_SRCBYTE_DSTWORD                                   (DMASRCBYTE)
+#define DMA_SIZE_SRCWORD_DSTBYTE                                   (DMADSTBYTE)
+#define DMA_SIZE_SRCBYTE_DSTBYTE                      (DMASRCBYTE + DMADSTBYTE)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the directionSelect parameter
+// for functions: DMA_setSrcAddress(), and DMA_setDstAddress().
+//
+//*****************************************************************************
+#define DMA_DIRECTION_UNCHANGED                                  (DMASRCINCR_0)
+#define DMA_DIRECTION_DECREMENT                                  (DMASRCINCR_2)
+#define DMA_DIRECTION_INCREMENT                                  (DMASRCINCR_3)
+
+//*****************************************************************************
+//
+// The following are values that can be passed toThe following are values that
+// can be returned by the DMA_getInterruptStatus() function.
+//
+//*****************************************************************************
+#define DMA_INT_INACTIVE                                                  (0x0)
+#define DMA_INT_ACTIVE                                                 (DMAIFG)
+
+//*****************************************************************************
+//
+// The following are values that can be passed toThe following are values that
+// can be returned by the DMA_getNMIAbortStatus() function.
+//
+//*****************************************************************************
+#define DMA_NOTABORTED                                                    (0x0)
+#define DMA_ABORTED                                                  (DMAABORT)
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Initializes the specified DMA channel.
+//!
+//! This function initializes the specified DMA channel. Upon successful
+//! completion of initialization of the selected channel the control registers
+//! will be cleared and the given variables will be set. Please note, if
+//! transfers have been enabled with the enableTransfers() function, then a
+//! call to disableTransfers() is necessary before re-initialization. Also
+//! note, that the trigger sources are device dependent and can be found in the
+//! device family data sheet. The amount of DMA channels available are also
+//! device specific.
+//!
+//! \param param is the pointer to struct for initialization.
+//!
+//! \return STATUS_SUCCESS or STATUS_FAILURE of the initialization process.
+//
+//*****************************************************************************
+extern void DMA_init(DMA_initParam *param);
+
+//*****************************************************************************
+//
+//! \brief Sets the specified amount of transfers for the selected DMA channel.
+//!
+//! This function sets the specified amount of transfers for the selected DMA
+//! channel without having to reinitialize the DMA channel.
+//!
+//! \param channelSelect is the specified channel to set source address
+//!        direction for.
+//!        Valid values are:
+//!        - \b DMA_CHANNEL_0
+//!        - \b DMA_CHANNEL_1
+//!        - \b DMA_CHANNEL_2
+//!        - \b DMA_CHANNEL_3
+//!        - \b DMA_CHANNEL_4
+//!        - \b DMA_CHANNEL_5
+//!        - \b DMA_CHANNEL_6
+//!        - \b DMA_CHANNEL_7
+//! \param transferSize is the amount of transfers to complete in a block
+//!        transfer mode, as well as how many transfers to complete before the
+//!        interrupt flag is set. Valid value is between 1-65535, if 0, no
+//!        transfers will occur.
+//!        \n Modified bits are \b DMAxSZ of \b DMAxSZ register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void DMA_setTransferSize(uint8_t channelSelect,
+                                uint16_t transferSize);
+
+//*****************************************************************************
+//
+//! \brief Gets the amount of transfers for the selected DMA channel.
+//!
+//! This function gets the amount of transfers for the selected DMA channel
+//! without having to reinitialize the DMA channel.
+//!
+//! \param channelSelect is the specified channel to set source address
+//!        direction for.
+//!        Valid values are:
+//!        - \b DMA_CHANNEL_0
+//!        - \b DMA_CHANNEL_1
+//!        - \b DMA_CHANNEL_2
+//!        - \b DMA_CHANNEL_3
+//!        - \b DMA_CHANNEL_4
+//!        - \b DMA_CHANNEL_5
+//!        - \b DMA_CHANNEL_6
+//!        - \b DMA_CHANNEL_7
+//!
+//! \return the amount of transfers
+//
+//*****************************************************************************
+extern uint16_t DMA_getTransferSize(uint8_t channelSelect);
+
+//*****************************************************************************
+//
+//! \brief Sets source address and the direction that the source address will
+//! move after a transfer.
+//!
+//! This function sets the source address and the direction that the source
+//! address will move after a transfer is complete. It may be incremented,
+//! decremented or unchanged.
+//!
+//! \param channelSelect is the specified channel to set source address
+//!        direction for.
+//!        Valid values are:
+//!        - \b DMA_CHANNEL_0
+//!        - \b DMA_CHANNEL_1
+//!        - \b DMA_CHANNEL_2
+//!        - \b DMA_CHANNEL_3
+//!        - \b DMA_CHANNEL_4
+//!        - \b DMA_CHANNEL_5
+//!        - \b DMA_CHANNEL_6
+//!        - \b DMA_CHANNEL_7
+//! \param srcAddress is the address of where the data will be transferred
+//!        from.
+//!        \n Modified bits are \b DMAxSA of \b DMAxSA register.
+//! \param directionSelect is the specified direction of the source address
+//!        after a transfer.
+//!        Valid values are:
+//!        - \b DMA_DIRECTION_UNCHANGED
+//!        - \b DMA_DIRECTION_DECREMENT
+//!        - \b DMA_DIRECTION_INCREMENT
+//!        \n Modified bits are \b DMASRCINCR of \b DMAxCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void DMA_setSrcAddress(uint8_t channelSelect,
+                              uint32_t srcAddress,
+                              uint16_t directionSelect);
+
+//*****************************************************************************
+//
+//! \brief Sets the destination address and the direction that the destination
+//! address will move after a transfer.
+//!
+//! This function sets the destination address and the direction that the
+//! destination address will move after a transfer is complete. It may be
+//! incremented, decremented, or unchanged.
+//!
+//! \param channelSelect is the specified channel to set the destination
+//!        address direction for.
+//!        Valid values are:
+//!        - \b DMA_CHANNEL_0
+//!        - \b DMA_CHANNEL_1
+//!        - \b DMA_CHANNEL_2
+//!        - \b DMA_CHANNEL_3
+//!        - \b DMA_CHANNEL_4
+//!        - \b DMA_CHANNEL_5
+//!        - \b DMA_CHANNEL_6
+//!        - \b DMA_CHANNEL_7
+//! \param dstAddress is the address of where the data will be transferred to.
+//!        \n Modified bits are \b DMAxDA of \b DMAxDA register.
+//! \param directionSelect is the specified direction of the destination
+//!        address after a transfer.
+//!        Valid values are:
+//!        - \b DMA_DIRECTION_UNCHANGED
+//!        - \b DMA_DIRECTION_DECREMENT
+//!        - \b DMA_DIRECTION_INCREMENT
+//!        \n Modified bits are \b DMADSTINCR of \b DMAxCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void DMA_setDstAddress(uint8_t channelSelect,
+                              uint32_t dstAddress,
+                              uint16_t directionSelect);
+
+//*****************************************************************************
+//
+//! \brief Enables transfers to be triggered.
+//!
+//! This function enables transfers upon appropriate trigger of the selected
+//! trigger source for the selected channel.
+//!
+//! \param channelSelect is the specified channel to enable transfer for.
+//!        Valid values are:
+//!        - \b DMA_CHANNEL_0
+//!        - \b DMA_CHANNEL_1
+//!        - \b DMA_CHANNEL_2
+//!        - \b DMA_CHANNEL_3
+//!        - \b DMA_CHANNEL_4
+//!        - \b DMA_CHANNEL_5
+//!        - \b DMA_CHANNEL_6
+//!        - \b DMA_CHANNEL_7
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void DMA_enableTransfers(uint8_t channelSelect);
+
+//*****************************************************************************
+//
+//! \brief Disables transfers from being triggered.
+//!
+//! This function disables transfer from being triggered for the selected
+//! channel. This function should be called before any re-initialization of the
+//! selected DMA channel.
+//!
+//! \param channelSelect is the specified channel to disable transfers for.
+//!        Valid values are:
+//!        - \b DMA_CHANNEL_0
+//!        - \b DMA_CHANNEL_1
+//!        - \b DMA_CHANNEL_2
+//!        - \b DMA_CHANNEL_3
+//!        - \b DMA_CHANNEL_4
+//!        - \b DMA_CHANNEL_5
+//!        - \b DMA_CHANNEL_6
+//!        - \b DMA_CHANNEL_7
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void DMA_disableTransfers(uint8_t channelSelect);
+
+//*****************************************************************************
+//
+//! \brief Starts a transfer if using the default trigger source selected in
+//! initialization.
+//!
+//! This functions triggers a transfer of data from source to destination if
+//! the trigger source chosen from initialization is the DMA_TRIGGERSOURCE_0.
+//! Please note, this function needs to be called for each (repeated-)single
+//! transfer, and when transferAmount of transfers have been complete in
+//! (repeated-)block transfers.
+//!
+//! \param channelSelect is the specified channel to start transfers for.
+//!        Valid values are:
+//!        - \b DMA_CHANNEL_0
+//!        - \b DMA_CHANNEL_1
+//!        - \b DMA_CHANNEL_2
+//!        - \b DMA_CHANNEL_3
+//!        - \b DMA_CHANNEL_4
+//!        - \b DMA_CHANNEL_5
+//!        - \b DMA_CHANNEL_6
+//!        - \b DMA_CHANNEL_7
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void DMA_startTransfer(uint8_t channelSelect);
+
+//*****************************************************************************
+//
+//! \brief Enables the DMA interrupt for the selected channel.
+//!
+//! Enables the DMA interrupt source.  Only the sources that are enabled can be
+//! reflected to the processor interrupt; disabled sources have no effect on
+//! the processor. Does not clear interrupt flags.
+//!
+//! \param channelSelect is the specified channel to enable the interrupt for.
+//!        Valid values are:
+//!        - \b DMA_CHANNEL_0
+//!        - \b DMA_CHANNEL_1
+//!        - \b DMA_CHANNEL_2
+//!        - \b DMA_CHANNEL_3
+//!        - \b DMA_CHANNEL_4
+//!        - \b DMA_CHANNEL_5
+//!        - \b DMA_CHANNEL_6
+//!        - \b DMA_CHANNEL_7
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void DMA_enableInterrupt(uint8_t channelSelect);
+
+//*****************************************************************************
+//
+//! \brief Disables the DMA interrupt for the selected channel.
+//!
+//! Disables the DMA interrupt source. Only the sources that are enabled can be
+//! reflected to the processor interrupt; disabled sources have no effect on
+//! the processor.
+//!
+//! \param channelSelect is the specified channel to disable the interrupt for.
+//!        Valid values are:
+//!        - \b DMA_CHANNEL_0
+//!        - \b DMA_CHANNEL_1
+//!        - \b DMA_CHANNEL_2
+//!        - \b DMA_CHANNEL_3
+//!        - \b DMA_CHANNEL_4
+//!        - \b DMA_CHANNEL_5
+//!        - \b DMA_CHANNEL_6
+//!        - \b DMA_CHANNEL_7
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void DMA_disableInterrupt(uint8_t channelSelect);
+
+//*****************************************************************************
+//
+//! \brief Returns the status of the interrupt flag for the selected channel.
+//!
+//! Returns the status of the interrupt flag for the selected channel.
+//!
+//! \param channelSelect is the specified channel to return the interrupt flag
+//!        status from.
+//!        Valid values are:
+//!        - \b DMA_CHANNEL_0
+//!        - \b DMA_CHANNEL_1
+//!        - \b DMA_CHANNEL_2
+//!        - \b DMA_CHANNEL_3
+//!        - \b DMA_CHANNEL_4
+//!        - \b DMA_CHANNEL_5
+//!        - \b DMA_CHANNEL_6
+//!        - \b DMA_CHANNEL_7
+//!
+//! \return One of the following:
+//!         - \b DMA_INT_INACTIVE
+//!         - \b DMA_INT_ACTIVE
+//!         \n indicating the status of the current interrupt flag
+//
+//*****************************************************************************
+extern uint16_t DMA_getInterruptStatus(uint8_t channelSelect);
+
+//*****************************************************************************
+//
+//! \brief Clears the interrupt flag for the selected channel.
+//!
+//! This function clears the DMA interrupt flag is cleared, so that it no
+//! longer asserts.
+//!
+//! \param channelSelect is the specified channel to clear the interrupt flag
+//!        for.
+//!        Valid values are:
+//!        - \b DMA_CHANNEL_0
+//!        - \b DMA_CHANNEL_1
+//!        - \b DMA_CHANNEL_2
+//!        - \b DMA_CHANNEL_3
+//!        - \b DMA_CHANNEL_4
+//!        - \b DMA_CHANNEL_5
+//!        - \b DMA_CHANNEL_6
+//!        - \b DMA_CHANNEL_7
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void DMA_clearInterrupt(uint8_t channelSelect);
+
+//*****************************************************************************
+//
+//! \brief Returns the status of the NMIAbort for the selected channel.
+//!
+//! This function returns the status of the NMI Abort flag for the selected
+//! channel. If this flag has been set, it is because a transfer on this
+//! channel was aborted due to a interrupt from an NMI.
+//!
+//! \param channelSelect is the specified channel to return the status of the
+//!        NMI Abort flag for.
+//!        Valid values are:
+//!        - \b DMA_CHANNEL_0
+//!        - \b DMA_CHANNEL_1
+//!        - \b DMA_CHANNEL_2
+//!        - \b DMA_CHANNEL_3
+//!        - \b DMA_CHANNEL_4
+//!        - \b DMA_CHANNEL_5
+//!        - \b DMA_CHANNEL_6
+//!        - \b DMA_CHANNEL_7
+//!
+//! \return One of the following:
+//!         - \b DMA_NOTABORTED
+//!         - \b DMA_ABORTED
+//!         \n indicating the status of the NMIAbort for the selected channel
+//
+//*****************************************************************************
+extern uint16_t DMA_getNMIAbortStatus(uint8_t channelSelect);
+
+//*****************************************************************************
+//
+//! \brief Clears the status of the NMIAbort to proceed with transfers for the
+//! selected channel.
+//!
+//! This function clears the status of the NMI Abort flag for the selected
+//! channel to allow for transfers on the channel to continue.
+//!
+//! \param channelSelect is the specified channel to clear the NMI Abort flag
+//!        for.
+//!        Valid values are:
+//!        - \b DMA_CHANNEL_0
+//!        - \b DMA_CHANNEL_1
+//!        - \b DMA_CHANNEL_2
+//!        - \b DMA_CHANNEL_3
+//!        - \b DMA_CHANNEL_4
+//!        - \b DMA_CHANNEL_5
+//!        - \b DMA_CHANNEL_6
+//!        - \b DMA_CHANNEL_7
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void DMA_clearNMIAbort(uint8_t channelSelect);
+
+//*****************************************************************************
+//
+//! \brief Disables the DMA from stopping the CPU during a Read-Modify-Write
+//! Operation to start a transfer.
+//!
+//! This function allows the CPU to finish any read-modify-write operations it
+//! may be in the middle of before transfers of and DMA channel stop the CPU.
+//!
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void DMA_disableTransferDuringReadModifyWrite(void);
+
+//*****************************************************************************
+//
+//! \brief Enables the DMA to stop the CPU during a Read-Modify-Write Operation
+//! to start a transfer.
+//!
+//! This function allows the DMA to stop the CPU in the middle of a read-
+//! modify-write operation to transfer data.
+//!
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void DMA_enableTransferDuringReadModifyWrite(void);
+
+//*****************************************************************************
+//
+//! \brief Enables Round Robin prioritization.
+//!
+//! This function enables Round Robin Prioritization of DMA channels. In the
+//! case of Round Robin Prioritization, the last DMA channel to have
+//! transferred data then has the last priority, which comes into play when
+//! multiple DMA channels are ready to transfer at the same time.
+//!
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void DMA_enableRoundRobinPriority(void);
+
+//*****************************************************************************
+//
+//! \brief Disables Round Robin prioritization.
+//!
+//! This function disables Round Robin Prioritization, enabling static
+//! prioritization of the DMA channels. In static prioritization, the DMA
+//! channels are prioritized with the lowest DMA channel index having the
+//! highest priority (i.e. DMA Channel 0 has the highest priority).
+//!
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void DMA_disableRoundRobinPriority(void);
+
+//*****************************************************************************
+//
+//! \brief Enables a NMI to interrupt a DMA transfer.
+//!
+//! This function allow NMI's to interrupting any DMA transfer currently in
+//! progress and stops any future transfers to begin before the NMI is done
+//! processing.
+//!
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void DMA_enableNMIAbort(void);
+
+//*****************************************************************************
+//
+//! \brief Disables any NMI from interrupting a DMA transfer.
+//!
+//! This function disables NMI's from interrupting any DMA transfer currently
+//! in progress.
+//!
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void DMA_disableNMIAbort(void);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_DMA_H__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/driverlib.h b/Apps/FlightSoftware/MotorControl/driverlib/driverlib.h
new file mode 100644
index 000000000..9f3f87e7c
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/driverlib.h
@@ -0,0 +1,67 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+#include "inc/hw_memmap.h"
+
+#include "hspll.h"
+#include "sysctl.h"
+#include "dma.h"
+#include "eusci_b_i2c.h"
+#include "rtc_b.h"
+#include "crc.h"
+#include "adc12_b.h"
+#include "esi.h"
+#include "saph.h"
+#include "cs.h"
+#include "ram.h"
+#include "mpy32.h"
+#include "crc32.h"
+#include "comp_e.h"
+#include "framctl.h"
+#include "aes256.h"
+#include "sfr.h"
+#include "wdt_a.h"
+#include "timer_a.h"
+#include "pmm.h"
+#include "rtc_c.h"
+#include "uups.h"
+#include "framctl_a.h"
+#include "eusci_a_uart.h"
+#include "gpio.h"
+#include "mpu.h"
+#include "tlv.h"
+#include "sdhs.h"
+#include "eusci_a_spi.h"
+#include "timer_b.h"
+#include "ref_a.h"
+#include "eusci_b_spi.h"
+#include "mtif.h"
+#include "lcd_c.h"
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/esi.c b/Apps/FlightSoftware/MotorControl/driverlib/esi.c
new file mode 100644
index 000000000..a1c03fba6
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/esi.c
@@ -0,0 +1,1445 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// esi.h - Driver for the ESI Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup esi_api esi
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_ESI__
+#include "esi.h"
+
+#include <assert.h>
+
+// Uncomment for finding lower peak of the lower half cycle.
+// This required to set ESI comparator output as inverted
+#define INVERTED
+
+static uint16_t measureESIOSC(void);
+static void FindDAC(uint8_t selected_channel, uint8_t software_trigger);
+
+const ESI_AFE1_InitParams ESI_AFE1_INITPARAMS_DEFAULT =  {ESI_EXCITATION_CIRCUIT_DISABLED,
+														ESI_SAMPLE_HOLD_DISABLED,
+														ESI_MID_VOLTAGE_GENERATOR_DISABLED,
+														ESI_SAMPLE_HOLD_VSS_TO_ESIVSS,
+														ESI_INVERTER_FOR_AFE1_DISABLE
+														};
+
+const ESI_AFE2_InitParams ESI_AFE2_INITPARAMS_DEFAULT =  {
+														ESI_AFE2_INPUT_SELECT_CHx,
+														ESI_INVERTER_FOR_AFE2_DISABLE,
+														ESI_TSM_COMPARATOR_CONTROL_AFE2_DISABLE,
+														ESI_TSM_DAC_CONTROL_AFE2_DISABLE
+														};
+
+const ESI_TSM_InitParams ESI_TSM_INITPARAMS_DEFAULT = {	ESI_TSM_SMCLK_DIV_1,
+														ESI_TSM_ACLK_DIV_1,
+														ESI_TSM_START_TRIGGER_DIV_2,
+														ESI_TSM_REPEAT_NEW_TRIGGER,
+														ESI_TSM_STOP_SEQUENCE,
+														ESI_TSM_HIGH_FREQ_CLK_FUNCTION_ON
+														};
+
+const ESI_PSM_InitParams ESI_PSM_INITPARAMS_DEFAULT = { ESI_PSM_Q6_DISABLE,
+														ESI_PSM_Q7_TRIGGER_DISABLE,
+														ESI_PSM_CNT0_DISABLE,
+														ESI_PSM_CNT0_RESET,
+														ESI_PSM_CNT1_DISABLE,
+														ESI_PSM_CNT1_RESET,
+														ESI_PSM_CNT2_DISABLE,
+														ESI_PSM_CNT2_RESET,
+														ESI_PSM_S3_SELECT,
+														ESI_PSM_TEST4_IS_Q2,
+														};
+
+//*****************************************************************************
+//
+//! Get ESI PSM Counter 0 Value
+//!
+//! This function reads the ESI Counter 0 register
+//!
+//! \return  Counter value
+//
+//*****************************************************************************
+uint16_t ESI_getCounter0(void)
+{
+    return (ESICNT0);
+}
+
+//*****************************************************************************
+//
+//! Get ESI PSM Counter 1 Value
+//!
+//! This function reads the ESI Counter1 register
+//!
+//! \return Counter value
+//
+//*****************************************************************************
+uint16_t ESI_getCounter1(void)
+{
+    return (ESICNT1);
+}
+
+//*****************************************************************************
+//
+//! Get ESI PSM Counter 2 Value
+//!
+//! This function reads the ESI Counter2 register
+//!
+//! \return Counter value
+//
+//*****************************************************************************
+uint16_t ESI_getCounter2(void)
+{
+    return (ESICNT2);
+}
+
+//*****************************************************************************
+//
+//! Get ESI PSM Oscillator Counter Value
+//!
+//! This function reads the ESI Oscillator Counter register
+//!
+//! \return Counter value
+//
+//*****************************************************************************
+uint16_t ESI_getOscCounter(void)
+{
+    return (ESICNT3);
+}
+
+//*****************************************************************************
+//
+//! Initializes the ESI analog front end AFE1
+//!
+//! \param params is ESI_AFE1_InitParams struct
+//!
+//! This functions initializes the ESI analog front end AFE1.
+//!
+//! \return None
+//
+//*****************************************************************************
+
+void ESI_AFE1_init (ESI_AFE1_InitParams *params)
+{
+	// Unset the AFE1 bits
+	ESIAFE &= ~(ESITEN + ESISH + ESIVCC2 + ESIVSS + ESICACI3 + ESICISEL +
+			    ESICA1X + ESICA1INV);
+	ESIAFE |=
+        params->excitationCircuitSelect +
+        params->sampleAndHoldSelect +
+        params->midVoltageGeneratorSelect +
+        params->sampleAndHoldVSSConnect +
+        params->inverterSelectOutputAFE1
+        ;
+
+    switch(params->inputSelectAFE1) {
+        case ESI_AFE1_INPUT_SELECT_CHx:
+            break;
+        case ESI_AFE1_INPUT_SELECT_CIx:
+            ESIAFE |= ESICA1X;
+            break;
+        case ESI_AFE1_INPUT_SELECT_CI3:
+            ESIAFE |= ESICA1X;
+            ESIAFE &= ~ESICISEL;
+            ESIAFE |= ESICACI3;
+            break;
+        case ESI_AFE1_INPUT_SELECT_CI:
+            ESIAFE |= ESICA1X;
+            ESIAFE |= ESICISEL;
+            break;
+        default:
+            break;
+    }
+}
+
+//*****************************************************************************
+//
+//! Initializes the ESI analog front end - AFE2
+//!
+//! \param params is ESI_AFE2_InitParams struct
+//!
+//! This functions initializes the ESI analog front end AFE2
+//!
+//! \return None
+//
+//*****************************************************************************
+
+void ESI_AFE2_init (ESI_AFE2_InitParams *params)
+{
+	// Unset the AFE2 bits
+	ESIAFE &= ~(ESICA2X + ESICA2INV + ESICA2EN + ESIDAC2EN);
+
+	ESIAFE |=
+        params->inputSelectAFE2 +
+        params->inverterSelectOutputAFE2 +
+        params->tsmControlComparatorAFE2 +
+        params->tsmControlDacAFE2
+        ;
+
+}
+
+//*****************************************************************************
+//
+//! Reads the latched comparator outputs form the AFEs
+//!
+//! \param channelSelect. Valid values are
+//!                 ESI_AFE1_CHANNEL0_SELECT
+//!                 ESI_AFE1_CHANNEL1_SELECT
+//!                 ESI_AFE1_CHANNEL2_SELECT
+//!                 ESI_AFE1_CHANNEL3_SELECT
+//!                 ESI_AFE2_CHANNEL0_SELECT
+//!                 ESI_AFE2_CHANNEL1_SELECT
+//!                 ESI_AFE2_CHANNEL2_SELECT
+//!                 ESI_AFE2_CHANNEL3_SELECT
+//!                 ESI_AFE1_TEST_CHANNEL0_SELECT
+//!                 ESI_AFE1_TEST_CHANNEL1_SELECT
+//!
+//! This function gets the ESIPPU register to get latched output values of the
+//! comparator outputs for AFE1 and AFE2
+//!
+//! \return Valid values are
+//!                 ESI_AFE_OUTPUT_LOW
+//!                 ESI_AFE_OUTPUT_HIGH
+//
+//*****************************************************************************
+uint16_t ESI_getLatchedComparatorOutput (
+    uint16_t channelSelect)
+{
+    uint16_t result;
+
+    result = ESIPPU;
+
+    return (result &= channelSelect);
+}
+
+//*****************************************************************************
+//
+//! Initializes the TSM
+//!
+//! \param params is ESI_TSM_InitParams struct
+//!
+//! This function initializes the TSM.
+//!
+//! \return None
+//
+//*****************************************************************************
+
+void ESI_TSM_init (ESI_TSM_InitParams *params)
+{
+	ESITSM =
+		params->smclkDivider +
+		params->aclkDivider +
+		params->startTriggerAclkDivider +
+		params->repeatMode +
+		params->startTriggerSelection +
+		params->tsmFunctionSelection
+		;
+
+}
+
+//*****************************************************************************
+//
+//! Clear TSM entries
+//!
+//! This function clears all TSM entries
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_TSM_clearTable(void)
+{
+	uint16_t *pTsm, i;
+
+	// Clear TSM Table (for testing only. not neccessary in real application)
+	pTsm = (uint16_t *)&ESITSM0;
+	for (i=0; i<32; i++)
+	{
+		*pTsm++ = 0x0200;
+	}
+}
+
+//*****************************************************************************
+//
+//! Copy TSM entries
+//!
+//! This function copies all TSM entries
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_TSM_copyTable(uint16_t* tsmTable, uint16_t size)
+{
+	uint16_t *pt_tsmTable;
+	uint16_t i;
+
+	// Copy the TSM_Table into ESI TSM registers
+	// Destination pointer
+	pt_tsmTable	= (uint16_t *)&ESITSM0;	
+	// Divided by 2 because of unsigned integer (2bytes)
+	i			= size/2;	
+	
+	do
+	{
+		*pt_tsmTable++ = *tsmTable++;
+	}while(--i);
+}
+
+//*****************************************************************************
+//
+//! TSM trigger using software
+//!
+//! This function starts a software initiated TSM sequence
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_TSM_softwareTrigger(void)
+{
+    ESITSM |= ESISTART;
+}
+
+
+//*****************************************************************************
+//
+//! TSM trigger using software
+//!
+//! This function starts a software initiated TSM sequence
+//!
+//! \return ESIREATx bits from selected stateRegNum
+//
+//*****************************************************************************
+uint8_t ESI_TSM_getTSMStateDuration(uint8_t stateRegNum)
+{
+        volatile uint16_t* stateRegBase = (volatile uint16_t*)&ESITSM0;
+
+        return (*(stateRegBase + stateRegNum) & 0xf800) >> 11;
+}
+
+//*****************************************************************************
+//
+//! TSM trigger using software
+//!
+//! This function starts a software initiated TSM sequence
+//!
+//! \return ESIREATx bits from selected stateRegNum
+//
+//*****************************************************************************
+void ESI_TSM_setTSMStateDuration(uint8_t stateRegNum, uint8_t duration)
+{
+	assert(stateRegNum <= ESI_TSM_STATE_REG_31);
+	assert(duration <= ESI_TSM_STATE_DURATION_MAX);
+
+	volatile uint16_t* stateRegBase = (volatile uint16_t*)&ESITSM0;
+
+	*(stateRegBase + stateRegNum) &= ~0xF800;
+
+	*(stateRegBase + stateRegNum) |= (duration << 11);
+}
+
+
+//*****************************************************************************
+//
+//! Initialize Processing State Machine
+//
+//! \param params is ESI_PSM_InitParams struct
+//!
+//! This function initializes the PSM registers.
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_PSM_init (ESI_PSM_InitParams *params)
+{
+	ESIPSM =
+        params->Q6Select +
+        params->Q7TriggerSelect +
+        params->count0Select +
+        params->count0Reset +
+        params->count1Select +
+        params->count1Reset +
+        params->count2Select +
+        params->count2Reset +
+        params->V2Select +
+        params->TEST4Select
+        ;
+}
+
+//*****************************************************************************
+//
+//! Clear PSM entries
+//!
+//! This function clears all PSM entries
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_PSM_clearTable(void)
+{
+	uint8_t *pPsm, i;
+
+	// Clear TSM Table (for testing only. not neccessary in real application)
+	pPsm = (uint8_t *)&ESIRAM0;
+	for (i=0; i<128; i++)
+	{
+		*pPsm++ = 0x0;
+	}
+}
+
+//*****************************************************************************
+//
+//! Copy PSM entries
+//!
+//! This function copies all PSM entries
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_PSM_copyTable(uint8_t* psmTable, uint8_t size)
+{
+	uint8_t *pt_psmTable;
+	uint8_t i;
+
+	assert(size<=128);
+
+	// Copy the TSM_Table into ESI TSM registers
+	pt_psmTable	= (uint8_t *)&ESIRAM0;				// Destination pointer
+	i			= size;	
+
+	do
+	{
+		*pt_psmTable++ = *psmTable++;
+	}while(--i);
+}
+
+//*****************************************************************************
+//
+//! Reset PSM counters
+//!
+//! \param counterToReset is the counter that needs t be reset
+//!
+//! This function resets the PSM counters
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_PSM_resetCounter (uint16_t counterToReset)
+{
+    ESIPSM |= counterToReset;
+}
+
+//*****************************************************************************
+//
+//! Enables the internal Oscillator
+//!
+//!
+//! This function enables the high frequency internal oscillator
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_enableInternalOscillator(void)
+{
+    ESIOSC |= ESIHFSEL;
+}
+
+//*****************************************************************************
+//
+//! Disables the internal Oscillator
+//!
+//!
+//! This function disables the high frequency internal oscillator
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_disableInternalOscillator(void)
+{
+    ESIOSC &= ~ESIHFSEL;
+}
+
+//*****************************************************************************
+//
+//! Connects comparator output to timerA input
+//!
+//! \param counterToReset ESI_TIMERA_INPUT_TSM_COMPOUT or
+//!                       ESI_TIMERA_INPUT_TSM_PPUSRC
+//!
+//! This function connects the chosen comparator output to TimerA
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_timerAInputSelect(uint16_t select)
+{
+    ESICTL |= select;
+}
+
+//*****************************************************************************
+//
+//! Connects psm source to comparator output
+//!
+//! \param sourceNum PSM_S1_SOURCE, PSM_S2_SOURCE  or PSM_S3_SOURCE
+//! \param sourceSelect can have the following values
+//!         ESI_PSM_SOURCE_IS_ESIOUT0
+//!         ESI_PSM_SOURCE_IS_ESIOUT1
+//!         ESI_PSM_SOURCE_IS_ESIOUT2
+//!         ESI_PSM_SOURCE_IS_ESIOUT3
+//!         ESI_PSM_SOURCE_IS_ESIOUT4
+//!         ESI_PSM_SOURCE_IS_ESIOUT5
+//!         ESI_PSM_SOURCE_IS_ESIOUT6
+//!         ESI_PSM_SOURCE_IS_ESIOUT7
+//!
+//! This function connects the chosen comparator output to TimerA
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_psmSourceSelect(uint16_t sourceNum, uint16_t sourceSelect)
+{
+    switch(sourceNum) {
+        case PSM_S1_SOURCE:
+        	ESICTL &= ~(ESIS1SEL0|ESIS1SEL1|ESIS1SEL2);
+            ESICTL |= (sourceSelect << 7);
+            break;
+        case PSM_S2_SOURCE:
+        	ESICTL &= ~(ESIS2SEL0|ESIS2SEL1|ESIS2SEL2);
+            ESICTL |= (sourceSelect << 10);
+            break;
+        case PSM_S3_SOURCE:
+        	ESICTL &= ~(ESIS3SEL0|ESIS3SEL1|ESIS3SEL2);
+            ESICTL |= (sourceSelect << 13);
+            break;
+        default:
+            break;
+    }
+}
+
+//*****************************************************************************
+//
+//! Connects testChannel0 to comparator input
+//!
+//! \param sourceSelect can have the following values
+//!         ESI_TEST_CHANNEL0_SOURCE_IS_CH0_CI0
+//!         ESI_TEST_CHANNEL0_SOURCE_IS_CH1_CI1
+//!         ESI_TEST_CHANNEL0_SOURCE_IS_CH2_CI2
+//!         ESI_TEST_CHANNEL0_SOURCE_IS_CH3_CI3
+//!
+//! This function connects the chosen comparator input to the test channel0
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_testChannel0SourceSelect(uint16_t sourceSelect)
+{
+	ESICTL &= ~(ESI_TEST_CHANNEL0_SOURCE_IS_CH3_CI3);
+    ESICTL |= sourceSelect;
+}
+
+//*****************************************************************************
+//
+//! Connects testChannel1to comparator input
+//!
+//! \param sourceSelect can have the following values
+//!         ESI_TEST_CHANNEL1_SOURCE_IS_CH0_CI0
+//!         ESI_TEST_CHANNEL1_SOURCE_IS_CH1_CI1
+//!         ESI_TEST_CHANNEL1_SOURCE_IS_CH2_CI2
+//!         ESI_TEST_CHANNEL1_SOURCE_IS_CH3_CI3
+//!
+//! This function connects the chosen comparator input to the test channel1
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_testChannel1SourceSelect(uint16_t sourceSelect)
+{
+	ESICTL &= ~(ESI_TEST_CHANNEL1_SOURCE_IS_CH3_CI3);
+    ESICTL |= sourceSelect;
+}
+
+//*****************************************************************************
+//
+//! Enable ESI peripheral
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_enable(void)
+{
+	ESICTL |= ESIEN;
+}
+
+//*****************************************************************************
+//
+//! Disable ESI peripheral
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_disable(void)
+{
+	ESICTL &= ~ESIEN;
+}
+
+//*****************************************************************************
+//
+//! Start calibration on ESI internal Oscillator
+//!
+//! This function starts calibration of internal osciallator. After calling this
+//! function the user and use ESI_adjustInternalOscFreq() to adjust the freq. of
+//! the oscillator.
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_startInternalOscCal(void)
+{
+    assert(ESIOSC | ESIHFSEL);
+    ESIOSC |= ESICLKGON;
+}
+
+//*****************************************************************************
+//
+//! Adjusts frequency ESI internal Oscillator
+//!
+//! This function adjusts frequency ESI internal Oscillator. It increases or
+//! decrease the freq by 3% based on incOrDec value.
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_adjustInternalOscFreq(uint16_t incOrDec)
+{
+    uint16_t adjustValue;
+
+    assert(ESIOSC | ESIHFSEL);
+
+    adjustValue = ESIOSC >> 8;
+
+
+    if (incOrDec == ESI_INTERNAL_OSC_FREQ_INCREASE) {
+        adjustValue = adjustValue + 1;
+        adjustValue = adjustValue << 8;
+    }
+    else {
+        adjustValue = adjustValue - 1;
+        adjustValue = adjustValue << 8;
+    }
+
+    ESIOSC |= adjustValue;
+}
+
+//*****************************************************************************
+//
+//! Sets frequency of ESI internal Oscillator
+//!
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_setNominalInternalOscFreq(void)
+{
+	ESIOSC = ESICLKFQ5 + ESICLKGON + ESIHFSEL;
+}
+
+
+//*****************************************************************************
+//
+//! The following function return the number of ESIOSC cycle during an ACLK
+//! cycle. 
+//!
+//!
+//! \return None
+//
+//*****************************************************************************
+static uint16_t measureESIOSC(void){
+
+	uint16_t temp;
+
+   // This and next instruction realizes a clear->set ESICLKGON bit.
+   ESIOSC &= ~(ESICLKGON);                                                     
+   
+   // This starts measurement.            
+   ESIOSC |= ESICLKGON + ESIHFSEL;
+               
+   // Get counter value, when measurement has not finished yet, ESICNT3
+   // value is 0x01
+   do
+   {
+      temp = ESICNT3;                                                           
+   } while(temp == 0x01);  
+        
+   // Stop ESIOSC oscillator                         
+   ESIOSC &= ~(ESICLKGON);
+
+   // returns counter value ESICNT3
+   return temp; 
+}
+
+//******************************************************************************
+//! The following function returns the ESICLKFQx bits on ESIOSC register
+//
+//! \param none
+//
+//! \return ESICLKFQ bits only
+//******************************************************************************
+
+uint8_t ESI_getESICLKFQ(void){
+	uint16_t temp;
+
+	// Store ESIOSC content
+	temp = ESIOSC;
+	// Get ESICLKFQx bits
+	temp = (temp>>8) & 0x3F;
+
+	return temp;
+}
+
+//******************************************************************************
+//! The following function sets ESICLKFQx bits on ESIOSC register
+//
+//! \param setting is to the loaded to ESIOSC. Valid parameters a value between
+//!		   0x00 and 0x3F. 0x00 corresponds to minimum frequency, 0x20
+//!		   corresponds to nominal frequency and 0x3F corresponds to maximum
+//!		   frequency.
+//
+//! \return none
+//******************************************************************************
+void ESI_setESICLKFQ(uint8_t setting)
+{	uint16_t temp;
+
+	assert(setting<0x40);
+
+	temp = ESIOSC;                     // get actual ESIOSC register content
+	temp &= ~(0x3F00);
+	temp = ((uint16_t) setting << 8) + temp; // and update ESICLKFQ bits
+	ESIOSC = temp;
+
+}
+
+//*****************************************************************************
+//
+//! Calibrate ESI internal Oscillator
+//!
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_calibrateInternalOscFreq(uint16_t targetAclkCounts)
+{
+        ESI_setNominalInternalOscFreq();
+
+        ESI_measureESIOSC(ESI_ESIOSC_OVERSAMPLE_4);
+
+        if (ESICNT3 > targetAclkCounts) {
+                //freq is too high
+                do {
+                        ESI_adjustInternalOscFreq(ESI_INTERNAL_OSC_FREQ_DECREASE);
+
+                } while (ESI_measureESIOSC(ESI_ESIOSC_OVERSAMPLE_4) > targetAclkCounts);
+
+        }else  {
+                //freq is too low
+                do {
+                        ESI_adjustInternalOscFreq(ESI_INTERNAL_OSC_FREQ_INCREASE);
+
+                } while (ESI_measureESIOSC(ESI_ESIOSC_OVERSAMPLE_4) > targetAclkCounts);
+                ESI_adjustInternalOscFreq(ESI_INTERNAL_OSC_FREQ_DECREASE);
+        }
+}
+
+//*****************************************************************************
+//
+//! The following function returns an average of ESIOSC measurement.
+//!
+//! \param
+//!
+//! \return averaged ESIOSC measurement.
+//
+//*****************************************************************************
+uint16_t ESI_measureESIOSC(uint8_t oversample){
+	uint8_t i;
+	uint16_t temp=0;
+
+	assert(oversample<9);
+
+	for(i=oversample;i>0;i--){
+		temp += measureESIOSC();
+	}
+
+	temp /= oversample;
+	return temp;
+}
+
+//*****************************************************************************
+//
+//! Set upper threshold for PSM counter 1
+//!
+//! \param threshold is the upper threashold that causes ESIIFG3 to get set.
+//!
+//! This function sets the threshold value for PSM counter 1. ESIIFG3 gets set
+//! when counter value and this threahold are equal.
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_setPSMCounter1UpperThreshold(
+    uint16_t threshold)
+{
+    ESITHR1 = threshold;
+}
+
+//*****************************************************************************
+//
+//! Set lower threshold for PSM counter 1
+//!
+//! \param threshold is the lower threashold that causes ESIIFG3 to get set.
+//!
+//! This function set the threshold value for PSM counter 1. ESIIFG3 gets set
+//! when counter value and this threahold are equal.
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_setPSMCounter1LowerThreshold(
+    uint16_t threshold)
+{
+    ESITHR2 = threshold;
+}
+
+//*****************************************************************************
+//
+//! sets AFE1 DAC threshold Value
+//!
+//! \param dacValue is value to be written to DAC register.
+//! \param dacRegNum is DAC register number
+//!
+//! Write DAC threshold value into selected DAC register
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_setAFE1DACValue(uint16_t dacValue, uint8_t dacRegNum)
+{
+	volatile uint16_t* dacRegBase = (volatile uint16_t*) &ESIDAC1R0;
+	*(dacRegBase + dacRegNum) = dacValue;
+}
+
+//*****************************************************************************
+//
+//! gets AFE1 DAC threshold Value
+//!
+//! \param dacValue is value to be written to DAC register.
+//! \param dacRegNum is DAC register number
+//!
+//! Read DAC threshold value into selected DAC register
+//!
+//! \return DAC value from selected DAC register.
+//
+//*****************************************************************************
+uint16_t ESI_getAFE1DACValue(uint8_t dacRegNum)
+{
+	volatile uint16_t* dacRegBase = (volatile uint16_t*) &ESIDAC1R0;
+	return *(dacRegBase + dacRegNum);
+}
+
+//*****************************************************************************
+//
+//! sets AFE2 DAC threshold Value
+//!
+//! \param dacValue is value to be written to DAC register.
+//! \param dacRegNum is DAC register number
+//!
+//! Write DAC threshold value into selected DAC register
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_setAFE2DACValue(uint16_t dacValue, uint8_t dacRegNum)
+{
+	volatile uint16_t* dacRegBase = (volatile uint16_t*) &ESIDAC2R0;
+	*(dacRegBase + dacRegNum) = dacValue;
+}
+
+//*****************************************************************************
+//
+//! gets AFE2 DAC threshold Value
+//!
+//! \param dacValue is value to be written to DAC register.
+//! \param dacRegNum is DAC register number
+//!
+//! Read DAC threshold value into selected DAC register
+//!
+//! \return DAC value from selected DAC register.
+//
+//*****************************************************************************
+uint16_t ESI_getAFE2DACValue(uint8_t dacRegNum)
+{
+	volatile uint16_t* dacRegBase = (volatile uint16_t*) &ESIDAC2R0;
+	return *(dacRegBase + dacRegNum);
+}
+
+//*****************************************************************************
+//
+//! sets TSM state register
+//!
+//! \param params constructs the state value
+//! \param stateRegNum is state register offset
+//!
+//! Sets selected TSM state register.
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_setTSMstateReg(ESI_TSM_StateParams *params,
+		uint8_t stateRegNum)
+{
+	volatile uint16_t* stateRegBase = (volatile uint16_t*) &ESITSM0;
+	*(stateRegBase + stateRegNum) =
+			(params->inputChannelSelect +
+			params->LCDampingSelect +
+			params->excitationSelect +
+			params->comparatorSelect +
+			params->highFreqClkOn_or_compAutoZeroCycle +
+			params->outputLatchSelect +
+			params->testCycleSelect +
+			params->dacSelect +
+			params->tsmStop +
+			params->tsmClkSrc) |
+			(params->duration << 11);
+}
+
+//*****************************************************************************
+//
+//! Get ESI interrupt Vector Register
+//!
+//! \return None
+//
+//*****************************************************************************
+uint16_t ESI_getInterruptVectorRegister(void)
+{
+    return (ESIIV);
+}
+
+//*****************************************************************************
+//
+//! Enables ESI interrupts
+//!
+//! \param interruptMask is the bit mask of the interrupt sources to
+//!        be enabled. Mask value is the logical OR of any of the following:
+//!        \b ESI_INTERRUPT_AFE1_ESIOUTX
+//!		   \b ESI_INTERRUPT_ESISTOP
+//!		   \b ESI_INTERRUPT_ESISTART
+//!		   \b ESI_INTERRUPT_ESICNT1
+//!		   \b ESI_INTERRUPT_ESICNT2
+//!		   \b ESI_INTERRUPT_Q6_BIT_SET
+//!		   \b ESI_INTERRUPT_Q7_BIT_SET
+//!		   \b ESI_INTERRUPT_ESICNT0_COUNT_INTERVAL
+//!		   \b ESI_INTERRUPT_AFE2_ESIOUTX
+//!
+//! Modified bits of \b ESIINT1 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_enableInterrupt(uint16_t interruptMask)
+{
+    ESIINT1 |= (interruptMask);
+}
+//*****************************************************************************
+//
+//! Disables ESI interrupts
+//!
+//! \param interruptMask is the bit mask of the interrupt sources to
+//!        be disabled. Mask value is the logical OR of any of the following:
+//!        \b ESI_INTERRUPT_AFE1_ESIOUTX
+//!		   \b ESI_INTERRUPT_ESISTOP
+//!		   \b ESI_INTERRUPT_ESISTART
+//!		   \b ESI_INTERRUPT_ESICNT1
+//!		   \b ESI_INTERRUPT_ESICNT2
+//!		   \b ESI_INTERRUPT_Q6_BIT_SET
+//!		   \b ESI_INTERRUPT_Q7_BIT_SET
+//!		   \b ESI_INTERRUPT_ESICNT0_COUNT_INTERVAL
+//!		   \b ESI_INTERRUPT_AFE2_ESIOUTX
+//!
+//! Modified bits of \b ESIINT1 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_disableInterrupt(uint16_t interruptMask)
+{
+    ESIINT1 &= ~(interruptMask);
+}
+
+//*****************************************************************************
+//
+//! Get ESI interrupt status
+//!
+//! \param interruptMask is the masked interrupt flag status to be returned.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b ESI_INTERRUPT_FLAG_AFE1_ESIOUTX
+//!        - \b ESI_INTERRUPT_FLAG_ESISTOP
+//!        - \b ESI_INTERRUPT_FLAG_ESISTART
+//!        - \b ESI_INTERRUPT_FLAG_ESICNT1
+//!        - \b ESI_INTERRUPT_FLAG_ESICNT2
+//!		   - \b ESI_INTERRUPT_FLAG_Q6_BIT_SET
+//!        - \b ESI_INTERRUPT_FLAG_Q7_BIT_SET
+//!        - \b ESI_INTERRUPT_FLAG_ESICNT0_COUNT_INTERVAL
+//!        - \b ESI_INTERRUPT_FLAG_AFE2_ESIOUTX
+//!
+//! \return Logical OR of any of the following:
+//!        - \b ESI_INTERRUPT_FLAG_AFE1_ESIOUTX
+//!        - \b ESI_INTERRUPT_FLAG_ESISTOP
+//!        - \b ESI_INTERRUPT_FLAG_ESISTART
+//!        - \b ESI_INTERRUPT_FLAG_ESICNT1
+//!        - \b ESI_INTERRUPT_FLAG_ESICNT2
+//!        - \b ESI_INTERRUPT_FLAG_Q6_BIT_SET
+//!        - \b ESI_INTERRUPT_FLAG_Q7_BIT_SET
+//!        - \b ESI_INTERRUPT_FLAG_ESICNT0_COUNT_INTERVAL
+//!        - \b ESI_INTERRUPT_FLAG_AFE2_ESIOUTX
+//!         \n indicating the status of the masked flags
+//
+//*****************************************************************************
+uint16_t ESI_getInterruptStatus (uint16_t interruptMask)
+{
+    return (ESIINT2 & interruptMask);
+}
+
+//*****************************************************************************
+//
+//! Clear ESI interrupt flag
+//!
+//! \param interruptMask is the masked interrupt flag status to be returned.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b ESI_INTERRUPT_FLAG_AFE1_ESIOUTX
+//!        - \b ESI_INTERRUPT_FLAG_ESISTOP
+//!        - \b ESI_INTERRUPT_FLAG_ESISTART
+//!        - \b ESI_INTERRUPT_FLAG_ESICNT1
+//!        - \b ESI_INTERRUPT_FLAG_ESICNT2
+//!		   - \b ESI_INTERRUPT_FLAG_Q6_BIT_SET
+//!        - \b ESI_INTERRUPT_FLAG_Q7_BIT_SET
+//!        - \b ESI_INTERRUPT_FLAG_ESICNT0_COUNT_INTERVAL
+//!        - \b ESI_INTERRUPT_FLAG_AFE2_ESIOUTX
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_clearInterrupt (uint16_t interruptMask)
+{
+    ESIINT2 &= ~(interruptMask);
+}
+
+//*****************************************************************************
+//
+//! Set source of IFG0 interrupt flag
+//!
+//! \param ifg0Src values are as follows
+//!         ESI_IFG0_SET_WHEN_ESIOUT0_SET
+//!         ESI_IFG0_SET_WHEN_ESIOUT0_RESET
+//!         ESI_IFG0_SET_WHEN_ESIOUT1_SET
+//!         ESI_IFG0_SET_WHEN_ESIOUT1_RESET
+//!         ESI_IFG0_SET_WHEN_ESIOUT2_SET
+//!         ESI_IFG0_SET_WHEN_ESIOUT2_RESET
+//!         ESI_IFG0_SET_WHEN_ESIOUT3_SET
+//!         ESI_IFG0_SET_WHEN_ESIOUT3_RESET
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_setIFG0Source(uint16_t ifg0Src)
+{
+	ESIINT1 &= ~ESI_IFG0_SET_WHEN_ESIOUT3_RESET;
+    ESIINT1 |= ifg0Src;
+}
+
+//*****************************************************************************
+//
+//! Set source of IFG8 interrupt flag
+//!
+//! \param ifg8Src values are as follows
+//!         ESI_IFG8_SET_WHEN_ESIOUT4_SET
+//!         ESI_IFG8_SET_WHEN_ESIOUT4_RESET
+//!         ESI_IFG8_SET_WHEN_ESIOUT5_SET
+//!         ESI_IFG8_SET_WHEN_ESIOUT5_RESET
+//!         ESI_IFG8_SET_WHEN_ESIOUT6_SET
+//!         ESI_IFG8_SET_WHEN_ESIOUT6_RESET
+//!         ESI_IFG8_SET_WHEN_ESIOUT7_SET
+//!         ESI_IFG8_SET_WHEN_ESIOUT7_RESET
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_setIFG8Source(uint16_t ifg8Src)
+{
+	ESIINT1 &= ~ESI_IFG8_SET_WHEN_ESIOUT7_RESET;
+    ESIINT1 |= ifg8Src;
+}
+
+//*****************************************************************************
+//
+//! Set source of IFG7 interrupt flag
+//!
+//! \param ifg7Src values are as follows
+//!         ESI_IFG7_SOURCE_EVERY_COUNT_OF_CNT0
+//!         ESI_IFG7_SOURCE_CNT0_MOD4
+//!         ESI_IFG7_SOURCE_CNT0_MOD256
+//!         ESI_IFG7_SOURCE_CNT0_ROLLOVER
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_setIFG7Source(uint16_t ifg7Src)
+{
+	ESIINT2 &= ~ESI_IFG7_SOURCE_CNT0_ROLLOVER;
+    ESIINT2 |= ifg7Src;
+}
+
+//*****************************************************************************
+//
+//! Set source of IFG4 interrupt flag
+//!
+//! \param ifg4Src values are as follows
+//!         ESI_IFG4_SOURCE_EVERY_COUNT_OF_CNT2
+//!         ESI_IFG4_SOURCE_CNT2_MOD4
+//!         ESI_IFG4_SOURCE_CNT2_MOD256
+//!         ESI_IFG4_SOURCE_CNT2_ROLLOVER
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_setIFG4Source(uint16_t ifg4Src)
+{
+	ESIINT2 &= ~ESI_IFG4_SOURCE_CNT2_ROLLOVER;
+    ESIINT2 |= ifg4Src;
+}
+
+
+
+
+//*****************************************************************************
+//
+//! Simple DAC calibration code using pre-defined TSM
+//! Supports AFE1 only.
+//! \param selected_channel acceptable values
+//!         ESI_AFE1_CHANNEL0_SELECT
+//!         ESI_AFE1_CHANNEL1_SELECT
+//!         ESI_AFE1_CHANNEL2_SELECT
+//!         ESI_AFE1_CHANNEL3_SELECT
+//!
+//!
+//! \return None
+//
+//*****************************************************************************
+void ESI_LC_DAC_calibration(uint8_t selected_channel)
+{
+#define NUM_SENSOR_CAL	4
+#define MIN_HYSTERESIS	30
+#define STEP_TO_FINISH	4
+
+	unsigned int	i;
+	unsigned char	test_bit, done;
+	unsigned int	hysteresis[NUM_SENSOR_CAL],
+					hysteresis_hi[NUM_SENSOR_CAL],
+					hysteresis_lo[NUM_SENSOR_CAL],
+					current[NUM_SENSOR_CAL],
+					average[NUM_SENSOR_CAL],
+					max[NUM_SENSOR_CAL],
+					min[NUM_SENSOR_CAL];
+	
+	// State:	0 = output low
+	//			1 = output high
+	//			2 = undetermined (between 2 hysteresis level)
+	unsigned char	previous_state[NUM_SENSOR_CAL],
+					current_state[NUM_SENSOR_CAL],
+					step[NUM_SENSOR_CAL];
+					
+	// Reset values
+	for (i = 0; i < NUM_SENSOR_CAL; i++)
+	{
+		max[i]				= 0;
+		min[i]				= 0xffff;
+		previous_state[i]	= 2;
+		step[i]				= 0;
+	}
+	
+	do
+	{
+		// Find the current oscillating level, using software mode
+		FindDAC(selected_channel, 1);
+		
+		test_bit = 1;
+		done = 1;
+		
+		for (i = 0; i < NUM_SENSOR_CAL; i++)
+		{
+			// skip if the channel is not selected
+			if (test_bit & selected_channel)
+			{
+				current[i] = ESI_getAFE1DACValue(i*2);
+				
+				// Record max and min value
+				if (current[i] > max[i])
+					max[i] = current[i];
+				if (current[i] < min[i])
+					min[i] = current[i];
+
+				// Update average and hysteresis level
+				average[i] = (max[i] + min[i]) >> 1;
+				hysteresis[i] = (max[i] - min[i]) >> 3;
+				
+				if (hysteresis[i] < MIN_HYSTERESIS)
+					hysteresis[i] = MIN_HYSTERESIS;
+				
+				hysteresis[i] >>= 1;
+				hysteresis_hi[i] = average[i] + hysteresis[i];
+				hysteresis_lo[i] = average[i] - hysteresis[i];
+				
+				// Determine output state based on hysteresis_hi and hysteresis_lo
+				if (current[i] < hysteresis_lo[i])
+					current_state[i] = 0;
+				else if (current[i] > hysteresis_hi[i])
+					current_state[i] = 1;
+				else
+					current_state[i] = 2;
+				
+				// If there is state change, proceed to next step
+				switch (current_state[i])
+				{
+					case 0:
+					case 1:
+						if (previous_state[i] != current_state[i])
+						{
+							step[i]++;
+							previous_state[i] = current_state[i];
+						}
+					break;
+					
+					default:
+					break;
+				}
+				
+				// Any selected sensor which has not finished calibration will set done to zero
+				if (step[i] < STEP_TO_FINISH)
+					done = 0;
+			}
+			test_bit <<= 1;
+		}
+	}
+	while (!done);
+			
+	// Record DAC Values
+	test_bit = 1;
+	done = ESI_DAC1_REG0;		// Temp value for recording DAC
+	for (i = 0; i < NUM_SENSOR_CAL; i++)
+	{
+		if (test_bit & selected_channel)
+		{
+			ESI_setAFE1DACValue(hysteresis_hi[i], done++);
+			ESI_setAFE1DACValue(hysteresis_lo[i], done++);
+		}
+		test_bit <<= 1;
+	}
+}
+
+//*****************************************************************************
+//
+//! Find the current oscillating level, using software mode
+//!
+//!
+//! \return None
+//
+//*****************************************************************************
+
+static void FindDAC(unsigned char selected_channel, unsigned char software_trigger)
+{
+	// DAC Level tester, using successive approximation approach
+	unsigned int DAC_BIT = 0x0800, Prev_DAC_BIT = 0x0C00;
+
+	unsigned int i;
+	unsigned int test_bit, DAC_index;
+	
+	// Set initial DAC value for each selected channel
+	
+	// AFE 1
+	if (selected_channel & 0x0f)
+	{
+		test_bit = 0x01;
+		DAC_index = ESI_DAC1_REG0;
+		for (i=0; i < 4; i++)
+		{
+			if (selected_channel & test_bit)
+			{
+				ESI_setAFE1DACValue(DAC_BIT, DAC_index++);
+				ESI_setAFE1DACValue(DAC_BIT, DAC_index++);
+			}
+			else
+			{
+				DAC_index += 2;
+			}
+			test_bit <<= 1;
+		}
+	}
+	
+	// AFE 2
+	if (selected_channel & 0xf0)
+	{
+		test_bit = 0x10;
+		DAC_index = ESI_DAC2_REG0;
+		for (i=0; i < 4; i++)
+		{
+			if (selected_channel & test_bit)
+			{
+				ESI_setAFE2DACValue(DAC_BIT, DAC_index++);
+				ESI_setAFE2DACValue(DAC_BIT, DAC_index++);
+			}
+			else
+			{
+				DAC_index += 2;
+			}
+			test_bit <<= 1;
+		}
+	}
+	
+	ESI_enableInterrupt(ESI_INTERRUPT_ESISTOP);		// enable ESISTOP INT
+
+	// Find the DAC value for each selected channel
+	do
+	{
+		ESI_clearInterrupt (ESI_INTERRUPT_FLAG_ESISTOP);
+		
+		if (software_trigger)
+		{
+			ESI_TSM_softwareTrigger();
+		}
+		
+		__bis_SR_register(LPM3_bits+GIE);		// wait for the ESISTOP flag
+		DAC_BIT >>= 1;							// right shift one bit
+			
+		// AFE 1
+		if (selected_channel & 0x0f)
+		{
+			test_bit = 0x01;
+			DAC_index = ESI_DAC1_REG0;
+			for (i=0; i<4; i++)
+			{
+				if (selected_channel & test_bit)
+				{
+
+#ifndef INVERTED
+					if (ESI_getLatchedComparatorOutput(test_bit) == ESI_AFE_OUTPUT_HIGH)
+#else
+					if (ESI_getLatchedComparatorOutput(test_bit) == ESI_AFE_OUTPUT_LOW)
+#endif
+					{
+						ESI_setAFE1DACValue(ESI_getAFE1DACValue(DAC_index) | DAC_BIT, DAC_index);
+						DAC_index++;
+						ESI_setAFE1DACValue(ESI_getAFE1DACValue(DAC_index) | DAC_BIT, DAC_index);
+						DAC_index++;
+					}
+					else
+					{
+						ESI_setAFE1DACValue(ESI_getAFE1DACValue(DAC_index) ^ Prev_DAC_BIT, DAC_index);
+						DAC_index++;
+						ESI_setAFE1DACValue(ESI_getAFE1DACValue(DAC_index) ^ Prev_DAC_BIT, DAC_index);
+						DAC_index++;
+					}
+				}
+				else
+				{
+					DAC_index += 2;
+				}
+				test_bit <<= 1;
+			}
+		}
+		
+		// AFE 2
+		if (selected_channel & 0xf0)
+		{
+			test_bit = 0x10;
+			DAC_index = ESI_DAC2_REG0;
+			for (i=0; i<4; i++)
+			{
+				if (selected_channel & test_bit)
+				{
+#ifndef INVERTED
+					if (ESI_getLatchedComparatorOutput(test_bit) == ESI_AFE_OUTPUT_HIGH)
+#else
+					if (ESI_getLatchedComparatorOutput(test_bit) == ESI_AFE_OUTPUT_LOW)
+#endif
+					{
+						ESI_setAFE1DACValue(ESI_getAFE2DACValue(DAC_index) | DAC_BIT, DAC_index);
+						DAC_index++;
+						ESI_setAFE1DACValue(ESI_getAFE2DACValue(DAC_index) | DAC_BIT, DAC_index);
+						DAC_index++;
+					}
+					else
+					{
+						ESI_setAFE1DACValue(ESI_getAFE2DACValue(DAC_index) ^ Prev_DAC_BIT, DAC_index);
+						DAC_index++;
+						ESI_setAFE1DACValue(ESI_getAFE2DACValue(DAC_index) ^ Prev_DAC_BIT, DAC_index);
+						DAC_index++;
+					}
+				}
+				else
+				{
+					DAC_index += 2;
+				}
+				test_bit <<= 1;
+			}
+		}
+		Prev_DAC_BIT >>= 1;					// right shift one bit
+	}
+	while (DAC_BIT);
+	
+	ESI_disableInterrupt(ESI_INTERRUPT_ESISTOP);
+	__no_operation();
+}
+
+
+
+//*****************************************************************************
+//
+//! Close the doxygen group for esi_api
+//! @}
+//
+//*****************************************************************************
+#endif
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/esi.h b/Apps/FlightSoftware/MotorControl/driverlib/esi.h
new file mode 100644
index 000000000..fca690ef2
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/esi.h
@@ -0,0 +1,888 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// esi.h - Driver for the ESI Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_ESI_H__
+#define __MSP430WARE_ESI_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_ESI__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+uint16_t ESI_getCounter0(void);
+uint16_t ESI_getCounter1(void);
+uint16_t ESI_getCounter2(void);
+uint16_t ESI_getOscCounter(void);
+
+//*****************************************************************************
+//
+//The following are values that can be passed to excitationCircuitSelect
+//parameter in ESI_AFE_InitParams
+//
+//*****************************************************************************
+#define ESI_EXCITATION_CIRCUIT_DISABLED 0x0
+#define ESI_EXCITATION_CIRCUIT_ENABLED  ESITEN
+
+//*****************************************************************************
+//
+//The following are values that can be passed to sampleAndHoldSelect
+//parameter in ESI_AFE_InitParams
+//
+//*****************************************************************************
+#define ESI_SAMPLE_HOLD_DISABLED 0x0
+#define ESI_SAMPLE_HOLD_ENABLED  ESISH
+
+//*****************************************************************************
+//
+//The following are values that can be passed to midVoltageGeneratorSelect
+//parameter in ESI_AFE_InitParams
+//
+//*****************************************************************************
+#define ESI_MID_VOLTAGE_GENERATOR_DISABLED 0x0
+#define ESI_MID_VOLTAGE_GENERATOR_ENABLED  ESIVCC2
+
+//*****************************************************************************
+//
+//The following are values that can be passed to sampleAndHoldVSSConnect
+//parameter in ESI_AFE_InitParams
+//
+//*****************************************************************************
+#define ESI_SAMPLE_HOLD_VSS_TO_ESIVSS   0x0
+#define ESI_SAMPLE_HOLD_VSS_BY_TSM      ESIVSS
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//inputSelectAFE1 parameter in ESI_AFE1_InitParams
+//
+//*****************************************************************************
+#define ESI_AFE1_INPUT_SELECT_CHx        0
+#define ESI_AFE1_INPUT_SELECT_CIx        1
+#define ESI_AFE1_INPUT_SELECT_CI3        2
+#define ESI_AFE1_INPUT_SELECT_CI         3
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//inputSelectAFE2 parameter in ESI_AFE2_InitParams
+//
+//*****************************************************************************
+#define ESI_AFE2_INPUT_SELECT_CHx        0
+#define ESI_AFE2_INPUT_SELECT_CIx        ESICA2X
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//inverterSelectOutputAFE1 parameter in ESI_AFE1_InitParams
+//
+//*****************************************************************************
+#define ESI_INVERTER_FOR_AFE1_DISABLE   0x0
+#define ESI_INVERTER_FOR_AFE1_ENABLE    ESICA1INV
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//inverterSelectOutputAFE2 parameter in ESI_AFE2_InitParams
+//
+//*****************************************************************************
+#define ESI_INVERTER_FOR_AFE2_DISABLE   0x0
+#define ESI_INVERTER_FOR_AFE2_ENABLE    ESICA2INV
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//tsmControlOfComparatorAFE2 parameter in ESI_AFE2_InitParams
+//
+//*****************************************************************************
+#define ESI_TSM_COMPARATOR_CONTROL_AFE2_DISABLE    0x0
+#define ESI_TSM_COMPARATOR_CONTROL_AFE2_ENABLE     ESICA2EN
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//tsmControlDacAFE2 parameter in ESI_AFE2_InitParams
+//
+//*****************************************************************************
+#define ESI_TSM_DAC_CONTROL_AFE2_DISABLE    0x0
+#define ESI_TSM_DAC_CONTROL_AFE2_ENABLE     ESIDAC2EN
+
+typedef struct ESI_AFE1_InitParams {
+    uint16_t excitationCircuitSelect;
+    uint16_t sampleAndHoldSelect;
+    uint16_t midVoltageGeneratorSelect;
+    uint16_t sampleAndHoldVSSConnect;
+    uint16_t inputSelectAFE1;
+    uint16_t inverterSelectOutputAFE1;
+} ESI_AFE1_InitParams;
+
+extern const ESI_AFE1_InitParams ESI_AFE1_INITPARAMS_DEFAULT;
+
+void ESI_AFE1_init (ESI_AFE1_InitParams *params);
+
+typedef struct ESI_AFE2_InitParams {
+    uint16_t inputSelectAFE2;
+    uint16_t inverterSelectOutputAFE2;
+    uint16_t tsmControlComparatorAFE2;
+    uint16_t tsmControlDacAFE2;
+} ESI_AFE2_InitParams;
+
+extern const ESI_AFE2_InitParams ESI_AFE2_INITPARAMS_DEFAULT;
+
+void ESI_AFE2_init (ESI_AFE2_InitParams *params);
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//channelSelect parameter in ESI_getLatchedComparatorOutput
+//
+//*****************************************************************************
+#define ESI_AFE1_CHANNEL0_SELECT            ESIOUT0
+#define ESI_AFE1_CHANNEL1_SELECT            ESIOUT1
+#define ESI_AFE1_CHANNEL2_SELECT            ESIOUT2
+#define ESI_AFE1_CHANNEL3_SELECT            ESIOUT3
+#define ESI_AFE2_CHANNEL0_SELECT            ESIOUT4
+#define ESI_AFE2_CHANNEL1_SELECT            ESIOUT5
+#define ESI_AFE2_CHANNEL2_SELECT            ESIOUT6
+#define ESI_AFE2_CHANNEL3_SELECT            ESIOUT7
+#define ESI_AFE1_TEST_CHANNEL0_SELECT       ESITCHOUT0
+#define ESI_AFE1_TEST_CHANNEL1_SELECT       ESITCHOUT1
+
+//*****************************************************************************
+//
+//The following are values that are returned by ESI_getLatchedComparatorOutput
+//
+//*****************************************************************************
+#define ESI_AFE_OUTPUT_HIGH   0x1
+#define ESI_AFE_OUTPUT_LOW  0x0
+
+uint16_t ESI_getLatchedComparatorOutput (
+    uint16_t channelSelect);
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//smclkDivider parameter in ESI_TSM_InitParams
+//
+//*****************************************************************************
+#define ESI_TSM_SMCLK_DIV_1     0x0
+#define ESI_TSM_SMCLK_DIV_2     ESIDIV10
+#define ESI_TSM_SMCLK_DIV_4     ESIDIV11
+#define ESI_TSM_SMCLK_DIV_8     ESIDIV10 + ESIDIV11
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//aclkDivider parameter in ESI_TSM_InitParams
+//
+//*****************************************************************************
+#define ESI_TSM_ACLK_DIV_1     0x0
+#define ESI_TSM_ACLK_DIV_2     ESIDIV20
+#define ESI_TSM_ACLK_DIV_4     ESIDIV21
+#define ESI_TSM_ACLK_DIV_8     ESIDIV20 + ESIDIV21
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//startTriggerAclkDivider parameter in ESI_TSM_InitParams
+//
+//*****************************************************************************
+#define ESI_TSM_START_TRIGGER_DIV_2     0x0
+#define ESI_TSM_START_TRIGGER_DIV_6     ESIDIV3A0
+#define ESI_TSM_START_TRIGGER_DIV_10    ESIDIV3A1
+#define ESI_TSM_START_TRIGGER_DIV_14    ESIDIV3A0 + ESIDIV3A1
+#define ESI_TSM_START_TRIGGER_DIV_18    ESIDIV3A2
+#define ESI_TSM_START_TRIGGER_DIV_22    ESIDIV3A2 + ESIDIV3A0
+#define ESI_TSM_START_TRIGGER_DIV_26    ESIDIV3A2 + ESIDIV3A1
+#define ESI_TSM_START_TRIGGER_DIV_30    ESIDIV3A2 + ESIDIV3A1 + ESIDIV3A0
+#define ESI_TSM_START_TRIGGER_DIV_42    ESIDIV3A0 + ESIDIV3A1 + ESIDIV3B0
+#define ESI_TSM_START_TRIGGER_DIV_50	ESIDIV3A1 + ESIDIV3B1
+#define ESI_TSM_START_TRIGGER_DIV_54    ESIDIV3A2 + ESIDIV3B0
+#define ESI_TSM_START_TRIGGER_DIV_66    ESIDIV3A2 + ESIDIV3A0 + ESIDIV3B0
+#define ESI_TSM_START_TRIGGER_DIV_70	ESIDIV3A1 + ESIDIV3A0 + ESIDIV3B1
+#define ESI_TSM_START_TRIGGER_DIV_78    ESIDIV3A2 + ESIDIV3A1 + ESIDIV3B0
+#define ESI_TSM_START_TRIGGER_DIV_90    ESIDIV3A2 + ESIDIV3A1 + ESIDIV3A0 + ESIDIV3B0
+#define ESI_TSM_START_TRIGGER_DIV_98    ESIDIV3A0 + ESIDIV3A1 + ESIDIV3B0 + ESIDIV3B1
+#define ESI_TSM_START_TRIGGER_DIV_110   ESIDIV3A2 + ESIDIV3A0 + ESIDIV3B1
+#define ESI_TSM_START_TRIGGER_DIV_126   ESIDIV3A2 + ESIDIV3B0 + ESIDIV3B1
+#define ESI_TSM_START_TRIGGER_DIV_130   ESIDIV3A2 + ESIDIV3A1 + ESIDIV3B1
+#define ESI_TSM_START_TRIGGER_DIV_150   ESIDIV3A2 + ESIDIV3A1 + ESIDIV3A0 + ESIDIV3B1
+#define ESI_TSM_START_TRIGGER_DIV_154   ESIDIV3A2 + ESIDIV3A0 + ESIDIV3B0 + ESIDIV3B1
+#define ESI_TSM_START_TRIGGER_DIV_162   ESIDIV3A2 + ESIDIV3B2
+#define ESI_TSM_START_TRIGGER_DIV_182   ESIDIV3A2 + ESIDIV3A1 + ESIDIV3B0 + ESIDIV3B1
+#define ESI_TSM_START_TRIGGER_DIV_198   ESIDIV3A2 + ESIDIV3A0 + ESIDIV3B2
+#define ESI_TSM_START_TRIGGER_DIV_210   ESIDIV3A2 + ESIDIV3A1 + ESIDIV3A0 + ESIDIV3B0 + ESIDIV3B1
+#define ESI_TSM_START_TRIGGER_DIV_234   ESIDIV3A2 + ESIDIV3A1 + ESIDIV3B2
+#define ESI_TSM_START_TRIGGER_DIV_242   ESIDIV3A2 + ESIDIV3A0 + ESIDIV3B2 + ESIDIV3B0
+#define ESI_TSM_START_TRIGGER_DIV_270   ESIDIV3A2 + ESIDIV3A1 + ESIDIV3A0 + ESIDIV3B2
+#define ESI_TSM_START_TRIGGER_DIV_286   ESIDIV3A2 + ESIDIV3A1 + ESIDIV3B2 + ESIDIV3B0
+#define ESI_TSM_START_TRIGGER_DIV_330   ESIDIV3A2 + ESIDIV3A1 + ESIDIV3A0 + ESIDIV3B2 + ESIDIV3B0
+#define ESI_TSM_START_TRIGGER_DIV_338   ESIDIV3A2 + ESIDIV3A1 + ESIDIV3B2 + ESIDIV3B1
+#define ESI_TSM_START_TRIGGER_DIV_390   ESIDIV3A2 + ESIDIV3A1 + ESIDIV3A0 + ESIDIV3B2 + ESIDIV3B1
+#define ESI_TSM_START_TRIGGER_DIV_450   ESIDIV3A2 + ESIDIV3A1 + ESIDIV3A0 + ESIDIV3B2 + ESIDIV3B1 + ESIDIV3B0
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//repeatMode parameter in ESI_TSM_InitParams
+//
+//*****************************************************************************
+#define ESI_TSM_REPEAT_NEW_TRIGGER          0x0
+#define ESI_TSM_REPEAT_END_OF_PREVIOUS_SEQ  ESITSMRP
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//startTriggerSelection parameter in ESI_TSM_InitParams
+//
+//*****************************************************************************
+#define ESI_TSM_STOP_SEQUENCE                   0x0
+#define ESI_TSM_START_TRIGGER_ACLK              ESITSMTRG0
+#define ESI_TSM_START_TRIGGER_SOFTWARE          ESITSMTRG1
+#define ESI_TSM_START_TRIGGER_ACLK_OR_SOFTWARE  ESITSMTRG1 + ESITSMTRG0
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//tsmFunctionalitySelection parameter in ESI_TSM_InitParams
+//
+//*****************************************************************************
+#define ESI_TSM_HIGH_FREQ_CLK_FUNCTION_ON   0x0
+#define ESI_TSM_AUTOZERO_CYCLE_FUNCTION_ON  ESICLKAZSEL
+
+typedef struct ESI_TSM_InitParams {
+    uint16_t smclkDivider;
+    uint16_t aclkDivider;
+    uint16_t startTriggerAclkDivider;
+    uint16_t repeatMode;
+    uint16_t startTriggerSelection;
+    uint16_t tsmFunctionSelection;
+} ESI_TSM_InitParams;
+
+extern const ESI_TSM_InitParams ESI_TSM_INITPARAMS_DEFAULT;
+
+void ESI_TSM_init (ESI_TSM_InitParams *params);
+
+void ESI_TSM_clearTable(void);
+
+void ESI_TSM_copyTable(uint16_t* tsmTable, uint16_t size);
+
+void ESI_TSM_softwareTrigger(void);
+
+uint8_t ESI_TSM_getTSMStateDuration(uint8_t stateRegNum);
+
+void ESI_TSM_setTSMStateDuration(uint8_t stateRegNum, uint8_t duration);
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//Q6Select parameter in ESI_PSM_InitParams
+//
+//*****************************************************************************
+#define ESI_PSM_Q6_DISABLE  0x0
+#define ESI_PSM_Q6_ENABLE   ESIQ6EN
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//Q7TriggerSelect parameter in ESI_PSM_InitParams
+//
+//*****************************************************************************
+#define ESI_PSM_Q7_TRIGGER_DISABLE  0x0
+#define ESI_PSM_Q7_TRIGGER_ENABLE   ESIQ7TRG
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//count0Select parameter in ESI_PSM_InitParams
+//
+//*****************************************************************************
+#define ESI_PSM_CNT0_DISABLE 0x0
+#define ESI_PSM_CNT0_ENABLE ESICNT0EN
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//count0Reset parameter in ESI_PSM_InitParams
+//
+//*****************************************************************************
+#define ESI_PSM_CNT0_NO_RESET 0x0
+#define ESI_PSM_CNT0_RESET ESICNT0RST
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//count1Select parameter in ESI_PSM_InitParams
+//
+//*****************************************************************************
+#define ESI_PSM_CNT1_DISABLE 0x0
+#define ESI_PSM_CNT1_ENABLE ESICNT1EN
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//count1Reset parameter in ESI_PSM_InitParams
+//
+//*****************************************************************************
+#define ESI_PSM_CNT1_NO_RESET 0x0
+#define ESI_PSM_CNT1_RESET ESICNT1RST
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//count2Select parameter in ESI_PSM_InitParams
+//
+//*****************************************************************************
+#define ESI_PSM_CNT2_DISABLE 0x0
+#define ESI_PSM_CNT2_ENABLE ESICNT2EN
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//count2Reset parameter in ESI_PSM_InitParams
+//
+//*****************************************************************************
+#define ESI_PSM_CNT2_NO_RESET 0x0
+#define ESI_PSM_CNT2_RESET ESICNT2RST
+
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//V2Select parameter in ESI_PSM_InitParams
+//
+//*****************************************************************************
+#define ESI_PSM_S3_SELECT   0x0
+#define ESI_PSM_Q0_SELECT   ESIV2SEL
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//TEST4Select parameter in ESI_PSM_InitParams
+//
+//*****************************************************************************
+#define ESI_PSM_TEST4_IS_Q2         0x0
+#define ESI_PSM_TEST4_IS_Q1         ESITEST4SEL0
+#define ESI_PSM_TEST4_IS_TSM_CLK    ESITEST4SEL1
+#define ESI_PSM_TEST4_IS_AFE1_COMPARATOR   ESITEST4SEL0 +  ESITEST4SEL1
+
+typedef struct ESI_PSM_InitParams {
+    uint16_t Q6Select;
+    uint16_t Q7TriggerSelect;
+    uint16_t count0Select;
+	uint16_t count0Reset;
+    uint16_t count1Select;
+	uint16_t count1Reset;
+    uint16_t count2Select;
+	uint16_t count2Reset;
+    uint16_t V2Select;
+    uint16_t TEST4Select;
+} ESI_PSM_InitParams;
+
+extern const ESI_PSM_InitParams ESI_PSM_INITPARAMS_DEFAULT;
+
+void ESI_PSM_init (ESI_PSM_InitParams *params);
+
+void ESI_PSM_clearTable(void);
+void ESI_PSM_copyTable(uint8_t * psmTable, uint8_t size);
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//counterToReset parameter in ESI_PSM_counterReset
+//
+//*****************************************************************************
+#define ESI_PSM_CNT0_RST    ESICNT0RST
+#define ESI_PSM_CNT1_RST    ESICNT1RST
+#define ESI_PSM_CNT2_RST    ESICNT2RST
+
+void ESI_PSM_resetCounter (uint16_t counterToReset);
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//testCycleInsertion parameter in ESI_InitParams
+//
+//*****************************************************************************
+#define ESI_TEST_CYCLE_INSERTION_DISABLE    0x0
+#define ESI_TEST_CYCLE_INSERTION_ENABLE     ESITESTD
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//timerAInputSelection parameter in ESI_InitParams
+//
+//*****************************************************************************
+#define ESI_TIMERA_INPUT_TSM_COMPOUT    0x0
+#define ESI_TIMERA_INPUT_TSM_PPUSRC     ESICS
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//testChannel0Select parameter in ESI_InitParams
+//
+//*****************************************************************************
+#define ESI_TEST_CHANNEL0_SOURCE_IS_CH0_CI0 0x0
+#define ESI_TEST_CHANNEL0_SOURCE_IS_CH1_CI1 ESITCH00
+#define ESI_TEST_CHANNEL0_SOURCE_IS_CH2_CI2 ESITCH01
+#define ESI_TEST_CHANNEL0_SOURCE_IS_CH3_CI3 ESITCH00 + ESITCH01
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//testChannel1Select parameter in ESI_InitParams
+//
+//*****************************************************************************
+#define ESI_TEST_CHANNEL1_SOURCE_IS_CH0_CI0 0x0
+#define ESI_TEST_CHANNEL1_SOURCE_IS_CH1_CI1 ESITCH10
+#define ESI_TEST_CHANNEL1_SOURCE_IS_CH2_CI2 ESITCH11
+#define ESI_TEST_CHANNEL1_SOURCE_IS_CH3_CI3 ESITCH10 + ESITCH11
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//internalOscSelect parameter in ESI_InitParams
+//
+//*****************************************************************************
+#define ESI_INTERNAL_OSC_DISABLE    0x0
+#define ESI_INTERNAL_OSC_ENABLE     ESIHFSEL
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//sourceNum parameter in ESI_psmSourceSelect
+//
+//*****************************************************************************
+#define PSM_S1_SOURCE   1
+#define PSM_S2_SOURCE   2
+#define PSM_S3_SOURCE   3
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//sourceSelect parameter in ESI_psmSourceSelect
+//
+//*****************************************************************************
+#define ESI_PSM_SOURCE_IS_ESIOUT0    0
+#define ESI_PSM_SOURCE_IS_ESIOUT1    1
+#define ESI_PSM_SOURCE_IS_ESIOUT2    2
+#define ESI_PSM_SOURCE_IS_ESIOUT3    3
+#define ESI_PSM_SOURCE_IS_ESIOUT4    4
+#define ESI_PSM_SOURCE_IS_ESIOUT5    5
+#define ESI_PSM_SOURCE_IS_ESIOUT6    6
+#define ESI_PSM_SOURCE_IS_ESIOUT7    7
+
+void ESI_timerAInputSelect(uint16_t select);
+void ESI_psmSourceSelect(uint16_t sourceNum, uint16_t sourceSelect);
+void ESI_testChannel0SourceSelect(uint16_t sourceSelect);
+void ESI_testChannel1SourceSelect(uint16_t sourceSelect);
+void ESI_enable(void);
+void ESI_disable(void);
+
+void ESI_enableInternalOscillator();
+void ESI_disableInternalOscillator();
+void ESI_startInternalOscCal(void);
+void ESI_stopInternalOscCal(void);
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//oversample parameter in ESI_measureESIOSCOversample
+//
+//*****************************************************************************
+#define ESI_ESIOSC_NO_OVERSAMPLE	 		0
+#define ESI_ESIOSC_OVERSAMPLE_2		 		2
+#define ESI_ESIOSC_OVERSAMPLE_4				4
+#define ESI_ESIOSC_OVERSAMPLE_8				8
+uint16_t ESI_measureESIOSC(uint8_t oversample);
+uint8_t ESI_getESICLKFQ(void);
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//incOrDec parameter in ESI_adjustInternalOscFreq
+//
+//*****************************************************************************
+#define ESI_INTERNAL_OSC_FREQ_DECREASE  0x0
+#define ESI_INTERNAL_OSC_FREQ_INCREASE  0x1
+
+void ESI_adjustInternalOscFreq(uint16_t incOrDec);
+void ESI_setNominalInternalOscFreq(void);
+void ESI_calibrateInternalOscFreq(uint16_t targetAclkCounts);
+void ESI_setPSMCounter1IncreaseThreshold(
+    uint16_t threshold);
+
+void ESI_setPSMCounter1DecreaseThreshold(
+    uint16_t threshold);
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//resultNum parameter in ESI_getConversionResult
+//
+//*****************************************************************************
+#define ESI_CONVERSION_RESULT_1 ESIADMEM1
+#define ESI_CONVERSION_RESULT_2 ESIADMEM2
+#define ESI_CONVERSION_RESULT_3 ESIADMEM3
+#define ESI_CONVERSION_RESULT_4 ESIADMEM4
+
+uint16_t ESI_getConversionResult(uint16_t resultNum);
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//dacRegNum parameter in ESI_setAFE1DACValue and ESI_getAFE1DACValue
+//
+//*****************************************************************************
+#define ESI_DAC1_REG0   0
+#define ESI_DAC1_REG1   1
+#define ESI_DAC1_REG2   2
+#define ESI_DAC1_REG3   3
+#define ESI_DAC1_REG4   4
+#define ESI_DAC1_REG5   5
+#define ESI_DAC1_REG6   6
+#define ESI_DAC1_REG7   7
+
+void ESI_setAFE1DACValue(uint16_t dacValue,
+    uint8_t dacRegNum);
+uint16_t ESI_getAFE1DACValue(uint8_t dacRegNum);
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//dacRegNum parameter in ESI_setAFE2DACValue and ESI_getAFE2DACValue
+//
+//*****************************************************************************
+#define ESI_DAC2_REG0   0
+#define ESI_DAC2_REG1   1
+#define ESI_DAC2_REG2   2
+#define ESI_DAC2_REG3   3
+#define ESI_DAC2_REG4   4
+#define ESI_DAC2_REG5   5
+#define ESI_DAC2_REG6   6
+#define ESI_DAC2_REG7   7
+
+void ESI_setAFE2DACValue(uint16_t dacValue,
+    uint8_t dacRegNum);
+uint16_t ESI_getAFE2DACValue(uint8_t dacRegNum);
+
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//stateRegNum parameter in ESI_setTSMstateReg
+//
+//*****************************************************************************
+#define ESI_TSM_STATE_REG_0 0
+#define ESI_TSM_STATE_REG_1 1
+#define ESI_TSM_STATE_REG_2 2
+#define ESI_TSM_STATE_REG_3 3
+#define ESI_TSM_STATE_REG_4 4
+#define ESI_TSM_STATE_REG_5 5
+#define ESI_TSM_STATE_REG_6 6
+#define ESI_TSM_STATE_REG_7 7
+#define ESI_TSM_STATE_REG_8 8
+#define ESI_TSM_STATE_REG_9 9
+#define ESI_TSM_STATE_REG_10 10
+#define ESI_TSM_STATE_REG_11 11
+#define ESI_TSM_STATE_REG_12 12
+#define ESI_TSM_STATE_REG_13 13
+#define ESI_TSM_STATE_REG_14 14
+#define ESI_TSM_STATE_REG_15 15
+#define ESI_TSM_STATE_REG_16 16
+#define ESI_TSM_STATE_REG_17 17
+#define ESI_TSM_STATE_REG_18 18
+#define ESI_TSM_STATE_REG_19 19
+#define ESI_TSM_STATE_REG_20 20
+#define ESI_TSM_STATE_REG_21 21
+#define ESI_TSM_STATE_REG_22 22
+#define ESI_TSM_STATE_REG_23 23
+#define ESI_TSM_STATE_REG_24 24
+#define ESI_TSM_STATE_REG_25 25
+#define ESI_TSM_STATE_REG_26 26
+#define ESI_TSM_STATE_REG_27 27
+#define ESI_TSM_STATE_REG_28 28
+#define ESI_TSM_STATE_REG_29 29
+#define ESI_TSM_STATE_REG_30 30
+#define ESI_TSM_STATE_REG_31 31
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//inputChannelSelect parameter in ESI_TSM_StateParams
+//
+//*****************************************************************************
+#define ESI_TSM_STATE_CHANNEL_SELECT_CH0 0
+#define ESI_TSM_STATE_CHANNEL_SELECT_CH1 ESICH0
+#define ESI_TSM_STATE_CHANNEL_SELECT_CH2 ESICH1
+#define ESI_TSM_STATE_CHANNEL_SELECT_CH3 (ESICH1 | ESICH0)
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//LCDampingSelect parameter in ESI_TSM_StateParams
+//
+//*****************************************************************************
+#define ESI_TSM_STATE_LC_DAMPING_DISABLE  0x0
+#define ESI_TSM_STATE_LC_DAMPING_ENABLE  ESILCEN
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//excitationSelect parameter in ESI_TSM_StateParams
+//
+//*****************************************************************************
+#define ESI_TSM_STATE_EXCITATION_DISABLE    0x0
+#define ESI_TSM_STATE_EXCITATION_ENABLE     ESIEX
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//comparatorSelect parameter in ESI_TSM_StateParams
+//
+//*****************************************************************************
+#define ESI_TSM_STATE_COMPARATOR_DISABLE    0x0
+#define ESI_TSM_STATE_COMPARATOR_ENABLE     ESICA
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//highFreqClkOn_or_compAutoZeroCycle parameter in ESI_TSM_StateParams
+//
+//*****************************************************************************
+#define ESI_TSM_STATE_HIGH_FREQ_CLK_ON        0x0
+#define ESI_TSM_STATE_COMP_AUTOZERO_CYCLE     ESICLKON
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//outputLatchSelect parameter in ESI_TSM_StateParams
+//
+//*****************************************************************************
+#define ESI_TSM_STATE_OUTPUT_LATCH_DISABLE  0x0
+#define ESI_TSM_STATE_OUTPUT_LATCH_ENABLE   ESIRSON
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//testCycleSelect parameter in ESI_TSM_StateParams
+//
+//*****************************************************************************
+#define ESI_TSM_STATE_TEST_CYCLE_DISABLE    0x0
+#define ESI_TSM_STATE_TEST_CYCLE_ENABLE     ESITESTS1
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//dacSelect parameter in ESI_TSM_StateParams
+//
+//*****************************************************************************
+#define ESI_TSM_STATE_DAC_DISABLE   0x0
+#define ESI_TSM_STATE_DAC_ENABLE    ESIDAC
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//tsmStop parameter in ESI_TSM_StateParams
+//
+//*****************************************************************************
+#define ESI_TSM_STATE_CONTINUE  0x0
+#define ESI_TSM_STATE_STOP      ESISTOP
+
+//*****************************************************************************
+//
+//The following are values that can be passed to
+//tsmClkSrc parameter in ESI_TSM_StateParams
+//
+//*****************************************************************************
+#define ESI_TSM_STATE_HIGH_FREQ_CLK 0x0
+#define ESI_TSM_STATE_ACLK          ESICLK
+
+//*****************************************************************************
+//
+//Values between these min and max can be pased to
+//duration parameter in ESI_TSM_StateParams
+//
+//*****************************************************************************
+#define ESI_TSM_STATE_DURATION_MIN  0x00
+#define ESI_TSM_STATE_DURATION_MAX  0x1F
+
+typedef struct ESI_TSM_StateParams {
+    uint16_t inputChannelSelect;
+    uint16_t LCDampingSelect;
+    uint16_t excitationSelect;
+    uint16_t comparatorSelect;
+    uint16_t highFreqClkOn_or_compAutoZeroCycle;
+    uint16_t outputLatchSelect;
+    uint16_t testCycleSelect;
+    uint16_t dacSelect;
+    uint16_t tsmStop;
+    uint16_t tsmClkSrc;
+    uint16_t duration;
+} ESI_TSM_StateParams;
+
+void ESI_setTSMstateReg(ESI_TSM_StateParams *params,
+    uint8_t stateRegNum);
+
+uint16_t ESIgetInterruptVectorRegister(void);
+
+//*****************************************************************************
+//
+//The following values can be be used to form the interrupt mask for
+//ESI_enableInterrupt and ESI_disableInterrupt
+//
+//*****************************************************************************
+#define ESI_INTERRUPT_AFE1_ESIOUTX						ESIIE0
+#define ESI_INTERRUPT_ESISTOP				            ESIIE1
+#define ESI_INTERRUPT_ESISTART				            ESIIE2
+#define ESI_INTERRUPT_ESICNT1				            ESIIE3
+#define ESI_INTERRUPT_ESICNT2				            ESIIE4
+#define ESI_INTERRUPT_Q6_BIT_SET			            ESIIE5
+#define ESI_INTERRUPT_Q7_BIT_SET			            ESIIE6
+#define ESI_INTERRUPT_ESICNT0_COUNT_INTERVAL		    ESIIE7
+#define ESI_INTERRUPT_AFE2_ESIOUTX					    ESIIE8
+
+
+void ESI_enableInterrupt(uint16_t interruptMask);
+void ESI_disableInterrupt(uint16_t interruptMask);
+
+//*****************************************************************************
+//
+//Return values for ESI_getInterruptStatus
+//
+//*****************************************************************************
+#define ESI_INTERRUPT_FLAG_AFE1_ESIOUTX				    ESIIFG0
+#define ESI_INTERRUPT_FLAG_ESISTOP				        ESIIFG1
+#define ESI_INTERRUPT_FLAG_ESISTART				        ESIIFG2
+#define ESI_INTERRUPT_FLAG_ESICNT1				        ESIIFG3
+#define ESI_INTERRUPT_FLAG_ESICNT2				        ESIIFG4
+#define ESI_INTERRUPT_FLAG_Q6_BIT_SET			        ESIIFG5
+#define ESI_INTERRUPT_FLAG_Q7_BIT_SET			        ESIIFG6
+#define ESI_INTERRUPT_FLAG_ESICNT0_COUNT_INTERVAL		ESIIFG7
+#define ESI_INTERRUPT_FLAG_AFE2_ESIOUTX					ESIIFG8
+
+
+uint16_t ESI_getInterruptStatus ( uint16_t interruptMask);
+void ESI_clearInterrupt (uint16_t interruptMask);
+
+//*****************************************************************************
+//
+//Values for ifg0Src in ESI_setIFG0Source
+//
+//*****************************************************************************
+#define ESI_IFG0_SET_WHEN_ESIOUT0_SET       ESIIFGSET1_0
+#define ESI_IFG0_SET_WHEN_ESIOUT0_RESET     ESIIFGSET1_1
+#define ESI_IFG0_SET_WHEN_ESIOUT1_SET       ESIIFGSET1_2
+#define ESI_IFG0_SET_WHEN_ESIOUT1_RESET     ESIIFGSET1_3
+#define ESI_IFG0_SET_WHEN_ESIOUT2_SET       ESIIFGSET1_4
+#define ESI_IFG0_SET_WHEN_ESIOUT2_RESET     ESIIFGSET1_5
+#define ESI_IFG0_SET_WHEN_ESIOUT3_SET       ESIIFGSET1_6
+#define ESI_IFG0_SET_WHEN_ESIOUT3_RESET     ESIIFGSET1_7
+
+void ESI_setIFG0Source(uint16_t ifg0Src);
+
+//*****************************************************************************
+//
+//Values for ifg8Src in ESI_setIFG8Source
+//
+//*****************************************************************************
+#define ESI_IFG8_SET_WHEN_ESIOUT4_SET       ESIIFGSET2_0
+#define ESI_IFG8_SET_WHEN_ESIOUT4_RESET     ESIIFGSET2_1
+#define ESI_IFG8_SET_WHEN_ESIOUT5_SET       ESIIFGSET2_2
+#define ESI_IFG8_SET_WHEN_ESIOUT5_RESET     ESIIFGSET2_3
+#define ESI_IFG8_SET_WHEN_ESIOUT6_SET       ESIIFGSET2_4
+#define ESI_IFG8_SET_WHEN_ESIOUT6_RESET     ESIIFGSET2_5
+#define ESI_IFG8_SET_WHEN_ESIOUT7_SET       ESIIFGSET2_6
+#define ESI_IFG8_SET_WHEN_ESIOUT7_RESET     ESIIFGSET2_7
+
+void ESI_setIFG8Source(uint16_t ifg8Src);
+
+//*****************************************************************************
+//
+//Values for ifg7Src in ESI_setIFG7Source
+//
+//*****************************************************************************
+#define ESI_IFG7_SOURCE_EVERY_COUNT_OF_CNT0     ESIIS0_0
+#define ESI_IFG7_SOURCE_CNT0_MOD4               ESIIS0_1
+#define ESI_IFG7_SOURCE_CNT0_MOD256             ESIIS0_2
+#define ESI_IFG7_SOURCE_CNT0_ROLLOVER           ESIIS0_3
+
+void ESI_setIFG7Source(uint16_t ifg7Src);
+
+//*****************************************************************************
+//
+//Values for ifg4Src in ESI_setIFG4Source
+//
+//*****************************************************************************
+#define ESI_IFG4_SOURCE_EVERY_COUNT_OF_CNT2     ESIIS2_0
+#define ESI_IFG4_SOURCE_CNT2_MOD4               ESIIS2_1
+#define ESI_IFG4_SOURCE_CNT2_MOD256             ESIIS2_2
+#define ESI_IFG4_SOURCE_CNT2_ROLLOVER           ESIIS2_3
+
+void ESI_setIFG4Source(uint16_t ifg4Src);
+
+
+void ESI_setPSMCounter1UpperThreshold(uint16_t threshold);
+void ESI_setPSMCounter1LowerThreshold(uint16_t threshold);
+
+//*****************************************************************************
+//
+// Set correct DAC values for LC sensors
+//
+//*****************************************************************************
+void ESI_LC_DAC_calibration(uint8_t selected_channel);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/eusci_a_spi.c b/Apps/FlightSoftware/MotorControl/driverlib/eusci_a_spi.c
new file mode 100644
index 000000000..e54b87153
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/eusci_a_spi.c
@@ -0,0 +1,229 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// eusci_a_spi.c - Driver for the eusci_a_spi Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup eusci_a_spi_api eusci_a_spi
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_EUSCI_Ax__
+#include "eusci_a_spi.h"
+
+#include <assert.h>
+
+void EUSCI_A_SPI_initMaster (uint16_t baseAddress,
+    EUSCI_A_SPI_initMasterParam *param)
+{
+    //Disable the USCI Module
+    HWREG16(baseAddress + OFS_UCAxCTLW0) |= UCSWRST;
+
+    //Reset OFS_UCAxCTLW0 values
+    HWREG16(baseAddress + OFS_UCAxCTLW0) &= ~(UCCKPH + UCCKPL + UC7BIT + UCMSB +
+        UCMST + UCMODE_3 + UCSYNC);
+
+    //Reset OFS_UCAxCTLW0 values
+    HWREG16(baseAddress + OFS_UCAxCTLW0) &= ~(UCSSEL_3);
+
+    //Select Clock
+    HWREG16(baseAddress + OFS_UCAxCTLW0) |= param->selectClockSource;
+
+    HWREG16(baseAddress + OFS_UCAxBRW) =
+        (uint16_t)(param->clockSourceFrequency / param->desiredSpiClock);
+
+    /*
+     * Configure as SPI master mode.
+     * Clock phase select, polarity, msb
+     * UCMST = Master mode
+     * UCSYNC = Synchronous mode
+     * UCMODE_0 = 3-pin SPI
+     */
+    HWREG16(baseAddress + OFS_UCAxCTLW0) |= (
+        param->msbFirst +
+        param->clockPhase +
+        param->clockPolarity +
+        UCMST +
+        UCSYNC +
+        param->spiMode
+        );
+    //No modulation
+    HWREG16(baseAddress + OFS_UCAxMCTLW) = 0;
+}
+
+void EUSCI_A_SPI_select4PinFunctionality (uint16_t baseAddress,
+    uint8_t select4PinFunctionality
+    )
+{
+  HWREG16(baseAddress + OFS_UCAxCTLW0) &= ~UCSTEM;
+  HWREG16(baseAddress + OFS_UCAxCTLW0) |= select4PinFunctionality;
+}
+
+void EUSCI_A_SPI_changeMasterClock (uint16_t baseAddress,
+    EUSCI_A_SPI_changeMasterClockParam *param)
+{
+    //Disable the USCI Module
+    HWREG16(baseAddress + OFS_UCAxCTLW0) |= UCSWRST;
+
+    HWREG16(baseAddress + OFS_UCAxBRW) =
+        (uint16_t)(param->clockSourceFrequency / param->desiredSpiClock);
+
+    //Reset the UCSWRST bit to enable the USCI Module
+    HWREG16(baseAddress + OFS_UCAxCTLW0) &= ~(UCSWRST);
+}
+
+void EUSCI_A_SPI_initSlave (uint16_t baseAddress, EUSCI_A_SPI_initSlaveParam *param)
+{
+    //Disable USCI Module
+    HWREG16(baseAddress + OFS_UCAxCTLW0)  |= UCSWRST;
+
+    //Reset OFS_UCAxCTLW0 register
+    HWREG16(baseAddress + OFS_UCAxCTLW0) &= ~(UCMSB +
+                                            UC7BIT +
+                                            UCMST +
+                                            UCCKPL +
+                                            UCCKPH +
+                                            UCMODE_3
+                                            );
+
+    //Clock polarity, phase select, msbFirst, SYNC, Mode0
+    HWREG16(baseAddress + OFS_UCAxCTLW0) |= (param->clockPhase +
+                                            param->clockPolarity +
+                                            param->msbFirst +
+                                            UCSYNC +
+                                            param->spiMode
+                                            );
+}
+
+void EUSCI_A_SPI_changeClockPhasePolarity (uint16_t baseAddress,
+    uint16_t clockPhase,
+    uint16_t clockPolarity
+    )
+{
+
+  //Disable the USCI Module
+  HWREG16(baseAddress + OFS_UCAxCTLW0) |= UCSWRST;
+
+  HWREG16(baseAddress + OFS_UCAxCTLW0) &= ~(UCCKPH + UCCKPL);
+
+  HWREG16(baseAddress + OFS_UCAxCTLW0) |= (
+        clockPhase +
+        clockPolarity
+          );
+
+  //Reset the UCSWRST bit to enable the USCI Module
+  HWREG16(baseAddress + OFS_UCAxCTLW0) &= ~(UCSWRST);
+}
+
+void EUSCI_A_SPI_transmitData ( uint16_t baseAddress,
+    uint8_t transmitData
+    )
+{
+    HWREG16(baseAddress + OFS_UCAxTXBUF) = transmitData;
+}
+
+uint8_t EUSCI_A_SPI_receiveData (uint16_t baseAddress)
+{
+    return ( HWREG16(baseAddress + OFS_UCAxRXBUF)) ;
+}
+
+void EUSCI_A_SPI_enableInterrupt (uint16_t baseAddress,
+    uint8_t mask
+    )
+{
+    HWREG16(baseAddress + OFS_UCAxIE) |= mask;
+}
+
+void EUSCI_A_SPI_disableInterrupt (uint16_t baseAddress,
+    uint8_t mask
+    )
+{
+    HWREG16(baseAddress + OFS_UCAxIE) &= ~mask;
+}
+
+uint8_t EUSCI_A_SPI_getInterruptStatus (uint16_t baseAddress,
+    uint8_t mask
+    )
+{
+    return ( HWREG16(baseAddress + OFS_UCAxIFG) & mask );
+}
+
+void EUSCI_A_SPI_clearInterrupt (uint16_t baseAddress,
+    uint8_t mask
+    )
+{
+    HWREG16(baseAddress + OFS_UCAxIFG) &=  ~mask;
+}
+
+void EUSCI_A_SPI_enable (uint16_t baseAddress)
+{
+    //Reset the UCSWRST bit to enable the USCI Module
+    HWREG16(baseAddress + OFS_UCAxCTLW0) &= ~(UCSWRST);
+}
+
+void EUSCI_A_SPI_disable (uint16_t baseAddress)
+{
+    //Set the UCSWRST bit to disable the USCI Module
+    HWREG16(baseAddress + OFS_UCAxCTLW0) |= UCSWRST;
+}
+
+uint32_t EUSCI_A_SPI_getReceiveBufferAddress (uint16_t baseAddress)
+{
+    return ( baseAddress + OFS_UCAxRXBUF );
+}
+
+uint32_t EUSCI_A_SPI_getTransmitBufferAddress (uint16_t baseAddress)
+{
+    return ( baseAddress + OFS_UCAxTXBUF );
+}
+
+uint16_t EUSCI_A_SPI_isBusy (uint16_t baseAddress)
+{
+    //Return the bus busy status.
+    return (HWREG16(baseAddress + OFS_UCAxSTATW) & UCBUSY);
+}
+
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for eusci_a_spi_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/eusci_a_spi.h b/Apps/FlightSoftware/MotorControl/driverlib/eusci_a_spi.h
new file mode 100644
index 000000000..516cacbc0
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/eusci_a_spi.h
@@ -0,0 +1,526 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// eusci_a_spi.h - Driver for the EUSCI_A_SPI Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_EUSCI_A_SPI_H__
+#define __MSP430WARE_EUSCI_A_SPI_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_EUSCI_Ax__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "inc/hw_memmap.h"
+//*****************************************************************************
+//
+//! \brief Used in the EUSCI_A_SPI_changeMasterClock() function as the param
+//! parameter.
+//
+//*****************************************************************************
+typedef struct EUSCI_A_SPI_changeMasterClockParam {
+    //! Is the frequency of the selected clock source in Hz
+    uint32_t clockSourceFrequency;
+    //! Is the desired clock rate in Hz for SPI communication
+    uint32_t desiredSpiClock;
+} EUSCI_A_SPI_changeMasterClockParam;
+
+//*****************************************************************************
+//
+//! \brief Used in the EUSCI_A_SPI_initSlave() function as the param parameter.
+//
+//*****************************************************************************
+typedef struct EUSCI_A_SPI_initSlaveParam {
+    //! Controls the direction of the receive and transmit shift register.
+    //! \n Valid values are:
+    //! - \b EUSCI_A_SPI_MSB_FIRST
+    //! - \b EUSCI_A_SPI_LSB_FIRST [Default]
+    uint16_t msbFirst;
+    //! Is clock phase select.
+    //! \n Valid values are:
+    //! - \b EUSCI_A_SPI_PHASE_DATA_CHANGED_ONFIRST_CAPTURED_ON_NEXT [Default]
+    //! - \b EUSCI_A_SPI_PHASE_DATA_CAPTURED_ONFIRST_CHANGED_ON_NEXT
+    uint16_t clockPhase;
+    //! Is clock polarity select
+    //! \n Valid values are:
+    //! - \b EUSCI_A_SPI_CLOCKPOLARITY_INACTIVITY_HIGH
+    //! - \b EUSCI_A_SPI_CLOCKPOLARITY_INACTIVITY_LOW [Default]
+    uint16_t clockPolarity;
+    //! Is SPI mode select
+    //! \n Valid values are:
+    //! - \b EUSCI_A_SPI_3PIN
+    //! - \b EUSCI_A_SPI_4PIN_UCxSTE_ACTIVE_HIGH
+    //! - \b EUSCI_A_SPI_4PIN_UCxSTE_ACTIVE_LOW
+    uint16_t spiMode;
+} EUSCI_A_SPI_initSlaveParam;
+
+//*****************************************************************************
+//
+//! \brief Used in the EUSCI_A_SPI_initMaster() function as the param
+//! parameter.
+//
+//*****************************************************************************
+typedef struct EUSCI_A_SPI_initMasterParam {
+    //! Selects Clock source. Refer to device specific datasheet for available
+    //! options.
+    //! \n Valid values are:
+    //! - \b EUSCI_A_SPI_CLOCKSOURCE_ACLK
+    //! - \b EUSCI_A_SPI_CLOCKSOURCE_SMCLK
+    uint8_t selectClockSource;
+    //! Is the frequency of the selected clock source in Hz
+    uint32_t clockSourceFrequency;
+    //! Is the desired clock rate in Hz for SPI communication
+    uint32_t desiredSpiClock;
+    //! Controls the direction of the receive and transmit shift register.
+    //! \n Valid values are:
+    //! - \b EUSCI_A_SPI_MSB_FIRST
+    //! - \b EUSCI_A_SPI_LSB_FIRST [Default]
+    uint16_t msbFirst;
+    //! Is clock phase select.
+    //! \n Valid values are:
+    //! - \b EUSCI_A_SPI_PHASE_DATA_CHANGED_ONFIRST_CAPTURED_ON_NEXT [Default]
+    //! - \b EUSCI_A_SPI_PHASE_DATA_CAPTURED_ONFIRST_CHANGED_ON_NEXT
+    uint16_t clockPhase;
+    //! Is clock polarity select
+    //! \n Valid values are:
+    //! - \b EUSCI_A_SPI_CLOCKPOLARITY_INACTIVITY_HIGH
+    //! - \b EUSCI_A_SPI_CLOCKPOLARITY_INACTIVITY_LOW [Default]
+    uint16_t clockPolarity;
+    //! Is SPI mode select
+    //! \n Valid values are:
+    //! - \b EUSCI_A_SPI_3PIN
+    //! - \b EUSCI_A_SPI_4PIN_UCxSTE_ACTIVE_HIGH
+    //! - \b EUSCI_A_SPI_4PIN_UCxSTE_ACTIVE_LOW
+    uint16_t spiMode;
+} EUSCI_A_SPI_initMasterParam;
+
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the clockPhase parameter for
+// functions: EUSCI_A_SPI_changeClockPhasePolarity(); the param parameter for
+// functions: EUSCI_A_SPI_initMaster(), and EUSCI_A_SPI_initSlave().
+//
+//*****************************************************************************
+#define EUSCI_A_SPI_PHASE_DATA_CHANGED_ONFIRST_CAPTURED_ON_NEXT            0x00
+#define EUSCI_A_SPI_PHASE_DATA_CAPTURED_ONFIRST_CHANGED_ON_NEXT          UCCKPH
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: EUSCI_A_SPI_initMaster(), and EUSCI_A_SPI_initSlave().
+//
+//*****************************************************************************
+#define EUSCI_A_SPI_MSB_FIRST                                             UCMSB
+#define EUSCI_A_SPI_LSB_FIRST                                              0x00
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: EUSCI_A_SPI_initMaster(), and EUSCI_A_SPI_initSlave(); the
+// clockPolarity parameter for functions:
+// EUSCI_A_SPI_changeClockPhasePolarity().
+//
+//*****************************************************************************
+#define EUSCI_A_SPI_CLOCKPOLARITY_INACTIVITY_HIGH                        UCCKPL
+#define EUSCI_A_SPI_CLOCKPOLARITY_INACTIVITY_LOW                           0x00
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: EUSCI_A_SPI_initMaster().
+//
+//*****************************************************************************
+#define EUSCI_A_SPI_CLOCKSOURCE_ACLK                               UCSSEL__ACLK
+#define EUSCI_A_SPI_CLOCKSOURCE_SMCLK                             UCSSEL__SMCLK
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: EUSCI_A_SPI_initMaster(), and EUSCI_A_SPI_initSlave().
+//
+//*****************************************************************************
+#define EUSCI_A_SPI_3PIN                                               UCMODE_0
+#define EUSCI_A_SPI_4PIN_UCxSTE_ACTIVE_HIGH                            UCMODE_1
+#define EUSCI_A_SPI_4PIN_UCxSTE_ACTIVE_LOW                             UCMODE_2
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the select4PinFunctionality
+// parameter for functions: EUSCI_A_SPI_select4PinFunctionality().
+//
+//*****************************************************************************
+#define EUSCI_A_SPI_PREVENT_CONFLICTS_WITH_OTHER_MASTERS                   0x00
+#define EUSCI_A_SPI_ENABLE_SIGNAL_FOR_4WIRE_SLAVE                        UCSTEM
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the mask parameter for
+// functions: EUSCI_A_SPI_enableInterrupt(), EUSCI_A_SPI_disableInterrupt(),
+// EUSCI_A_SPI_getInterruptStatus(), and EUSCI_A_SPI_clearInterrupt() as well
+// as returned by the EUSCI_A_SPI_getInterruptStatus() function.
+//
+//*****************************************************************************
+#define EUSCI_A_SPI_TRANSMIT_INTERRUPT                                   UCTXIE
+#define EUSCI_A_SPI_RECEIVE_INTERRUPT                                    UCRXIE
+
+//*****************************************************************************
+//
+// The following are values that can be passed toThe following are values that
+// can be returned by the EUSCI_A_SPI_isBusy() function.
+//
+//*****************************************************************************
+#define EUSCI_A_SPI_BUSY                                                 UCBUSY
+#define EUSCI_A_SPI_NOT_BUSY                                               0x00
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Initializes the SPI Master block.
+//!
+//! Upon successful initialization of the SPI master block, this function will
+//! have set the bus speed for the master, but the SPI Master block still
+//! remains disabled and must be enabled with EUSCI_A_SPI_enable()
+//!
+//! \param baseAddress is the base address of the EUSCI_A_SPI Master module.
+//! \param param is the pointer to struct for master initialization.
+//!
+//! Modified bits are \b UCCKPH, \b UCCKPL, \b UC7BIT, \b UCMSB, \b UCSSELx and
+//! \b UCSWRST of \b UCAxCTLW0 register.
+//!
+//! \return STATUS_SUCCESS
+//
+//*****************************************************************************
+extern void EUSCI_A_SPI_initMaster(uint16_t baseAddress,
+                                   EUSCI_A_SPI_initMasterParam *param);
+
+//*****************************************************************************
+//
+//! \brief Selects 4Pin Functionality
+//!
+//! This function should be invoked only in 4-wire mode. Invoking this function
+//! has no effect in 3-wire mode.
+//!
+//! \param baseAddress is the base address of the EUSCI_A_SPI module.
+//! \param select4PinFunctionality selects 4 pin functionality
+//!        Valid values are:
+//!        - \b EUSCI_A_SPI_PREVENT_CONFLICTS_WITH_OTHER_MASTERS
+//!        - \b EUSCI_A_SPI_ENABLE_SIGNAL_FOR_4WIRE_SLAVE
+//!
+//! Modified bits are \b UCSTEM of \b UCAxCTLW0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_A_SPI_select4PinFunctionality(uint16_t baseAddress,
+                                                uint8_t select4PinFunctionality);
+
+//*****************************************************************************
+//
+//! \brief Initializes the SPI Master clock. At the end of this function call,
+//! SPI module is left enabled.
+//!
+//! \param baseAddress is the base address of the EUSCI_A_SPI module.
+//! \param param is the pointer to struct for master clock setting.
+//!
+//! Modified bits are \b UCSWRST of \b UCAxCTLW0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_A_SPI_changeMasterClock(uint16_t baseAddress,
+                                          EUSCI_A_SPI_changeMasterClockParam *param);
+
+//*****************************************************************************
+//
+//! \brief Initializes the SPI Slave block.
+//!
+//! Upon successful initialization of the SPI slave block, this function will
+//! have initialized the slave block, but the SPI Slave block still remains
+//! disabled and must be enabled with EUSCI_A_SPI_enable()
+//!
+//! \param baseAddress is the base address of the EUSCI_A_SPI Slave module.
+//! \param param is the pointer to struct for slave initialization.
+//!
+//! Modified bits are \b UCMSB, \b UCMST, \b UC7BIT, \b UCCKPL, \b UCCKPH, \b
+//! UCMODE and \b UCSWRST of \b UCAxCTLW0 register.
+//!
+//! \return STATUS_SUCCESS
+//
+//*****************************************************************************
+extern void EUSCI_A_SPI_initSlave(uint16_t baseAddress,
+                                  EUSCI_A_SPI_initSlaveParam *param);
+
+//*****************************************************************************
+//
+//! \brief Changes the SPI clock phase and polarity. At the end of this
+//! function call, SPI module is left enabled.
+//!
+//! \param baseAddress is the base address of the EUSCI_A_SPI module.
+//! \param clockPhase is clock phase select.
+//!        Valid values are:
+//!        - \b EUSCI_A_SPI_PHASE_DATA_CHANGED_ONFIRST_CAPTURED_ON_NEXT
+//!           [Default]
+//!        - \b EUSCI_A_SPI_PHASE_DATA_CAPTURED_ONFIRST_CHANGED_ON_NEXT
+//! \param clockPolarity is clock polarity select
+//!        Valid values are:
+//!        - \b EUSCI_A_SPI_CLOCKPOLARITY_INACTIVITY_HIGH
+//!        - \b EUSCI_A_SPI_CLOCKPOLARITY_INACTIVITY_LOW [Default]
+//!
+//! Modified bits are \b UCCKPL, \b UCCKPH and \b UCSWRST of \b UCAxCTLW0
+//! register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_A_SPI_changeClockPhasePolarity(uint16_t baseAddress,
+                                                 uint16_t clockPhase,
+                                                 uint16_t clockPolarity);
+
+//*****************************************************************************
+//
+//! \brief Transmits a byte from the SPI Module.
+//!
+//! This function will place the supplied data into SPI transmit data register
+//! to start transmission.
+//!
+//! \param baseAddress is the base address of the EUSCI_A_SPI module.
+//! \param transmitData data to be transmitted from the SPI module
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_A_SPI_transmitData(uint16_t baseAddress,
+                                     uint8_t transmitData);
+
+//*****************************************************************************
+//
+//! \brief Receives a byte that has been sent to the SPI Module.
+//!
+//! This function reads a byte of data from the SPI receive data Register.
+//!
+//! \param baseAddress is the base address of the EUSCI_A_SPI module.
+//!
+//! \return Returns the byte received from by the SPI module, cast as an
+//!         uint8_t.
+//
+//*****************************************************************************
+extern uint8_t EUSCI_A_SPI_receiveData(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Enables individual SPI interrupt sources.
+//!
+//! Enables the indicated SPI interrupt sources.  Only the sources that are
+//! enabled can be reflected to the processor interrupt; disabled sources have
+//! no effect on the processor. Does not clear interrupt flags.
+//!
+//! \param baseAddress is the base address of the EUSCI_A_SPI module.
+//! \param mask is the bit mask of the interrupt sources to be enabled.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b EUSCI_A_SPI_TRANSMIT_INTERRUPT
+//!        - \b EUSCI_A_SPI_RECEIVE_INTERRUPT
+//!
+//! Modified bits of \b UCAxIFG register and bits of \b UCAxIE register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_A_SPI_enableInterrupt(uint16_t baseAddress,
+                                        uint8_t mask);
+
+//*****************************************************************************
+//
+//! \brief Disables individual SPI interrupt sources.
+//!
+//! Disables the indicated SPI interrupt sources. Only the sources that are
+//! enabled can be reflected to the processor interrupt; disabled sources have
+//! no effect on the processor.
+//!
+//! \param baseAddress is the base address of the EUSCI_A_SPI module.
+//! \param mask is the bit mask of the interrupt sources to be disabled.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b EUSCI_A_SPI_TRANSMIT_INTERRUPT
+//!        - \b EUSCI_A_SPI_RECEIVE_INTERRUPT
+//!
+//! Modified bits of \b UCAxIE register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_A_SPI_disableInterrupt(uint16_t baseAddress,
+                                         uint8_t mask);
+
+//*****************************************************************************
+//
+//! \brief Gets the current SPI interrupt status.
+//!
+//! This returns the interrupt status for the SPI module based on which flag is
+//! passed.
+//!
+//! \param baseAddress is the base address of the EUSCI_A_SPI module.
+//! \param mask is the masked interrupt flag status to be returned.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b EUSCI_A_SPI_TRANSMIT_INTERRUPT
+//!        - \b EUSCI_A_SPI_RECEIVE_INTERRUPT
+//!
+//! \return Logical OR of any of the following:
+//!         - \b EUSCI_A_SPI_TRANSMIT_INTERRUPT
+//!         - \b EUSCI_A_SPI_RECEIVE_INTERRUPT
+//!         \n indicating the status of the masked interrupts
+//
+//*****************************************************************************
+extern uint8_t EUSCI_A_SPI_getInterruptStatus(uint16_t baseAddress,
+                                              uint8_t mask);
+
+//*****************************************************************************
+//
+//! \brief Clears the selected SPI interrupt status flag.
+//!
+//! \param baseAddress is the base address of the EUSCI_A_SPI module.
+//! \param mask is the masked interrupt flag to be cleared.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b EUSCI_A_SPI_TRANSMIT_INTERRUPT
+//!        - \b EUSCI_A_SPI_RECEIVE_INTERRUPT
+//!
+//! Modified bits of \b UCAxIFG register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_A_SPI_clearInterrupt(uint16_t baseAddress,
+                                       uint8_t mask);
+
+//*****************************************************************************
+//
+//! \brief Enables the SPI block.
+//!
+//! This will enable operation of the SPI block.
+//!
+//! \param baseAddress is the base address of the EUSCI_A_SPI module.
+//!
+//! Modified bits are \b UCSWRST of \b UCAxCTLW0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_A_SPI_enable(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Disables the SPI block.
+//!
+//! This will disable operation of the SPI block.
+//!
+//! \param baseAddress is the base address of the EUSCI_A_SPI module.
+//!
+//! Modified bits are \b UCSWRST of \b UCAxCTLW0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_A_SPI_disable(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Returns the address of the RX Buffer of the SPI for the DMA module.
+//!
+//! Returns the address of the SPI RX Buffer. This can be used in conjunction
+//! with the DMA to store the received data directly to memory.
+//!
+//! \param baseAddress is the base address of the EUSCI_A_SPI module.
+//!
+//! \return the address of the RX Buffer
+//
+//*****************************************************************************
+extern uint32_t EUSCI_A_SPI_getReceiveBufferAddress(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Returns the address of the TX Buffer of the SPI for the DMA module.
+//!
+//! Returns the address of the SPI TX Buffer. This can be used in conjunction
+//! with the DMA to obtain transmitted data directly from memory.
+//!
+//! \param baseAddress is the base address of the EUSCI_A_SPI module.
+//!
+//! \return the address of the TX Buffer
+//
+//*****************************************************************************
+extern uint32_t EUSCI_A_SPI_getTransmitBufferAddress(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Indicates whether or not the SPI bus is busy.
+//!
+//! This function returns an indication of whether or not the SPI bus is
+//! busy.This function checks the status of the bus via UCBBUSY bit
+//!
+//! \param baseAddress is the base address of the EUSCI_A_SPI module.
+//!
+//! \return One of the following:
+//!         - \b EUSCI_A_SPI_BUSY
+//!         - \b EUSCI_A_SPI_NOT_BUSY
+//!         \n indicating if the EUSCI_A_SPI is busy
+//
+//*****************************************************************************
+extern uint16_t EUSCI_A_SPI_isBusy(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_EUSCI_A_SPI_H__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/eusci_a_uart.c b/Apps/FlightSoftware/MotorControl/driverlib/eusci_a_uart.c
new file mode 100644
index 000000000..cf0e61e78
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/eusci_a_uart.c
@@ -0,0 +1,267 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// eusci_a_uart.c - Driver for the eusci_a_uart Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup eusci_a_uart_api eusci_a_uart
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_EUSCI_Ax__
+#include "eusci_a_uart.h"
+
+#include <assert.h>
+
+bool EUSCI_A_UART_init(uint16_t baseAddress, EUSCI_A_UART_initParam *param)
+{
+    bool retVal = STATUS_SUCCESS;
+
+    //Disable the USCI Module
+    HWREG16(baseAddress + OFS_UCAxCTLW0) |= UCSWRST;
+
+    //Clock source select
+    HWREG16(baseAddress + OFS_UCAxCTLW0) &= ~UCSSEL_3;
+    HWREG16(baseAddress + OFS_UCAxCTLW0) |= param->selectClockSource;
+
+    //MSB, LSB select
+    HWREG16(baseAddress + OFS_UCAxCTLW0) &= ~UCMSB;
+    HWREG16(baseAddress + OFS_UCAxCTLW0) |= param->msborLsbFirst;
+
+    //UCSPB = 0(1 stop bit) OR 1(2 stop bits)
+    HWREG16(baseAddress + OFS_UCAxCTLW0) &= ~UCSPB;
+    HWREG16(baseAddress + OFS_UCAxCTLW0) |= param->numberofStopBits;
+
+    //Parity
+    switch (param->parity){
+        case EUSCI_A_UART_NO_PARITY:
+            //No Parity
+            HWREG16(baseAddress + OFS_UCAxCTLW0) &= ~UCPEN;
+            break;
+        case EUSCI_A_UART_ODD_PARITY:
+            //Odd Parity
+            HWREG16(baseAddress + OFS_UCAxCTLW0) |= UCPEN;
+            HWREG16(baseAddress + OFS_UCAxCTLW0) &= ~UCPAR;
+            break;
+        case EUSCI_A_UART_EVEN_PARITY:
+            //Even Parity
+            HWREG16(baseAddress + OFS_UCAxCTLW0) |= UCPEN;
+            HWREG16(baseAddress + OFS_UCAxCTLW0) |= UCPAR;
+            break;
+    }
+
+    //BaudRate Control Register
+    HWREG16(baseAddress + OFS_UCAxBRW ) = param->clockPrescalar;
+    //Modulation Control Register
+    HWREG16(baseAddress + OFS_UCAxMCTLW) = ((param->secondModReg <<8)
+        + (param->firstModReg <<4) + param->overSampling );
+
+    //Asynchronous mode & 8 bit character select & clear mode
+    HWREG16(baseAddress + OFS_UCAxCTLW0) &=  ~(UCSYNC +
+                                             UC7BIT +
+                                             UCMODE_3
+                                             );
+
+    //Configure  UART mode.
+    HWREG16(baseAddress + OFS_UCAxCTLW0) |= param->uartMode ;
+
+    //Reset UCRXIE, UCBRKIE, UCDORM, UCTXADDR, UCTXBRK
+    HWREG16(baseAddress + OFS_UCAxCTLW0)  &= ~(UCRXEIE + UCBRKIE + UCDORM +
+                                             UCTXADDR + UCTXBRK
+                                             );
+    return (retVal);
+}
+
+void EUSCI_A_UART_transmitData ( uint16_t baseAddress,
+    uint8_t transmitData
+    )
+{
+    //If interrupts are not used, poll for flags
+    if (!(HWREG16(baseAddress + OFS_UCAxIE) & UCTXIE)){
+        //Poll for transmit interrupt flag
+        while (!(HWREG16(baseAddress + OFS_UCAxIFG) & UCTXIFG));
+    }
+
+    HWREG16(baseAddress + OFS_UCAxTXBUF) = transmitData;
+}
+
+uint8_t EUSCI_A_UART_receiveData (uint16_t baseAddress)
+{
+    //If interrupts are not used, poll for flags
+    if (!(HWREG16(baseAddress + OFS_UCAxIE) & UCRXIE)){
+        //Poll for receive interrupt flag
+        while (!(HWREG16(baseAddress + OFS_UCAxIFG) & UCRXIFG));
+    }
+
+    return ( HWREG16(baseAddress + OFS_UCAxRXBUF)) ;
+}
+
+void EUSCI_A_UART_enableInterrupt (uint16_t baseAddress,
+    uint8_t mask
+    )
+{
+    uint8_t locMask;
+
+    locMask = (mask & (EUSCI_A_UART_RECEIVE_INTERRUPT
+        | EUSCI_A_UART_TRANSMIT_INTERRUPT
+        | EUSCI_A_UART_STARTBIT_INTERRUPT
+        | EUSCI_A_UART_TRANSMIT_COMPLETE_INTERRUPT));
+
+    HWREG16(baseAddress + OFS_UCAxIE) |= locMask;
+
+    locMask = (mask & (EUSCI_A_UART_RECEIVE_ERRONEOUSCHAR_INTERRUPT
+        | EUSCI_A_UART_BREAKCHAR_INTERRUPT));
+    HWREG16(baseAddress + OFS_UCAxCTLW0) |= locMask;
+}
+
+void EUSCI_A_UART_disableInterrupt (uint16_t baseAddress,
+    uint8_t mask
+    )
+{
+    uint8_t locMask;
+
+    locMask = (mask & (EUSCI_A_UART_RECEIVE_INTERRUPT
+        | EUSCI_A_UART_TRANSMIT_INTERRUPT
+        | EUSCI_A_UART_STARTBIT_INTERRUPT
+        | EUSCI_A_UART_TRANSMIT_COMPLETE_INTERRUPT));
+    HWREG16(baseAddress + OFS_UCAxIE) &= ~locMask;
+
+    locMask = (mask & (EUSCI_A_UART_RECEIVE_ERRONEOUSCHAR_INTERRUPT
+        | EUSCI_A_UART_BREAKCHAR_INTERRUPT));
+    HWREG16(baseAddress + OFS_UCAxCTLW0) &= ~locMask;
+}
+
+uint8_t EUSCI_A_UART_getInterruptStatus (uint16_t baseAddress,
+    uint8_t mask)
+{
+    return ( HWREG16(baseAddress + OFS_UCAxIFG) & mask );
+}
+
+void EUSCI_A_UART_clearInterrupt (uint16_t baseAddress, uint8_t mask)
+{
+    //Clear the UART interrupt source.
+    HWREG16(baseAddress + OFS_UCAxIFG) &= ~(mask);
+}
+
+void EUSCI_A_UART_enable (uint16_t baseAddress)
+{
+    //Reset the UCSWRST bit to enable the USCI Module
+    HWREG16(baseAddress + OFS_UCAxCTLW0) &= ~(UCSWRST);
+}
+
+void EUSCI_A_UART_disable (uint16_t baseAddress)
+{
+    //Set the UCSWRST bit to disable the USCI Module
+    HWREG16(baseAddress + OFS_UCAxCTLW0) |= UCSWRST;
+}
+
+uint8_t EUSCI_A_UART_queryStatusFlags (uint16_t baseAddress,
+    uint8_t mask)
+{
+    return ( HWREG16(baseAddress + OFS_UCAxSTATW) & mask );
+}
+
+void EUSCI_A_UART_setDormant (uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_UCAxCTLW0) |= UCDORM;
+}
+
+void EUSCI_A_UART_resetDormant (uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_UCAxCTLW0) &= ~UCDORM;
+}
+
+void EUSCI_A_UART_transmitAddress (uint16_t baseAddress,
+    uint8_t transmitAddress)
+{
+    //Set UCTXADDR bit
+    HWREG16(baseAddress + OFS_UCAxCTLW0) |= UCTXADDR;
+
+    //Place next byte to be sent into the transmit buffer
+    HWREG16(baseAddress + OFS_UCAxTXBUF) = transmitAddress;
+}
+
+void EUSCI_A_UART_transmitBreak (uint16_t baseAddress)
+{
+    //Set UCTXADDR bit
+    HWREG16(baseAddress + OFS_UCAxCTLW0) |= UCTXBRK;
+
+    //If current mode is automatic baud-rate detection
+    if (EUSCI_A_UART_AUTOMATIC_BAUDRATE_DETECTION_MODE ==
+        (HWREG16(baseAddress + OFS_UCAxCTLW0) &
+         EUSCI_A_UART_AUTOMATIC_BAUDRATE_DETECTION_MODE)){
+        HWREG16(baseAddress + OFS_UCAxTXBUF) = EUSCI_A_UART_AUTOMATICBAUDRATE_SYNC;
+    } else   {
+        HWREG16(baseAddress + OFS_UCAxTXBUF) = DEFAULT_SYNC;
+    }
+
+    //If interrupts are not used, poll for flags
+    if (!(HWREG16(baseAddress + OFS_UCAxIE) & UCTXIE)){
+        //Poll for transmit interrupt flag
+        while (!(HWREG16(baseAddress + OFS_UCAxIFG) & UCTXIFG));
+    }
+}
+
+uint32_t EUSCI_A_UART_getReceiveBufferAddress (uint16_t baseAddress)
+{
+    return ( baseAddress + OFS_UCAxRXBUF );
+}
+
+uint32_t EUSCI_A_UART_getTransmitBufferAddress (uint16_t baseAddress)
+{
+    return ( baseAddress + OFS_UCAxTXBUF );
+}
+
+void EUSCI_A_UART_selectDeglitchTime(uint16_t baseAddress,
+            uint16_t deglitchTime
+            )
+{
+    HWREG16(baseAddress + OFS_UCAxCTLW1) &= ~(UCGLIT1 + UCGLIT0);
+
+    HWREG16(baseAddress + OFS_UCAxCTLW1) |= deglitchTime;
+}
+
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for eusci_a_uart_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/eusci_a_uart.h b/Apps/FlightSoftware/MotorControl/driverlib/eusci_a_uart.h
new file mode 100644
index 000000000..4c9e12f7d
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/eusci_a_uart.h
@@ -0,0 +1,605 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// eusci_a_uart.h - Driver for the EUSCI_A_UART Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_EUSCI_A_UART_H__
+#define __MSP430WARE_EUSCI_A_UART_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_EUSCI_Ax__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "inc/hw_memmap.h"
+//*****************************************************************************
+//
+// The following values are the sync characters possible.
+//
+//*****************************************************************************
+#define DEFAULT_SYNC                                                       0x00
+#define EUSCI_A_UART_AUTOMATICBAUDRATE_SYNC                                0x55
+
+//*****************************************************************************
+//
+//! \brief Used in the EUSCI_A_UART_init() function as the param parameter.
+//
+//*****************************************************************************
+typedef struct EUSCI_A_UART_initParam {
+    //! Selects Clock source. Refer to device specific datasheet for available
+    //! options.
+    //! \n Valid values are:
+    //! - \b EUSCI_A_UART_CLOCKSOURCE_SMCLK
+    //! - \b EUSCI_A_UART_CLOCKSOURCE_ACLK
+    uint8_t selectClockSource;
+    //! Is the value to be written into UCBRx bits
+    uint16_t clockPrescalar;
+    //! Is First modulation stage register setting. This value is a pre-
+    //! calculated value which can be obtained from the Device Users Guide.
+    //! This value is written into UCBRFx bits of UCAxMCTLW.
+    uint8_t firstModReg;
+    //! Is Second modulation stage register setting. This value is a pre-
+    //! calculated value which can be obtained from the Device Users Guide.
+    //! This value is written into UCBRSx bits of UCAxMCTLW.
+    uint8_t secondModReg;
+    //! Is the desired parity.
+    //! \n Valid values are:
+    //! - \b EUSCI_A_UART_NO_PARITY [Default]
+    //! - \b EUSCI_A_UART_ODD_PARITY
+    //! - \b EUSCI_A_UART_EVEN_PARITY
+    uint8_t parity;
+    //! Controls direction of receive and transmit shift register.
+    //! \n Valid values are:
+    //! - \b EUSCI_A_UART_MSB_FIRST
+    //! - \b EUSCI_A_UART_LSB_FIRST [Default]
+    uint16_t msborLsbFirst;
+    //! Indicates one/two STOP bits
+    //! \n Valid values are:
+    //! - \b EUSCI_A_UART_ONE_STOP_BIT [Default]
+    //! - \b EUSCI_A_UART_TWO_STOP_BITS
+    uint16_t numberofStopBits;
+    //! Selects the mode of operation
+    //! \n Valid values are:
+    //! - \b EUSCI_A_UART_MODE [Default]
+    //! - \b EUSCI_A_UART_IDLE_LINE_MULTI_PROCESSOR_MODE
+    //! - \b EUSCI_A_UART_ADDRESS_BIT_MULTI_PROCESSOR_MODE
+    //! - \b EUSCI_A_UART_AUTOMATIC_BAUDRATE_DETECTION_MODE
+    uint16_t uartMode;
+    //! Indicates low frequency or oversampling baud generation
+    //! \n Valid values are:
+    //! - \b EUSCI_A_UART_OVERSAMPLING_BAUDRATE_GENERATION
+    //! - \b EUSCI_A_UART_LOW_FREQUENCY_BAUDRATE_GENERATION
+    uint8_t overSampling;
+} EUSCI_A_UART_initParam;
+
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: EUSCI_A_UART_init().
+//
+//*****************************************************************************
+#define EUSCI_A_UART_NO_PARITY                                             0x00
+#define EUSCI_A_UART_ODD_PARITY                                            0x01
+#define EUSCI_A_UART_EVEN_PARITY                                           0x02
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: EUSCI_A_UART_init().
+//
+//*****************************************************************************
+#define EUSCI_A_UART_MSB_FIRST                                            UCMSB
+#define EUSCI_A_UART_LSB_FIRST                                             0x00
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: EUSCI_A_UART_init().
+//
+//*****************************************************************************
+#define EUSCI_A_UART_MODE                                              UCMODE_0
+#define EUSCI_A_UART_IDLE_LINE_MULTI_PROCESSOR_MODE                    UCMODE_1
+#define EUSCI_A_UART_ADDRESS_BIT_MULTI_PROCESSOR_MODE                  UCMODE_2
+#define EUSCI_A_UART_AUTOMATIC_BAUDRATE_DETECTION_MODE                 UCMODE_3
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: EUSCI_A_UART_init().
+//
+//*****************************************************************************
+#define EUSCI_A_UART_CLOCKSOURCE_SMCLK                            UCSSEL__SMCLK
+#define EUSCI_A_UART_CLOCKSOURCE_ACLK                              UCSSEL__ACLK
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: EUSCI_A_UART_init().
+//
+//*****************************************************************************
+#define EUSCI_A_UART_ONE_STOP_BIT                                          0x00
+#define EUSCI_A_UART_TWO_STOP_BITS                                        UCSPB
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: EUSCI_A_UART_init().
+//
+//*****************************************************************************
+#define EUSCI_A_UART_OVERSAMPLING_BAUDRATE_GENERATION                      0x01
+#define EUSCI_A_UART_LOW_FREQUENCY_BAUDRATE_GENERATION                     0x00
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the mask parameter for
+// functions: EUSCI_A_UART_enableInterrupt(), and
+// EUSCI_A_UART_disableInterrupt().
+//
+//*****************************************************************************
+#define EUSCI_A_UART_RECEIVE_INTERRUPT                                   UCRXIE
+#define EUSCI_A_UART_TRANSMIT_INTERRUPT                                  UCTXIE
+#define EUSCI_A_UART_RECEIVE_ERRONEOUSCHAR_INTERRUPT                    UCRXEIE
+#define EUSCI_A_UART_BREAKCHAR_INTERRUPT                                UCBRKIE
+#define EUSCI_A_UART_STARTBIT_INTERRUPT                                 UCSTTIE
+#define EUSCI_A_UART_TRANSMIT_COMPLETE_INTERRUPT                      UCTXCPTIE
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the mask parameter for
+// functions: EUSCI_A_UART_getInterruptStatus(), and
+// EUSCI_A_UART_clearInterrupt() as well as returned by the
+// EUSCI_A_UART_getInterruptStatus() function.
+//
+//*****************************************************************************
+#define EUSCI_A_UART_RECEIVE_INTERRUPT_FLAG                             UCRXIFG
+#define EUSCI_A_UART_TRANSMIT_INTERRUPT_FLAG                            UCTXIFG
+#define EUSCI_A_UART_STARTBIT_INTERRUPT_FLAG                           UCSTTIFG
+#define EUSCI_A_UART_TRANSMIT_COMPLETE_INTERRUPT_FLAG                UCTXCPTIFG
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the mask parameter for
+// functions: EUSCI_A_UART_queryStatusFlags() as well as returned by the
+// EUSCI_A_UART_queryStatusFlags() function.
+//
+//*****************************************************************************
+#define EUSCI_A_UART_LISTEN_ENABLE                                     UCLISTEN
+#define EUSCI_A_UART_FRAMING_ERROR                                         UCFE
+#define EUSCI_A_UART_OVERRUN_ERROR                                         UCOE
+#define EUSCI_A_UART_PARITY_ERROR                                          UCPE
+#define EUSCI_A_UART_BREAK_DETECT                                         UCBRK
+#define EUSCI_A_UART_RECEIVE_ERROR                                      UCRXERR
+#define EUSCI_A_UART_ADDRESS_RECEIVED                                    UCADDR
+#define EUSCI_A_UART_IDLELINE                                            UCIDLE
+#define EUSCI_A_UART_BUSY                                                UCBUSY
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the deglitchTime parameter
+// for functions: EUSCI_A_UART_selectDeglitchTime().
+//
+//*****************************************************************************
+#define EUSCI_A_UART_DEGLITCH_TIME_2ns                                     0x00
+#define EUSCI_A_UART_DEGLITCH_TIME_50ns                                 UCGLIT0
+#define EUSCI_A_UART_DEGLITCH_TIME_100ns                                UCGLIT1
+#define EUSCI_A_UART_DEGLITCH_TIME_200ns                    (UCGLIT0 + UCGLIT1)
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Advanced initialization routine for the UART block. The values to be
+//! written into the clockPrescalar, firstModReg, secondModReg and overSampling
+//! parameters should be pre-computed and passed into the initialization
+//! function.
+//!
+//! Upon successful initialization of the UART block, this function will have
+//! initialized the module, but the UART block still remains disabled and must
+//! be enabled with EUSCI_A_UART_enable(). To calculate values for
+//! clockPrescalar, firstModReg, secondModReg and overSampling please use the
+//! link below.
+//!
+//! http://software-dl.ti.com/msp430/msp430_public_sw/mcu/msp430/MSP430BaudRateConverter/index.html
+//!
+//! \param baseAddress is the base address of the EUSCI_A_UART module.
+//! \param param is the pointer to struct for initialization.
+//!
+//! Modified bits are \b UCPEN, \b UCPAR, \b UCMSB, \b UC7BIT, \b UCSPB, \b
+//! UCMODEx and \b UCSYNC of \b UCAxCTL0 register; bits \b UCSSELx and \b
+//! UCSWRST of \b UCAxCTL1 register.
+//!
+//! \return STATUS_SUCCESS or STATUS_FAIL of the initialization process
+//
+//*****************************************************************************
+extern bool EUSCI_A_UART_init(uint16_t baseAddress,
+                              EUSCI_A_UART_initParam *param);
+
+//*****************************************************************************
+//
+//! \brief Transmits a byte from the UART Module.Please note that if TX
+//! interrupt is disabled, this function manually polls the TX IFG flag waiting
+//! for an indication that it is safe to write to the transmit buffer and does
+//! not time-out
+//!
+//! This function will place the supplied data into UART transmit data register
+//! to start transmission
+//!
+//! \param baseAddress is the base address of the EUSCI_A_UART module.
+//! \param transmitData data to be transmitted from the UART module
+//!
+//! Modified bits of \b UCAxTXBUF register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_A_UART_transmitData(uint16_t baseAddress,
+                                      uint8_t transmitData);
+
+//*****************************************************************************
+//
+//! \brief Receives a byte that has been sent to the UART Module.
+//!
+//! This function reads a byte of data from the UART receive data Register.
+//!
+//! \param baseAddress is the base address of the EUSCI_A_UART module.
+//!
+//! Modified bits of \b UCAxRXBUF register.
+//!
+//! \return Returns the byte received from by the UART module, cast as an
+//!         uint8_t.
+//
+//*****************************************************************************
+extern uint8_t EUSCI_A_UART_receiveData(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Enables individual UART interrupt sources.
+//!
+//! Enables the indicated UART interrupt sources.  The interrupt flag is first
+//! and then the corresponding interrupt is enabled. Only the sources that are
+//! enabled can be reflected to the processor interrupt; disabled sources have
+//! no effect on the processor. Does not clear interrupt flags.
+//!
+//! \param baseAddress is the base address of the EUSCI_A_UART module.
+//! \param mask is the bit mask of the interrupt sources to be enabled.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b EUSCI_A_UART_RECEIVE_INTERRUPT - Receive interrupt
+//!        - \b EUSCI_A_UART_TRANSMIT_INTERRUPT - Transmit interrupt
+//!        - \b EUSCI_A_UART_RECEIVE_ERRONEOUSCHAR_INTERRUPT - Receive
+//!           erroneous-character interrupt enable
+//!        - \b EUSCI_A_UART_BREAKCHAR_INTERRUPT - Receive break character
+//!           interrupt enable
+//!        - \b EUSCI_A_UART_STARTBIT_INTERRUPT - Start bit received interrupt
+//!           enable
+//!        - \b EUSCI_A_UART_TRANSMIT_COMPLETE_INTERRUPT - Transmit complete
+//!           interrupt enable
+//!
+//! Modified bits of \b UCAxCTL1 register and bits of \b UCAxIE register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_A_UART_enableInterrupt(uint16_t baseAddress,
+                                         uint8_t mask);
+
+//*****************************************************************************
+//
+//! \brief Disables individual UART interrupt sources.
+//!
+//! Disables the indicated UART interrupt sources. Only the sources that are
+//! enabled can be reflected to the processor interrupt; disabled sources have
+//! no effect on the processor.
+//!
+//! \param baseAddress is the base address of the EUSCI_A_UART module.
+//! \param mask is the bit mask of the interrupt sources to be disabled.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b EUSCI_A_UART_RECEIVE_INTERRUPT - Receive interrupt
+//!        - \b EUSCI_A_UART_TRANSMIT_INTERRUPT - Transmit interrupt
+//!        - \b EUSCI_A_UART_RECEIVE_ERRONEOUSCHAR_INTERRUPT - Receive
+//!           erroneous-character interrupt enable
+//!        - \b EUSCI_A_UART_BREAKCHAR_INTERRUPT - Receive break character
+//!           interrupt enable
+//!        - \b EUSCI_A_UART_STARTBIT_INTERRUPT - Start bit received interrupt
+//!           enable
+//!        - \b EUSCI_A_UART_TRANSMIT_COMPLETE_INTERRUPT - Transmit complete
+//!           interrupt enable
+//!
+//! Modified bits of \b UCAxCTL1 register and bits of \b UCAxIE register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_A_UART_disableInterrupt(uint16_t baseAddress,
+                                          uint8_t mask);
+
+//*****************************************************************************
+//
+//! \brief Gets the current UART interrupt status.
+//!
+//! This returns the interrupt status for the UART module based on which flag
+//! is passed.
+//!
+//! \param baseAddress is the base address of the EUSCI_A_UART module.
+//! \param mask is the masked interrupt flag status to be returned.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b EUSCI_A_UART_RECEIVE_INTERRUPT_FLAG
+//!        - \b EUSCI_A_UART_TRANSMIT_INTERRUPT_FLAG
+//!        - \b EUSCI_A_UART_STARTBIT_INTERRUPT_FLAG
+//!        - \b EUSCI_A_UART_TRANSMIT_COMPLETE_INTERRUPT_FLAG
+//!
+//! Modified bits of \b UCAxIFG register.
+//!
+//! \return Logical OR of any of the following:
+//!         - \b EUSCI_A_UART_RECEIVE_INTERRUPT_FLAG
+//!         - \b EUSCI_A_UART_TRANSMIT_INTERRUPT_FLAG
+//!         - \b EUSCI_A_UART_STARTBIT_INTERRUPT_FLAG
+//!         - \b EUSCI_A_UART_TRANSMIT_COMPLETE_INTERRUPT_FLAG
+//!         \n indicating the status of the masked flags
+//
+//*****************************************************************************
+extern uint8_t EUSCI_A_UART_getInterruptStatus(uint16_t baseAddress,
+                                               uint8_t mask);
+
+//*****************************************************************************
+//
+//! \brief Clears UART interrupt sources.
+//!
+//! The UART interrupt source is cleared, so that it no longer asserts. The
+//! highest interrupt flag is automatically cleared when an interrupt vector
+//! generator is used.
+//!
+//! \param baseAddress is the base address of the EUSCI_A_UART module.
+//! \param mask is a bit mask of the interrupt sources to be cleared.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b EUSCI_A_UART_RECEIVE_INTERRUPT_FLAG
+//!        - \b EUSCI_A_UART_TRANSMIT_INTERRUPT_FLAG
+//!        - \b EUSCI_A_UART_STARTBIT_INTERRUPT_FLAG
+//!        - \b EUSCI_A_UART_TRANSMIT_COMPLETE_INTERRUPT_FLAG
+//!
+//! Modified bits of \b UCAxIFG register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_A_UART_clearInterrupt(uint16_t baseAddress,
+                                        uint8_t mask);
+
+//*****************************************************************************
+//
+//! \brief Enables the UART block.
+//!
+//! This will enable operation of the UART block.
+//!
+//! \param baseAddress is the base address of the EUSCI_A_UART module.
+//!
+//! Modified bits are \b UCSWRST of \b UCAxCTL1 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_A_UART_enable(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Disables the UART block.
+//!
+//! This will disable operation of the UART block.
+//!
+//! \param baseAddress is the base address of the EUSCI_A_UART module.
+//!
+//! Modified bits are \b UCSWRST of \b UCAxCTL1 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_A_UART_disable(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Gets the current UART status flags.
+//!
+//! This returns the status for the UART module based on which flag is passed.
+//!
+//! \param baseAddress is the base address of the EUSCI_A_UART module.
+//! \param mask is the masked interrupt flag status to be returned.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b EUSCI_A_UART_LISTEN_ENABLE
+//!        - \b EUSCI_A_UART_FRAMING_ERROR
+//!        - \b EUSCI_A_UART_OVERRUN_ERROR
+//!        - \b EUSCI_A_UART_PARITY_ERROR
+//!        - \b EUSCI_A_UART_BREAK_DETECT
+//!        - \b EUSCI_A_UART_RECEIVE_ERROR
+//!        - \b EUSCI_A_UART_ADDRESS_RECEIVED
+//!        - \b EUSCI_A_UART_IDLELINE
+//!        - \b EUSCI_A_UART_BUSY
+//!
+//! Modified bits of \b UCAxSTAT register.
+//!
+//! \return Logical OR of any of the following:
+//!         - \b EUSCI_A_UART_LISTEN_ENABLE
+//!         - \b EUSCI_A_UART_FRAMING_ERROR
+//!         - \b EUSCI_A_UART_OVERRUN_ERROR
+//!         - \b EUSCI_A_UART_PARITY_ERROR
+//!         - \b EUSCI_A_UART_BREAK_DETECT
+//!         - \b EUSCI_A_UART_RECEIVE_ERROR
+//!         - \b EUSCI_A_UART_ADDRESS_RECEIVED
+//!         - \b EUSCI_A_UART_IDLELINE
+//!         - \b EUSCI_A_UART_BUSY
+//!         \n indicating the status of the masked interrupt flags
+//
+//*****************************************************************************
+extern uint8_t EUSCI_A_UART_queryStatusFlags(uint16_t baseAddress,
+                                             uint8_t mask);
+
+//*****************************************************************************
+//
+//! \brief Sets the UART module in dormant mode
+//!
+//! Puts USCI in sleep mode Only characters that are preceded by an idle-line
+//! or with address bit set UCRXIFG. In UART mode with automatic baud-rate
+//! detection, only the combination of a break and sync field sets UCRXIFG.
+//!
+//! \param baseAddress is the base address of the EUSCI_A_UART module.
+//!
+//! Modified bits of \b UCAxCTL1 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_A_UART_setDormant(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Re-enables UART module from dormant mode
+//!
+//! Not dormant. All received characters set UCRXIFG.
+//!
+//! \param baseAddress is the base address of the EUSCI_A_UART module.
+//!
+//! Modified bits are \b UCDORM of \b UCAxCTL1 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_A_UART_resetDormant(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Transmits the next byte to be transmitted marked as address
+//! depending on selected multiprocessor mode
+//!
+//! \param baseAddress is the base address of the EUSCI_A_UART module.
+//! \param transmitAddress is the next byte to be transmitted
+//!
+//! Modified bits of \b UCAxTXBUF register and bits of \b UCAxCTL1 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_A_UART_transmitAddress(uint16_t baseAddress,
+                                         uint8_t transmitAddress);
+
+//*****************************************************************************
+//
+//! \brief Transmit break.
+//!
+//! Transmits a break with the next write to the transmit buffer. In UART mode
+//! with automatic baud-rate detection,
+//! EUSCI_A_UART_AUTOMATICBAUDRATE_SYNC(0x55) must be written into UCAxTXBUF to
+//! generate the required break/sync fields. Otherwise, DEFAULT_SYNC(0x00) must
+//! be written into the transmit buffer. Also ensures module is ready for
+//! transmitting the next data.
+//!
+//! \param baseAddress is the base address of the EUSCI_A_UART module.
+//!
+//! Modified bits of \b UCAxTXBUF register and bits of \b UCAxCTL1 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_A_UART_transmitBreak(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Returns the address of the RX Buffer of the UART for the DMA module.
+//!
+//! Returns the address of the UART RX Buffer. This can be used in conjunction
+//! with the DMA to store the received data directly to memory.
+//!
+//! \param baseAddress is the base address of the EUSCI_A_UART module.
+//!
+//! \return Address of RX Buffer
+//
+//*****************************************************************************
+extern uint32_t EUSCI_A_UART_getReceiveBufferAddress(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Returns the address of the TX Buffer of the UART for the DMA module.
+//!
+//! Returns the address of the UART TX Buffer. This can be used in conjunction
+//! with the DMA to obtain transmitted data directly from memory.
+//!
+//! \param baseAddress is the base address of the EUSCI_A_UART module.
+//!
+//! \return Address of TX Buffer
+//
+//*****************************************************************************
+extern uint32_t EUSCI_A_UART_getTransmitBufferAddress(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Sets the deglitch time
+//!
+//! \param baseAddress is the base address of the EUSCI_A_UART module.
+//! \param deglitchTime is the selected deglitch time
+//!        Valid values are:
+//!        - \b EUSCI_A_UART_DEGLITCH_TIME_2ns
+//!        - \b EUSCI_A_UART_DEGLITCH_TIME_50ns
+//!        - \b EUSCI_A_UART_DEGLITCH_TIME_100ns
+//!        - \b EUSCI_A_UART_DEGLITCH_TIME_200ns
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_A_UART_selectDeglitchTime(uint16_t baseAddress,
+                                            uint16_t deglitchTime);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_EUSCI_A_UART_H__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/eusci_b_i2c.c b/Apps/FlightSoftware/MotorControl/driverlib/eusci_b_i2c.c
new file mode 100644
index 000000000..143d13311
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/eusci_b_i2c.c
@@ -0,0 +1,609 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// eusci_b_i2c.c - Driver for the eusci_b_i2c Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup eusci_b_i2c_api eusci_b_i2c
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_EUSCI_Bx__
+#include "eusci_b_i2c.h"
+
+#include <assert.h>
+
+void EUSCI_B_I2C_initMaster (uint16_t baseAddress,
+    EUSCI_B_I2C_initMasterParam *param
+    )
+{
+    uint16_t preScalarValue;
+
+    //Disable the USCI module and clears the other bits of control register
+    HWREG16(baseAddress + OFS_UCBxCTLW0) = UCSWRST;
+
+    //Configure Automatic STOP condition generation
+    HWREG16(baseAddress + OFS_UCBxCTLW1) &= ~UCASTP_3;
+    HWREG16(baseAddress + OFS_UCBxCTLW1) |= param->autoSTOPGeneration;
+
+    //Byte Count Threshold
+    HWREG16(baseAddress + OFS_UCBxTBCNT) = param->byteCounterThreshold;
+    /*
+     * Configure as I2C master mode.
+     * UCMST = Master mode
+     * UCMODE_3 = I2C mode
+     * UCSYNC = Synchronous mode
+     */
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCMST + UCMODE_3 + UCSYNC;
+
+    //Configure I2C clock source
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= (param->selectClockSource + UCSWRST);
+
+    /*
+     * Compute the clock divider that achieves the fastest speed less than or
+     * equal to the desired speed.  The numerator is biased to favor a larger
+     * clock divider so that the resulting clock is always less than or equal
+     * to the desired clock, never greater.
+     */
+    preScalarValue = (uint16_t)(param->i2cClk / param->dataRate);
+    HWREG16(baseAddress + OFS_UCBxBRW) = preScalarValue;
+}
+
+void EUSCI_B_I2C_initSlave (uint16_t baseAddress,
+    EUSCI_B_I2C_initSlaveParam *param
+    )
+{
+    //Disable the USCI module
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCSWRST;
+
+    //Clear USCI master mode
+    HWREG16(baseAddress + OFS_UCBxCTLW0) &= ~UCMST;
+
+    //Configure I2C as Slave and Synchronous mode
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCMODE_3 + UCSYNC;
+
+    //Set up the slave address.
+    HWREG16(baseAddress + OFS_UCBxI2COA0 + param->slaveAddressOffset)
+                                    = param->slaveAddress + param->slaveOwnAddressEnable;
+}
+
+void EUSCI_B_I2C_enable (uint16_t baseAddress)
+{
+    //Reset the UCSWRST bit to enable the USCI Module
+    HWREG16(baseAddress + OFS_UCBxCTLW0) &= ~(UCSWRST);
+}
+
+void EUSCI_B_I2C_disable (uint16_t baseAddress)
+{
+    //Set the UCSWRST bit to disable the USCI Module
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCSWRST;
+}
+
+void EUSCI_B_I2C_setSlaveAddress (uint16_t baseAddress,
+    uint8_t slaveAddress
+    )
+{
+    //Set the address of the slave with which the master will communicate.
+    HWREG16(baseAddress + OFS_UCBxI2CSA) = (slaveAddress);
+}
+
+void EUSCI_B_I2C_setMode (uint16_t baseAddress,
+    uint8_t mode
+    )
+{
+    HWREG16(baseAddress + OFS_UCBxCTLW0) &= ~EUSCI_B_I2C_TRANSMIT_MODE;
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= mode;
+}
+
+uint8_t EUSCI_B_I2C_getMode (uint16_t baseAddress)
+{
+    //Read the I2C mode.
+    return ((HWREG16(baseAddress + OFS_UCBxCTLW0) & UCTR));
+
+}
+
+void EUSCI_B_I2C_slavePutData (uint16_t baseAddress,
+    uint8_t transmitData
+    )
+{
+    //Send single byte data.
+    HWREG16(baseAddress + OFS_UCBxTXBUF) = transmitData;
+}
+
+uint8_t EUSCI_B_I2C_slaveGetData (uint16_t baseAddress)
+{
+    //Read a byte.
+    return (HWREG16(baseAddress + OFS_UCBxRXBUF));
+}
+
+uint16_t EUSCI_B_I2C_isBusBusy (uint16_t baseAddress)
+{
+    //Return the bus busy status.
+    return (HWREG16(baseAddress + OFS_UCBxSTATW) & UCBBUSY);
+}
+
+uint16_t EUSCI_B_I2C_masterIsStopSent (uint16_t baseAddress)
+{
+    return (HWREG16(baseAddress + OFS_UCBxCTLW0) & UCTXSTP);
+}
+
+uint16_t EUSCI_B_I2C_masterIsStartSent (uint16_t baseAddress)
+{
+    return (HWREG16(baseAddress + OFS_UCBxCTLW0) & UCTXSTT);
+}
+
+void EUSCI_B_I2C_enableInterrupt (uint16_t baseAddress,
+    uint16_t mask
+    )
+{
+    //Enable the interrupt masked bit
+    HWREG16(baseAddress + OFS_UCBxIE) |= mask;
+}
+
+void EUSCI_B_I2C_disableInterrupt (uint16_t baseAddress,
+    uint16_t mask
+    )
+{
+    //Disable the interrupt masked bit
+    HWREG16(baseAddress + OFS_UCBxIE) &= ~(mask);
+}
+
+void EUSCI_B_I2C_clearInterrupt (uint16_t baseAddress,
+    uint16_t mask
+    )
+{
+    //Clear the I2C interrupt source.
+    HWREG16(baseAddress + OFS_UCBxIFG) &= ~(mask);
+}
+
+uint16_t EUSCI_B_I2C_getInterruptStatus (uint16_t baseAddress,
+    uint16_t mask
+    )
+{
+    //Return the interrupt status of the request masked bit.
+    return (HWREG16(baseAddress + OFS_UCBxIFG) & mask);
+}
+
+void EUSCI_B_I2C_masterSendSingleByte (uint16_t baseAddress,
+    uint8_t txData
+    )
+{
+    //Store current TXIE status
+    uint16_t txieStatus = HWREG16(baseAddress + OFS_UCBxIE) & UCTXIE;
+
+    //Disable transmit interrupt enable
+    HWREG16(baseAddress + OFS_UCBxIE) &= ~(UCTXIE);
+
+    //Send start condition.
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCTR + UCTXSTT;
+
+    //Poll for transmit interrupt flag.
+    while (!(HWREG16(baseAddress + OFS_UCBxIFG) & UCTXIFG)) ;
+
+    //Send single byte data.
+    HWREG16(baseAddress + OFS_UCBxTXBUF) = txData;
+
+    //Poll for transmit interrupt flag.
+    while (!(HWREG16(baseAddress + OFS_UCBxIFG) & UCTXIFG)) ;
+
+    //Send stop condition.
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCTXSTP;
+
+    //Clear transmit interrupt flag before enabling interrupt again
+    HWREG16(baseAddress + OFS_UCBxIFG) &= ~(UCTXIFG);
+
+    //Reinstate transmit interrupt enable
+    HWREG16(baseAddress + OFS_UCBxIE) |= txieStatus;
+}
+
+uint8_t EUSCI_B_I2C_masterReceiveSingleByte (uint16_t baseAddress)
+{
+    //Set USCI in Receive mode
+    HWREG16(baseAddress + OFS_UCBxCTLW0) &= ~UCTR;
+
+    //Send start condition
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCTXSTT;
+
+    //Poll for start condition transmission
+    while(HWREG16(baseAddress + OFS_UCBxCTLW0) & UCTXSTT);
+
+    //Send stop condition
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCTXSTP;
+
+    //Poll for receive interrupt flag.
+    while (!(HWREG16(baseAddress + OFS_UCBxIFG) & UCRXIFG));
+
+    //Send single byte data.
+    return (HWREG16(baseAddress + OFS_UCBxRXBUF));
+}
+
+bool EUSCI_B_I2C_masterSendSingleByteWithTimeout (uint16_t baseAddress,
+    uint8_t txData,
+    uint32_t timeout
+    )
+{
+    // Creating variable for second timeout scenario
+    uint32_t timeout2 = timeout;
+
+    //Store current TXIE status
+    uint16_t txieStatus = HWREG16(baseAddress + OFS_UCBxIE) & UCTXIE;
+
+    //Disable transmit interrupt enable
+    HWREG16(baseAddress + OFS_UCBxIE) &= ~(UCTXIE);
+
+    //Send start condition.
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCTR + UCTXSTT;
+
+    //Poll for transmit interrupt flag.
+    while ((!(HWREG16(baseAddress + OFS_UCBxIFG) & UCTXIFG)) && --timeout);
+
+    //Check if transfer timed out
+    if (timeout == 0){
+        return (STATUS_FAIL);
+    }
+
+    //Send single byte data.
+    HWREG16(baseAddress + OFS_UCBxTXBUF) = txData;
+
+    //Poll for transmit interrupt flag.
+    while ((!(HWREG16(baseAddress + OFS_UCBxIFG) & UCTXIFG)) && --timeout2);
+
+    //Check if transfer timed out
+    if (timeout2 == 0){
+        return (STATUS_FAIL);
+    }
+
+    //Send stop condition.
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCTXSTP;
+
+    //Clear transmit interrupt flag before enabling interrupt again
+    HWREG16(baseAddress + OFS_UCBxIFG) &= ~(UCTXIFG);
+
+    //Reinstate transmit interrupt enable
+    HWREG16(baseAddress + OFS_UCBxIE) |= txieStatus;
+
+    return (STATUS_SUCCESS);
+}
+
+void EUSCI_B_I2C_masterSendMultiByteStart (uint16_t baseAddress,
+    uint8_t txData
+    )
+{
+    //Store current transmit interrupt enable
+    uint16_t txieStatus = HWREG16(baseAddress + OFS_UCBxIE) & UCTXIE;
+
+    //Disable transmit interrupt enable
+    HWREG16(baseAddress + OFS_UCBxIE) &= ~(UCTXIE);
+
+    //Send start condition.
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCTR +  UCTXSTT;
+
+    //Poll for transmit interrupt flag.
+    while (!(HWREG16(baseAddress + OFS_UCBxIFG) & UCTXIFG)) ;
+
+    //Send single byte data.
+    HWREG16(baseAddress + OFS_UCBxTXBUF) = txData;
+
+    //Reinstate transmit interrupt enable
+    HWREG16(baseAddress + OFS_UCBxIE) |= txieStatus;
+}
+
+bool EUSCI_B_I2C_masterSendMultiByteStartWithTimeout (uint16_t baseAddress,
+    uint8_t txData,
+    uint32_t timeout
+    )
+{
+    //Store current transmit interrupt enable
+    uint16_t txieStatus = HWREG16(baseAddress + OFS_UCBxIE) & UCTXIE;
+
+    //Disable transmit interrupt enable
+    HWREG16(baseAddress + OFS_UCBxIE) &= ~(UCTXIE);
+
+    //Send start condition.
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCTR +  UCTXSTT;
+
+    //Poll for transmit interrupt flag.
+    while ((!(HWREG16(baseAddress + OFS_UCBxIFG) & UCTXIFG)) && --timeout);
+
+    //Check if transfer timed out
+    if (timeout == 0){
+        return (STATUS_FAIL);
+    }
+
+    //Send single byte data.
+    HWREG16(baseAddress + OFS_UCBxTXBUF) = txData;
+
+    //Reinstate transmit interrupt enable
+    HWREG16(baseAddress + OFS_UCBxIE) |= txieStatus;
+
+    return(STATUS_SUCCESS);
+}
+
+void EUSCI_B_I2C_masterSendMultiByteNext (uint16_t baseAddress,
+    uint8_t txData
+    )
+{
+    //If interrupts are not used, poll for flags
+    if (!(HWREG16(baseAddress + OFS_UCBxIE) & UCTXIE)){
+        //Poll for transmit interrupt flag.
+        while (!(HWREG16(baseAddress + OFS_UCBxIFG) & UCTXIFG)) ;
+    }
+
+    //Send single byte data.
+    HWREG16(baseAddress + OFS_UCBxTXBUF) = txData;
+}
+
+bool EUSCI_B_I2C_masterSendMultiByteNextWithTimeout (uint16_t baseAddress,
+    uint8_t txData,
+    uint32_t timeout
+    )
+{
+    //If interrupts are not used, poll for flags
+    if (!(HWREG16(baseAddress + OFS_UCBxIE) & UCTXIE)){
+        //Poll for transmit interrupt flag.
+        while ((!(HWREG16(baseAddress + OFS_UCBxIFG) & UCTXIFG)) && --timeout);
+
+        //Check if transfer timed out
+        if (timeout == 0){
+            return (STATUS_FAIL);
+        }
+    }
+
+    //Send single byte data.
+    HWREG16(baseAddress + OFS_UCBxTXBUF) = txData;
+
+    return(STATUS_SUCCESS);
+}
+
+void EUSCI_B_I2C_masterSendMultiByteFinish (uint16_t baseAddress,
+    uint8_t txData
+    )
+{
+    //If interrupts are not used, poll for flags
+    if (!(HWREG16(baseAddress + OFS_UCBxIE) & UCTXIE)){
+        //Poll for transmit interrupt flag.
+        while (!(HWREG16(baseAddress + OFS_UCBxIFG) & UCTXIFG)) ;
+    }
+
+    //Send single byte data.
+    HWREG16(baseAddress + OFS_UCBxTXBUF) = txData;
+
+    //Poll for transmit interrupt flag.
+    while (!(HWREG16(baseAddress + OFS_UCBxIFG) & UCTXIFG)) ;
+
+    //Send stop condition.
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCTXSTP;
+}
+
+bool EUSCI_B_I2C_masterSendMultiByteFinishWithTimeout (uint16_t baseAddress,
+    uint8_t txData,
+    uint32_t timeout
+    )
+{
+    uint32_t timeout2 = timeout;
+
+    //If interrupts are not used, poll for flags
+    if (!(HWREG16(baseAddress + OFS_UCBxIE) & UCTXIE)){
+        //Poll for transmit interrupt flag.
+        while ((!(HWREG16(baseAddress + OFS_UCBxIFG) & UCTXIFG)) && --timeout) ;
+
+        //Check if transfer timed out
+        if (timeout == 0){
+            return (STATUS_FAIL);
+        }
+    }
+
+    //Send single byte data.
+    HWREG16(baseAddress + OFS_UCBxTXBUF) = txData;
+
+    //Poll for transmit interrupt flag.
+    while ((!(HWREG16(baseAddress + OFS_UCBxIFG) & UCTXIFG)) && --timeout2) ;
+
+    //Check if transfer timed out
+    if (timeout2 == 0){
+        return (STATUS_FAIL);
+    }
+
+    //Send stop condition.
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCTXSTP;
+
+    return(STATUS_SUCCESS);
+}
+
+void EUSCI_B_I2C_masterSendStart (uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCTXSTT;
+}
+
+void EUSCI_B_I2C_masterSendMultiByteStop (uint16_t baseAddress)
+{
+    //If interrupts are not used, poll for flags
+    if (!(HWREG16(baseAddress + OFS_UCBxIE) & UCTXIE)){
+        //Poll for transmit interrupt flag.
+        while (!(HWREG16(baseAddress + OFS_UCBxIFG) & UCTXIFG)) ;
+    }
+
+    //Send stop condition.
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCTXSTP;
+}
+
+bool EUSCI_B_I2C_masterSendMultiByteStopWithTimeout (uint16_t baseAddress,
+    uint32_t timeout)
+{
+    //If interrupts are not used, poll for flags
+    if (!(HWREG16(baseAddress + OFS_UCBxIE) & UCTXIE)){
+        //Poll for transmit interrupt flag.
+        while ((!(HWREG16(baseAddress + OFS_UCBxIFG) & UCTXIFG)) && --timeout) ;
+
+        //Check if transfer timed out
+        if (timeout == 0){
+            return (STATUS_FAIL);
+        }
+    }
+
+    //Send stop condition.
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCTXSTP;
+
+    return (STATUS_SUCCESS);
+}
+
+void EUSCI_B_I2C_masterReceiveStart (uint16_t baseAddress)
+{
+    //Set USCI in Receive mode
+    HWREG16(baseAddress + OFS_UCBxCTLW0) &= ~UCTR;
+    //Send start
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCTXSTT;
+}
+
+uint8_t EUSCI_B_I2C_masterReceiveMultiByteNext (uint16_t baseAddress)
+{
+    return (HWREG16(baseAddress + OFS_UCBxRXBUF));
+}
+
+uint8_t EUSCI_B_I2C_masterReceiveMultiByteFinish (uint16_t baseAddress)
+{
+    //Send stop condition.
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCTXSTP;
+
+    //Wait for Stop to finish
+    while (HWREG16(baseAddress + OFS_UCBxCTLW0) & UCTXSTP)
+
+    // Wait for RX buffer
+    while (!(HWREG16(baseAddress + OFS_UCBxIFG) & UCRXIFG)) ;
+
+    //Capture data from receive buffer after setting stop bit due to
+    //MSP430 I2C critical timing.
+    return (HWREG16(baseAddress + OFS_UCBxRXBUF));
+}
+
+bool EUSCI_B_I2C_masterReceiveMultiByteFinishWithTimeout (uint16_t baseAddress,
+    uint8_t *txData,
+    uint32_t timeout
+    )
+{
+    uint32_t timeout2 = timeout;
+
+    //Send stop condition.
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCTXSTP;
+
+    //Wait for Stop to finish
+    while ((HWREG16(baseAddress + OFS_UCBxCTLW0) & UCTXSTP) && --timeout);
+
+    //Check if transfer timed out
+    if (timeout == 0){
+        return (STATUS_FAIL);
+    }
+
+    // Wait for RX buffer
+    while ((!(HWREG16(baseAddress + OFS_UCBxIFG) & UCRXIFG)) && --timeout2);
+
+    //Check if transfer timed out
+    if (timeout2 == 0){
+        return (STATUS_FAIL);
+    }
+
+    //Capture data from receive buffer after setting stop bit due to
+    //MSP430 I2C critical timing.
+    *txData = (HWREG8(baseAddress + OFS_UCBxRXBUF));
+
+    return (STATUS_SUCCESS);
+}
+
+void EUSCI_B_I2C_masterReceiveMultiByteStop (uint16_t baseAddress)
+{
+    //Send stop condition.
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCTXSTP;
+}
+
+void EUSCI_B_I2C_enableMultiMasterMode(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCSWRST;
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCMM;
+}
+
+void EUSCI_B_I2C_disableMultiMasterMode(uint16_t baseAddress)
+{
+
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCSWRST;
+    HWREG16(baseAddress + OFS_UCBxCTLW0) &= ~UCMM;
+}
+
+uint8_t EUSCI_B_I2C_masterReceiveSingle (uint16_t baseAddress)
+{
+    //Polling RXIFG0 if RXIE is not enabled
+    if(!(HWREG16(baseAddress + OFS_UCBxIE) & UCRXIE0)) {
+        while(!(HWREG16(baseAddress + OFS_UCBxIFG) & UCRXIFG0));
+    }
+
+    //Read a byte.
+    return (HWREG16(baseAddress + OFS_UCBxRXBUF));
+}
+
+uint32_t EUSCI_B_I2C_getReceiveBufferAddress (uint16_t baseAddress)
+{
+    return ( baseAddress + OFS_UCBxRXBUF );
+}
+
+uint32_t EUSCI_B_I2C_getTransmitBufferAddress (uint16_t baseAddress)
+{
+    return ( baseAddress + OFS_UCBxTXBUF );
+}
+void EUSCI_B_I2C_setTimeout(uint16_t baseAddress, uint16_t timeout)
+{
+    uint16_t tempUCBxCTLW0;
+
+    //Save value of UCSWRST bit before we disable eUSCI module
+    tempUCBxCTLW0 = HWREG16(baseAddress + OFS_UCBxCTLW0);
+    //Disable the USCI module
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCSWRST;
+
+    //Set timeout
+    HWREG16(baseAddress + OFS_UCBxCTLW1) = (HWREG16(baseAddress + OFS_UCBxCTLW1) & (~UCCLTO_3)) | timeout;
+
+    //Restore value of UCSWRST bit
+    HWREG16(baseAddress + OFS_UCBxCTLW0) = tempUCBxCTLW0;
+}
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for eusci_b_i2c_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/eusci_b_i2c.h b/Apps/FlightSoftware/MotorControl/driverlib/eusci_b_i2c.h
new file mode 100644
index 000000000..869f1a1f3
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/eusci_b_i2c.h
@@ -0,0 +1,1047 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// eusci_b_i2c.h - Driver for the EUSCI_B_I2C Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_EUSCI_B_I2C_H__
+#define __MSP430WARE_EUSCI_B_I2C_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_EUSCI_Bx__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "inc/hw_memmap.h"
+//*****************************************************************************
+//
+//! \brief Used in the EUSCI_B_I2C_initMaster() function as the param
+//! parameter.
+//
+//*****************************************************************************
+typedef struct EUSCI_B_I2C_initMasterParam {
+    //! Selects the clocksource. Refer to device specific datasheet for
+    //! available options.
+    //! \n Valid values are:
+    //! - \b EUSCI_B_I2C_CLOCKSOURCE_ACLK
+    //! - \b EUSCI_B_I2C_CLOCKSOURCE_SMCLK
+    uint8_t selectClockSource;
+    //! Is the rate of the clock supplied to the I2C module (the frequency in
+    //! Hz of the clock source specified in selectClockSource).
+    uint32_t i2cClk;
+    //! Setup for selecting data transfer rate.
+    //! \n Valid values are:
+    //! - \b EUSCI_B_I2C_SET_DATA_RATE_400KBPS
+    //! - \b EUSCI_B_I2C_SET_DATA_RATE_100KBPS
+    uint32_t dataRate;
+    //! Sets threshold for automatic STOP or UCSTPIFG
+    uint8_t byteCounterThreshold;
+    //! Sets up the STOP condition generation.
+    //! \n Valid values are:
+    //! - \b EUSCI_B_I2C_NO_AUTO_STOP
+    //! - \b EUSCI_B_I2C_SET_BYTECOUNT_THRESHOLD_FLAG
+    //! - \b EUSCI_B_I2C_SEND_STOP_AUTOMATICALLY_ON_BYTECOUNT_THRESHOLD
+    uint8_t autoSTOPGeneration;
+} EUSCI_B_I2C_initMasterParam;
+
+//*****************************************************************************
+//
+//! \brief Used in the EUSCI_B_I2C_initSlave() function as the param parameter.
+//
+//*****************************************************************************
+typedef struct EUSCI_B_I2C_initSlaveParam {
+    //! 7-bit slave address
+    uint8_t slaveAddress;
+    //! Own address Offset referred to- 'x' value of UCBxI2COAx.
+    //! \n Valid values are:
+    //! - \b EUSCI_B_I2C_OWN_ADDRESS_OFFSET0
+    //! - \b EUSCI_B_I2C_OWN_ADDRESS_OFFSET1
+    //! - \b EUSCI_B_I2C_OWN_ADDRESS_OFFSET2
+    //! - \b EUSCI_B_I2C_OWN_ADDRESS_OFFSET3
+    uint8_t slaveAddressOffset;
+    //! Selects if the specified address is enabled or disabled.
+    //! \n Valid values are:
+    //! - \b EUSCI_B_I2C_OWN_ADDRESS_DISABLE
+    //! - \b EUSCI_B_I2C_OWN_ADDRESS_ENABLE
+    uint32_t slaveOwnAddressEnable;
+} EUSCI_B_I2C_initSlaveParam;
+
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: EUSCI_B_I2C_initMaster().
+//
+//*****************************************************************************
+#define EUSCI_B_I2C_NO_AUTO_STOP                                       UCASTP_0
+#define EUSCI_B_I2C_SET_BYTECOUNT_THRESHOLD_FLAG                       UCASTP_1
+#define EUSCI_B_I2C_SEND_STOP_AUTOMATICALLY_ON_BYTECOUNT_THRESHOLD     UCASTP_2
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: EUSCI_B_I2C_initMaster().
+//
+//*****************************************************************************
+#define EUSCI_B_I2C_SET_DATA_RATE_400KBPS                                400000
+#define EUSCI_B_I2C_SET_DATA_RATE_100KBPS                                100000
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: EUSCI_B_I2C_initMaster().
+//
+//*****************************************************************************
+#define EUSCI_B_I2C_CLOCKSOURCE_ACLK                               UCSSEL__ACLK
+#define EUSCI_B_I2C_CLOCKSOURCE_SMCLK                             UCSSEL__SMCLK
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: EUSCI_B_I2C_initSlave().
+//
+//*****************************************************************************
+#define EUSCI_B_I2C_OWN_ADDRESS_OFFSET0                                    0x00
+#define EUSCI_B_I2C_OWN_ADDRESS_OFFSET1                                    0x02
+#define EUSCI_B_I2C_OWN_ADDRESS_OFFSET2                                    0x04
+#define EUSCI_B_I2C_OWN_ADDRESS_OFFSET3                                    0x06
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: EUSCI_B_I2C_initSlave().
+//
+//*****************************************************************************
+#define EUSCI_B_I2C_OWN_ADDRESS_DISABLE                                    0x00
+#define EUSCI_B_I2C_OWN_ADDRESS_ENABLE                                   UCOAEN
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the mode parameter for
+// functions: EUSCI_B_I2C_setMode() as well as returned by the
+// EUSCI_B_I2C_getMode() function.
+//
+//*****************************************************************************
+#define EUSCI_B_I2C_TRANSMIT_MODE                                          UCTR
+#define EUSCI_B_I2C_RECEIVE_MODE                                           0x00
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the mask parameter for
+// functions: EUSCI_B_I2C_enableInterrupt(), EUSCI_B_I2C_disableInterrupt(),
+// EUSCI_B_I2C_clearInterrupt(), and EUSCI_B_I2C_getInterruptStatus() as well
+// as returned by the EUSCI_B_I2C_getInterruptStatus() function.
+//
+//*****************************************************************************
+#define EUSCI_B_I2C_NAK_INTERRUPT                                      UCNACKIE
+#define EUSCI_B_I2C_ARBITRATIONLOST_INTERRUPT                            UCALIE
+#define EUSCI_B_I2C_STOP_INTERRUPT                                      UCSTPIE
+#define EUSCI_B_I2C_START_INTERRUPT                                     UCSTTIE
+#define EUSCI_B_I2C_TRANSMIT_INTERRUPT0                                 UCTXIE0
+#define EUSCI_B_I2C_TRANSMIT_INTERRUPT1                                 UCTXIE1
+#define EUSCI_B_I2C_TRANSMIT_INTERRUPT2                                 UCTXIE2
+#define EUSCI_B_I2C_TRANSMIT_INTERRUPT3                                 UCTXIE3
+#define EUSCI_B_I2C_RECEIVE_INTERRUPT0                                  UCRXIE0
+#define EUSCI_B_I2C_RECEIVE_INTERRUPT1                                  UCRXIE1
+#define EUSCI_B_I2C_RECEIVE_INTERRUPT2                                  UCRXIE2
+#define EUSCI_B_I2C_RECEIVE_INTERRUPT3                                  UCRXIE3
+#define EUSCI_B_I2C_BIT9_POSITION_INTERRUPT                            UCBIT9IE
+#define EUSCI_B_I2C_CLOCK_LOW_TIMEOUT_INTERRUPT                        UCCLTOIE
+#define EUSCI_B_I2C_BYTE_COUNTER_INTERRUPT                             UCBCNTIE
+
+//*****************************************************************************
+//
+// The following are values that can be passed toThe following are values that
+// can be returned by the EUSCI_B_I2C_isBusBusy() function.
+//
+//*****************************************************************************
+#define EUSCI_B_I2C_BUS_BUSY                                            UCBBUSY
+#define EUSCI_B_I2C_BUS_NOT_BUSY                                           0x00
+
+//*****************************************************************************
+//
+// The following are values that can be passed toThe following are values that
+// can be returned by the EUSCI_B_I2C_masterIsStopSent() function.
+//
+//*****************************************************************************
+#define EUSCI_B_I2C_STOP_SEND_COMPLETE                                     0x00
+#define EUSCI_B_I2C_SENDING_STOP                                        UCTXSTP
+
+//*****************************************************************************
+//
+// The following are values that can be passed toThe following are values that
+// can be returned by the EUSCI_B_I2C_masterIsStartSent() function.
+//
+//*****************************************************************************
+#define EUSCI_B_I2C_START_SEND_COMPLETE                                    0x00
+#define EUSCI_B_I2C_SENDING_START                                       UCTXSTT
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the timeout parameter for
+// functions: EUSCI_B_I2C_setTimeout().
+//
+//*****************************************************************************
+#define EUSCI_B_I2C_TIMEOUT_DISABLE                                    UCCLTO_0
+#define EUSCI_B_I2C_TIMEOUT_28_MS                                      UCCLTO_1
+#define EUSCI_B_I2C_TIMEOUT_31_MS                                      UCCLTO_2
+#define EUSCI_B_I2C_TIMEOUT_34_MS                                      UCCLTO_3
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Initializes the I2C Master block.
+//!
+//! This function initializes operation of the I2C Master block. Upon
+//! successful initialization of the I2C block, this function will have set the
+//! bus speed for the master; however I2C module is still disabled till
+//! EUSCI_B_I2C_enable is invoked.
+//!
+//! \param baseAddress is the base address of the I2C Master module.
+//! \param param is the pointer to the struct for master initialization.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_I2C_initMaster(uint16_t baseAddress,
+                                   EUSCI_B_I2C_initMasterParam *param);
+
+//*****************************************************************************
+//
+//! \brief Initializes the I2C Slave block.
+//!
+//! This function initializes operation of the I2C as a Slave mode. Upon
+//! successful initialization of the I2C blocks, this function will have set
+//! the slave address but the I2C module is still disabled till
+//! EUSCI_B_I2C_enable is invoked.
+//!
+//! \param baseAddress is the base address of the I2C Slave module.
+//! \param param is the pointer to the struct for slave initialization.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_I2C_initSlave(uint16_t baseAddress,
+                                  EUSCI_B_I2C_initSlaveParam *param);
+
+//*****************************************************************************
+//
+//! \brief Enables the I2C block.
+//!
+//! This will enable operation of the I2C block.
+//!
+//! \param baseAddress is the base address of the USCI I2C module.
+//!
+//! Modified bits are \b UCSWRST of \b UCBxCTLW0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_I2C_enable(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Disables the I2C block.
+//!
+//! This will disable operation of the I2C block.
+//!
+//! \param baseAddress is the base address of the USCI I2C module.
+//!
+//! Modified bits are \b UCSWRST of \b UCBxCTLW0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_I2C_disable(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Sets the address that the I2C Master will place on the bus.
+//!
+//! This function will set the address that the I2C Master will place on the
+//! bus when initiating a transaction.
+//!
+//! \param baseAddress is the base address of the USCI I2C module.
+//! \param slaveAddress 7-bit slave address
+//!
+//! Modified bits of \b UCBxI2CSA register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_I2C_setSlaveAddress(uint16_t baseAddress,
+                                        uint8_t slaveAddress);
+
+//*****************************************************************************
+//
+//! \brief Sets the mode of the I2C device
+//!
+//! When the mode parameter is set to EUSCI_B_I2C_TRANSMIT_MODE, the address
+//! will indicate that the I2C module is in send mode; otherwise, the I2C
+//! module is in receive mode.
+//!
+//! \param baseAddress is the base address of the USCI I2C module.
+//! \param mode Mode for the EUSCI_B_I2C module
+//!        Valid values are:
+//!        - \b EUSCI_B_I2C_TRANSMIT_MODE [Default]
+//!        - \b EUSCI_B_I2C_RECEIVE_MODE
+//!
+//! Modified bits are \b UCTR of \b UCBxCTLW0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_I2C_setMode(uint16_t baseAddress,
+                                uint8_t mode);
+
+//*****************************************************************************
+//
+//! \brief Gets the mode of the I2C device
+//!
+//! Current I2C transmit/receive mode.
+//!
+//! \param baseAddress is the base address of the I2C module.
+//!
+//! Modified bits are \b UCTR of \b UCBxCTLW0 register.
+//!
+//! \return One of the following:
+//!         - \b EUSCI_B_I2C_TRANSMIT_MODE
+//!         - \b EUSCI_B_I2C_RECEIVE_MODE
+//!         \n indicating the current mode
+//
+//*****************************************************************************
+extern uint8_t EUSCI_B_I2C_getMode(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Transmits a byte from the I2C Module.
+//!
+//! This function will place the supplied data into I2C transmit data register
+//! to start transmission.
+//!
+//! \param baseAddress is the base address of the I2C Slave module.
+//! \param transmitData data to be transmitted from the I2C module
+//!
+//! Modified bits of \b UCBxTXBUF register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_I2C_slavePutData(uint16_t baseAddress,
+                                     uint8_t transmitData);
+
+//*****************************************************************************
+//
+//! \brief Receives a byte that has been sent to the I2C Module.
+//!
+//! This function reads a byte of data from the I2C receive data Register.
+//!
+//! \param baseAddress is the base address of the I2C Slave module.
+//!
+//! \return Returns the byte received from by the I2C module, cast as an
+//!         uint8_t.
+//
+//*****************************************************************************
+extern uint8_t EUSCI_B_I2C_slaveGetData(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Indicates whether or not the I2C bus is busy.
+//!
+//! This function returns an indication of whether or not the I2C bus is busy.
+//! This function checks the status of the bus via UCBBUSY bit in UCBxSTAT
+//! register.
+//!
+//! \param baseAddress is the base address of the I2C module.
+//!
+//! \return One of the following:
+//!         - \b EUSCI_B_I2C_BUS_BUSY
+//!         - \b EUSCI_B_I2C_BUS_NOT_BUSY
+//!         \n indicating whether the bus is busy
+//
+//*****************************************************************************
+extern uint16_t EUSCI_B_I2C_isBusBusy(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Indicates whether STOP got sent.
+//!
+//! This function returns an indication of whether or not STOP got sent This
+//! function checks the status of the bus via UCTXSTP bit in UCBxCTL1 register.
+//!
+//! \param baseAddress is the base address of the I2C Master module.
+//!
+//! \return One of the following:
+//!         - \b EUSCI_B_I2C_STOP_SEND_COMPLETE
+//!         - \b EUSCI_B_I2C_SENDING_STOP
+//!         \n indicating whether the stop was sent
+//
+//*****************************************************************************
+extern uint16_t EUSCI_B_I2C_masterIsStopSent(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Indicates whether Start got sent.
+//!
+//! This function returns an indication of whether or not Start got sent This
+//! function checks the status of the bus via UCTXSTT bit in UCBxCTL1 register.
+//!
+//! \param baseAddress is the base address of the I2C Master module.
+//!
+//! \return One of the following:
+//!         - \b EUSCI_B_I2C_START_SEND_COMPLETE
+//!         - \b EUSCI_B_I2C_SENDING_START
+//!         \n indicating whether the start was sent
+//
+//*****************************************************************************
+extern uint16_t EUSCI_B_I2C_masterIsStartSent(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Enables individual I2C interrupt sources.
+//!
+//! Enables the indicated I2C interrupt sources. Only the sources that are
+//! enabled can be reflected to the processor interrupt; disabled sources have
+//! no effect on the processor.
+//!
+//! \param baseAddress is the base address of the I2C module.
+//! \param mask is the bit mask of the interrupt sources to be enabled.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b EUSCI_B_I2C_NAK_INTERRUPT - Not-acknowledge interrupt
+//!        - \b EUSCI_B_I2C_ARBITRATIONLOST_INTERRUPT - Arbitration lost
+//!           interrupt
+//!        - \b EUSCI_B_I2C_STOP_INTERRUPT - STOP condition interrupt
+//!        - \b EUSCI_B_I2C_START_INTERRUPT - START condition interrupt
+//!        - \b EUSCI_B_I2C_TRANSMIT_INTERRUPT0 - Transmit interrupt0
+//!        - \b EUSCI_B_I2C_TRANSMIT_INTERRUPT1 - Transmit interrupt1
+//!        - \b EUSCI_B_I2C_TRANSMIT_INTERRUPT2 - Transmit interrupt2
+//!        - \b EUSCI_B_I2C_TRANSMIT_INTERRUPT3 - Transmit interrupt3
+//!        - \b EUSCI_B_I2C_RECEIVE_INTERRUPT0 - Receive interrupt0
+//!        - \b EUSCI_B_I2C_RECEIVE_INTERRUPT1 - Receive interrupt1
+//!        - \b EUSCI_B_I2C_RECEIVE_INTERRUPT2 - Receive interrupt2
+//!        - \b EUSCI_B_I2C_RECEIVE_INTERRUPT3 - Receive interrupt3
+//!        - \b EUSCI_B_I2C_BIT9_POSITION_INTERRUPT - Bit position 9 interrupt
+//!        - \b EUSCI_B_I2C_CLOCK_LOW_TIMEOUT_INTERRUPT - Clock low timeout
+//!           interrupt enable
+//!        - \b EUSCI_B_I2C_BYTE_COUNTER_INTERRUPT - Byte counter interrupt
+//!           enable
+//!
+//! Modified bits of \b UCBxIE register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_I2C_enableInterrupt(uint16_t baseAddress,
+                                        uint16_t mask);
+
+//*****************************************************************************
+//
+//! \brief Disables individual I2C interrupt sources.
+//!
+//! Disables the indicated I2C interrupt sources. Only the sources that are
+//! enabled can be reflected to the processor interrupt; disabled sources have
+//! no effect on the processor.
+//!
+//! \param baseAddress is the base address of the I2C module.
+//! \param mask is the bit mask of the interrupt sources to be disabled.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b EUSCI_B_I2C_NAK_INTERRUPT - Not-acknowledge interrupt
+//!        - \b EUSCI_B_I2C_ARBITRATIONLOST_INTERRUPT - Arbitration lost
+//!           interrupt
+//!        - \b EUSCI_B_I2C_STOP_INTERRUPT - STOP condition interrupt
+//!        - \b EUSCI_B_I2C_START_INTERRUPT - START condition interrupt
+//!        - \b EUSCI_B_I2C_TRANSMIT_INTERRUPT0 - Transmit interrupt0
+//!        - \b EUSCI_B_I2C_TRANSMIT_INTERRUPT1 - Transmit interrupt1
+//!        - \b EUSCI_B_I2C_TRANSMIT_INTERRUPT2 - Transmit interrupt2
+//!        - \b EUSCI_B_I2C_TRANSMIT_INTERRUPT3 - Transmit interrupt3
+//!        - \b EUSCI_B_I2C_RECEIVE_INTERRUPT0 - Receive interrupt0
+//!        - \b EUSCI_B_I2C_RECEIVE_INTERRUPT1 - Receive interrupt1
+//!        - \b EUSCI_B_I2C_RECEIVE_INTERRUPT2 - Receive interrupt2
+//!        - \b EUSCI_B_I2C_RECEIVE_INTERRUPT3 - Receive interrupt3
+//!        - \b EUSCI_B_I2C_BIT9_POSITION_INTERRUPT - Bit position 9 interrupt
+//!        - \b EUSCI_B_I2C_CLOCK_LOW_TIMEOUT_INTERRUPT - Clock low timeout
+//!           interrupt enable
+//!        - \b EUSCI_B_I2C_BYTE_COUNTER_INTERRUPT - Byte counter interrupt
+//!           enable
+//!
+//! Modified bits of \b UCBxIE register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_I2C_disableInterrupt(uint16_t baseAddress,
+                                         uint16_t mask);
+
+//*****************************************************************************
+//
+//! \brief Clears I2C interrupt sources.
+//!
+//! The I2C interrupt source is cleared, so that it no longer asserts. The
+//! highest interrupt flag is automatically cleared when an interrupt vector
+//! generator is used.
+//!
+//! \param baseAddress is the base address of the I2C module.
+//! \param mask is a bit mask of the interrupt sources to be cleared.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b EUSCI_B_I2C_NAK_INTERRUPT - Not-acknowledge interrupt
+//!        - \b EUSCI_B_I2C_ARBITRATIONLOST_INTERRUPT - Arbitration lost
+//!           interrupt
+//!        - \b EUSCI_B_I2C_STOP_INTERRUPT - STOP condition interrupt
+//!        - \b EUSCI_B_I2C_START_INTERRUPT - START condition interrupt
+//!        - \b EUSCI_B_I2C_TRANSMIT_INTERRUPT0 - Transmit interrupt0
+//!        - \b EUSCI_B_I2C_TRANSMIT_INTERRUPT1 - Transmit interrupt1
+//!        - \b EUSCI_B_I2C_TRANSMIT_INTERRUPT2 - Transmit interrupt2
+//!        - \b EUSCI_B_I2C_TRANSMIT_INTERRUPT3 - Transmit interrupt3
+//!        - \b EUSCI_B_I2C_RECEIVE_INTERRUPT0 - Receive interrupt0
+//!        - \b EUSCI_B_I2C_RECEIVE_INTERRUPT1 - Receive interrupt1
+//!        - \b EUSCI_B_I2C_RECEIVE_INTERRUPT2 - Receive interrupt2
+//!        - \b EUSCI_B_I2C_RECEIVE_INTERRUPT3 - Receive interrupt3
+//!        - \b EUSCI_B_I2C_BIT9_POSITION_INTERRUPT - Bit position 9 interrupt
+//!        - \b EUSCI_B_I2C_CLOCK_LOW_TIMEOUT_INTERRUPT - Clock low timeout
+//!           interrupt enable
+//!        - \b EUSCI_B_I2C_BYTE_COUNTER_INTERRUPT - Byte counter interrupt
+//!           enable
+//!
+//! Modified bits of \b UCBxIFG register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_I2C_clearInterrupt(uint16_t baseAddress,
+                                       uint16_t mask);
+
+//*****************************************************************************
+//
+//! \brief Gets the current I2C interrupt status.
+//!
+//! This returns the interrupt status for the I2C module based on which flag is
+//! passed.
+//!
+//! \param baseAddress is the base address of the I2C module.
+//! \param mask is the masked interrupt flag status to be returned.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b EUSCI_B_I2C_NAK_INTERRUPT - Not-acknowledge interrupt
+//!        - \b EUSCI_B_I2C_ARBITRATIONLOST_INTERRUPT - Arbitration lost
+//!           interrupt
+//!        - \b EUSCI_B_I2C_STOP_INTERRUPT - STOP condition interrupt
+//!        - \b EUSCI_B_I2C_START_INTERRUPT - START condition interrupt
+//!        - \b EUSCI_B_I2C_TRANSMIT_INTERRUPT0 - Transmit interrupt0
+//!        - \b EUSCI_B_I2C_TRANSMIT_INTERRUPT1 - Transmit interrupt1
+//!        - \b EUSCI_B_I2C_TRANSMIT_INTERRUPT2 - Transmit interrupt2
+//!        - \b EUSCI_B_I2C_TRANSMIT_INTERRUPT3 - Transmit interrupt3
+//!        - \b EUSCI_B_I2C_RECEIVE_INTERRUPT0 - Receive interrupt0
+//!        - \b EUSCI_B_I2C_RECEIVE_INTERRUPT1 - Receive interrupt1
+//!        - \b EUSCI_B_I2C_RECEIVE_INTERRUPT2 - Receive interrupt2
+//!        - \b EUSCI_B_I2C_RECEIVE_INTERRUPT3 - Receive interrupt3
+//!        - \b EUSCI_B_I2C_BIT9_POSITION_INTERRUPT - Bit position 9 interrupt
+//!        - \b EUSCI_B_I2C_CLOCK_LOW_TIMEOUT_INTERRUPT - Clock low timeout
+//!           interrupt enable
+//!        - \b EUSCI_B_I2C_BYTE_COUNTER_INTERRUPT - Byte counter interrupt
+//!           enable
+//!
+//! \return Logical OR of any of the following:
+//!         - \b EUSCI_B_I2C_NAK_INTERRUPT Not-acknowledge interrupt
+//!         - \b EUSCI_B_I2C_ARBITRATIONLOST_INTERRUPT Arbitration lost
+//!         interrupt
+//!         - \b EUSCI_B_I2C_STOP_INTERRUPT STOP condition interrupt
+//!         - \b EUSCI_B_I2C_START_INTERRUPT START condition interrupt
+//!         - \b EUSCI_B_I2C_TRANSMIT_INTERRUPT0 Transmit interrupt0
+//!         - \b EUSCI_B_I2C_TRANSMIT_INTERRUPT1 Transmit interrupt1
+//!         - \b EUSCI_B_I2C_TRANSMIT_INTERRUPT2 Transmit interrupt2
+//!         - \b EUSCI_B_I2C_TRANSMIT_INTERRUPT3 Transmit interrupt3
+//!         - \b EUSCI_B_I2C_RECEIVE_INTERRUPT0 Receive interrupt0
+//!         - \b EUSCI_B_I2C_RECEIVE_INTERRUPT1 Receive interrupt1
+//!         - \b EUSCI_B_I2C_RECEIVE_INTERRUPT2 Receive interrupt2
+//!         - \b EUSCI_B_I2C_RECEIVE_INTERRUPT3 Receive interrupt3
+//!         - \b EUSCI_B_I2C_BIT9_POSITION_INTERRUPT Bit position 9 interrupt
+//!         - \b EUSCI_B_I2C_CLOCK_LOW_TIMEOUT_INTERRUPT Clock low timeout
+//!         interrupt enable
+//!         - \b EUSCI_B_I2C_BYTE_COUNTER_INTERRUPT Byte counter interrupt
+//!         enable
+//!         \n indicating the status of the masked interrupts
+//
+//*****************************************************************************
+extern uint16_t EUSCI_B_I2C_getInterruptStatus(uint16_t baseAddress,
+                                               uint16_t mask);
+
+//*****************************************************************************
+//
+//! \brief Does single byte transmission from Master to Slave
+//!
+//! This function is used by the Master module to send a single byte. This
+//! function sends a start, then transmits the byte to the slave and then sends
+//! a stop.
+//!
+//! \param baseAddress is the base address of the I2C Master module.
+//! \param txData is the data byte to be transmitted
+//!
+//! Modified bits of \b UCBxTXBUF register, bits of \b UCBxCTLW0 register, bits
+//! of \b UCBxIE register and bits of \b UCBxIFG register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_I2C_masterSendSingleByte(uint16_t baseAddress,
+                                             uint8_t txData);
+
+//*****************************************************************************
+//
+//! \brief Does single byte reception from Slave
+//!
+//! This function is used by the Master module to receive a single byte. This
+//! function sends start and stop, waits for data reception and then receives
+//! the data from the slave
+//!
+//! \param baseAddress is the base address of the I2C Master module.
+//!
+//! Modified bits of \b UCBxTXBUF register, bits of \b UCBxCTLW0 register, bits
+//! of \b UCBxIE register and bits of \b UCBxIFG register.
+//!
+//! \return STATUS_SUCCESS or STATUS_FAILURE of the transmission process.
+//
+//*****************************************************************************
+extern uint8_t EUSCI_B_I2C_masterReceiveSingleByte(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Does single byte transmission from Master to Slave with timeout
+//!
+//! This function is used by the Master module to send a single byte. This
+//! function sends a start, then transmits the byte to the slave and then sends
+//! a stop.
+//!
+//! \param baseAddress is the base address of the I2C Master module.
+//! \param txData is the data byte to be transmitted
+//! \param timeout is the amount of time to wait until giving up
+//!
+//! Modified bits of \b UCBxTXBUF register, bits of \b UCBxCTLW0 register, bits
+//! of \b UCBxIE register and bits of \b UCBxIFG register.
+//!
+//! \return STATUS_SUCCESS or STATUS_FAILURE of the transmission process.
+//
+//*****************************************************************************
+extern bool EUSCI_B_I2C_masterSendSingleByteWithTimeout(uint16_t baseAddress,
+                                                        uint8_t txData,
+                                                        uint32_t timeout);
+
+//*****************************************************************************
+//
+//! \brief Starts multi-byte transmission from Master to Slave
+//!
+//! This function is used by the master module to start a multi byte
+//! transaction.
+//!
+//! \param baseAddress is the base address of the I2C Master module.
+//! \param txData is the first data byte to be transmitted
+//!
+//! Modified bits of \b UCBxTXBUF register, bits of \b UCBxCTLW0 register, bits
+//! of \b UCBxIE register and bits of \b UCBxIFG register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_I2C_masterSendMultiByteStart(uint16_t baseAddress,
+                                                 uint8_t txData);
+
+//*****************************************************************************
+//
+//! \brief Starts multi-byte transmission from Master to Slave with timeout
+//!
+//! This function is used by the master module to start a multi byte
+//! transaction.
+//!
+//! \param baseAddress is the base address of the I2C Master module.
+//! \param txData is the first data byte to be transmitted
+//! \param timeout is the amount of time to wait until giving up
+//!
+//! Modified bits of \b UCBxTXBUF register, bits of \b UCBxCTLW0 register, bits
+//! of \b UCBxIE register and bits of \b UCBxIFG register.
+//!
+//! \return STATUS_SUCCESS or STATUS_FAILURE of the transmission process.
+//
+//*****************************************************************************
+extern bool EUSCI_B_I2C_masterSendMultiByteStartWithTimeout(uint16_t baseAddress,
+                                                            uint8_t txData,
+                                                            uint32_t timeout);
+
+//*****************************************************************************
+//
+//! \brief Continues multi-byte transmission from Master to Slave
+//!
+//! This function is used by the Master module continue each byte of a multi-
+//! byte transmission. This function transmits each data byte of a multi-byte
+//! transmission to the slave.
+//!
+//! \param baseAddress is the base address of the I2C Master module.
+//! \param txData is the next data byte to be transmitted
+//!
+//! Modified bits of \b UCBxTXBUF register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_I2C_masterSendMultiByteNext(uint16_t baseAddress,
+                                                uint8_t txData);
+
+//*****************************************************************************
+//
+//! \brief Continues multi-byte transmission from Master to Slave with timeout
+//!
+//! This function is used by the Master module continue each byte of a multi-
+//! byte transmission. This function transmits each data byte of a multi-byte
+//! transmission to the slave.
+//!
+//! \param baseAddress is the base address of the I2C Master module.
+//! \param txData is the next data byte to be transmitted
+//! \param timeout is the amount of time to wait until giving up
+//!
+//! Modified bits of \b UCBxTXBUF register.
+//!
+//! \return STATUS_SUCCESS or STATUS_FAILURE of the transmission process.
+//
+//*****************************************************************************
+extern bool EUSCI_B_I2C_masterSendMultiByteNextWithTimeout(uint16_t baseAddress,
+                                                           uint8_t txData,
+                                                           uint32_t timeout);
+
+//*****************************************************************************
+//
+//! \brief Finishes multi-byte transmission from Master to Slave
+//!
+//! This function is used by the Master module to send the last byte and STOP.
+//! This function transmits the last data byte of a multi-byte transmission to
+//! the slave and then sends a stop.
+//!
+//! \param baseAddress is the base address of the I2C Master module.
+//! \param txData is the last data byte to be transmitted in a multi-byte
+//!        transmission
+//!
+//! Modified bits of \b UCBxTXBUF register and bits of \b UCBxCTLW0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_I2C_masterSendMultiByteFinish(uint16_t baseAddress,
+                                                  uint8_t txData);
+
+//*****************************************************************************
+//
+//! \brief Finishes multi-byte transmission from Master to Slave with timeout
+//!
+//! This function is used by the Master module to send the last byte and STOP.
+//! This function transmits the last data byte of a multi-byte transmission to
+//! the slave and then sends a stop.
+//!
+//! \param baseAddress is the base address of the I2C Master module.
+//! \param txData is the last data byte to be transmitted in a multi-byte
+//!        transmission
+//! \param timeout is the amount of time to wait until giving up
+//!
+//! Modified bits of \b UCBxTXBUF register and bits of \b UCBxCTLW0 register.
+//!
+//! \return STATUS_SUCCESS or STATUS_FAILURE of the transmission process.
+//
+//*****************************************************************************
+extern bool EUSCI_B_I2C_masterSendMultiByteFinishWithTimeout(uint16_t baseAddress,
+                                                             uint8_t txData,
+                                                             uint32_t timeout);
+
+//*****************************************************************************
+//
+//! \brief This function is used by the Master module to initiate START
+//!
+//! This function is used by the Master module to initiate START
+//!
+//! \param baseAddress is the base address of the I2C Master module.
+//!
+//! Modified bits are \b UCTXSTT of \b UCBxCTLW0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_I2C_masterSendStart(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Send STOP byte at the end of a multi-byte transmission from Master
+//! to Slave
+//!
+//! This function is used by the Master module send STOP at the end of a multi-
+//! byte transmission. This function sends a stop after current transmission is
+//! complete.
+//!
+//! \param baseAddress is the base address of the I2C Master module.
+//!
+//! Modified bits are \b UCTXSTP of \b UCBxCTLW0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_I2C_masterSendMultiByteStop(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Send STOP byte at the end of a multi-byte transmission from Master
+//! to Slave with timeout
+//!
+//! This function is used by the Master module send STOP at the end of a multi-
+//! byte transmission. This function sends a stop after current transmission is
+//! complete.
+//!
+//! \param baseAddress is the base address of the I2C Master module.
+//! \param timeout is the amount of time to wait until giving up
+//!
+//! Modified bits are \b UCTXSTP of \b UCBxCTLW0 register.
+//!
+//! \return STATUS_SUCCESS or STATUS_FAILURE of the transmission process.
+//
+//*****************************************************************************
+extern bool EUSCI_B_I2C_masterSendMultiByteStopWithTimeout(uint16_t baseAddress,
+                                                           uint32_t timeout);
+
+//*****************************************************************************
+//
+//! \brief Starts reception at the Master end
+//!
+//! This function is used by the Master module initiate reception of a single
+//! byte. This function sends a start.
+//!
+//! \param baseAddress is the base address of the I2C Master module.
+//!
+//! Modified bits are \b UCTXSTT of \b UCBxCTLW0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_I2C_masterReceiveStart(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Starts multi-byte reception at the Master end one byte at a time
+//!
+//! This function is used by the Master module to receive each byte of a multi-
+//! byte reception. This function reads currently received byte.
+//!
+//! \param baseAddress is the base address of the I2C Master module.
+//!
+//! \return Received byte at Master end.
+//
+//*****************************************************************************
+extern uint8_t EUSCI_B_I2C_masterReceiveMultiByteNext(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Finishes multi-byte reception at the Master end
+//!
+//! This function is used by the Master module to initiate completion of a
+//! multi-byte reception. This function receives the current byte and initiates
+//! the STOP from master to slave.
+//!
+//! \param baseAddress is the base address of the I2C Master module.
+//!
+//! Modified bits are \b UCTXSTP of \b UCBxCTLW0 register.
+//!
+//! \return Received byte at Master end.
+//
+//*****************************************************************************
+extern uint8_t EUSCI_B_I2C_masterReceiveMultiByteFinish(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Finishes multi-byte reception at the Master end with timeout
+//!
+//! This function is used by the Master module to initiate completion of a
+//! multi-byte reception. This function receives the current byte and initiates
+//! the STOP from master to slave.
+//!
+//! \param baseAddress is the base address of the I2C Master module.
+//! \param txData is a pointer to the location to store the received byte at
+//!        master end
+//! \param timeout is the amount of time to wait until giving up
+//!
+//! Modified bits are \b UCTXSTP of \b UCBxCTLW0 register.
+//!
+//! \return STATUS_SUCCESS or STATUS_FAILURE of the reception process
+//
+//*****************************************************************************
+extern bool EUSCI_B_I2C_masterReceiveMultiByteFinishWithTimeout(uint16_t baseAddress,
+                                                                uint8_t *txData,
+                                                                uint32_t timeout);
+
+//*****************************************************************************
+//
+//! \brief Sends the STOP at the end of a multi-byte reception at the Master
+//! end
+//!
+//! This function is used by the Master module to initiate STOP
+//!
+//! \param baseAddress is the base address of the I2C Master module.
+//!
+//! Modified bits are \b UCTXSTP of \b UCBxCTLW0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_I2C_masterReceiveMultiByteStop(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Enables Multi Master Mode
+//!
+//! At the end of this function, the I2C module is still disabled till
+//! EUSCI_B_I2C_enable is invoked
+//!
+//! \param baseAddress is the base address of the I2C module.
+//!
+//! Modified bits are \b UCSWRST and \b UCMM of \b UCBxCTLW0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_I2C_enableMultiMasterMode(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Disables Multi Master Mode
+//!
+//! At the end of this function, the I2C module is still disabled till
+//! EUSCI_B_I2C_enable is invoked
+//!
+//! \param baseAddress is the base address of the I2C module.
+//!
+//! Modified bits are \b UCSWRST and \b UCMM of \b UCBxCTLW0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_I2C_disableMultiMasterMode(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief receives a byte that has been sent to the I2C Master Module.
+//!
+//! This function reads a byte of data from the I2C receive data Register.
+//!
+//! \param baseAddress is the base address of the I2C Master module.
+//!
+//! \return Returns the byte received from by the I2C module, cast as an
+//!         uint8_t.
+//
+//*****************************************************************************
+extern uint8_t EUSCI_B_I2C_masterReceiveSingle(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Returns the address of the RX Buffer of the I2C for the DMA module.
+//!
+//! Returns the address of the I2C RX Buffer. This can be used in conjunction
+//! with the DMA to store the received data directly to memory.
+//!
+//! \param baseAddress is the base address of the I2C module.
+//!
+//! \return The address of the I2C RX Buffer
+//
+//*****************************************************************************
+extern uint32_t EUSCI_B_I2C_getReceiveBufferAddress(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Returns the address of the TX Buffer of the I2C for the DMA module.
+//!
+//! Returns the address of the I2C TX Buffer. This can be used in conjunction
+//! with the DMA to obtain transmitted data directly from memory.
+//!
+//! \param baseAddress is the base address of the I2C module.
+//!
+//! \return The address of the I2C TX Buffer
+//
+//*****************************************************************************
+extern uint32_t EUSCI_B_I2C_getTransmitBufferAddress(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Enforces a timeout if the I2C clock is held low longer than a
+//! defined time.
+//!
+//! By using this function, the UCCLTOIFG interrupt will trigger if the clock
+//! is held low longer than this defined time. It is possible to detect the
+//! situation, when a clock is stretched by a master or slave for too long. The
+//! user can then handle this issue by, for example, resetting the eUSCI_B
+//! module. It is possible to select one of three predefined times for the
+//! clock low timeout.
+//!
+//! \param baseAddress is the base address of the I2C module.
+//! \param timeout how long the clock can be low before a timeout triggers.
+//!        Enables generation of the UCCLTOIFG interrupt.
+//!        Valid values are:
+//!        - \b EUSCI_B_I2C_TIMEOUT_DISABLE [Default]
+//!        - \b EUSCI_B_I2C_TIMEOUT_28_MS
+//!        - \b EUSCI_B_I2C_TIMEOUT_31_MS
+//!        - \b EUSCI_B_I2C_TIMEOUT_34_MS
+//!
+//! Modified bits are \b UCCLTO of \b UCBxCTLW1 register; bits \b UCSWRST of \b
+//! UCBxCTLW0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_I2C_setTimeout(uint16_t baseAddress,
+                                   uint16_t timeout);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_EUSCI_B_I2C_H__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/eusci_b_spi.c b/Apps/FlightSoftware/MotorControl/driverlib/eusci_b_spi.c
new file mode 100644
index 000000000..9a41ced3b
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/eusci_b_spi.c
@@ -0,0 +1,226 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// eusci_b_spi.c - Driver for the eusci_b_spi Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup eusci_b_spi_api eusci_b_spi
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_EUSCI_Bx__
+#include "eusci_b_spi.h"
+
+#include <assert.h>
+
+void EUSCI_B_SPI_initMaster (uint16_t baseAddress,
+    EUSCI_B_SPI_initMasterParam *param)
+{
+    //Disable the USCI Module
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCSWRST;
+
+    //Reset OFS_UCBxCTLW0 values
+    HWREG16(baseAddress + OFS_UCBxCTLW0) &= ~(UCCKPH + UCCKPL + UC7BIT + UCMSB +
+        UCMST + UCMODE_3 + UCSYNC);
+
+    //Reset OFS_UCBxCTLW0 values
+    HWREG16(baseAddress + OFS_UCBxCTLW0) &= ~(UCSSEL_3);
+
+    //Select Clock
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= param->selectClockSource;
+
+    HWREG16(baseAddress + OFS_UCBxBRW) =
+        (uint16_t)(param->clockSourceFrequency / param->desiredSpiClock);
+
+    /*
+     * Configure as SPI master mode.
+     * Clock phase select, polarity, msb
+     * UCMST = Master mode
+     * UCSYNC = Synchronous mode
+     * UCMODE_0 = 3-pin SPI
+     */
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= (
+        param->msbFirst +
+        param->clockPhase +
+        param->clockPolarity +
+        UCMST +
+        UCSYNC +
+        param->spiMode
+        );
+}
+
+void EUSCI_B_SPI_select4PinFunctionality (uint16_t baseAddress,
+    uint8_t select4PinFunctionality
+    )
+{
+  HWREG16(baseAddress + OFS_UCBxCTLW0) &= ~UCSTEM;
+  HWREG16(baseAddress + OFS_UCBxCTLW0) |= select4PinFunctionality;
+}
+
+void EUSCI_B_SPI_changeMasterClock (uint16_t baseAddress,
+    EUSCI_B_SPI_changeMasterClockParam *param)
+{
+    //Disable the USCI Module
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCSWRST;
+
+    HWREG16(baseAddress + OFS_UCBxBRW) =
+        (uint16_t)(param->clockSourceFrequency / param->desiredSpiClock);
+
+    //Reset the UCSWRST bit to enable the USCI Module
+    HWREG16(baseAddress + OFS_UCBxCTLW0) &= ~(UCSWRST);
+}
+
+void EUSCI_B_SPI_initSlave (uint16_t baseAddress, EUSCI_B_SPI_initSlaveParam *param)
+{
+    //Disable USCI Module
+    HWREG16(baseAddress + OFS_UCBxCTLW0)  |= UCSWRST;
+
+    //Reset OFS_UCBxCTLW0 register
+    HWREG16(baseAddress + OFS_UCBxCTLW0) &= ~(UCMSB +
+                                            UC7BIT +
+                                            UCMST +
+                                            UCCKPL +
+                                            UCCKPH +
+                                            UCMODE_3
+                                            );
+
+    //Clock polarity, phase select, msbFirst, SYNC, Mode0
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= (param->clockPhase +
+                                            param->clockPolarity +
+                                            param->msbFirst +
+                                            UCSYNC +
+                                            param->spiMode
+                                            );
+}
+
+void EUSCI_B_SPI_changeClockPhasePolarity (uint16_t baseAddress,
+    uint16_t clockPhase,
+    uint16_t clockPolarity
+    )
+{
+  //Disable the USCI Module
+  HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCSWRST;
+
+  HWREG16(baseAddress + OFS_UCBxCTLW0) &= ~(UCCKPH + UCCKPL);
+
+  HWREG16(baseAddress + OFS_UCBxCTLW0) |= (
+        clockPhase +
+        clockPolarity
+          );
+
+  //Reset the UCSWRST bit to enable the USCI Module
+  HWREG16(baseAddress + OFS_UCBxCTLW0) &= ~(UCSWRST);
+}
+
+void EUSCI_B_SPI_transmitData ( uint16_t baseAddress,
+    uint8_t transmitData
+    )
+{
+    HWREG16(baseAddress + OFS_UCBxTXBUF) = transmitData;
+}
+
+uint8_t EUSCI_B_SPI_receiveData (uint16_t baseAddress)
+{
+    return ( HWREG16(baseAddress + OFS_UCBxRXBUF)) ;
+}
+
+void EUSCI_B_SPI_enableInterrupt (uint16_t baseAddress,
+    uint8_t mask
+    )
+{
+    HWREG16(baseAddress + OFS_UCBxIE) |= mask;
+}
+
+void EUSCI_B_SPI_disableInterrupt (uint16_t baseAddress,
+    uint8_t mask
+    )
+{
+    HWREG16(baseAddress + OFS_UCBxIE) &= ~mask;
+}
+
+uint8_t EUSCI_B_SPI_getInterruptStatus (uint16_t baseAddress,
+    uint8_t mask
+    )
+{
+    return ( HWREG16(baseAddress + OFS_UCBxIFG) & mask );
+}
+
+void EUSCI_B_SPI_clearInterrupt (uint16_t baseAddress,
+    uint8_t mask
+    )
+{
+    HWREG16(baseAddress + OFS_UCBxIFG) &=  ~mask;
+}
+
+void EUSCI_B_SPI_enable (uint16_t baseAddress)
+{
+    //Reset the UCSWRST bit to enable the USCI Module
+    HWREG16(baseAddress + OFS_UCBxCTLW0) &= ~(UCSWRST);
+}
+
+void EUSCI_B_SPI_disable (uint16_t baseAddress)
+{
+    //Set the UCSWRST bit to disable the USCI Module
+    HWREG16(baseAddress + OFS_UCBxCTLW0) |= UCSWRST;
+}
+
+uint32_t EUSCI_B_SPI_getReceiveBufferAddress (uint16_t baseAddress)
+{
+    return ( baseAddress + OFS_UCBxRXBUF );
+}
+
+uint32_t EUSCI_B_SPI_getTransmitBufferAddress (uint16_t baseAddress)
+{
+    return ( baseAddress + OFS_UCBxTXBUF );
+}
+
+uint16_t EUSCI_B_SPI_isBusy (uint16_t baseAddress)
+{
+    //Return the bus busy status.
+    return (HWREG16(baseAddress + OFS_UCBxSTATW) & UCBUSY);
+}
+
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for eusci_b_spi_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/eusci_b_spi.h b/Apps/FlightSoftware/MotorControl/driverlib/eusci_b_spi.h
new file mode 100644
index 000000000..52170d2e3
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/eusci_b_spi.h
@@ -0,0 +1,526 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// eusci_b_spi.h - Driver for the EUSCI_B_SPI Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_EUSCI_B_SPI_H__
+#define __MSP430WARE_EUSCI_B_SPI_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_EUSCI_Bx__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "inc/hw_memmap.h"
+//*****************************************************************************
+//
+//! \brief Used in the EUSCI_B_SPI_initMaster() function as the param
+//! parameter.
+//
+//*****************************************************************************
+typedef struct EUSCI_B_SPI_initMasterParam {
+    //! Selects Clock source. Refer to device specific datasheet for available
+    //! options.
+    //! \n Valid values are:
+    //! - \b EUSCI_B_SPI_CLOCKSOURCE_ACLK
+    //! - \b EUSCI_B_SPI_CLOCKSOURCE_SMCLK
+    uint8_t selectClockSource;
+    //! Is the frequency of the selected clock source
+    uint32_t clockSourceFrequency;
+    //! Is the desired clock rate for SPI communication
+    uint32_t desiredSpiClock;
+    //! Controls the direction of the receive and transmit shift register.
+    //! \n Valid values are:
+    //! - \b EUSCI_B_SPI_MSB_FIRST
+    //! - \b EUSCI_B_SPI_LSB_FIRST [Default]
+    uint16_t msbFirst;
+    //! Is clock phase select.
+    //! \n Valid values are:
+    //! - \b EUSCI_B_SPI_PHASE_DATA_CHANGED_ONFIRST_CAPTURED_ON_NEXT [Default]
+    //! - \b EUSCI_B_SPI_PHASE_DATA_CAPTURED_ONFIRST_CHANGED_ON_NEXT
+    uint16_t clockPhase;
+    //! Is clock polarity select
+    //! \n Valid values are:
+    //! - \b EUSCI_B_SPI_CLOCKPOLARITY_INACTIVITY_HIGH
+    //! - \b EUSCI_B_SPI_CLOCKPOLARITY_INACTIVITY_LOW [Default]
+    uint16_t clockPolarity;
+    //! Is SPI mode select
+    //! \n Valid values are:
+    //! - \b EUSCI_B_SPI_3PIN
+    //! - \b EUSCI_B_SPI_4PIN_UCxSTE_ACTIVE_HIGH
+    //! - \b EUSCI_B_SPI_4PIN_UCxSTE_ACTIVE_LOW
+    uint16_t spiMode;
+} EUSCI_B_SPI_initMasterParam;
+
+//*****************************************************************************
+//
+//! \brief Used in the EUSCI_B_SPI_initSlave() function as the param parameter.
+//
+//*****************************************************************************
+typedef struct EUSCI_B_SPI_initSlaveParam {
+    //! Controls the direction of the receive and transmit shift register.
+    //! \n Valid values are:
+    //! - \b EUSCI_B_SPI_MSB_FIRST
+    //! - \b EUSCI_B_SPI_LSB_FIRST [Default]
+    uint16_t msbFirst;
+    //! Is clock phase select.
+    //! \n Valid values are:
+    //! - \b EUSCI_B_SPI_PHASE_DATA_CHANGED_ONFIRST_CAPTURED_ON_NEXT [Default]
+    //! - \b EUSCI_B_SPI_PHASE_DATA_CAPTURED_ONFIRST_CHANGED_ON_NEXT
+    uint16_t clockPhase;
+    //! Is clock polarity select
+    //! \n Valid values are:
+    //! - \b EUSCI_B_SPI_CLOCKPOLARITY_INACTIVITY_HIGH
+    //! - \b EUSCI_B_SPI_CLOCKPOLARITY_INACTIVITY_LOW [Default]
+    uint16_t clockPolarity;
+    //! Is SPI mode select
+    //! \n Valid values are:
+    //! - \b EUSCI_B_SPI_3PIN
+    //! - \b EUSCI_B_SPI_4PIN_UCxSTE_ACTIVE_HIGH
+    //! - \b EUSCI_B_SPI_4PIN_UCxSTE_ACTIVE_LOW
+    uint16_t spiMode;
+} EUSCI_B_SPI_initSlaveParam;
+
+//*****************************************************************************
+//
+//! \brief Used in the EUSCI_B_SPI_changeMasterClock() function as the param
+//! parameter.
+//
+//*****************************************************************************
+typedef struct EUSCI_B_SPI_changeMasterClockParam {
+    //! Is the frequency of the selected clock source
+    uint32_t clockSourceFrequency;
+    //! Is the desired clock rate for SPI communication
+    uint32_t desiredSpiClock;
+} EUSCI_B_SPI_changeMasterClockParam;
+
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the clockPhase parameter for
+// functions: EUSCI_B_SPI_changeClockPhasePolarity(); the param parameter for
+// functions: EUSCI_B_SPI_initMaster(), and EUSCI_B_SPI_initSlave().
+//
+//*****************************************************************************
+#define EUSCI_B_SPI_PHASE_DATA_CHANGED_ONFIRST_CAPTURED_ON_NEXT            0x00
+#define EUSCI_B_SPI_PHASE_DATA_CAPTURED_ONFIRST_CHANGED_ON_NEXT          UCCKPH
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: EUSCI_B_SPI_initMaster(), and EUSCI_B_SPI_initSlave().
+//
+//*****************************************************************************
+#define EUSCI_B_SPI_MSB_FIRST                                             UCMSB
+#define EUSCI_B_SPI_LSB_FIRST                                              0x00
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: EUSCI_B_SPI_initMaster(), and EUSCI_B_SPI_initSlave(); the
+// clockPolarity parameter for functions:
+// EUSCI_B_SPI_changeClockPhasePolarity().
+//
+//*****************************************************************************
+#define EUSCI_B_SPI_CLOCKPOLARITY_INACTIVITY_HIGH                        UCCKPL
+#define EUSCI_B_SPI_CLOCKPOLARITY_INACTIVITY_LOW                           0x00
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: EUSCI_B_SPI_initMaster().
+//
+//*****************************************************************************
+#define EUSCI_B_SPI_CLOCKSOURCE_ACLK                               UCSSEL__ACLK
+#define EUSCI_B_SPI_CLOCKSOURCE_SMCLK                             UCSSEL__SMCLK
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: EUSCI_B_SPI_initMaster(), and EUSCI_B_SPI_initSlave().
+//
+//*****************************************************************************
+#define EUSCI_B_SPI_3PIN                                               UCMODE_0
+#define EUSCI_B_SPI_4PIN_UCxSTE_ACTIVE_HIGH                            UCMODE_1
+#define EUSCI_B_SPI_4PIN_UCxSTE_ACTIVE_LOW                             UCMODE_2
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the select4PinFunctionality
+// parameter for functions: EUSCI_B_SPI_select4PinFunctionality().
+//
+//*****************************************************************************
+#define EUSCI_B_SPI_PREVENT_CONFLICTS_WITH_OTHER_MASTERS                   0x00
+#define EUSCI_B_SPI_ENABLE_SIGNAL_FOR_4WIRE_SLAVE                        UCSTEM
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the mask parameter for
+// functions: EUSCI_B_SPI_enableInterrupt(), EUSCI_B_SPI_disableInterrupt(),
+// EUSCI_B_SPI_getInterruptStatus(), and EUSCI_B_SPI_clearInterrupt() as well
+// as returned by the EUSCI_B_SPI_getInterruptStatus() function.
+//
+//*****************************************************************************
+#define EUSCI_B_SPI_TRANSMIT_INTERRUPT                                   UCTXIE
+#define EUSCI_B_SPI_RECEIVE_INTERRUPT                                    UCRXIE
+
+//*****************************************************************************
+//
+// The following are values that can be passed toThe following are values that
+// can be returned by the EUSCI_B_SPI_isBusy() function.
+//
+//*****************************************************************************
+#define EUSCI_B_SPI_BUSY                                                 UCBUSY
+#define EUSCI_B_SPI_NOT_BUSY                                               0x00
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Initializes the SPI Master block.
+//!
+//! Upon successful initialization of the SPI master block, this function will
+//! have set the bus speed for the master, but the SPI Master block still
+//! remains disabled and must be enabled with EUSCI_B_SPI_enable()
+//!
+//! \param baseAddress is the base address of the EUSCI_B_SPI Master module.
+//! \param param is the pointer to struct for master initialization.
+//!
+//! Modified bits are \b UCCKPH, \b UCCKPL, \b UC7BIT, \b UCMSB, \b UCSSELx and
+//! \b UCSWRST of \b UCAxCTLW0 register.
+//!
+//! \return STATUS_SUCCESS
+//
+//*****************************************************************************
+extern void EUSCI_B_SPI_initMaster(uint16_t baseAddress,
+                                   EUSCI_B_SPI_initMasterParam *param);
+
+//*****************************************************************************
+//
+//! \brief Selects 4Pin Functionality
+//!
+//! This function should be invoked only in 4-wire mode. Invoking this function
+//! has no effect in 3-wire mode.
+//!
+//! \param baseAddress is the base address of the EUSCI_B_SPI module.
+//! \param select4PinFunctionality selects 4 pin functionality
+//!        Valid values are:
+//!        - \b EUSCI_B_SPI_PREVENT_CONFLICTS_WITH_OTHER_MASTERS
+//!        - \b EUSCI_B_SPI_ENABLE_SIGNAL_FOR_4WIRE_SLAVE
+//!
+//! Modified bits are \b UCSTEM of \b UCAxCTLW0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_SPI_select4PinFunctionality(uint16_t baseAddress,
+                                                uint8_t select4PinFunctionality);
+
+//*****************************************************************************
+//
+//! \brief Initializes the SPI Master clock. At the end of this function call,
+//! SPI module is left enabled.
+//!
+//! \param baseAddress is the base address of the EUSCI_B_SPI module.
+//! \param param is the pointer to struct for master clock setting.
+//!
+//! Modified bits are \b UCSWRST of \b UCAxCTLW0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_SPI_changeMasterClock(uint16_t baseAddress,
+                                          EUSCI_B_SPI_changeMasterClockParam *param);
+
+//*****************************************************************************
+//
+//! \brief Initializes the SPI Slave block.
+//!
+//! Upon successful initialization of the SPI slave block, this function will
+//! have initialized the slave block, but the SPI Slave block still remains
+//! disabled and must be enabled with EUSCI_B_SPI_enable()
+//!
+//! \param baseAddress is the base address of the EUSCI_B_SPI Slave module.
+//! \param param is the pointer to struct for slave initialization.
+//!
+//! Modified bits are \b UCMSB, \b UCMST, \b UC7BIT, \b UCCKPL, \b UCCKPH, \b
+//! UCMODE and \b UCSWRST of \b UCAxCTLW0 register.
+//!
+//! \return STATUS_SUCCESS
+//
+//*****************************************************************************
+extern void EUSCI_B_SPI_initSlave(uint16_t baseAddress,
+                                  EUSCI_B_SPI_initSlaveParam *param);
+
+//*****************************************************************************
+//
+//! \brief Changes the SPI clock phase and polarity. At the end of this
+//! function call, SPI module is left enabled.
+//!
+//! \param baseAddress is the base address of the EUSCI_B_SPI module.
+//! \param clockPhase is clock phase select.
+//!        Valid values are:
+//!        - \b EUSCI_B_SPI_PHASE_DATA_CHANGED_ONFIRST_CAPTURED_ON_NEXT
+//!           [Default]
+//!        - \b EUSCI_B_SPI_PHASE_DATA_CAPTURED_ONFIRST_CHANGED_ON_NEXT
+//! \param clockPolarity is clock polarity select
+//!        Valid values are:
+//!        - \b EUSCI_B_SPI_CLOCKPOLARITY_INACTIVITY_HIGH
+//!        - \b EUSCI_B_SPI_CLOCKPOLARITY_INACTIVITY_LOW [Default]
+//!
+//! Modified bits are \b UCCKPL, \b UCCKPH and \b UCSWRST of \b UCAxCTLW0
+//! register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_SPI_changeClockPhasePolarity(uint16_t baseAddress,
+                                                 uint16_t clockPhase,
+                                                 uint16_t clockPolarity);
+
+//*****************************************************************************
+//
+//! \brief Transmits a byte from the SPI Module.
+//!
+//! This function will place the supplied data into SPI transmit data register
+//! to start transmission.
+//!
+//! \param baseAddress is the base address of the EUSCI_B_SPI module.
+//! \param transmitData data to be transmitted from the SPI module
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_SPI_transmitData(uint16_t baseAddress,
+                                     uint8_t transmitData);
+
+//*****************************************************************************
+//
+//! \brief Receives a byte that has been sent to the SPI Module.
+//!
+//! This function reads a byte of data from the SPI receive data Register.
+//!
+//! \param baseAddress is the base address of the EUSCI_B_SPI module.
+//!
+//! \return Returns the byte received from by the SPI module, cast as an
+//!         uint8_t.
+//
+//*****************************************************************************
+extern uint8_t EUSCI_B_SPI_receiveData(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Enables individual SPI interrupt sources.
+//!
+//! Enables the indicated SPI interrupt sources.  Only the sources that are
+//! enabled can be reflected to the processor interrupt; disabled sources have
+//! no effect on the processor. Does not clear interrupt flags.
+//!
+//! \param baseAddress is the base address of the EUSCI_B_SPI module.
+//! \param mask is the bit mask of the interrupt sources to be enabled.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b EUSCI_B_SPI_TRANSMIT_INTERRUPT
+//!        - \b EUSCI_B_SPI_RECEIVE_INTERRUPT
+//!
+//! Modified bits of \b UCAxIFG register and bits of \b UCAxIE register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_SPI_enableInterrupt(uint16_t baseAddress,
+                                        uint8_t mask);
+
+//*****************************************************************************
+//
+//! \brief Disables individual SPI interrupt sources.
+//!
+//! Disables the indicated SPI interrupt sources. Only the sources that are
+//! enabled can be reflected to the processor interrupt; disabled sources have
+//! no effect on the processor.
+//!
+//! \param baseAddress is the base address of the EUSCI_B_SPI module.
+//! \param mask is the bit mask of the interrupt sources to be disabled.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b EUSCI_B_SPI_TRANSMIT_INTERRUPT
+//!        - \b EUSCI_B_SPI_RECEIVE_INTERRUPT
+//!
+//! Modified bits of \b UCAxIE register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_SPI_disableInterrupt(uint16_t baseAddress,
+                                         uint8_t mask);
+
+//*****************************************************************************
+//
+//! \brief Gets the current SPI interrupt status.
+//!
+//! This returns the interrupt status for the SPI module based on which flag is
+//! passed.
+//!
+//! \param baseAddress is the base address of the EUSCI_B_SPI module.
+//! \param mask is the masked interrupt flag status to be returned.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b EUSCI_B_SPI_TRANSMIT_INTERRUPT
+//!        - \b EUSCI_B_SPI_RECEIVE_INTERRUPT
+//!
+//! \return Logical OR of any of the following:
+//!         - \b EUSCI_B_SPI_TRANSMIT_INTERRUPT
+//!         - \b EUSCI_B_SPI_RECEIVE_INTERRUPT
+//!         \n indicating the status of the masked interrupts
+//
+//*****************************************************************************
+extern uint8_t EUSCI_B_SPI_getInterruptStatus(uint16_t baseAddress,
+                                              uint8_t mask);
+
+//*****************************************************************************
+//
+//! \brief Clears the selected SPI interrupt status flag.
+//!
+//! \param baseAddress is the base address of the EUSCI_B_SPI module.
+//! \param mask is the masked interrupt flag to be cleared.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b EUSCI_B_SPI_TRANSMIT_INTERRUPT
+//!        - \b EUSCI_B_SPI_RECEIVE_INTERRUPT
+//!
+//! Modified bits of \b UCAxIFG register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_SPI_clearInterrupt(uint16_t baseAddress,
+                                       uint8_t mask);
+
+//*****************************************************************************
+//
+//! \brief Enables the SPI block.
+//!
+//! This will enable operation of the SPI block.
+//!
+//! \param baseAddress is the base address of the EUSCI_B_SPI module.
+//!
+//! Modified bits are \b UCSWRST of \b UCAxCTLW0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_SPI_enable(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Disables the SPI block.
+//!
+//! This will disable operation of the SPI block.
+//!
+//! \param baseAddress is the base address of the EUSCI_B_SPI module.
+//!
+//! Modified bits are \b UCSWRST of \b UCAxCTLW0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void EUSCI_B_SPI_disable(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Returns the address of the RX Buffer of the SPI for the DMA module.
+//!
+//! Returns the address of the SPI RX Buffer. This can be used in conjunction
+//! with the DMA to store the received data directly to memory.
+//!
+//! \param baseAddress is the base address of the EUSCI_B_SPI module.
+//!
+//! \return the address of the RX Buffer
+//
+//*****************************************************************************
+extern uint32_t EUSCI_B_SPI_getReceiveBufferAddress(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Returns the address of the TX Buffer of the SPI for the DMA module.
+//!
+//! Returns the address of the SPI TX Buffer. This can be used in conjunction
+//! with the DMA to obtain transmitted data directly from memory.
+//!
+//! \param baseAddress is the base address of the EUSCI_B_SPI module.
+//!
+//! \return the address of the TX Buffer
+//
+//*****************************************************************************
+extern uint32_t EUSCI_B_SPI_getTransmitBufferAddress(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Indicates whether or not the SPI bus is busy.
+//!
+//! This function returns an indication of whether or not the SPI bus is
+//! busy.This function checks the status of the bus via UCBBUSY bit
+//!
+//! \param baseAddress is the base address of the EUSCI_B_SPI module.
+//!
+//! \return One of the following:
+//!         - \b EUSCI_B_SPI_BUSY
+//!         - \b EUSCI_B_SPI_NOT_BUSY
+//!         \n indicating if the EUSCI_B_SPI is busy
+//
+//*****************************************************************************
+extern uint16_t EUSCI_B_SPI_isBusy(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_EUSCI_B_SPI_H__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/framctl.c b/Apps/FlightSoftware/MotorControl/driverlib/framctl.c
new file mode 100644
index 000000000..cc4bc39b0
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/framctl.c
@@ -0,0 +1,158 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// framctl.c - Driver for the framctl Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup framctl_api framctl
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_FRAM__
+#include "framctl.h"
+
+#include <assert.h>
+
+void FRAMCtl_write8(uint8_t *dataPtr,
+    uint8_t *framPtr,
+    uint16_t numberOfBytes
+    )
+{
+    while (numberOfBytes > 0)
+    {
+        //Write to Fram
+        *framPtr++ = *dataPtr++;
+        numberOfBytes--;
+    }
+}
+
+void FRAMCtl_write16(uint16_t *dataPtr,uint16_t *framPtr,
+		uint16_t numberOfWords)
+{
+    while (numberOfWords > 0)
+    {
+        //Write to Fram
+        *framPtr++ = *dataPtr++;
+        numberOfWords--;
+    }
+}
+
+void FRAMCtl_write32(uint32_t *dataPtr,uint32_t *framPtr,
+		uint16_t count)
+{
+    while (count > 0)
+    {
+        //Write to Fram
+        *framPtr++ = *dataPtr++;
+        count--;
+    }
+}
+
+void FRAMCtl_fillMemory32 (uint32_t value,
+    uint32_t *framPtr,
+    uint16_t count
+    )
+{
+    while (count> 0)
+    {
+        //Write to Fram
+        *framPtr++ = value;
+        count--;
+    }
+}
+
+void FRAMCtl_enableInterrupt (uint8_t interruptMask)
+{
+	uint8_t waitSelection;
+
+	waitSelection=(HWREG8(FRAM_BASE + OFS_FRCTL0) & 0xFF);
+	// Clear lock in FRAM control registers
+	HWREG16(FRAM_BASE + OFS_FRCTL0) = FWPW | waitSelection;
+
+    // Enable user selected interrupt sources
+    HWREG16(FRAM_BASE + OFS_GCCTL0) |= interruptMask;
+}
+
+uint8_t FRAMCtl_getInterruptStatus(uint16_t interruptFlagMask)
+{
+	return ( HWREG16(FRAM_BASE + OFS_GCCTL1) & interruptFlagMask );
+}
+
+void FRAMCtl_disableInterrupt(uint16_t interruptMask)
+{
+	uint8_t waitSelection;
+
+	waitSelection=(HWREG8(FRAM_BASE + OFS_FRCTL0) & 0xFF);
+	//Clear lock in FRAM control registers
+	HWREG16(FRAM_BASE + OFS_FRCTL0) = FWPW | waitSelection;
+
+    HWREG16(FRAM_BASE + OFS_GCCTL0) &= ~(interruptMask);
+}
+
+void FRAMCtl_configureWaitStateControl(uint8_t waitState )
+{    
+	uint8_t tempVariable = HWREG8(FRAM_BASE + OFS_FRCTL0_L);
+	tempVariable &= ~NWAITS_7;
+	tempVariable |= waitState;
+	HWREG16(FRAM_BASE + OFS_FRCTL0) = ( FWPW | tempVariable );
+}
+
+void FRAMCtl_delayPowerUpFromLPM(uint8_t delayStatus)
+{
+#ifdef FRLPMPWR
+    uint8_t waitSelection;
+
+    waitSelection = (HWREG8(FRAM_BASE + OFS_FRCTL0) & 0xFF);
+
+    // Clear lock in FRAM control registers
+    HWREG16(FRAM_BASE + OFS_FRCTL0) = FWPW | waitSelection;
+
+	HWREG8(FRAM_BASE + OFS_GCCTL0_L) &= ~FRLPMPWR;
+	HWREG8(FRAM_BASE + OFS_GCCTL0_L) |= delayStatus;
+#endif
+}
+
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for framctl_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/framctl.h b/Apps/FlightSoftware/MotorControl/driverlib/framctl.h
new file mode 100644
index 000000000..f0810184f
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/framctl.h
@@ -0,0 +1,303 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// framctl.h - Driver for the FRAMCTL Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_FRAMCTL_H__
+#define __MSP430WARE_FRAMCTL_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_FRAM__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the interruptMask parameter
+// for functions: FRAMCtl_enableInterrupt(), and FRAMCtl_disableInterrupt().
+//
+//*****************************************************************************
+#define FRAMCTL_PUC_ON_UNCORRECTABLE_BIT                               UBDRSTEN
+#define FRAMCTL_UNCORRECTABLE_BIT_INTERRUPT                               UBDIE
+#define FRAMCTL_CORRECTABLE_BIT_INTERRUPT                                 CBDIE
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the interruptFlagMask
+// parameter for functions: FRAMCtl_getInterruptStatus() as well as returned by
+// the FRAMCtl_getInterruptStatus() function.
+//
+//*****************************************************************************
+#define FRAMCTL_ACCESS_TIME_ERROR_FLAG                                 ACCTEIFG
+#define FRAMCTL_UNCORRECTABLE_BIT_FLAG                                   UBDIFG
+#define FRAMCTL_CORRECTABLE_BIT_FLAG                                     CBDIFG
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the waitState parameter for
+// functions: FRAMCtl_configureWaitStateControl().
+//
+//*****************************************************************************
+#define FRAMCTL_ACCESS_TIME_CYCLES_0                                   NWAITS_0
+#define FRAMCTL_ACCESS_TIME_CYCLES_1                                   NWAITS_1
+#define FRAMCTL_ACCESS_TIME_CYCLES_2                                   NWAITS_2
+#define FRAMCTL_ACCESS_TIME_CYCLES_3                                   NWAITS_3
+#define FRAMCTL_ACCESS_TIME_CYCLES_4                                   NWAITS_4
+#define FRAMCTL_ACCESS_TIME_CYCLES_5                                   NWAITS_5
+#define FRAMCTL_ACCESS_TIME_CYCLES_6                                   NWAITS_6
+#define FRAMCTL_ACCESS_TIME_CYCLES_7                                   NWAITS_7
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the delayStatus parameter for
+// functions: FRAMCtl_delayPowerUpFromLPM().
+//
+//*****************************************************************************
+#define FRAMCTL_DELAY_FROM_LPM_ENABLE                                      0x00
+#define FRAMCTL_DELAY_FROM_LPM_DISABLE                                     0x02
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Write data into the fram memory in byte format.
+//!
+//! \param dataPtr is the pointer to the data to be written
+//! \param framPtr is the pointer into which to write the data
+//! \param numberOfBytes is the number of bytes to be written
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void FRAMCtl_write8(uint8_t *dataPtr,
+                           uint8_t *framPtr,
+                           uint16_t numberOfBytes);
+
+//*****************************************************************************
+//
+//! \brief Write data into the fram memory in word format.
+//!
+//! \param dataPtr is the pointer to the data to be written
+//! \param framPtr is the pointer into which to write the data
+//! \param numberOfWords is the number of words to be written
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void FRAMCtl_write16(uint16_t *dataPtr,
+                            uint16_t *framPtr,
+                            uint16_t numberOfWords);
+
+//*****************************************************************************
+//
+//! \brief Write data into the fram memory in long format, pass by reference
+//!
+//! \param dataPtr is the pointer to the data to be written
+//! \param framPtr is the pointer into which to write the data
+//! \param count is the number of 32 bit words to be written
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void FRAMCtl_write32(uint32_t *dataPtr,
+                            uint32_t *framPtr,
+                            uint16_t count);
+
+//*****************************************************************************
+//
+//! \brief Write data into the fram memory in long format, pass by value
+//!
+//! \param value is the value to written to FRAMCTL memory
+//! \param framPtr is the pointer into which to write the data
+//! \param count is the number of 32 bit addresses to fill
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void FRAMCtl_fillMemory32(uint32_t value,
+                                 uint32_t *framPtr,
+                                 uint16_t count);
+
+//*****************************************************************************
+//
+//! \brief Enables selected FRAMCtl interrupt sources.
+//!
+//! Enables the indicated FRAMCtl interrupt sources.  Only the sources that are
+//! enabled can be reflected to the processor interrupt; disabled sources have
+//! no effect on the processor. Does not clear interrupt flags.
+//!
+//! \param interruptMask is the bit mask of the memory buffer interrupt sources
+//!        to be disabled.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b FRAMCTL_PUC_ON_UNCORRECTABLE_BIT - Enable PUC reset if FRAMCtl
+//!           uncorrectable bit error detected.
+//!        - \b FRAMCTL_UNCORRECTABLE_BIT_INTERRUPT - Interrupts when an
+//!           uncorrectable bit error is detected.
+//!        - \b FRAMCTL_CORRECTABLE_BIT_INTERRUPT - Interrupts when a
+//!           correctable bit error is detected.
+//!
+//! Modified bits of \b GCCTL0 register and bits of \b FRCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void FRAMCtl_enableInterrupt(uint8_t interruptMask);
+
+//*****************************************************************************
+//
+//! \brief Returns the status of the selected FRAMCtl interrupt flags.
+//!
+//! \param interruptFlagMask is a bit mask of the interrupt flags status to be
+//!        returned.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b FRAMCTL_ACCESS_TIME_ERROR_FLAG - Interrupt flag is set if a
+//!           wrong setting for NPRECHG and NACCESS is set and FRAMCtl access
+//!           time is not hold.
+//!        - \b FRAMCTL_UNCORRECTABLE_BIT_FLAG - Interrupt flag is set if an
+//!           uncorrectable bit error has been detected in the FRAMCtl memory
+//!           error detection logic.
+//!        - \b FRAMCTL_CORRECTABLE_BIT_FLAG - Interrupt flag is set if a
+//!           correctable bit error has been detected and corrected in the
+//!           FRAMCtl memory error detection logic.
+//!
+//! \return Logical OR of any of the following:
+//!         - \b FRAMCTL_ACCESS_TIME_ERROR_FLAG Interrupt flag is set if a
+//!         wrong setting for NPRECHG and NACCESS is set and FRAMCtl access
+//!         time is not hold.
+//!         - \b FRAMCTL_UNCORRECTABLE_BIT_FLAG Interrupt flag is set if an
+//!         uncorrectable bit error has been detected in the FRAMCtl memory
+//!         error detection logic.
+//!         - \b FRAMCTL_CORRECTABLE_BIT_FLAG Interrupt flag is set if a
+//!         correctable bit error has been detected and corrected in the
+//!         FRAMCtl memory error detection logic.
+//!         \n indicating the status of the masked flags
+//
+//*****************************************************************************
+extern uint8_t FRAMCtl_getInterruptStatus(uint16_t interruptFlagMask);
+
+//*****************************************************************************
+//
+//! \brief Disables selected FRAMCtl interrupt sources.
+//!
+//! Disables the indicated FRAMCtl interrupt sources.  Only the sources that
+//! are enabled can be reflected to the processor interrupt; disabled sources
+//! have no effect on the processor.
+//!
+//! \param interruptMask is the bit mask of the memory buffer interrupt sources
+//!        to be disabled.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b FRAMCTL_PUC_ON_UNCORRECTABLE_BIT - Enable PUC reset if FRAMCtl
+//!           uncorrectable bit error detected.
+//!        - \b FRAMCTL_UNCORRECTABLE_BIT_INTERRUPT - Interrupts when an
+//!           uncorrectable bit error is detected.
+//!        - \b FRAMCTL_CORRECTABLE_BIT_INTERRUPT - Interrupts when a
+//!           correctable bit error is detected.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void FRAMCtl_disableInterrupt(uint16_t interruptMask);
+
+//*****************************************************************************
+//
+//! \brief Configures the access time of the FRAMCtl module
+//!
+//! Configures the access time of the FRAMCtl module.
+//!
+//! \param waitState defines the number of CPU cycles required for access time
+//!        defined in the datasheet
+//!        Valid values are:
+//!        - \b FRAMCTL_ACCESS_TIME_CYCLES_0
+//!        - \b FRAMCTL_ACCESS_TIME_CYCLES_1
+//!        - \b FRAMCTL_ACCESS_TIME_CYCLES_2
+//!        - \b FRAMCTL_ACCESS_TIME_CYCLES_3
+//!        - \b FRAMCTL_ACCESS_TIME_CYCLES_4
+//!        - \b FRAMCTL_ACCESS_TIME_CYCLES_5
+//!        - \b FRAMCTL_ACCESS_TIME_CYCLES_6
+//!        - \b FRAMCTL_ACCESS_TIME_CYCLES_7
+//!
+//! Modified bits are \b NWAITS of \b GCCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void FRAMCtl_configureWaitStateControl(uint8_t waitState);
+
+//*****************************************************************************
+//
+//! \brief Configures when the FRAMCtl module will power up after LPM exit
+//!
+//! Configures when the FRAMCtl module will power up after LPM exit. The module
+//! can either wait until the first FRAMCtl access to power up or power up
+//! immediately after leaving LPM. If FRAMCtl power is disabled, a memory
+//! access will automatically insert wait states to ensure sufficient timing
+//! for the FRAMCtl power-up and access.
+//!
+//! \param delayStatus chooses if FRAMCTL should power up instantly with LPM
+//!        exit or to wait until first FRAMCTL access after LPM exit
+//!        Valid values are:
+//!        - \b FRAMCTL_DELAY_FROM_LPM_ENABLE
+//!        - \b FRAMCTL_DELAY_FROM_LPM_DISABLE
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void FRAMCtl_delayPowerUpFromLPM(uint8_t delayStatus);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_FRAMCTL_H__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/framctl_a.c b/Apps/FlightSoftware/MotorControl/driverlib/framctl_a.c
new file mode 100644
index 000000000..392825ddf
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/framctl_a.c
@@ -0,0 +1,176 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// framctl_a.c - Driver for the framctl_a Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup framctl_a_api framctl_a
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_FRCTL_A__
+#include "framctl_a.h"
+
+#include <assert.h>
+
+void FRAMCtl_A_write8(uint8_t *dataPtr,
+    uint8_t *framPtr,
+    uint16_t numberOfBytes
+    )
+{
+    while (numberOfBytes > 0)
+    {
+        //Write to Fram
+        *framPtr++ = *dataPtr++;
+        numberOfBytes--;
+    }
+}
+
+void FRAMCtl_A_write16(uint16_t *dataPtr,uint16_t *framPtr,
+		uint16_t numberOfWords)
+{
+    while (numberOfWords > 0)
+    {
+        //Write to Fram
+        *framPtr++ = *dataPtr++;
+        numberOfWords--;
+    }
+}
+
+void FRAMCtl_A_write32(uint32_t *dataPtr,uint32_t *framPtr,
+		uint16_t count)
+{
+    while (count > 0)
+    {
+        //Write to Fram
+        *framPtr++ = *dataPtr++;
+        count--;
+    }
+}
+
+void FRAMCtl_A_fillMemory32 (uint32_t value,
+    uint32_t *framPtr,
+    uint16_t count
+    )
+{
+    while (count> 0)
+    {
+        //Write to Fram
+        *framPtr++ = value;
+        count--;
+    }
+}
+
+void FRAMCtl_A_enableInterrupt (uint8_t interruptMask)
+{
+    uint8_t temp = HWREG8(FRCTL_A_BASE + OFS_FRCTL0_L);
+
+    // Clear lock in FRAM control registers
+    HWREG16(FRCTL_A_BASE + OFS_FRCTL0) = FRCTLPW | temp;
+
+    // Enable user selected interrupt sources
+    HWREG16(FRCTL_A_BASE + OFS_GCCTL0) |= interruptMask;
+}
+
+uint8_t FRAMCtl_A_getInterruptStatus(uint16_t interruptFlagMask)
+{
+    return ( HWREG16(FRCTL_A_BASE + OFS_GCCTL1) & interruptFlagMask );
+}
+
+void FRAMCtl_A_disableInterrupt(uint16_t interruptMask)
+{
+    uint8_t temp = HWREG8(FRCTL_A_BASE + OFS_FRCTL0_L);
+
+    //Clear lock in FRAM control registers
+    HWREG16(FRCTL_A_BASE + OFS_FRCTL0) = FRCTLPW | temp;
+
+    HWREG16(FRCTL_A_BASE + OFS_GCCTL0) &= ~(interruptMask);
+}
+
+void FRAMCtl_A_clearInterrupt(uint16_t interruptFlagMask)
+{
+    uint8_t temp = HWREG8(FRCTL_A_BASE + OFS_FRCTL0_L);
+
+    //Clear lock in FRAM control registers
+    HWREG16(FRCTL_A_BASE + OFS_FRCTL0) = FRCTLPW | temp;
+
+    HWREG16(FRCTL_A_BASE + OFS_GCCTL1) &= ~interruptFlagMask;
+}
+
+void FRAMCtl_A_configureWaitStateControl(uint8_t waitState )
+{
+    uint8_t temp = HWREG8(FRCTL_A_BASE + OFS_FRCTL0_L);
+    
+    temp &= ~NWAITS_15;
+    temp |= waitState;
+    HWREG16(FRCTL_A_BASE + OFS_FRCTL0) = FRCTLPW | temp;
+}
+
+void FRAMCtl_A_delayPowerUpFromLPM(uint8_t delayStatus)
+{
+    uint8_t temp = HWREG8(FRCTL_A_BASE + OFS_FRCTL0_L);
+
+    // Clear lock in FRAM control registers
+    HWREG16(FRCTL_A_BASE + OFS_FRCTL0) = FRCTLPW | temp;
+
+    HWREG8(FRCTL_A_BASE + OFS_GCCTL0_L) &= ~FRPWR;
+    HWREG8(FRCTL_A_BASE + OFS_GCCTL0_L) |= delayStatus;
+}
+
+void FRAMCtl_A_enableWriteProtection(void)
+{
+    uint8_t temp = HWREG8(FRCTL_A_BASE + OFS_FRCTL0_L);
+    temp |= WPROT;
+    HWREG16(FRCTL_A_BASE + OFS_FRCTL0) = FRCTLPW | temp;
+}
+
+void FRAMCtl_A_disableWriteProtection(void)
+{
+    uint8_t temp = HWREG8(FRCTL_A_BASE + OFS_FRCTL0_L);
+    temp &= ~WPROT;
+    HWREG16(FRCTL_A_BASE + OFS_FRCTL0) = FRCTLPW | temp;
+}
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for framctl_a_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/framctl_a.h b/Apps/FlightSoftware/MotorControl/driverlib/framctl_a.h
new file mode 100644
index 000000000..945e0498d
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/framctl_a.h
@@ -0,0 +1,396 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// framctl_a.h - Driver for the FRAMCTL_A Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_FRAMCTL_A_H__
+#define __MSP430WARE_FRAMCTL_A_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_FRCTL_A__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the interruptMask parameter
+// for functions: FRAMCtl_A_enableInterrupt(), and
+// FRAMCtl_A_disableInterrupt().
+//
+//*****************************************************************************
+#define FRAMCTL_A_PUC_ON_UNCORRECTABLE_BIT                             UBDRSTEN
+#define FRAMCTL_A_UNCORRECTABLE_BIT_INTERRUPT                             UBDIE
+#define FRAMCTL_A_CORRECTABLE_BIT_INTERRUPT                               CBDIE
+#define FRAMCTL_A_ACCESS_TIME_ERROR_INTERRUPT                           ACCTEIE
+#define FRAMCTL_A_WRITE_PROTECTION_INTERRUPT                               WPIE
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the interruptFlagMask
+// parameter for functions: FRAMCtl_A_getInterruptStatus(), and
+// FRAMCtl_A_clearInterrupt() as well as returned by the
+// FRAMCtl_A_getInterruptStatus() function.
+//
+//*****************************************************************************
+#define FRAMCTL_A_ACCESS_TIME_ERROR_FLAG                               ACCTEIFG
+#define FRAMCTL_A_UNCORRECTABLE_BIT_FLAG                                 UBDIFG
+#define FRAMCTL_A_CORRECTABLE_BIT_FLAG                                   CBDIFG
+#define FRAMCTL_A_WRITE_PROTECTION_FLAG                                   WPIFG
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the waitState parameter for
+// functions: FRAMCtl_A_configureWaitStateControl().
+//
+//*****************************************************************************
+#define FRAMCTL_A_ACCESS_TIME_CYCLES_0                                 NWAITS_0
+#define FRAMCTL_A_ACCESS_TIME_CYCLES_1                                 NWAITS_1
+#define FRAMCTL_A_ACCESS_TIME_CYCLES_2                                 NWAITS_2
+#define FRAMCTL_A_ACCESS_TIME_CYCLES_3                                 NWAITS_3
+#define FRAMCTL_A_ACCESS_TIME_CYCLES_4                                 NWAITS_4
+#define FRAMCTL_A_ACCESS_TIME_CYCLES_5                                 NWAITS_5
+#define FRAMCTL_A_ACCESS_TIME_CYCLES_6                                 NWAITS_6
+#define FRAMCTL_A_ACCESS_TIME_CYCLES_7                                 NWAITS_7
+#define FRAMCTL_A_ACCESS_TIME_CYCLES_8                                 NWAITS_8
+#define FRAMCTL_A_ACCESS_TIME_CYCLES_9                                 NWAITS_9
+#define FRAMCTL_A_ACCESS_TIME_CYCLES_10                               NWAITS_10
+#define FRAMCTL_A_ACCESS_TIME_CYCLES_11                               NWAITS_11
+#define FRAMCTL_A_ACCESS_TIME_CYCLES_12                               NWAITS_12
+#define FRAMCTL_A_ACCESS_TIME_CYCLES_13                               NWAITS_13
+#define FRAMCTL_A_ACCESS_TIME_CYCLES_14                               NWAITS_14
+#define FRAMCTL_A_ACCESS_TIME_CYCLES_15                               NWAITS_15
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the delayStatus parameter for
+// functions: FRAMCtl_A_delayPowerUpFromLPM().
+//
+//*****************************************************************************
+#define FRAMCTL_A_DELAY_FROM_LPM_ENABLE                                    0x00
+#define FRAMCTL_A_DELAY_FROM_LPM_DISABLE                                  FRPWR
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Write data into the fram memory in byte format.
+//!
+//! \param dataPtr is the pointer to the data to be written
+//! \param framPtr is the pointer into which to write the data
+//! \param numberOfBytes is the number of bytes to be written
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void FRAMCtl_A_write8(uint8_t *dataPtr,
+                             uint8_t *framPtr,
+                             uint16_t numberOfBytes);
+
+//*****************************************************************************
+//
+//! \brief Write data into the fram memory in word format.
+//!
+//! \param dataPtr is the pointer to the data to be written
+//! \param framPtr is the pointer into which to write the data
+//! \param numberOfWords is the number of words to be written
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void FRAMCtl_A_write16(uint16_t *dataPtr,
+                              uint16_t *framPtr,
+                              uint16_t numberOfWords);
+
+//*****************************************************************************
+//
+//! \brief Write data into the fram memory in long format, pass by reference
+//!
+//! \param dataPtr is the pointer to the data to be written
+//! \param framPtr is the pointer into which to write the data
+//! \param count is the number of 32 bit words to be written
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void FRAMCtl_A_write32(uint32_t *dataPtr,
+                              uint32_t *framPtr,
+                              uint16_t count);
+
+//*****************************************************************************
+//
+//! \brief Write data into the fram memory in long format, pass by value
+//!
+//! \param value is the value to written to FRAMCTL_A memory
+//! \param framPtr is the pointer into which to write the data
+//! \param count is the number of 32 bit addresses to fill
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void FRAMCtl_A_fillMemory32(uint32_t value,
+                                   uint32_t *framPtr,
+                                   uint16_t count);
+
+//*****************************************************************************
+//
+//! \brief Enables selected FRAMCtl_A interrupt sources.
+//!
+//! Enables the indicated FRAMCtl_A interrupt sources.  Only the sources that
+//! are enabled can be reflected to the processor interrupt; disabled sources
+//! have no effect on the processor. Does not clear interrupt flags.
+//!
+//! \param interruptMask is the bit mask of the memory buffer interrupt sources
+//!        to be disabled.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b FRAMCTL_A_PUC_ON_UNCORRECTABLE_BIT - Enable PUC reset if
+//!           FRAMCtl_A uncorrectable bit error detected.
+//!        - \b FRAMCTL_A_UNCORRECTABLE_BIT_INTERRUPT - Interrupts when an
+//!           uncorrectable bit error is detected.
+//!        - \b FRAMCTL_A_CORRECTABLE_BIT_INTERRUPT - Interrupts when a
+//!           correctable bit error is detected.
+//!        - \b FRAMCTL_A_ACCESS_TIME_ERROR_INTERRUPT - Interrupts when an
+//!           access time error occurs.
+//!        - \b FRAMCTL_A_WRITE_PROTECTION_INTERRUPT - Interrupts when
+//!           detecting a write access to FRAM.
+//!
+//! Modified bits of \b GCCTL0 register and bits of \b FRCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void FRAMCtl_A_enableInterrupt(uint8_t interruptMask);
+
+//*****************************************************************************
+//
+//! \brief Returns the status of the selected FRAMCtl_A interrupt flags.
+//!
+//! \param interruptFlagMask is a bit mask of the interrupt flags status to be
+//!        returned.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b FRAMCTL_A_ACCESS_TIME_ERROR_FLAG - Interrupt flag is set if a
+//!           wrong setting for NPRECHG and NACCESS is set and FRAMCtl_A access
+//!           time is not hold.
+//!        - \b FRAMCTL_A_UNCORRECTABLE_BIT_FLAG - Interrupt flag is set if an
+//!           uncorrectable bit error has been detected in the FRAMCtl_A memory
+//!           error detection logic.
+//!        - \b FRAMCTL_A_CORRECTABLE_BIT_FLAG - Interrupt flag is set if a
+//!           correctable bit error has been detected and corrected in the
+//!           FRAMCtl_A memory error detection logic.
+//!        - \b FRAMCTL_A_WRITE_PROTECTION_FLAG - Interrupt flag is set if a
+//!           write access to FRAM memory
+//!
+//! \return Logical OR of any of the following:
+//!         - \b FRAMCTL_A_ACCESS_TIME_ERROR_FLAG Interrupt flag is set if a
+//!         wrong setting for NPRECHG and NACCESS is set and FRAMCtl_A access
+//!         time is not hold.
+//!         - \b FRAMCTL_A_UNCORRECTABLE_BIT_FLAG Interrupt flag is set if an
+//!         uncorrectable bit error has been detected in the FRAMCtl_A memory
+//!         error detection logic.
+//!         - \b FRAMCTL_A_CORRECTABLE_BIT_FLAG Interrupt flag is set if a
+//!         correctable bit error has been detected and corrected in the
+//!         FRAMCtl_A memory error detection logic.
+//!         - \b FRAMCTL_A_WRITE_PROTECTION_FLAG Interrupt flag is set if a
+//!         write access to FRAM memory
+//!         \n indicating the status of the masked flags
+//
+//*****************************************************************************
+extern uint8_t FRAMCtl_A_getInterruptStatus(uint16_t interruptFlagMask);
+
+//*****************************************************************************
+//
+//! \brief Disables selected FRAMCtl_A interrupt sources.
+//!
+//! Disables the indicated FRAMCtl_A interrupt sources.  Only the sources that
+//! are enabled can be reflected to the processor interrupt; disabled sources
+//! have no effect on the processor.
+//!
+//! \param interruptMask is the bit mask of the memory buffer interrupt sources
+//!        to be disabled.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b FRAMCTL_A_PUC_ON_UNCORRECTABLE_BIT - Enable PUC reset if
+//!           FRAMCtl_A uncorrectable bit error detected.
+//!        - \b FRAMCTL_A_UNCORRECTABLE_BIT_INTERRUPT - Interrupts when an
+//!           uncorrectable bit error is detected.
+//!        - \b FRAMCTL_A_CORRECTABLE_BIT_INTERRUPT - Interrupts when a
+//!           correctable bit error is detected.
+//!        - \b FRAMCTL_A_ACCESS_TIME_ERROR_INTERRUPT - Interrupts when an
+//!           access time error occurs.
+//!        - \b FRAMCTL_A_WRITE_PROTECTION_INTERRUPT - Interrupts when
+//!           detecting a write access to FRAM.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void FRAMCtl_A_disableInterrupt(uint16_t interruptMask);
+
+//*****************************************************************************
+//
+//! \brief Clears selected FRAMCtl_A interrupt status flag.
+//!
+//! Clears the indicated FRAMCtl_A interrupt status flag. These interrupt
+//! status flag can also be cleared through reading the system reset vector
+//! word SYSRSTIV.
+//!
+//! \param interruptFlagMask is a bit mask of the interrupt flags status to be
+//!        cleared.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b FRAMCTL_A_ACCESS_TIME_ERROR_FLAG - Interrupt flag is set if a
+//!           wrong setting for NPRECHG and NACCESS is set and FRAMCtl_A access
+//!           time is not hold.
+//!        - \b FRAMCTL_A_UNCORRECTABLE_BIT_FLAG - Interrupt flag is set if an
+//!           uncorrectable bit error has been detected in the FRAMCtl_A memory
+//!           error detection logic.
+//!        - \b FRAMCTL_A_CORRECTABLE_BIT_FLAG - Interrupt flag is set if a
+//!           correctable bit error has been detected and corrected in the
+//!           FRAMCtl_A memory error detection logic.
+//!        - \b FRAMCTL_A_WRITE_PROTECTION_FLAG - Interrupt flag is set if a
+//!           write access to FRAM memory
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void FRAMCtl_A_clearInterrupt(uint16_t interruptFlagMask);
+
+//*****************************************************************************
+//
+//! \brief Configures the access time of the FRAMCtl_A module
+//!
+//! Configures the access time of the FRAMCtl_A module.
+//!
+//! \param waitState defines the number of CPU cycles required for access time
+//!        defined in the datasheet
+//!        Valid values are:
+//!        - \b FRAMCTL_A_ACCESS_TIME_CYCLES_0
+//!        - \b FRAMCTL_A_ACCESS_TIME_CYCLES_1
+//!        - \b FRAMCTL_A_ACCESS_TIME_CYCLES_2
+//!        - \b FRAMCTL_A_ACCESS_TIME_CYCLES_3
+//!        - \b FRAMCTL_A_ACCESS_TIME_CYCLES_4
+//!        - \b FRAMCTL_A_ACCESS_TIME_CYCLES_5
+//!        - \b FRAMCTL_A_ACCESS_TIME_CYCLES_6
+//!        - \b FRAMCTL_A_ACCESS_TIME_CYCLES_7
+//!        - \b FRAMCTL_A_ACCESS_TIME_CYCLES_8
+//!        - \b FRAMCTL_A_ACCESS_TIME_CYCLES_9
+//!        - \b FRAMCTL_A_ACCESS_TIME_CYCLES_10
+//!        - \b FRAMCTL_A_ACCESS_TIME_CYCLES_11
+//!        - \b FRAMCTL_A_ACCESS_TIME_CYCLES_12
+//!        - \b FRAMCTL_A_ACCESS_TIME_CYCLES_13
+//!        - \b FRAMCTL_A_ACCESS_TIME_CYCLES_14
+//!        - \b FRAMCTL_A_ACCESS_TIME_CYCLES_15
+//!
+//! Modified bits are \b NWAITS of \b GCCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void FRAMCtl_A_configureWaitStateControl(uint8_t waitState);
+
+//*****************************************************************************
+//
+//! \brief Configures when the FRAMCtl_A module will power up after LPM exit
+//!
+//! Configures when the FRAMCtl_A module will power up after LPM exit. The
+//! module can either wait until the first FRAM access to power up or power up
+//! immediately after leaving LPM. If FRAM power is disabled, the FRAM memory
+//! remains in inactive mode until the FRAM memory is actually accessed. If
+//! FRAM power is enabled, the FRAM wil be immediately powered up (active
+//! mode).
+//!
+//! \param delayStatus chooses if FRAMCTL_A should power up instantly with LPM
+//!        exit or to wait until first FRAMCTL_A access after LPM exit
+//!        Valid values are:
+//!        - \b FRAMCTL_A_DELAY_FROM_LPM_ENABLE
+//!        - \b FRAMCTL_A_DELAY_FROM_LPM_DISABLE
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void FRAMCtl_A_delayPowerUpFromLPM(uint8_t delayStatus);
+
+//*****************************************************************************
+//
+//! \brief Enables FRAM write protection
+//!
+//! This function enables FRAM write protection and protect entire FRAM memory
+//! from unintended write. It should be used as temporary protection. The
+//! permanent FRAM memory protection should be done via MPU segments related
+//! APIs.
+//!
+//!
+//! Modified bits are \b WPROT of \b FRCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void FRAMCtl_A_enableWriteProtection(void);
+
+//*****************************************************************************
+//
+//! \brief Disables FRAM write protection
+//!
+//! Disables the FRAM write protection. Writing to FRAM memory is allowed.
+//!
+//!
+//! Modified bits are \b WPROT of \b FRCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void FRAMCtl_A_disableWriteProtection(void);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_FRAMCTL_A_H__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/gpio.c b/Apps/FlightSoftware/MotorControl/driverlib/gpio.c
new file mode 100644
index 000000000..6f1ba5bd8
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/gpio.c
@@ -0,0 +1,489 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// gpio.c - Driver for the gpio Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup gpio_api gpio
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#if defined(__MSP430_HAS_PORT1_R__) || defined(__MSP430_HAS_PORT2_R__) ||\
+    defined(__MSP430_HAS_PORTA_R__)
+#include "gpio.h"
+
+#include <assert.h>
+
+static const uint16_t GPIO_PORT_TO_BASE[] = {
+    0x00,
+#if defined(__MSP430_HAS_PORT1_R__)
+    __MSP430_BASEADDRESS_PORT1_R__,
+#elif defined(__MSP430_HAS_PORT1__)
+    __MSP430_BASEADDRESS_PORT1__,
+#else
+    0xFFFF,
+#endif
+#if defined(__MSP430_HAS_PORT2_R__)
+    __MSP430_BASEADDRESS_PORT2_R__,
+#elif defined(__MSP430_HAS_PORT2__)
+    __MSP430_BASEADDRESS_PORT2__,
+#else
+    0xFFFF,
+#endif
+#if defined(__MSP430_HAS_PORT3_R__)
+    __MSP430_BASEADDRESS_PORT3_R__,
+#elif defined(__MSP430_HAS_PORT3__)
+    __MSP430_BASEADDRESS_PORT3__,
+#else
+    0xFFFF,
+#endif
+#if defined(__MSP430_HAS_PORT4_R__)
+    __MSP430_BASEADDRESS_PORT4_R__,
+#elif defined(__MSP430_HAS_PORT4__)
+    __MSP430_BASEADDRESS_PORT4__,
+#else
+    0xFFFF,
+#endif
+#if defined(__MSP430_HAS_PORT5_R__)
+    __MSP430_BASEADDRESS_PORT5_R__,
+#elif defined(__MSP430_HAS_PORT5__)
+    __MSP430_BASEADDRESS_PORT5__,
+#else
+    0xFFFF,
+#endif
+#if defined(__MSP430_HAS_PORT6_R__)
+    __MSP430_BASEADDRESS_PORT6_R__,
+#elif defined(__MSP430_HAS_PORT6__)
+    __MSP430_BASEADDRESS_PORT6__,
+#else
+    0xFFFF,
+#endif
+#if defined(__MSP430_HAS_PORT7_R__)
+    __MSP430_BASEADDRESS_PORT7_R__,
+#elif defined(__MSP430_HAS_PORT7__)
+    __MSP430_BASEADDRESS_PORT7__,
+#else
+    0xFFFF,
+#endif
+#if defined(__MSP430_HAS_PORT8_R__)
+    __MSP430_BASEADDRESS_PORT8_R__,
+#elif defined(__MSP430_HAS_PORT8__)
+    __MSP430_BASEADDRESS_PORT8__,
+#else
+    0xFFFF,
+#endif
+#if defined(__MSP430_HAS_PORT9_R__)
+    __MSP430_BASEADDRESS_PORT9_R__,
+#elif defined(__MSP430_HAS_PORT9__)
+    __MSP430_BASEADDRESS_PORT9__,
+#else
+    0xFFFF,
+#endif
+#if defined(__MSP430_HAS_PORT10_R__)
+    __MSP430_BASEADDRESS_PORT10_R__,
+#elif defined(__MSP430_HAS_PORT10__)
+    __MSP430_BASEADDRESS_PORT10__,
+#else
+    0xFFFF,
+#endif
+#if defined(__MSP430_HAS_PORT11_R__)
+    __MSP430_BASEADDRESS_PORT11_R__,
+#elif defined(__MSP430_HAS_PORT11__)
+    __MSP430_BASEADDRESS_PORT11__,
+#else
+    0xFFFF,
+#endif
+    0xFFFF,
+#if defined(__MSP430_HAS_PORTJ_R__)
+    __MSP430_BASEADDRESS_PORTJ_R__
+#elif defined(__MSP430_HAS_PORTJ__)
+    __MSP430_BASEADDRESS_PORTJ__
+#else
+    0xFFFF
+#endif
+};
+
+void GPIO_setAsOutputPin(uint8_t selectedPort, uint16_t selectedPins) {
+
+    uint16_t baseAddress = GPIO_PORT_TO_BASE[selectedPort];
+
+    #ifndef NDEBUG
+    if(baseAddress == 0xFFFF) {
+        return;
+    }
+    #endif
+
+    // Shift by 8 if port is even (upper 8-bits)
+    if((selectedPort & 1) ^ 1) {
+        selectedPins <<= 8;
+    }
+
+    HWREG16(baseAddress + OFS_PASEL0) &= ~selectedPins;
+    HWREG16(baseAddress + OFS_PASEL1) &= ~selectedPins;
+    HWREG16(baseAddress + OFS_PADIR) |= selectedPins;
+
+    return;
+}
+
+void GPIO_setAsInputPin(uint8_t selectedPort, uint16_t selectedPins) {
+
+    uint16_t baseAddress = GPIO_PORT_TO_BASE[selectedPort];
+
+    #ifndef NDEBUG
+    if(baseAddress == 0xFFFF) {
+        return;
+    }
+    #endif
+
+    // Shift by 8 if port is even (upper 8-bits)
+    if((selectedPort & 1) ^ 1) {
+        selectedPins <<= 8;
+    }
+
+    HWREG16(baseAddress + OFS_PASEL0) &= ~selectedPins;
+    HWREG16(baseAddress + OFS_PASEL1) &= ~selectedPins;
+    HWREG16(baseAddress + OFS_PADIR) &= ~selectedPins;
+    HWREG16(baseAddress + OFS_PAREN) &= ~selectedPins;
+}
+
+void GPIO_setAsPeripheralModuleFunctionOutputPin(uint8_t selectedPort,
+                                                      uint16_t selectedPins
+                                                     ,uint8_t mode) {
+
+    uint16_t baseAddress = GPIO_PORT_TO_BASE[selectedPort];
+
+    #ifndef NDEBUG
+    if(baseAddress == 0xFFFF) {
+        return;
+    }
+    #endif
+
+    // Shift by 8 if port is even (upper 8-bits)
+    if((selectedPort & 1) ^ 1) {
+        selectedPins <<= 8;
+    }
+
+    HWREG16(baseAddress + OFS_PADIR) |= selectedPins;
+    switch (mode){
+        case GPIO_PRIMARY_MODULE_FUNCTION:
+            HWREG16(baseAddress + OFS_PASEL0) |= selectedPins;
+            HWREG16(baseAddress + OFS_PASEL1) &= ~selectedPins;
+            break;
+        case GPIO_SECONDARY_MODULE_FUNCTION:
+            HWREG16(baseAddress + OFS_PASEL0) &= ~selectedPins;
+            HWREG16(baseAddress + OFS_PASEL1) |= selectedPins;
+            break;
+        case GPIO_TERNARY_MODULE_FUNCTION:
+            HWREG16(baseAddress + OFS_PASEL0) |= selectedPins;
+            HWREG16(baseAddress + OFS_PASEL1) |= selectedPins;
+            break;
+    }
+}
+
+void GPIO_setAsPeripheralModuleFunctionInputPin(uint8_t selectedPort,
+                                                     uint16_t selectedPins
+                                                     ,uint8_t mode) {
+    uint16_t baseAddress = GPIO_PORT_TO_BASE[selectedPort];
+
+    #ifndef NDEBUG
+    if(baseAddress == 0xFFFF) {
+        return;
+    }
+    #endif
+
+    // Shift by 8 if port is even (upper 8-bits)
+    if((selectedPort & 1) ^ 1) {
+        selectedPins <<= 8;
+    }
+
+    HWREG16(baseAddress + OFS_PADIR) &= ~selectedPins;
+    switch (mode){
+        case GPIO_PRIMARY_MODULE_FUNCTION:
+            HWREG16(baseAddress + OFS_PASEL0) |= selectedPins;
+            HWREG16(baseAddress + OFS_PASEL1) &= ~selectedPins;
+            break;
+        case GPIO_SECONDARY_MODULE_FUNCTION:
+            HWREG16(baseAddress + OFS_PASEL0) &= ~selectedPins;
+            HWREG16(baseAddress + OFS_PASEL1) |= selectedPins;
+            break;
+        case GPIO_TERNARY_MODULE_FUNCTION:
+            HWREG16(baseAddress + OFS_PASEL0) |= selectedPins;
+            HWREG16(baseAddress + OFS_PASEL1) |= selectedPins;
+            break;
+    }
+}
+
+void GPIO_setOutputHighOnPin (uint8_t selectedPort,
+                                   uint16_t selectedPins) {
+
+    uint16_t baseAddress = GPIO_PORT_TO_BASE[selectedPort];
+
+    #ifndef NDEBUG
+    if(baseAddress == 0xFFFF) {
+        return;
+    }
+    #endif
+
+    // Shift by 8 if port is even (upper 8-bits)
+    if((selectedPort & 1) ^ 1) {
+        selectedPins <<= 8;
+    }
+
+    HWREG16(baseAddress + OFS_PAOUT) |= selectedPins;
+}
+
+void GPIO_setOutputLowOnPin (uint8_t selectedPort, uint16_t selectedPins) {
+
+    uint16_t baseAddress = GPIO_PORT_TO_BASE[selectedPort];
+
+    #ifndef NDEBUG
+    if(baseAddress == 0xFFFF) {
+        return;
+    }
+    #endif
+
+    // Shift by 8 if port is even (upper 8-bits)
+    if((selectedPort & 1) ^ 1) {
+        selectedPins <<= 8;
+    }
+
+    HWREG16(baseAddress + OFS_PAOUT) &= ~selectedPins;
+}
+
+void GPIO_toggleOutputOnPin (uint8_t selectedPort, uint16_t selectedPins) {
+
+    uint16_t baseAddress = GPIO_PORT_TO_BASE[selectedPort];
+
+    #ifndef NDEBUG
+    if(baseAddress == 0xFFFF) {
+        return;
+    }
+    #endif
+
+    // Shift by 8 if port is even (upper 8-bits)
+    if((selectedPort & 1) ^ 1) {
+        selectedPins <<= 8;
+    }
+
+    HWREG16(baseAddress + OFS_PAOUT) ^= selectedPins;
+}
+
+void GPIO_setAsInputPinWithPullDownResistor(uint8_t selectedPort,
+                                                 uint16_t selectedPins) {
+
+    uint16_t baseAddress = GPIO_PORT_TO_BASE[selectedPort];
+
+    #ifndef NDEBUG
+    if(baseAddress == 0xFFFF) {
+        return;
+    }
+    #endif
+
+    // Shift by 8 if port is even (upper 8-bits)
+    if((selectedPort & 1) ^ 1) {
+        selectedPins <<= 8;
+    }
+
+    HWREG16(baseAddress + OFS_PASEL0) &= ~selectedPins;
+    HWREG16(baseAddress + OFS_PASEL1) &= ~selectedPins;
+
+    HWREG16(baseAddress + OFS_PADIR) &= ~selectedPins;
+    HWREG16(baseAddress + OFS_PAREN) |= selectedPins;
+    HWREG16(baseAddress + OFS_PAOUT) &= ~selectedPins;
+}
+
+void GPIO_setAsInputPinWithPullUpResistor(uint8_t selectedPort,
+                                                uint16_t selectedPins) {
+
+    uint16_t baseAddress = GPIO_PORT_TO_BASE[selectedPort];
+
+    #ifndef NDEBUG
+    if(baseAddress == 0xFFFF) {
+        return;
+    }
+    #endif
+
+    // Shift by 8 if port is even (upper 8-bits)
+    if((selectedPort & 1) ^ 1) {
+        selectedPins <<= 8;
+    }
+
+    HWREG16(baseAddress + OFS_PASEL0) &= ~selectedPins;
+    HWREG16(baseAddress + OFS_PASEL1) &= ~selectedPins;
+    HWREG16(baseAddress + OFS_PADIR) &= ~selectedPins;
+    HWREG16(baseAddress + OFS_PAREN) |= selectedPins;
+    HWREG16(baseAddress + OFS_PAOUT) |= selectedPins;
+}
+
+uint8_t GPIO_getInputPinValue(uint8_t selectedPort,
+                                   uint16_t selectedPins) {
+
+    uint16_t baseAddress = GPIO_PORT_TO_BASE[selectedPort];
+
+    #ifndef NDEBUG
+    if(baseAddress == 0xFFFF) {
+        return;
+    }
+    #endif
+
+    // Shift by 8 if port is even (upper 8-bits)
+    if((selectedPort & 1) ^ 1) {
+        selectedPins <<= 8;
+    }
+
+    uint16_t inputPinValue = HWREG16(baseAddress + OFS_PAIN) & (selectedPins);
+
+    if(inputPinValue > 0){
+        return (GPIO_INPUT_PIN_HIGH);
+    }
+    return (GPIO_INPUT_PIN_LOW);
+}
+
+void GPIO_enableInterrupt(uint8_t selectedPort, uint16_t selectedPins) {
+
+    uint16_t baseAddress = GPIO_PORT_TO_BASE[selectedPort];
+
+    #ifndef NDEBUG
+    if(baseAddress == 0xFFFF) {
+        return;
+    }
+    #endif
+
+    // Shift by 8 if port is even (upper 8-bits)
+    if((selectedPort & 1) ^ 1) {
+        selectedPins <<= 8;
+    }
+
+    HWREG16(baseAddress + OFS_PAIE) |= selectedPins;
+}
+
+void GPIO_disableInterrupt(uint8_t selectedPort, uint16_t selectedPins) {
+
+    uint16_t baseAddress = GPIO_PORT_TO_BASE[selectedPort];
+
+    #ifndef NDEBUG
+    if(baseAddress == 0xFFFF) {
+        return;
+    }
+    #endif
+
+    // Shift by 8 if port is even (upper 8-bits)
+    if((selectedPort & 1) ^ 1) {
+        selectedPins <<= 8;
+    }
+
+    HWREG16(baseAddress + OFS_PAIE) &= ~selectedPins;
+}
+
+uint16_t GPIO_getInterruptStatus(uint8_t selectedPort, uint16_t selectedPins) {
+
+    uint16_t baseAddress = GPIO_PORT_TO_BASE[selectedPort];
+
+    #ifndef NDEBUG
+    if(baseAddress == 0xFFFF) {
+        return;
+    }
+    #endif
+
+    // Shift by 8 if port is even (upper 8-bits)
+    if((selectedPort & 1) ^ 1) {
+        if((baseAddress & 0x1) ^ 0x1)
+        {
+            return (HWREG8(baseAddress + OFS_PAIFG_H) & selectedPins);
+        }
+        else
+        {
+            return (HWREG8(baseAddress + OFS_PAIFG) & selectedPins);
+        }
+    }
+    else {
+        return (HWREG16(baseAddress + OFS_PAIFG) & selectedPins);
+    }
+}
+
+void GPIO_clearInterrupt(uint8_t selectedPort, uint16_t selectedPins) {
+
+    uint16_t baseAddress = GPIO_PORT_TO_BASE[selectedPort];
+
+    #ifndef NDEBUG
+    if(baseAddress == 0xFFFF) {
+        return;
+    }
+    #endif
+
+    // Shift by 8 if port is even (upper 8-bits)
+    if((selectedPort & 1) ^ 1) {
+        selectedPins <<= 8;
+    }
+
+    HWREG16(baseAddress + OFS_PAIFG) &= ~selectedPins;
+}
+
+void GPIO_selectInterruptEdge(uint8_t selectedPort, uint16_t selectedPins,
+                                   uint8_t edgeSelect) {
+
+    uint16_t baseAddress = GPIO_PORT_TO_BASE[selectedPort];
+
+    #ifndef NDEBUG
+    if(baseAddress == 0xFFFF) {
+        return;
+    }
+    #endif
+
+    // Shift by 8 if port is even (upper 8-bits)
+    if((selectedPort & 1) ^ 1) {
+        selectedPins <<= 8;
+    }
+
+    if (GPIO_LOW_TO_HIGH_TRANSITION == edgeSelect){
+        HWREG16(baseAddress + OFS_PAIES) &= ~selectedPins;
+    }
+    else {
+        HWREG16(baseAddress + OFS_PAIES) |= selectedPins;
+    }
+}
+
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for gpio_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/gpio.h b/Apps/FlightSoftware/MotorControl/driverlib/gpio.h
new file mode 100644
index 000000000..537449458
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/gpio.h
@@ -0,0 +1,1051 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// gpio.h - Driver for the GPIO Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_GPIO_H__
+#define __MSP430WARE_GPIO_H__
+
+#include "inc/hw_memmap.h"
+
+#if defined(__MSP430_HAS_PORT1_R__) || defined(__MSP430_HAS_PORT2_R__) ||\
+    defined(__MSP430_HAS_PORTA_R__)
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the selectedPort parameter
+// for functions: GPIO_setAsOutputPin(), GPIO_setAsInputPin(),
+// GPIO_setAsPeripheralModuleFunctionOutputPin(),
+// GPIO_setAsPeripheralModuleFunctionInputPin(), GPIO_setOutputHighOnPin(),
+// GPIO_setOutputLowOnPin(), GPIO_toggleOutputOnPin(),
+// GPIO_setAsInputPinWithPullDownResistor(),
+// GPIO_setAsInputPinWithPullUpResistor(), GPIO_getInputPinValue(),
+// GPIO_selectInterruptEdge(), GPIO_enableInterrupt(), GPIO_disableInterrupt(),
+// GPIO_getInterruptStatus(), and GPIO_clearInterrupt().
+//
+//*****************************************************************************
+#define GPIO_PORT_P1                                                          1
+#define GPIO_PORT_P2                                                          2
+#define GPIO_PORT_P3                                                          3
+#define GPIO_PORT_P4                                                          4
+#define GPIO_PORT_P5                                                          5
+#define GPIO_PORT_P6                                                          6
+#define GPIO_PORT_P7                                                          7
+#define GPIO_PORT_P8                                                          8
+#define GPIO_PORT_P9                                                          9
+#define GPIO_PORT_P10                                                        10
+#define GPIO_PORT_P11                                                        11
+#define GPIO_PORT_PA                                                          1
+#define GPIO_PORT_PB                                                          3
+#define GPIO_PORT_PC                                                          5
+#define GPIO_PORT_PD                                                          7
+#define GPIO_PORT_PE                                                          9
+#define GPIO_PORT_PF                                                         11
+#define GPIO_PORT_PJ                                                         13
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the selectedPins parameter
+// for functions: GPIO_setAsOutputPin(), GPIO_setAsInputPin(),
+// GPIO_setAsPeripheralModuleFunctionOutputPin(),
+// GPIO_setAsPeripheralModuleFunctionInputPin(), GPIO_setOutputHighOnPin(),
+// GPIO_setOutputLowOnPin(), GPIO_toggleOutputOnPin(),
+// GPIO_setAsInputPinWithPullDownResistor(),
+// GPIO_setAsInputPinWithPullUpResistor(), GPIO_getInputPinValue(),
+// GPIO_enableInterrupt(), GPIO_disableInterrupt(), GPIO_getInterruptStatus(),
+// GPIO_clearInterrupt(), and GPIO_selectInterruptEdge() as well as returned by
+// the GPIO_getInterruptStatus() function.
+//
+//*****************************************************************************
+#define GPIO_PIN0                                                      (0x0001)
+#define GPIO_PIN1                                                      (0x0002)
+#define GPIO_PIN2                                                      (0x0004)
+#define GPIO_PIN3                                                      (0x0008)
+#define GPIO_PIN4                                                      (0x0010)
+#define GPIO_PIN5                                                      (0x0020)
+#define GPIO_PIN6                                                      (0x0040)
+#define GPIO_PIN7                                                      (0x0080)
+#define GPIO_PIN8                                                      (0x0100)
+#define GPIO_PIN9                                                      (0x0200)
+#define GPIO_PIN10                                                     (0x0400)
+#define GPIO_PIN11                                                     (0x0800)
+#define GPIO_PIN12                                                     (0x1000)
+#define GPIO_PIN13                                                     (0x2000)
+#define GPIO_PIN14                                                     (0x4000)
+#define GPIO_PIN15                                                     (0x8000)
+#define GPIO_PIN_ALL8                                                    (0xFF)
+#define GPIO_PIN_ALL16                                                 (0xFFFF)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the mode parameter for
+// functions: GPIO_setAsPeripheralModuleFunctionOutputPin(), and
+// GPIO_setAsPeripheralModuleFunctionInputPin().
+//
+//*****************************************************************************
+#define GPIO_PRIMARY_MODULE_FUNCTION                                     (0x01)
+#define GPIO_SECONDARY_MODULE_FUNCTION                                   (0x02)
+#define GPIO_TERNARY_MODULE_FUNCTION                                     (0x03)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the edgeSelect parameter for
+// functions: GPIO_selectInterruptEdge().
+//
+//*****************************************************************************
+#define GPIO_HIGH_TO_LOW_TRANSITION                                      (0x01)
+#define GPIO_LOW_TO_HIGH_TRANSITION                                      (0x00)
+
+//*****************************************************************************
+//
+// The following are values that can be passed toThe following are values that
+// can be returned by the GPIO_getInputPinValue() function.
+//
+//*****************************************************************************
+#define GPIO_INPUT_PIN_HIGH                                              (0x01)
+#define GPIO_INPUT_PIN_LOW                                               (0x00)
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief This function configures the selected Pin as output pin
+//!
+//! This function selected pins on a selected port as output pins.
+//!
+//! \param selectedPort is the selected port.
+//!        Valid values are:
+//!        - \b GPIO_PORT_P1
+//!        - \b GPIO_PORT_P2
+//!        - \b GPIO_PORT_P3
+//!        - \b GPIO_PORT_P4
+//!        - \b GPIO_PORT_P5
+//!        - \b GPIO_PORT_P6
+//!        - \b GPIO_PORT_P7
+//!        - \b GPIO_PORT_P8
+//!        - \b GPIO_PORT_P9
+//!        - \b GPIO_PORT_P10
+//!        - \b GPIO_PORT_P11
+//!        - \b GPIO_PORT_PA
+//!        - \b GPIO_PORT_PB
+//!        - \b GPIO_PORT_PC
+//!        - \b GPIO_PORT_PD
+//!        - \b GPIO_PORT_PE
+//!        - \b GPIO_PORT_PF
+//!        - \b GPIO_PORT_PJ
+//! \param selectedPins is the specified pin in the selected port.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b GPIO_PIN0
+//!        - \b GPIO_PIN1
+//!        - \b GPIO_PIN2
+//!        - \b GPIO_PIN3
+//!        - \b GPIO_PIN4
+//!        - \b GPIO_PIN5
+//!        - \b GPIO_PIN6
+//!        - \b GPIO_PIN7
+//!        - \b GPIO_PIN8
+//!        - \b GPIO_PIN9
+//!        - \b GPIO_PIN10
+//!        - \b GPIO_PIN11
+//!        - \b GPIO_PIN12
+//!        - \b GPIO_PIN13
+//!        - \b GPIO_PIN14
+//!        - \b GPIO_PIN15
+//!        - \b GPIO_PIN_ALL8
+//!        - \b GPIO_PIN_ALL16
+//!
+//! Modified bits of \b PxDIR register and bits of \b PxSEL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void GPIO_setAsOutputPin(uint8_t selectedPort,
+                                uint16_t selectedPins);
+
+//*****************************************************************************
+//
+//! \brief This function configures the selected Pin as input pin
+//!
+//! This function selected pins on a selected port as input pins.
+//!
+//! \param selectedPort is the selected port.
+//!        Valid values are:
+//!        - \b GPIO_PORT_P1
+//!        - \b GPIO_PORT_P2
+//!        - \b GPIO_PORT_P3
+//!        - \b GPIO_PORT_P4
+//!        - \b GPIO_PORT_P5
+//!        - \b GPIO_PORT_P6
+//!        - \b GPIO_PORT_P7
+//!        - \b GPIO_PORT_P8
+//!        - \b GPIO_PORT_P9
+//!        - \b GPIO_PORT_P10
+//!        - \b GPIO_PORT_P11
+//!        - \b GPIO_PORT_PA
+//!        - \b GPIO_PORT_PB
+//!        - \b GPIO_PORT_PC
+//!        - \b GPIO_PORT_PD
+//!        - \b GPIO_PORT_PE
+//!        - \b GPIO_PORT_PF
+//!        - \b GPIO_PORT_PJ
+//! \param selectedPins is the specified pin in the selected port.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b GPIO_PIN0
+//!        - \b GPIO_PIN1
+//!        - \b GPIO_PIN2
+//!        - \b GPIO_PIN3
+//!        - \b GPIO_PIN4
+//!        - \b GPIO_PIN5
+//!        - \b GPIO_PIN6
+//!        - \b GPIO_PIN7
+//!        - \b GPIO_PIN8
+//!        - \b GPIO_PIN9
+//!        - \b GPIO_PIN10
+//!        - \b GPIO_PIN11
+//!        - \b GPIO_PIN12
+//!        - \b GPIO_PIN13
+//!        - \b GPIO_PIN14
+//!        - \b GPIO_PIN15
+//!        - \b GPIO_PIN_ALL8
+//!        - \b GPIO_PIN_ALL16
+//!
+//! Modified bits of \b PxDIR register, bits of \b PxREN register and bits of
+//! \b PxSEL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void GPIO_setAsInputPin(uint8_t selectedPort,
+                               uint16_t selectedPins);
+
+//*****************************************************************************
+//
+//! \brief This function configures the peripheral module function in the
+//! output direction for the selected pin.
+//!
+//! This function configures the peripheral module function in the output
+//! direction for the selected pin for either primary, secondary or ternary
+//! module function modes. Note that MSP430F5xx/6xx family doesn't support
+//! these function modes.
+//!
+//! \param selectedPort is the selected port.
+//!        Valid values are:
+//!        - \b GPIO_PORT_P1
+//!        - \b GPIO_PORT_P2
+//!        - \b GPIO_PORT_P3
+//!        - \b GPIO_PORT_P4
+//!        - \b GPIO_PORT_P5
+//!        - \b GPIO_PORT_P6
+//!        - \b GPIO_PORT_P7
+//!        - \b GPIO_PORT_P8
+//!        - \b GPIO_PORT_P9
+//!        - \b GPIO_PORT_P10
+//!        - \b GPIO_PORT_P11
+//!        - \b GPIO_PORT_PA
+//!        - \b GPIO_PORT_PB
+//!        - \b GPIO_PORT_PC
+//!        - \b GPIO_PORT_PD
+//!        - \b GPIO_PORT_PE
+//!        - \b GPIO_PORT_PF
+//!        - \b GPIO_PORT_PJ
+//! \param selectedPins is the specified pin in the selected port.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b GPIO_PIN0
+//!        - \b GPIO_PIN1
+//!        - \b GPIO_PIN2
+//!        - \b GPIO_PIN3
+//!        - \b GPIO_PIN4
+//!        - \b GPIO_PIN5
+//!        - \b GPIO_PIN6
+//!        - \b GPIO_PIN7
+//!        - \b GPIO_PIN8
+//!        - \b GPIO_PIN9
+//!        - \b GPIO_PIN10
+//!        - \b GPIO_PIN11
+//!        - \b GPIO_PIN12
+//!        - \b GPIO_PIN13
+//!        - \b GPIO_PIN14
+//!        - \b GPIO_PIN15
+//!        - \b GPIO_PIN_ALL8
+//!        - \b GPIO_PIN_ALL16
+//! \param mode is the specified mode that the pin should be configured for the
+//!        module function.
+//!        Valid values are:
+//!        - \b GPIO_PRIMARY_MODULE_FUNCTION
+//!        - \b GPIO_SECONDARY_MODULE_FUNCTION
+//!        - \b GPIO_TERNARY_MODULE_FUNCTION
+//!
+//! Modified bits of \b PxDIR register and bits of \b PxSEL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void GPIO_setAsPeripheralModuleFunctionOutputPin(uint8_t selectedPort,
+                                                        uint16_t selectedPins,
+                                                        uint8_t mode);
+
+//*****************************************************************************
+//
+//! \brief This function configures the peripheral module function in the input
+//! direction for the selected pin.
+//!
+//! This function configures the peripheral module function in the input
+//! direction for the selected pin for either primary, secondary or ternary
+//! module function modes. Note that MSP430F5xx/6xx family doesn't support
+//! these function modes.
+//!
+//! \param selectedPort is the selected port.
+//!        Valid values are:
+//!        - \b GPIO_PORT_P1
+//!        - \b GPIO_PORT_P2
+//!        - \b GPIO_PORT_P3
+//!        - \b GPIO_PORT_P4
+//!        - \b GPIO_PORT_P5
+//!        - \b GPIO_PORT_P6
+//!        - \b GPIO_PORT_P7
+//!        - \b GPIO_PORT_P8
+//!        - \b GPIO_PORT_P9
+//!        - \b GPIO_PORT_P10
+//!        - \b GPIO_PORT_P11
+//!        - \b GPIO_PORT_PA
+//!        - \b GPIO_PORT_PB
+//!        - \b GPIO_PORT_PC
+//!        - \b GPIO_PORT_PD
+//!        - \b GPIO_PORT_PE
+//!        - \b GPIO_PORT_PF
+//!        - \b GPIO_PORT_PJ
+//! \param selectedPins is the specified pin in the selected port.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b GPIO_PIN0
+//!        - \b GPIO_PIN1
+//!        - \b GPIO_PIN2
+//!        - \b GPIO_PIN3
+//!        - \b GPIO_PIN4
+//!        - \b GPIO_PIN5
+//!        - \b GPIO_PIN6
+//!        - \b GPIO_PIN7
+//!        - \b GPIO_PIN8
+//!        - \b GPIO_PIN9
+//!        - \b GPIO_PIN10
+//!        - \b GPIO_PIN11
+//!        - \b GPIO_PIN12
+//!        - \b GPIO_PIN13
+//!        - \b GPIO_PIN14
+//!        - \b GPIO_PIN15
+//!        - \b GPIO_PIN_ALL8
+//!        - \b GPIO_PIN_ALL16
+//! \param mode is the specified mode that the pin should be configured for the
+//!        module function.
+//!        Valid values are:
+//!        - \b GPIO_PRIMARY_MODULE_FUNCTION
+//!        - \b GPIO_SECONDARY_MODULE_FUNCTION
+//!        - \b GPIO_TERNARY_MODULE_FUNCTION
+//!
+//! Modified bits of \b PxDIR register and bits of \b PxSEL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void GPIO_setAsPeripheralModuleFunctionInputPin(uint8_t selectedPort,
+                                                       uint16_t selectedPins,
+                                                       uint8_t mode);
+
+//*****************************************************************************
+//
+//! \brief This function sets output HIGH on the selected Pin
+//!
+//! This function sets output HIGH on the selected port's pin.
+//!
+//! \param selectedPort is the selected port.
+//!        Valid values are:
+//!        - \b GPIO_PORT_P1
+//!        - \b GPIO_PORT_P2
+//!        - \b GPIO_PORT_P3
+//!        - \b GPIO_PORT_P4
+//!        - \b GPIO_PORT_P5
+//!        - \b GPIO_PORT_P6
+//!        - \b GPIO_PORT_P7
+//!        - \b GPIO_PORT_P8
+//!        - \b GPIO_PORT_P9
+//!        - \b GPIO_PORT_P10
+//!        - \b GPIO_PORT_P11
+//!        - \b GPIO_PORT_PA
+//!        - \b GPIO_PORT_PB
+//!        - \b GPIO_PORT_PC
+//!        - \b GPIO_PORT_PD
+//!        - \b GPIO_PORT_PE
+//!        - \b GPIO_PORT_PF
+//!        - \b GPIO_PORT_PJ
+//! \param selectedPins is the specified pin in the selected port.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b GPIO_PIN0
+//!        - \b GPIO_PIN1
+//!        - \b GPIO_PIN2
+//!        - \b GPIO_PIN3
+//!        - \b GPIO_PIN4
+//!        - \b GPIO_PIN5
+//!        - \b GPIO_PIN6
+//!        - \b GPIO_PIN7
+//!        - \b GPIO_PIN8
+//!        - \b GPIO_PIN9
+//!        - \b GPIO_PIN10
+//!        - \b GPIO_PIN11
+//!        - \b GPIO_PIN12
+//!        - \b GPIO_PIN13
+//!        - \b GPIO_PIN14
+//!        - \b GPIO_PIN15
+//!        - \b GPIO_PIN_ALL8
+//!        - \b GPIO_PIN_ALL16
+//!
+//! Modified bits of \b PxOUT register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void GPIO_setOutputHighOnPin(uint8_t selectedPort,
+                                    uint16_t selectedPins);
+
+//*****************************************************************************
+//
+//! \brief This function sets output LOW on the selected Pin
+//!
+//! This function sets output LOW on the selected port's pin.
+//!
+//! \param selectedPort is the selected port.
+//!        Valid values are:
+//!        - \b GPIO_PORT_P1
+//!        - \b GPIO_PORT_P2
+//!        - \b GPIO_PORT_P3
+//!        - \b GPIO_PORT_P4
+//!        - \b GPIO_PORT_P5
+//!        - \b GPIO_PORT_P6
+//!        - \b GPIO_PORT_P7
+//!        - \b GPIO_PORT_P8
+//!        - \b GPIO_PORT_P9
+//!        - \b GPIO_PORT_P10
+//!        - \b GPIO_PORT_P11
+//!        - \b GPIO_PORT_PA
+//!        - \b GPIO_PORT_PB
+//!        - \b GPIO_PORT_PC
+//!        - \b GPIO_PORT_PD
+//!        - \b GPIO_PORT_PE
+//!        - \b GPIO_PORT_PF
+//!        - \b GPIO_PORT_PJ
+//! \param selectedPins is the specified pin in the selected port.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b GPIO_PIN0
+//!        - \b GPIO_PIN1
+//!        - \b GPIO_PIN2
+//!        - \b GPIO_PIN3
+//!        - \b GPIO_PIN4
+//!        - \b GPIO_PIN5
+//!        - \b GPIO_PIN6
+//!        - \b GPIO_PIN7
+//!        - \b GPIO_PIN8
+//!        - \b GPIO_PIN9
+//!        - \b GPIO_PIN10
+//!        - \b GPIO_PIN11
+//!        - \b GPIO_PIN12
+//!        - \b GPIO_PIN13
+//!        - \b GPIO_PIN14
+//!        - \b GPIO_PIN15
+//!        - \b GPIO_PIN_ALL8
+//!        - \b GPIO_PIN_ALL16
+//!
+//! Modified bits of \b PxOUT register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void GPIO_setOutputLowOnPin(uint8_t selectedPort,
+                                   uint16_t selectedPins);
+
+//*****************************************************************************
+//
+//! \brief This function toggles the output on the selected Pin
+//!
+//! This function toggles the output on the selected port's pin.
+//!
+//! \param selectedPort is the selected port.
+//!        Valid values are:
+//!        - \b GPIO_PORT_P1
+//!        - \b GPIO_PORT_P2
+//!        - \b GPIO_PORT_P3
+//!        - \b GPIO_PORT_P4
+//!        - \b GPIO_PORT_P5
+//!        - \b GPIO_PORT_P6
+//!        - \b GPIO_PORT_P7
+//!        - \b GPIO_PORT_P8
+//!        - \b GPIO_PORT_P9
+//!        - \b GPIO_PORT_P10
+//!        - \b GPIO_PORT_P11
+//!        - \b GPIO_PORT_PA
+//!        - \b GPIO_PORT_PB
+//!        - \b GPIO_PORT_PC
+//!        - \b GPIO_PORT_PD
+//!        - \b GPIO_PORT_PE
+//!        - \b GPIO_PORT_PF
+//!        - \b GPIO_PORT_PJ
+//! \param selectedPins is the specified pin in the selected port.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b GPIO_PIN0
+//!        - \b GPIO_PIN1
+//!        - \b GPIO_PIN2
+//!        - \b GPIO_PIN3
+//!        - \b GPIO_PIN4
+//!        - \b GPIO_PIN5
+//!        - \b GPIO_PIN6
+//!        - \b GPIO_PIN7
+//!        - \b GPIO_PIN8
+//!        - \b GPIO_PIN9
+//!        - \b GPIO_PIN10
+//!        - \b GPIO_PIN11
+//!        - \b GPIO_PIN12
+//!        - \b GPIO_PIN13
+//!        - \b GPIO_PIN14
+//!        - \b GPIO_PIN15
+//!        - \b GPIO_PIN_ALL8
+//!        - \b GPIO_PIN_ALL16
+//!
+//! Modified bits of \b PxOUT register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void GPIO_toggleOutputOnPin(uint8_t selectedPort,
+                                   uint16_t selectedPins);
+
+//*****************************************************************************
+//
+//! \brief This function sets the selected Pin in input Mode with Pull Down
+//! resistor
+//!
+//! This function sets the selected Pin in input Mode with Pull Down resistor.
+//!
+//! \param selectedPort is the selected port.
+//!        Valid values are:
+//!        - \b GPIO_PORT_P1
+//!        - \b GPIO_PORT_P2
+//!        - \b GPIO_PORT_P3
+//!        - \b GPIO_PORT_P4
+//!        - \b GPIO_PORT_P5
+//!        - \b GPIO_PORT_P6
+//!        - \b GPIO_PORT_P7
+//!        - \b GPIO_PORT_P8
+//!        - \b GPIO_PORT_P9
+//!        - \b GPIO_PORT_P10
+//!        - \b GPIO_PORT_P11
+//!        - \b GPIO_PORT_PA
+//!        - \b GPIO_PORT_PB
+//!        - \b GPIO_PORT_PC
+//!        - \b GPIO_PORT_PD
+//!        - \b GPIO_PORT_PE
+//!        - \b GPIO_PORT_PF
+//!        - \b GPIO_PORT_PJ
+//! \param selectedPins is the specified pin in the selected port.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b GPIO_PIN0
+//!        - \b GPIO_PIN1
+//!        - \b GPIO_PIN2
+//!        - \b GPIO_PIN3
+//!        - \b GPIO_PIN4
+//!        - \b GPIO_PIN5
+//!        - \b GPIO_PIN6
+//!        - \b GPIO_PIN7
+//!        - \b GPIO_PIN8
+//!        - \b GPIO_PIN9
+//!        - \b GPIO_PIN10
+//!        - \b GPIO_PIN11
+//!        - \b GPIO_PIN12
+//!        - \b GPIO_PIN13
+//!        - \b GPIO_PIN14
+//!        - \b GPIO_PIN15
+//!        - \b GPIO_PIN_ALL8
+//!        - \b GPIO_PIN_ALL16
+//!
+//! Modified bits of \b PxDIR register, bits of \b PxOUT register and bits of
+//! \b PxREN register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void GPIO_setAsInputPinWithPullDownResistor(uint8_t selectedPort,
+                                                   uint16_t selectedPins);
+
+//*****************************************************************************
+//
+//! \brief This function sets the selected Pin in input Mode with Pull Up
+//! resistor
+//!
+//! This function sets the selected Pin in input Mode with Pull Up resistor.
+//!
+//! \param selectedPort is the selected port.
+//!        Valid values are:
+//!        - \b GPIO_PORT_P1
+//!        - \b GPIO_PORT_P2
+//!        - \b GPIO_PORT_P3
+//!        - \b GPIO_PORT_P4
+//!        - \b GPIO_PORT_P5
+//!        - \b GPIO_PORT_P6
+//!        - \b GPIO_PORT_P7
+//!        - \b GPIO_PORT_P8
+//!        - \b GPIO_PORT_P9
+//!        - \b GPIO_PORT_P10
+//!        - \b GPIO_PORT_P11
+//!        - \b GPIO_PORT_PA
+//!        - \b GPIO_PORT_PB
+//!        - \b GPIO_PORT_PC
+//!        - \b GPIO_PORT_PD
+//!        - \b GPIO_PORT_PE
+//!        - \b GPIO_PORT_PF
+//!        - \b GPIO_PORT_PJ
+//! \param selectedPins is the specified pin in the selected port.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b GPIO_PIN0
+//!        - \b GPIO_PIN1
+//!        - \b GPIO_PIN2
+//!        - \b GPIO_PIN3
+//!        - \b GPIO_PIN4
+//!        - \b GPIO_PIN5
+//!        - \b GPIO_PIN6
+//!        - \b GPIO_PIN7
+//!        - \b GPIO_PIN8
+//!        - \b GPIO_PIN9
+//!        - \b GPIO_PIN10
+//!        - \b GPIO_PIN11
+//!        - \b GPIO_PIN12
+//!        - \b GPIO_PIN13
+//!        - \b GPIO_PIN14
+//!        - \b GPIO_PIN15
+//!        - \b GPIO_PIN_ALL8
+//!        - \b GPIO_PIN_ALL16
+//!
+//! Modified bits of \b PxDIR register, bits of \b PxOUT register and bits of
+//! \b PxREN register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void GPIO_setAsInputPinWithPullUpResistor(uint8_t selectedPort,
+                                                 uint16_t selectedPins);
+
+//*****************************************************************************
+//
+//! \brief This function gets the input value on the selected pin
+//!
+//! This function gets the input value on the selected pin.
+//!
+//! \param selectedPort is the selected port.
+//!        Valid values are:
+//!        - \b GPIO_PORT_P1
+//!        - \b GPIO_PORT_P2
+//!        - \b GPIO_PORT_P3
+//!        - \b GPIO_PORT_P4
+//!        - \b GPIO_PORT_P5
+//!        - \b GPIO_PORT_P6
+//!        - \b GPIO_PORT_P7
+//!        - \b GPIO_PORT_P8
+//!        - \b GPIO_PORT_P9
+//!        - \b GPIO_PORT_P10
+//!        - \b GPIO_PORT_P11
+//!        - \b GPIO_PORT_PA
+//!        - \b GPIO_PORT_PB
+//!        - \b GPIO_PORT_PC
+//!        - \b GPIO_PORT_PD
+//!        - \b GPIO_PORT_PE
+//!        - \b GPIO_PORT_PF
+//!        - \b GPIO_PORT_PJ
+//! \param selectedPins is the specified pin in the selected port.
+//!        Valid values are:
+//!        - \b GPIO_PIN0
+//!        - \b GPIO_PIN1
+//!        - \b GPIO_PIN2
+//!        - \b GPIO_PIN3
+//!        - \b GPIO_PIN4
+//!        - \b GPIO_PIN5
+//!        - \b GPIO_PIN6
+//!        - \b GPIO_PIN7
+//!        - \b GPIO_PIN8
+//!        - \b GPIO_PIN9
+//!        - \b GPIO_PIN10
+//!        - \b GPIO_PIN11
+//!        - \b GPIO_PIN12
+//!        - \b GPIO_PIN13
+//!        - \b GPIO_PIN14
+//!        - \b GPIO_PIN15
+//!        - \b GPIO_PIN_ALL8
+//!        - \b GPIO_PIN_ALL16
+//!
+//! \return One of the following:
+//!         - \b GPIO_INPUT_PIN_HIGH
+//!         - \b GPIO_INPUT_PIN_LOW
+//!         \n indicating the status of the pin
+//
+//*****************************************************************************
+extern uint8_t GPIO_getInputPinValue(uint8_t selectedPort,
+                                     uint16_t selectedPins);
+
+//*****************************************************************************
+//
+//! \brief This function enables the port interrupt on the selected pin
+//!
+//! This function enables the port interrupt on the selected pin. Please refer
+//! to family user's guide for available ports with interrupt capability.
+//!
+//! \param selectedPort is the selected port.
+//!        Valid values are:
+//!        - \b GPIO_PORT_P1
+//!        - \b GPIO_PORT_P2
+//!        - \b GPIO_PORT_P3
+//!        - \b GPIO_PORT_P4
+//!        - \b GPIO_PORT_P5
+//!        - \b GPIO_PORT_P6
+//!        - \b GPIO_PORT_P7
+//!        - \b GPIO_PORT_P8
+//!        - \b GPIO_PORT_P9
+//!        - \b GPIO_PORT_P10
+//!        - \b GPIO_PORT_P11
+//!        - \b GPIO_PORT_PA
+//!        - \b GPIO_PORT_PB
+//!        - \b GPIO_PORT_PC
+//!        - \b GPIO_PORT_PD
+//!        - \b GPIO_PORT_PE
+//!        - \b GPIO_PORT_PF
+//!        - \b GPIO_PORT_PJ
+//! \param selectedPins is the specified pin in the selected port.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b GPIO_PIN0
+//!        - \b GPIO_PIN1
+//!        - \b GPIO_PIN2
+//!        - \b GPIO_PIN3
+//!        - \b GPIO_PIN4
+//!        - \b GPIO_PIN5
+//!        - \b GPIO_PIN6
+//!        - \b GPIO_PIN7
+//!        - \b GPIO_PIN8
+//!        - \b GPIO_PIN9
+//!        - \b GPIO_PIN10
+//!        - \b GPIO_PIN11
+//!        - \b GPIO_PIN12
+//!        - \b GPIO_PIN13
+//!        - \b GPIO_PIN14
+//!        - \b GPIO_PIN15
+//!        - \b GPIO_PIN_ALL8
+//!        - \b GPIO_PIN_ALL16
+//!
+//! Modified bits of \b PxIE register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void GPIO_enableInterrupt(uint8_t selectedPort,
+                                 uint16_t selectedPins);
+
+//*****************************************************************************
+//
+//! \brief This function disables the port interrupt on the selected pin
+//!
+//! This function disables the port interrupt on the selected pin. Please refer
+//! to family user's guide for available ports with interrupt capability.
+//!
+//! \param selectedPort is the selected port.
+//!        Valid values are:
+//!        - \b GPIO_PORT_P1
+//!        - \b GPIO_PORT_P2
+//!        - \b GPIO_PORT_P3
+//!        - \b GPIO_PORT_P4
+//!        - \b GPIO_PORT_P5
+//!        - \b GPIO_PORT_P6
+//!        - \b GPIO_PORT_P7
+//!        - \b GPIO_PORT_P8
+//!        - \b GPIO_PORT_P9
+//!        - \b GPIO_PORT_P10
+//!        - \b GPIO_PORT_P11
+//!        - \b GPIO_PORT_PA
+//!        - \b GPIO_PORT_PB
+//!        - \b GPIO_PORT_PC
+//!        - \b GPIO_PORT_PD
+//!        - \b GPIO_PORT_PE
+//!        - \b GPIO_PORT_PF
+//!        - \b GPIO_PORT_PJ
+//! \param selectedPins is the specified pin in the selected port.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b GPIO_PIN0
+//!        - \b GPIO_PIN1
+//!        - \b GPIO_PIN2
+//!        - \b GPIO_PIN3
+//!        - \b GPIO_PIN4
+//!        - \b GPIO_PIN5
+//!        - \b GPIO_PIN6
+//!        - \b GPIO_PIN7
+//!        - \b GPIO_PIN8
+//!        - \b GPIO_PIN9
+//!        - \b GPIO_PIN10
+//!        - \b GPIO_PIN11
+//!        - \b GPIO_PIN12
+//!        - \b GPIO_PIN13
+//!        - \b GPIO_PIN14
+//!        - \b GPIO_PIN15
+//!        - \b GPIO_PIN_ALL8
+//!        - \b GPIO_PIN_ALL16
+//!
+//! Modified bits of \b PxIE register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void GPIO_disableInterrupt(uint8_t selectedPort,
+                                  uint16_t selectedPins);
+
+//*****************************************************************************
+//
+//! \brief This function gets the interrupt status of the selected pin
+//!
+//! This function gets the interrupt status of the selected pin. Please refer
+//! to family user's guide for available ports with interrupt capability.
+//!
+//! \param selectedPort is the selected port.
+//!        Valid values are:
+//!        - \b GPIO_PORT_P1
+//!        - \b GPIO_PORT_P2
+//!        - \b GPIO_PORT_P3
+//!        - \b GPIO_PORT_P4
+//!        - \b GPIO_PORT_P5
+//!        - \b GPIO_PORT_P6
+//!        - \b GPIO_PORT_P7
+//!        - \b GPIO_PORT_P8
+//!        - \b GPIO_PORT_P9
+//!        - \b GPIO_PORT_P10
+//!        - \b GPIO_PORT_P11
+//!        - \b GPIO_PORT_PA
+//!        - \b GPIO_PORT_PB
+//!        - \b GPIO_PORT_PC
+//!        - \b GPIO_PORT_PD
+//!        - \b GPIO_PORT_PE
+//!        - \b GPIO_PORT_PF
+//!        - \b GPIO_PORT_PJ
+//! \param selectedPins is the specified pin in the selected port.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b GPIO_PIN0
+//!        - \b GPIO_PIN1
+//!        - \b GPIO_PIN2
+//!        - \b GPIO_PIN3
+//!        - \b GPIO_PIN4
+//!        - \b GPIO_PIN5
+//!        - \b GPIO_PIN6
+//!        - \b GPIO_PIN7
+//!        - \b GPIO_PIN8
+//!        - \b GPIO_PIN9
+//!        - \b GPIO_PIN10
+//!        - \b GPIO_PIN11
+//!        - \b GPIO_PIN12
+//!        - \b GPIO_PIN13
+//!        - \b GPIO_PIN14
+//!        - \b GPIO_PIN15
+//!        - \b GPIO_PIN_ALL8
+//!        - \b GPIO_PIN_ALL16
+//!
+//! \return Logical OR of any of the following:
+//!         - \b GPIO_PIN0
+//!         - \b GPIO_PIN1
+//!         - \b GPIO_PIN2
+//!         - \b GPIO_PIN3
+//!         - \b GPIO_PIN4
+//!         - \b GPIO_PIN5
+//!         - \b GPIO_PIN6
+//!         - \b GPIO_PIN7
+//!         - \b GPIO_PIN8
+//!         - \b GPIO_PIN9
+//!         - \b GPIO_PIN10
+//!         - \b GPIO_PIN11
+//!         - \b GPIO_PIN12
+//!         - \b GPIO_PIN13
+//!         - \b GPIO_PIN14
+//!         - \b GPIO_PIN15
+//!         - \b GPIO_PIN_ALL8
+//!         - \b GPIO_PIN_ALL16
+//!         \n indicating the interrupt status of the selected pins [Default:
+//!         0]
+//
+//*****************************************************************************
+extern uint16_t GPIO_getInterruptStatus(uint8_t selectedPort,
+                                        uint16_t selectedPins);
+
+//*****************************************************************************
+//
+//! \brief This function clears the interrupt flag on the selected pin
+//!
+//! This function clears the interrupt flag on the selected pin. Please refer
+//! to family user's guide for available ports with interrupt capability.
+//!
+//! \param selectedPort is the selected port.
+//!        Valid values are:
+//!        - \b GPIO_PORT_P1
+//!        - \b GPIO_PORT_P2
+//!        - \b GPIO_PORT_P3
+//!        - \b GPIO_PORT_P4
+//!        - \b GPIO_PORT_P5
+//!        - \b GPIO_PORT_P6
+//!        - \b GPIO_PORT_P7
+//!        - \b GPIO_PORT_P8
+//!        - \b GPIO_PORT_P9
+//!        - \b GPIO_PORT_P10
+//!        - \b GPIO_PORT_P11
+//!        - \b GPIO_PORT_PA
+//!        - \b GPIO_PORT_PB
+//!        - \b GPIO_PORT_PC
+//!        - \b GPIO_PORT_PD
+//!        - \b GPIO_PORT_PE
+//!        - \b GPIO_PORT_PF
+//!        - \b GPIO_PORT_PJ
+//! \param selectedPins is the specified pin in the selected port.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b GPIO_PIN0
+//!        - \b GPIO_PIN1
+//!        - \b GPIO_PIN2
+//!        - \b GPIO_PIN3
+//!        - \b GPIO_PIN4
+//!        - \b GPIO_PIN5
+//!        - \b GPIO_PIN6
+//!        - \b GPIO_PIN7
+//!        - \b GPIO_PIN8
+//!        - \b GPIO_PIN9
+//!        - \b GPIO_PIN10
+//!        - \b GPIO_PIN11
+//!        - \b GPIO_PIN12
+//!        - \b GPIO_PIN13
+//!        - \b GPIO_PIN14
+//!        - \b GPIO_PIN15
+//!        - \b GPIO_PIN_ALL8
+//!        - \b GPIO_PIN_ALL16
+//!
+//! Modified bits of \b PxIFG register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void GPIO_clearInterrupt(uint8_t selectedPort,
+                                uint16_t selectedPins);
+
+//*****************************************************************************
+//
+//! \brief This function selects on what edge the port interrupt flag should be
+//! set for a transition
+//!
+//! This function selects on what edge the port interrupt flag should be set
+//! for a transition. Values for edgeSelect should be
+//! GPIO_LOW_TO_HIGH_TRANSITION or GPIO_HIGH_TO_LOW_TRANSITION. Please refer to
+//! family user's guide for available ports with interrupt capability.
+//!
+//! \param selectedPort is the selected port.
+//!        Valid values are:
+//!        - \b GPIO_PORT_P1
+//!        - \b GPIO_PORT_P2
+//!        - \b GPIO_PORT_P3
+//!        - \b GPIO_PORT_P4
+//!        - \b GPIO_PORT_P5
+//!        - \b GPIO_PORT_P6
+//!        - \b GPIO_PORT_P7
+//!        - \b GPIO_PORT_P8
+//!        - \b GPIO_PORT_P9
+//!        - \b GPIO_PORT_P10
+//!        - \b GPIO_PORT_P11
+//!        - \b GPIO_PORT_PA
+//!        - \b GPIO_PORT_PB
+//!        - \b GPIO_PORT_PC
+//!        - \b GPIO_PORT_PD
+//!        - \b GPIO_PORT_PE
+//!        - \b GPIO_PORT_PF
+//!        - \b GPIO_PORT_PJ
+//! \param selectedPins is the specified pin in the selected port.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b GPIO_PIN0
+//!        - \b GPIO_PIN1
+//!        - \b GPIO_PIN2
+//!        - \b GPIO_PIN3
+//!        - \b GPIO_PIN4
+//!        - \b GPIO_PIN5
+//!        - \b GPIO_PIN6
+//!        - \b GPIO_PIN7
+//!        - \b GPIO_PIN8
+//!        - \b GPIO_PIN9
+//!        - \b GPIO_PIN10
+//!        - \b GPIO_PIN11
+//!        - \b GPIO_PIN12
+//!        - \b GPIO_PIN13
+//!        - \b GPIO_PIN14
+//!        - \b GPIO_PIN15
+//!        - \b GPIO_PIN_ALL8
+//!        - \b GPIO_PIN_ALL16
+//! \param edgeSelect specifies what transition sets the interrupt flag
+//!        Valid values are:
+//!        - \b GPIO_HIGH_TO_LOW_TRANSITION
+//!        - \b GPIO_LOW_TO_HIGH_TRANSITION
+//!
+//! Modified bits of \b PxIES register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void GPIO_selectInterruptEdge(uint8_t selectedPort,
+                                     uint16_t selectedPins,
+                                     uint8_t edgeSelect);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_GPIO_H__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/hspll.c b/Apps/FlightSoftware/MotorControl/driverlib/hspll.c
new file mode 100644
index 000000000..b4b3c2500
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/hspll.c
@@ -0,0 +1,119 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// hspll.c - Driver for the HSPLL Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup hspll_api hspll
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_HSPLL__
+#include "hspll.h"
+
+#include <assert.h>
+
+void HSPLL_init(uint16_t baseAddress, HSPLL_initParam *param)
+{
+    assert (param->multiplier > 15);
+    assert (param->multiplier < 40);
+    
+    HWREG16(baseAddress + OFS_HSPLLCTL) =
+        (param->multiplier << 10)
+        | param->frequency 
+        | param->lockStatus;
+}
+
+void HSPLL_xtalInit(uint16_t baseAddress, HSPLL_xtalInitParam *param)
+{    
+    HWREG16(baseAddress + OFS_HSPLLUSSXTLCTL) =
+        param->oscillatorType
+        | param->xtlOutput
+        | param->oscillatorEnable;
+}
+
+uint16_t HSPLL_getInterruptStatus(uint16_t baseAddress)
+{
+    return (HWREG16(baseAddress + OFS_HSPLLRIS) & PLLUNLOCK);
+}
+
+uint16_t HSPLL_getInterruptMaskStatus(uint16_t baseAddress)
+{
+    return (HWREG16(baseAddress + OFS_HSPLLIMSC) & PLLUNLOCK);
+}
+
+void HSPLL_enableInterrupt(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_HSPLLIMSC) |= PLLUNLOCK;
+}
+
+void HSPLL_disableInterrupt(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_HSPLLIMSC) &= ~PLLUNLOCK;
+}
+
+void HSPLL_clearInterrupt(uint16_t baseAddress)        
+{
+    HWREG16(baseAddress + OFS_HSPLLICR) |= PLLUNLOCK;
+}
+
+void HSPLL_setInterrupt(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_HSPLLISR) |= PLLUNLOCK;
+}
+
+uint16_t HSPLL_getOscillatorStatus(uint16_t baseAddress)
+{
+    return (HWREG16(baseAddress + OFS_HSPLLUSSXTLCTL) & OSCSTATE);
+}
+
+uint16_t HSPLL_isLocked(uint16_t baseAddress)
+{
+    return (HWREG16(baseAddress + OFS_HSPLLCTL) & PLL_LOCK);
+}
+
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for hspll_api
+//! @}
+//
+//*****************************************************************************
+
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/hspll.h b/Apps/FlightSoftware/MotorControl/driverlib/hspll.h
new file mode 100644
index 000000000..d20c7bbca
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/hspll.h
@@ -0,0 +1,328 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// hspll.h - Driver for the HSPLL Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_HSPLL_H__
+#define __MSP430WARE_HSPLL_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_HSPLL__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+//*****************************************************************************
+//
+// The following are values that can be returned by the 
+// HSPLL_getInterruptStatus(), HSPLL_getInterruptMaskStatus() API
+//
+//*****************************************************************************
+#define HSPLL_PLL_STATE_UNCHANGED               PLLUNLOCK_0
+#define HSPLL_PLL_STATE_CHANGED_LOCK_TO_UNLOCK  PLLUNLOCK_1
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: HSPLL_init(); the frequency parameter for
+// functions: HSPLL_init().
+
+//
+//*****************************************************************************
+#define HSPLL_LESSER_OR_EQUAL_TO_6MHZ           PLLINFREQ_0
+#define HSPLL_GREATER_THAN_6MHZ                 PLLINFREQ_1
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: HSPLL_init(); the lockStatus parameter for
+// functions: HSPLL_init(). As well as returned by the 
+// HSPLL_isLocked() function.
+//
+//*****************************************************************************
+#define HSPLL_UNLOCKED                          PLL_LOCK_0
+#define HSPLL_LOCKED                            PLL_LOCK_1
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: HSPLL_xtalInit(); the oscillatorType parameter for
+// functions: HSPLL_xtalInit().
+//
+//*****************************************************************************
+#define HSPLL_XTAL_GATING_COUNTER_LENGTH_4096   OSCTYPE_0
+#define HSPLL_XTAL_GATING_COUNTER_LENGTH_512    OSCTYPE_1
+#define HSPLL_XTAL_OSCTYPE_XTAL                 OSCTYPE__XTAL
+#define HSPLL_XTAL_OSCTYPE_CERAMIC              OSCTYPE__CERAMIC
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: HSPLL_xtalInit(); the xtlOutput parameter for
+// functions: HSPLL_xtalInit().
+//
+//*****************************************************************************
+#define HSPLL_XTAL_OUTPUT_DISABLE               XTOUTOFF_1
+#define HSPLL_XTAL_OUTPUT_ENABLE                XTOUTOFF_0
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: HSPLL_xtalInit(); the oscillatorEnable parameter for
+// functions: HSPLL_xtalInit().
+//
+//*****************************************************************************
+#define HSPLL_XTAL_ENABLE                       USSXTEN_1
+#define HSPLL_XTAL_DISABLE                      USSXTEN_0
+
+//*****************************************************************************
+//
+// The following are values that can be returned by HSPLL_getOscillatorStatus()
+//
+//*****************************************************************************
+#define HSPLL_OSCILLATOR_STABILIZED             OSCSTATE_0
+#define HSPLL_OSCILLATOR_NOT_STABILIZED         OSCSTATE_1
+
+//*****************************************************************************
+//
+//! \brief Used in the HSPLL_init() function as the param parameter.
+//
+//*****************************************************************************
+typedef struct HSPLL_initParam
+{
+    //! PLL Multiplier
+    //! \n Valid values are  16 thru 39. Default value is 16
+    //! \n Alternative valid values are any OR of PLLM_x_H bits
+    uint16_t multiplier;
+    //! Selects MSB shift from filter out
+    //! - \b HSPLL_LESSER_OR_EQUAL_TO_6MHZ [Default] 
+    //! - \b HSPLL_GREATER_THAN_6MHZ 
+    uint16_t frequency;
+    //! Selects the output bit resolution
+    //! \n Valid values are:
+    //! - \b HSPLL_UNLOCKED [Default]
+    //! - \b HSPLL_LOCKED
+    uint16_t lockStatus;
+} HSPLL_initParam;
+
+//*****************************************************************************
+//
+//! \brief Used in the HSPLL_xtalInit() function as the param parameter.
+//
+//*****************************************************************************
+typedef struct HSPLL_xtalInitParam
+{
+    //! Selects the oscillator type
+    //! \n Valid values are:
+    //! - \b HSPLL_XTAL_GATING_COUNTER_LENGTH_4096 [Default]
+    //! - \b HSPLL_XTAL_GATING_COUNTER_LENGTH_512
+    //! - \b HSPLL_XTAL_OSCTYPE_XTAL [Default]
+    //! - \b HSPLL_XTAL_OSCTYPE_CERAMIC
+    uint16_t oscillatorType;
+    //! Disables/Enables the oscillator output
+    //! \n Valid values are:
+    //! - \b HSPLL_XTAL_OUTPUT_DISABLE [Default]
+    //! - \b HSPLL_XTAL_OUTPUT_ENABLE
+    uint16_t xtlOutput;
+    //! Selects the Auto Sample Start
+    //! \n Valid values are:
+    //! - \b HSPLL_XTAL_DISABLE [Default]
+    //! - \b HSPLL_XTAL_ENABLE
+    uint16_t oscillatorEnable;
+} HSPLL_xtalInitParam;
+
+//*****************************************************************************
+//
+//! \brief Initializes the HSPLL module
+//!
+//! Initializes the HSPLL module
+//!
+//! \param baseAddress is the base address of the HSPLL module.
+//!
+//! \param params is the pointer to the initialization structure
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void HSPLL_init(uint16_t baseAddress, HSPLL_initParam *param);
+
+//*****************************************************************************
+//
+//! \brief Initializes the HSPLL XTAL module
+//!
+//! Initializes the HSPLL XTAL module
+//!
+//! \param baseAddress is the base address of the HSPLL XTAL module.
+//!
+//! \param params is the pointer to the initialization structure
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void HSPLL_xtalInit(uint16_t baseAddress, HSPLL_xtalInitParam *param);
+
+//*****************************************************************************
+//
+//! \brief Returns the status of the selected  interrupt flags.
+//!
+//! Returns the status of the selected  interrupt flag. 
+//!
+//! \param baseAddress is the base address of the HSPLL module.
+//!
+//! \return \b HSPLL_PLL_STATE_UNCHANGED or 
+//!         \b HSPLL_PLL_STATE_CHANGED_LOCK_TO_UNLOCK
+//!
+//
+//*****************************************************************************
+extern uint16_t HSPLL_getInterruptStatus(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Returns the mask status of the selected  interrupt flags.
+//!
+//! Returns the mask status of the selected  interrupt flag. 
+//!
+//! \param baseAddress is the base address of the HSPLL module.
+//!
+//! \return \b HSPLL_PLL_STATE_UNCHANGED or 
+//!         \b HSPLL_PLL_STATE_CHANGED_LOCK_TO_UNLOCK
+//!
+//
+//*****************************************************************************
+extern uint16_t HSPLL_getInterruptMaskStatus(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+///! \brief Enable HSPLL PLLUNLOCK interrupt.
+//!
+//! \param baseAddress is the base address of the HSPLL module.
+//!
+//! Modified registers are HSPLLIMSC 
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void HSPLL_enableInterrupt(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+///! \brief Disable HSPLL PLLUNLOCK interrupt.
+//!
+//! \param baseAddress is the base address of the HSPLL module.
+//!
+//! Modified registers are HSPLLIMSC 
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void HSPLL_disableInterrupt(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+///! \brief Clear HSPLL PLLUNLOCK interrupt.
+//!
+//! \param baseAddress is the base address of the HSPLL module.
+//!
+//! Modified registers are HSPLLICR 
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void HSPLL_clearInterrupt(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+///! \brief Set HSPLL PLLUNLOCK interrupt.
+//!
+//! \param baseAddress is the base address of the HSPLL module.
+//!
+//! Modified registers are HSPLLISR 
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void HSPLL_setInterrupt(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Returns the oscillator status
+//!
+//! Returns the oscillator status
+//!
+//! \param baseAddress is the base address of the HSPLL module.
+//!
+//! \return \b HSPLL_OSCILLATOR_STABILIZED or 
+//!         \b HSPLL_OSCILLATOR_NOT_STABILIZED
+//!
+//
+//*****************************************************************************
+extern uint16_t HSPLL_getOscillatorStatus(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Returns the PLL status
+//!
+//! Returns the PLL status
+//!
+//! \param baseAddress is the base address of the HSPLL module.
+//!
+//! \return \b HSPLL_UNLOCKED or 
+//!         \b HSPLL_LOCKED
+//!
+//
+//*****************************************************************************
+extern uint16_t HSPLL_isLocked(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_HSPLL_H__
+
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/inc/hw_memmap.h b/Apps/FlightSoftware/MotorControl/driverlib/inc/hw_memmap.h
new file mode 100644
index 000000000..99249941a
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/inc/hw_memmap.h
@@ -0,0 +1,77 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+#ifndef __HW_MEMMAP__
+#define __HW_MEMMAP__
+
+#define __DRIVERLIB_MSP430FR5XX_6XX_FAMILY__
+//*****************************************************************************
+//
+// Include device specific header file
+//
+//*****************************************************************************
+#include <msp430.h>
+
+#ifndef __AUTOGENERATED__
+#include "msp430fr5xx_6xxgeneric.h"
+#endif
+
+#include "stdint.h"
+#include "stdbool.h"
+
+//*****************************************************************************
+//
+// SUCCESS and FAILURE for API return value
+//
+//*****************************************************************************
+#define STATUS_SUCCESS  0x01
+#define STATUS_FAIL     0x00
+
+//*****************************************************************************
+//
+// Macro for enabling assert statements for debugging
+//
+//*****************************************************************************
+#define NDEBUG
+
+//*****************************************************************************
+//
+// Macros for hardware access
+//
+//*****************************************************************************
+#define HWREG32(x)                                                              \
+        (*((volatile uint32_t *)((uint16_t)x)))
+#define HWREG16(x)                                                             \
+        (*((volatile uint16_t *)((uint16_t)x)))
+#define HWREG8(x)                                                             \
+        (*((volatile uint8_t *)((uint16_t)x)))
+
+#endif // #ifndef __HW_MEMMAP__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/inc/version.h b/Apps/FlightSoftware/MotorControl/driverlib/inc/version.h
new file mode 100644
index 000000000..091d1c58a
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/inc/version.h
@@ -0,0 +1,42 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+#ifndef __DRIVERLIB_VERSION__
+	#define DRIVERLIB_VER_MAJOR 2
+	#define DRIVERLIB_VER_MINOR 91
+	#define DRIVERLIB_VER_PATCH 08
+	#define DRIVERLIB_VER_BUILD 00
+#endif
+
+#define getVersion() ((uint32_t)DRIVERLIB_VER_MAJOR<<24 | \
+                      (uint32_t)DRIVERLIB_VER_MINOR<<16 | \
+                      (uint32_t)DRIVERLIB_VER_PATCH<<8 | \
+                      (uint32_t)DRIVERLIB_VER_BUILD)
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/lcd_c.c b/Apps/FlightSoftware/MotorControl/driverlib/lcd_c.c
new file mode 100644
index 000000000..6e10103f6
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/lcd_c.c
@@ -0,0 +1,439 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// lcd_c.c - Driver for the lcd_c Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup lcd_c_api lcd_c
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_LCD_C__
+#include "lcd_c.h"
+
+#include <assert.h>
+
+//*****************************************************************************
+//
+// Initialization parameter instance
+//
+//*****************************************************************************
+const LCD_C_initParam LCD_C_INIT_PARAM = {
+        LCD_C_CLOCKSOURCE_ACLK,
+        LCD_C_CLOCKDIVIDER_1,
+        LCD_C_CLOCKPRESCALAR_1,
+        LCD_C_STATIC,
+        LCD_C_STANDARD_WAVEFORMS,
+        LCD_C_SEGMENTS_DISABLED
+};
+
+static void setLCDFunction(uint16_t baseAddress, uint8_t index, uint16_t value)
+{
+    switch(index) {
+    case 0:
+        HWREG16(baseAddress + OFS_LCDCPCTL0) |= value;
+        break;
+    case 1:
+        HWREG16(baseAddress + OFS_LCDCPCTL1) |= value;
+        break;
+    case 2:
+        HWREG16(baseAddress + OFS_LCDCPCTL2) |= value;
+        break;
+    case 3:
+#ifdef LCDS48
+        HWREG16(baseAddress + OFS_LCDCPCTL3) |= value;
+#endif //LCDS48
+        break;
+    default: break;
+    }
+}
+
+void LCD_C_init(uint16_t baseAddress, LCD_C_initParam *initParams)
+{
+    HWREG16(baseAddress + OFS_LCDCCTL0) &= ~LCDON;
+    HWREG16(baseAddress + OFS_LCDCCTL0) &= ~(LCDMX0 | LCDMX1 | LCDMX2 | LCDSSEL
+         | LCDLP | LCDSON | LCDDIV_31);
+
+    HWREG16(baseAddress + OFS_LCDCCTL0) |= initParams->muxRate;
+    HWREG16(baseAddress + OFS_LCDCCTL0) |= initParams->clockSource;
+    HWREG16(baseAddress + OFS_LCDCCTL0) |= initParams->waveforms;
+    HWREG16(baseAddress + OFS_LCDCCTL0) |= initParams->segments;
+    HWREG16(baseAddress + OFS_LCDCCTL0) |= initParams->clockDivider;
+    HWREG16(baseAddress + OFS_LCDCCTL0) |= initParams->clockPrescalar;
+}
+
+void LCD_C_on(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_LCDCCTL0) |= LCDON;
+}
+
+void LCD_C_off(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_LCDCCTL0) &= ~LCDON;
+}
+
+void LCD_C_clearInterrupt(uint16_t baseAddress, uint16_t mask)
+{
+    HWREG8(baseAddress + OFS_LCDCCTL1_L) &= ~(mask>>8);
+}
+
+uint16_t LCD_C_getInterruptStatus(uint16_t baseAddress, uint16_t mask)
+{
+    return (HWREG8(baseAddress + OFS_LCDCCTL1_L) & (mask>>8));
+}
+
+void LCD_C_enableInterrupt(uint16_t baseAddress, uint16_t mask)
+{
+    HWREG16(baseAddress + OFS_LCDCCTL1) |= mask;
+}
+
+void LCD_C_disableInterrupt (uint16_t baseAddress, uint16_t mask)
+{
+    HWREG16(baseAddress + OFS_LCDCCTL1) &= ~mask;
+}
+
+ void LCD_C_clearMemory(uint16_t baseAddress)
+ {
+    HWREG16(baseAddress + OFS_LCDCMEMCTL) |= LCDCLRM;
+ }
+
+void LCD_C_clearBlinkingMemory(uint16_t baseAddress)
+{
+   HWREG16(baseAddress + OFS_LCDCMEMCTL) |= LCDCLRBM;
+}
+
+void LCD_C_selectDisplayMemory(uint16_t baseAddress, uint16_t displayMemory)
+{
+    HWREG16(baseAddress + OFS_LCDCMEMCTL) &= ~LCDDISP;
+    HWREG16(baseAddress + OFS_LCDCMEMCTL) |= displayMemory;
+}
+
+void LCD_C_setBlinkingControl (uint16_t baseAddress,
+                          uint8_t clockDivider,
+                          uint8_t clockPrescalar,
+                          uint8_t mode)
+{
+    HWREG16(baseAddress + OFS_LCDCBLKCTL) &= ~(LCDBLKDIV0 | LCDBLKDIV1 | LCDBLKDIV2 |
+                                             LCDBLKPRE0 | LCDBLKPRE1 | LCDBLKPRE2 |
+                                             LCDBLKMOD0 | LCDBLKMOD1
+                                             );
+    HWREG16(baseAddress + OFS_LCDCBLKCTL) |= clockDivider | clockPrescalar | mode;
+}
+
+void LCD_C_enableChargePump(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_LCDCVCTL) |= LCDCPEN;
+}
+
+void LCD_C_disableChargePump(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_LCDCVCTL) &= ~LCDCPEN;
+}
+
+void LCD_C_selectBias(uint16_t baseAddress, uint16_t bias)
+{
+    HWREG16(baseAddress + OFS_LCDCCTL0) &= ~LCDON;
+    HWREG16(baseAddress + OFS_LCDCVCTL) &= ~LCD2B;
+
+    HWREG16(baseAddress + OFS_LCDCVCTL) |= bias;
+}
+
+void LCD_C_selectChargePumpReference(uint16_t baseAddress, uint16_t reference)
+{
+    HWREG16(baseAddress + OFS_LCDCCTL0) &= ~LCDON;
+    HWREG16(baseAddress + OFS_LCDCVCTL) &= ~VLCDREF_3;
+
+    HWREG16(baseAddress + OFS_LCDCVCTL) |= reference;
+}
+
+void LCD_C_setVLCDSource(uint16_t baseAddress, uint16_t vlcdSource,
+    uint16_t v2v3v4Source,
+    uint16_t v5Source)
+{
+    HWREG16(baseAddress + OFS_LCDCCTL0) &= ~LCDON;
+    HWREG16(baseAddress + OFS_LCDCVCTL) &= ~VLCDEXT;
+    HWREG16(baseAddress + OFS_LCDCVCTL) &= ~LCDREXT;
+    HWREG16(baseAddress + OFS_LCDCVCTL) &= ~LCDEXTBIAS;
+    HWREG16(baseAddress + OFS_LCDCVCTL) &= ~R03EXT;
+
+    HWREG16(baseAddress + OFS_LCDCVCTL) |= vlcdSource;
+    HWREG16(baseAddress + OFS_LCDCVCTL) |= v2v3v4Source;
+    HWREG16(baseAddress + OFS_LCDCVCTL) |= v5Source;
+}
+
+void LCD_C_setVLCDVoltage(uint16_t baseAddress, uint16_t voltage)
+{
+    HWREG16(baseAddress + OFS_LCDCVCTL) &= ~VLCD_15;
+
+    HWREG16(baseAddress + OFS_LCDCVCTL) |= voltage;
+}
+
+void LCD_C_setPinAsLCDFunction(uint16_t baseAddress, uint8_t pin)
+{
+    HWREG16(baseAddress + OFS_LCDCCTL0) &= ~LCDON;
+
+    uint8_t idx = pin>>4;
+    uint16_t val = 1<<(pin & 0xF);
+
+    setLCDFunction(baseAddress, idx, val);
+}
+
+void LCD_C_setPinAsPortFunction (uint16_t baseAddress, uint8_t pin)
+{
+    HWREG16(baseAddress + OFS_LCDCCTL0) &= ~LCDON;
+
+    uint8_t idx = pin >> 4;
+    uint16_t val = 1 << (pin & 0xF);
+
+    switch(idx) {
+        case 0:
+            HWREG16(baseAddress + OFS_LCDCPCTL0) &= ~val;
+            break;
+        case 1:
+            HWREG16(baseAddress + OFS_LCDCPCTL1) &= ~val;
+            break;
+        case 2:
+            HWREG16(baseAddress + OFS_LCDCPCTL2) &= ~val;
+            break;
+        case 3:
+#ifdef LCDS48
+            HWREG16(baseAddress + OFS_LCDCPCTL3) &= ~val;
+#endif //LCDS48
+            break;
+        default: break;
+    }
+}
+
+void LCD_C_setPinAsLCDFunctionEx(uint16_t baseAddress, uint8_t startPin,
+    uint8_t endPin)
+{
+    uint8_t startIdx = startPin>>4;
+    uint8_t endIdx = endPin>>4;
+    uint8_t startPos = startPin & 0xF;
+    uint8_t endPos = endPin & 0xF;
+    uint16_t val = 0;
+    uint8_t i = 0;
+
+    HWREG16(baseAddress + OFS_LCDCCTL0) &= ~LCDON;
+
+    if (startIdx == endIdx) {
+        val = (0xFFFF>>(15-endPos)) & (0xFFFF<<startPos);
+
+        setLCDFunction(baseAddress, startIdx, val);
+
+    }
+    else {
+        val = 0xFFFF>>(15-endPos);
+        setLCDFunction(baseAddress, endIdx, val);
+
+        for (i=endIdx-1; i>startIdx; i--)
+            setLCDFunction(baseAddress, i, 0xFFFF);
+
+        val = 0xFFFF<<startPos;
+        setLCDFunction(baseAddress, startIdx, val);
+    }
+}
+
+void LCD_C_setMemory(uint16_t baseAddress, uint8_t pin, uint8_t value)
+{
+    uint8_t muxRate = HWREG16(baseAddress + OFS_LCDCCTL0)
+                        & (LCDMX2 | LCDMX1 | LCDMX0);
+
+    // static, 2-mux, 3-mux, 4-mux
+    if (muxRate <= (LCDMX1 | LCDMX0)) {
+        if (pin & 1) {
+            HWREG8(baseAddress + OFS_LCDM1 + pin/2) &= 0x0F;
+            HWREG8(baseAddress + OFS_LCDM1 + pin/2) |= (value & 0xF) << 4;
+        }
+        else {
+            HWREG8(baseAddress + OFS_LCDM1 + pin/2) &= 0xF0;
+            HWREG8(baseAddress + OFS_LCDM1 + pin/2) |= (value & 0xF);
+        }
+    }
+    else {
+        //5-mux, 6-mux, 7-mux, 8-mux
+        HWREG8(baseAddress + OFS_LCDM1 + pin) = value;
+    }
+}
+
+uint8_t LCD_C_getMemory(uint16_t baseAddress, uint8_t pin)
+{
+    uint8_t muxRate = HWREG16(baseAddress + OFS_LCDCCTL0)
+                        & (LCDMX2 | LCDMX1 | LCDMX0);
+
+    // static, 2-mux, 3-mux, 4-mux
+    if(muxRate <= (LCDMX1 | LCDMX0))
+    {
+        if(pin & 1)
+        {
+            return (HWREG8(baseAddress + OFS_LCDM1 + pin / 2) >> 4);
+        }
+        else
+        {
+            return (HWREG8(baseAddress + OFS_LCDM1 + pin / 2) & 0xF);
+        }
+    }
+    else
+    {
+        //5-mux, 6-mux, 7-mux, 8-mux
+        return HWREG8(baseAddress + OFS_LCDM1 + pin);
+    }
+}
+
+void LCD_C_setMemoryWithoutOverwrite(uint16_t baseAddress, uint8_t pin, uint8_t value)
+{
+    uint8_t muxRate = HWREG16(baseAddress + OFS_LCDCCTL0)
+                      & (LCDMX2 | LCDMX1 | LCDMX0);
+
+    value |= LCD_C_getMemory(baseAddress, pin);
+
+    // static, 2-mux, 3-mux, 4-mux
+    if(muxRate <= (LCDMX1 | LCDMX0))
+    {
+        if(pin & 1)
+        {
+            HWREG8(baseAddress + OFS_LCDM1 + pin / 2) &= 0x0F;
+            HWREG8(baseAddress + OFS_LCDM1 + pin / 2) |= (value & 0xF) << 4;
+        }
+        else
+        {
+            HWREG8(baseAddress + OFS_LCDM1 + pin / 2) &= 0xF0;
+            HWREG8(baseAddress + OFS_LCDM1 + pin / 2) |= (value & 0xF);
+        }
+    }
+    else
+    {
+        //5-mux, 6-mux, 7-mux, 8-mux
+        HWREG8(baseAddress + OFS_LCDM1 + pin) = value;
+    }
+}
+
+void LCD_C_setBlinkingMemory(uint16_t baseAddress, uint8_t pin, uint8_t value)
+{
+    uint8_t muxRate = HWREG16(baseAddress + OFS_LCDCCTL0)
+                        & (LCDMX2 | LCDMX1 | LCDMX0);
+
+    // static, 2-mux, 3-mux, 4-mux
+    if (muxRate <= (LCDMX1 | LCDMX0)) {
+        if (pin & 1) {
+            HWREG8(baseAddress + OFS_LCDBM1 + pin/2) &= 0x0F;
+            HWREG8(baseAddress + OFS_LCDBM1 + pin/2) |= (value & 0xF) << 4;
+        }
+        else {
+            HWREG8(baseAddress + OFS_LCDBM1 + pin/2) &= 0xF0;
+            HWREG8(baseAddress + OFS_LCDBM1 + pin/2) |= (value & 0xF);
+        }
+    }
+    else {
+        //5-mux, 6-mux, 7-mux, 8-mux
+        HWREG8(baseAddress + OFS_LCDBM1 + pin) = value;
+    }
+
+}
+
+uint8_t LCD_C_getBlinkingMemory(uint16_t baseAddress, uint8_t pin)
+{
+    uint8_t muxRate = HWREG16(baseAddress + OFS_LCDCCTL0)
+                        & (LCDMX2 | LCDMX1 | LCDMX0);
+
+    // static, 2-mux, 3-mux, 4-mux
+    if(muxRate <= (LCDMX1 | LCDMX0))
+    {
+        if(pin & 1)
+        {
+            return (HWREG8(baseAddress + OFS_LCDBM1 + pin / 2) >> 4);
+        }
+        else
+        {
+            return (HWREG8(baseAddress + OFS_LCDBM1 + pin / 2) & 0xF);
+        }
+    }
+    else
+    {
+        //5-mux, 6-mux, 7-mux, 8-mux
+        return HWREG8(baseAddress + OFS_LCDBM1 + pin);
+    }
+}
+
+void LCD_C_setBlinkingMemoryWithoutOverwrite(uint16_t baseAddress, uint8_t pin, uint8_t value)
+{
+    uint8_t muxRate = HWREG16(baseAddress + OFS_LCDCCTL0)
+                      & (LCDMX2 | LCDMX1 | LCDMX0);
+
+    value |= LCD_C_getBlinkingMemory(baseAddress, pin);
+
+    // static, 2-mux, 3-mux, 4-mux
+    if(muxRate <= (LCDMX1 | LCDMX0))
+    {
+        if(pin & 1)
+        {
+            HWREG8(baseAddress + OFS_LCDBM1 + pin / 2) &= 0x0F;
+            HWREG8(baseAddress + OFS_LCDBM1 + pin / 2) |= (value & 0xF) << 4;
+        }
+        else
+        {
+            HWREG8(baseAddress + OFS_LCDBM1 + pin / 2) &= 0xF0;
+            HWREG8(baseAddress + OFS_LCDBM1 + pin / 2) |= (value & 0xF);
+        }
+    }
+    else
+    {
+        //5-mux, 6-mux, 7-mux, 8-mux
+        HWREG8(baseAddress + OFS_LCDBM1 + pin) = value;
+    }
+}
+
+void LCD_C_configChargePump(uint16_t baseAddress, uint16_t syncToClock,
+    uint16_t functionControl)
+{
+    HWREG16(baseAddress + OFS_LCDCCPCTL) &= ~(LCDCPCLKSYNC);
+    HWREG16(baseAddress + OFS_LCDCCPCTL) &= ~(LCDCPDIS7 | LCDCPDIS6 | LCDCPDIS5
+        | LCDCPDIS4 | LCDCPDIS3 | LCDCPDIS2 | LCDCPDIS1 | LCDCPDIS0);
+
+    HWREG16(baseAddress + OFS_LCDCCPCTL) |= syncToClock | functionControl;
+}
+
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for lcd_c_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/lcd_c.h b/Apps/FlightSoftware/MotorControl/driverlib/lcd_c.h
new file mode 100644
index 000000000..ad0ede42d
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/lcd_c.h
@@ -0,0 +1,1379 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// lcd_c.h - Driver for the LCD_C Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_LCD_C_H__
+#define __MSP430WARE_LCD_C_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_LCD_C__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "inc/hw_memmap.h"
+//*****************************************************************************
+//
+//! \brief Used in the LCD_C_init() function as the initParams parameter.
+//
+//*****************************************************************************
+typedef struct LCD_C_initParam {
+    //! Selects the clock that will be used by the LCD.
+    //! \n Valid values are:
+    //! - \b LCD_C_CLOCKSOURCE_ACLK [Default]
+    //! - \b LCD_C_CLOCKSOURCE_VLOCLK
+    uint16_t clockSource;
+    //! Selects the divider for LCD_frequency.
+    //! \n Valid values are:
+    //! - \b LCD_C_CLOCKDIVIDER_1 [Default]
+    //! - \b LCD_C_CLOCKDIVIDER_2
+    //! - \b LCD_C_CLOCKDIVIDER_3
+    //! - \b LCD_C_CLOCKDIVIDER_4
+    //! - \b LCD_C_CLOCKDIVIDER_5
+    //! - \b LCD_C_CLOCKDIVIDER_6
+    //! - \b LCD_C_CLOCKDIVIDER_7
+    //! - \b LCD_C_CLOCKDIVIDER_8
+    //! - \b LCD_C_CLOCKDIVIDER_9
+    //! - \b LCD_C_CLOCKDIVIDER_10
+    //! - \b LCD_C_CLOCKDIVIDER_11
+    //! - \b LCD_C_CLOCKDIVIDER_12
+    //! - \b LCD_C_CLOCKDIVIDER_13
+    //! - \b LCD_C_CLOCKDIVIDER_14
+    //! - \b LCD_C_CLOCKDIVIDER_15
+    //! - \b LCD_C_CLOCKDIVIDER_16
+    //! - \b LCD_C_CLOCKDIVIDER_17
+    //! - \b LCD_C_CLOCKDIVIDER_18
+    //! - \b LCD_C_CLOCKDIVIDER_19
+    //! - \b LCD_C_CLOCKDIVIDER_20
+    //! - \b LCD_C_CLOCKDIVIDER_21
+    //! - \b LCD_C_CLOCKDIVIDER_22
+    //! - \b LCD_C_CLOCKDIVIDER_23
+    //! - \b LCD_C_CLOCKDIVIDER_24
+    //! - \b LCD_C_CLOCKDIVIDER_25
+    //! - \b LCD_C_CLOCKDIVIDER_26
+    //! - \b LCD_C_CLOCKDIVIDER_27
+    //! - \b LCD_C_CLOCKDIVIDER_28
+    //! - \b LCD_C_CLOCKDIVIDER_29
+    //! - \b LCD_C_CLOCKDIVIDER_30
+    //! - \b LCD_C_CLOCKDIVIDER_31
+    //! - \b LCD_C_CLOCKDIVIDER_32
+    uint16_t clockDivider;
+    //! Selects the prescalar for frequency.
+    //! \n Valid values are:
+    //! - \b LCD_C_CLOCKPRESCALAR_1 [Default]
+    //! - \b LCD_C_CLOCKPRESCALAR_2
+    //! - \b LCD_C_CLOCKPRESCALAR_4
+    //! - \b LCD_C_CLOCKPRESCALAR_8
+    //! - \b LCD_C_CLOCKPRESCALAR_16
+    //! - \b LCD_C_CLOCKPRESCALAR_32
+    uint16_t clockPrescalar;
+    //! Selects LCD mux rate.
+    //! \n Valid values are:
+    //! - \b LCD_C_STATIC [Default]
+    //! - \b LCD_C_2_MUX
+    //! - \b LCD_C_3_MUX
+    //! - \b LCD_C_4_MUX
+    //! - \b LCD_C_5_MUX
+    //! - \b LCD_C_6_MUX
+    //! - \b LCD_C_7_MUX
+    //! - \b LCD_C_8_MUX
+    uint16_t muxRate;
+    //! Selects LCD waveform mode.
+    //! \n Valid values are:
+    //! - \b LCD_C_STANDARD_WAVEFORMS [Default]
+    //! - \b LCD_C_LOW_POWER_WAVEFORMS
+    uint16_t waveforms;
+    //! Sets LCD segment on/off.
+    //! \n Valid values are:
+    //! - \b LCD_C_SEGMENTS_DISABLED [Default]
+    //! - \b LCD_C_SEGMENTS_ENABLED
+    uint16_t segments;
+} LCD_C_initParam;
+
+
+extern const LCD_C_initParam LCD_C_INIT_PARAM;
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the initParams parameter for
+// functions: LCD_C_init().
+//
+//*****************************************************************************
+#define LCD_C_CLOCKSOURCE_ACLK                                            (0x0)
+#define LCD_C_CLOCKSOURCE_VLOCLK                                      (LCDSSEL)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the initParams parameter for
+// functions: LCD_C_init().
+//
+//*****************************************************************************
+#define LCD_C_CLOCKDIVIDER_1                                         (LCDDIV_0)
+#define LCD_C_CLOCKDIVIDER_2                                         (LCDDIV_1)
+#define LCD_C_CLOCKDIVIDER_3                                         (LCDDIV_2)
+#define LCD_C_CLOCKDIVIDER_4                                         (LCDDIV_3)
+#define LCD_C_CLOCKDIVIDER_5                                         (LCDDIV_4)
+#define LCD_C_CLOCKDIVIDER_6                                         (LCDDIV_5)
+#define LCD_C_CLOCKDIVIDER_7                                         (LCDDIV_6)
+#define LCD_C_CLOCKDIVIDER_8                                         (LCDDIV_7)
+#define LCD_C_CLOCKDIVIDER_9                                         (LCDDIV_8)
+#define LCD_C_CLOCKDIVIDER_10                                        (LCDDIV_9)
+#define LCD_C_CLOCKDIVIDER_11                                       (LCDDIV_10)
+#define LCD_C_CLOCKDIVIDER_12                                       (LCDDIV_11)
+#define LCD_C_CLOCKDIVIDER_13                                       (LCDDIV_12)
+#define LCD_C_CLOCKDIVIDER_14                                       (LCDDIV_13)
+#define LCD_C_CLOCKDIVIDER_15                                       (LCDDIV_14)
+#define LCD_C_CLOCKDIVIDER_16                                       (LCDDIV_15)
+#define LCD_C_CLOCKDIVIDER_17                                       (LCDDIV_16)
+#define LCD_C_CLOCKDIVIDER_18                                       (LCDDIV_17)
+#define LCD_C_CLOCKDIVIDER_19                                       (LCDDIV_18)
+#define LCD_C_CLOCKDIVIDER_20                                       (LCDDIV_19)
+#define LCD_C_CLOCKDIVIDER_21                                       (LCDDIV_20)
+#define LCD_C_CLOCKDIVIDER_22                                       (LCDDIV_21)
+#define LCD_C_CLOCKDIVIDER_23                                       (LCDDIV_22)
+#define LCD_C_CLOCKDIVIDER_24                                       (LCDDIV_23)
+#define LCD_C_CLOCKDIVIDER_25                                       (LCDDIV_24)
+#define LCD_C_CLOCKDIVIDER_26                                       (LCDDIV_25)
+#define LCD_C_CLOCKDIVIDER_27                                       (LCDDIV_26)
+#define LCD_C_CLOCKDIVIDER_28                                       (LCDDIV_27)
+#define LCD_C_CLOCKDIVIDER_29                                       (LCDDIV_28)
+#define LCD_C_CLOCKDIVIDER_30                                       (LCDDIV_29)
+#define LCD_C_CLOCKDIVIDER_31                                       (LCDDIV_30)
+#define LCD_C_CLOCKDIVIDER_32                                       (LCDDIV_31)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the initParams parameter for
+// functions: LCD_C_init().
+//
+//*****************************************************************************
+#define LCD_C_CLOCKPRESCALAR_1                                       (LCDPRE_0)
+#define LCD_C_CLOCKPRESCALAR_2                                       (LCDPRE_1)
+#define LCD_C_CLOCKPRESCALAR_4                                       (LCDPRE_2)
+#define LCD_C_CLOCKPRESCALAR_8                                       (LCDPRE_3)
+#define LCD_C_CLOCKPRESCALAR_16                                      (LCDPRE_4)
+#define LCD_C_CLOCKPRESCALAR_32                                      (LCDPRE_5)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the initParams parameter for
+// functions: LCD_C_init().
+//
+//*****************************************************************************
+#define LCD_C_STATIC                                                      (0x0)
+#define LCD_C_2_MUX                                                    (LCDMX0)
+#define LCD_C_3_MUX                                                    (LCDMX1)
+#define LCD_C_4_MUX                                           (LCDMX1 | LCDMX0)
+#define LCD_C_5_MUX                                                    (LCDMX2)
+#define LCD_C_6_MUX                                           (LCDMX2 | LCDMX0)
+#define LCD_C_7_MUX                                           (LCDMX2 | LCDMX1)
+#define LCD_C_8_MUX                                  (LCDMX2 | LCDMX1 | LCDMX0)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the initParams parameter for
+// functions: LCD_C_init().
+//
+//*****************************************************************************
+#define LCD_C_STANDARD_WAVEFORMS                                          (0x0)
+#define LCD_C_LOW_POWER_WAVEFORMS                                       (LCDLP)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the initParams parameter for
+// functions: LCD_C_init().
+//
+//*****************************************************************************
+#define LCD_C_SEGMENTS_DISABLED                                           (0x0)
+#define LCD_C_SEGMENTS_ENABLED                                         (LCDSON)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the mask parameter for
+// functions: LCD_C_clearInterrupt(), LCD_C_getInterruptStatus(),
+// LCD_C_enableInterrupt(), and LCD_C_disableInterrupt() as well as returned by
+// the LCD_C_getInterruptStatus() function.
+//
+//*****************************************************************************
+#define LCD_C_NO_CAPACITANCE_CONNECTED_INTERRUPT                   (LCDNOCAPIE)
+#define LCD_C_BLINKING_SEGMENTS_ON_INTERRUPT                       (LCDBLKONIE)
+#define LCD_C_BLINKING_SEGMENTS_OFF_INTERRUPT                     (LCDBLKOFFIE)
+#define LCD_C_FRAME_INTERRUPT                                        (LCDFRMIE)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the displayMemory parameter
+// for functions: LCD_C_selectDisplayMemory().
+//
+//*****************************************************************************
+#define LCD_C_DISPLAYSOURCE_MEMORY                                        (0x0)
+#define LCD_C_DISPLAYSOURCE_BLINKINGMEMORY                            (LCDDISP)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the clockDivider parameter
+// for functions: LCD_C_setBlinkingControl().
+//
+//*****************************************************************************
+#define LCD_C_BLINK_FREQ_CLOCK_DIVIDER_1                                  (0x0)
+#define LCD_C_BLINK_FREQ_CLOCK_DIVIDER_2                           (LCDBLKDIV0)
+#define LCD_C_BLINK_FREQ_CLOCK_DIVIDER_3                           (LCDBLKDIV1)
+#define LCD_C_BLINK_FREQ_CLOCK_DIVIDER_4              (LCDBLKDIV0 | LCDBLKDIV1)
+#define LCD_C_BLINK_FREQ_CLOCK_DIVIDER_5                           (LCDBLKDIV2)
+#define LCD_C_BLINK_FREQ_CLOCK_DIVIDER_6              (LCDBLKDIV2 | LCDBLKDIV0)
+#define LCD_C_BLINK_FREQ_CLOCK_DIVIDER_7              (LCDBLKDIV2 | LCDBLKDIV1)
+#define LCD_C_BLINK_FREQ_CLOCK_DIVIDER_8 (LCDBLKDIV2 | LCDBLKDIV1 | LCDBLKDIV0)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the clockPrescalar parameter
+// for functions: LCD_C_setBlinkingControl().
+//
+//*****************************************************************************
+#define LCD_C_BLINK_FREQ_CLOCK_PRESCALAR_512                              (0x0)
+#define LCD_C_BLINK_FREQ_CLOCK_PRESCALAR_1024                      (LCDBLKPRE0)
+#define LCD_C_BLINK_FREQ_CLOCK_PRESCALAR_2048                      (LCDBLKPRE1)
+#define LCD_C_BLINK_FREQ_CLOCK_PRESCALAR_4096         (LCDBLKPRE1 | LCDBLKPRE0)
+#define LCD_C_BLINK_FREQ_CLOCK_PRESCALAR_8162                      (LCDBLKPRE2)
+#define LCD_C_BLINK_FREQ_CLOCK_PRESCALAR_16384        (LCDBLKPRE2 | LCDBLKPRE0)
+#define LCD_C_BLINK_FREQ_CLOCK_PRESCALAR_32768        (LCDBLKPRE2 | LCDBLKPRE1)
+#define LCD_C_BLINK_FREQ_CLOCK_PRESCALAR_65536                                \
+                                         (LCDBLKPRE2 | LCDBLKPRE1 | LCDBLKPRE0)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the blinkingMode parameter
+// for functions: LCD_C_setBlinkingControl().
+//
+//*****************************************************************************
+#define LCD_C_BLINK_MODE_DISABLED                                 (LCDBLKMOD_0)
+#define LCD_C_BLINK_MODE_INDIVIDUAL_SEGMENTS                      (LCDBLKMOD_1)
+#define LCD_C_BLINK_MODE_ALL_SEGMENTS                             (LCDBLKMOD_2)
+#define LCD_C_BLINK_MODE_SWITCHING_BETWEEN_DISPLAY_CONTENTS       (LCDBLKMOD_3)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the bias parameter for
+// functions: LCD_C_selectBias().
+//
+//*****************************************************************************
+#define LCD_C_BIAS_1_3                                                    (0x0)
+#define LCD_C_BIAS_1_2                                                  (LCD2B)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the reference parameter for
+// functions: LCD_C_selectChargePumpReference().
+//
+//*****************************************************************************
+#define LCD_C_INTERNAL_REFERENCE_VOLTAGE                            (VLCDREF_0)
+#define LCD_C_EXTERNAL_REFERENCE_VOLTAGE                            (VLCDREF_1)
+#define LCD_C_INTERNAL_REFERENCE_VOLTAGE_SWITCHED_TO_EXTERNAL_PIN   (VLCDREF_2)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the vlcdSource parameter for
+// functions: LCD_C_setVLCDSource().
+//
+//*****************************************************************************
+#define LCD_C_VLCD_GENERATED_INTERNALLY                                   (0x0)
+#define LCD_C_VLCD_SOURCED_EXTERNALLY                                 (VLCDEXT)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the v2v3v4Source parameter
+// for functions: LCD_C_setVLCDSource().
+//
+//*****************************************************************************
+#define LCD_C_V2V3V4_GENERATED_INTERNALLY_NOT_SWITCHED_TO_PINS            (0x0)
+#define LCD_C_V2V3V4_GENERATED_INTERNALLY_SWITCHED_TO_PINS            (LCDREXT)
+#define LCD_C_V2V3V4_SOURCED_EXTERNALLY                            (LCDEXTBIAS)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the v5Source parameter for
+// functions: LCD_C_setVLCDSource().
+//
+//*****************************************************************************
+#define LCD_C_V5_VSS                                                      (0x0)
+#define LCD_C_V5_SOURCED_FROM_R03                                      (R03EXT)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the voltage parameter for
+// functions: LCD_C_setVLCDVoltage().
+//
+//*****************************************************************************
+#define LCD_C_CHARGEPUMP_DISABLED                                         (0x0)
+#define LCD_C_CHARGEPUMP_VOLTAGE_2_60V_OR_2_17VREF                      (VLCD0)
+#define LCD_C_CHARGEPUMP_VOLTAGE_2_66V_OR_2_22VREF                      (VLCD1)
+#define LCD_C_CHARGEPUMP_VOLTAGE_2_72V_OR_2_27VREF              (VLCD1 | VLCD0)
+#define LCD_C_CHARGEPUMP_VOLTAGE_2_78V_OR_2_32VREF                      (VLCD2)
+#define LCD_C_CHARGEPUMP_VOLTAGE_2_84V_OR_2_37VREF              (VLCD2 | VLCD0)
+#define LCD_C_CHARGEPUMP_VOLTAGE_2_90V_OR_2_42VREF              (VLCD2 | VLCD1)
+#define LCD_C_CHARGEPUMP_VOLTAGE_2_96V_OR_2_47VREF      (VLCD2 | VLCD1 | VLCD0)
+#define LCD_C_CHARGEPUMP_VOLTAGE_3_02V_OR_2_52VREF                      (VLCD3)
+#define LCD_C_CHARGEPUMP_VOLTAGE_3_08V_OR_2_57VREF              (VLCD3 | VLCD0)
+#define LCD_C_CHARGEPUMP_VOLTAGE_3_14V_OR_2_62VREF              (VLCD3 | VLCD1)
+#define LCD_C_CHARGEPUMP_VOLTAGE_3_20V_OR_2_67VREF      (VLCD3 | VLCD1 | VLCD0)
+#define LCD_C_CHARGEPUMP_VOLTAGE_3_26V_OR_2_72VREF              (VLCD3 | VLCD2)
+#define LCD_C_CHARGEPUMP_VOLTAGE_3_32V_OR_2_77VREF      (VLCD3 | VLCD2 | VLCD0)
+#define LCD_C_CHARGEPUMP_VOLTAGE_3_38V_OR_2_82VREF      (VLCD3 | VLCD2 | VLCD1)
+#define LCD_C_CHARGEPUMP_VOLTAGE_3_44V_OR_2_87VREF                            \
+                                                (VLCD3 | VLCD2 | VLCD1 | VLCD0)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the startPin parameter for
+// functions: LCD_C_setPinAsLCDFunctionEx(); the endPin parameter for
+// functions: LCD_C_setPinAsLCDFunctionEx(); the pin parameter for functions:
+// LCD_C_setPinAsLCDFunction(), LCD_C_setPinAsPortFunction(),
+// LCD_C_setMemory(), and LCD_C_setBlinkingMemory().
+//
+//*****************************************************************************
+#define LCD_C_SEGMENT_LINE_0                                                (0)
+#define LCD_C_SEGMENT_LINE_1                                                (1)
+#define LCD_C_SEGMENT_LINE_2                                                (2)
+#define LCD_C_SEGMENT_LINE_3                                                (3)
+#define LCD_C_SEGMENT_LINE_4                                                (4)
+#define LCD_C_SEGMENT_LINE_5                                                (5)
+#define LCD_C_SEGMENT_LINE_6                                                (6)
+#define LCD_C_SEGMENT_LINE_7                                                (7)
+#define LCD_C_SEGMENT_LINE_8                                                (8)
+#define LCD_C_SEGMENT_LINE_9                                                (9)
+#define LCD_C_SEGMENT_LINE_10                                              (10)
+#define LCD_C_SEGMENT_LINE_11                                              (11)
+#define LCD_C_SEGMENT_LINE_12                                              (12)
+#define LCD_C_SEGMENT_LINE_13                                              (13)
+#define LCD_C_SEGMENT_LINE_14                                              (14)
+#define LCD_C_SEGMENT_LINE_15                                              (15)
+#define LCD_C_SEGMENT_LINE_16                                              (16)
+#define LCD_C_SEGMENT_LINE_17                                              (17)
+#define LCD_C_SEGMENT_LINE_18                                              (18)
+#define LCD_C_SEGMENT_LINE_19                                              (19)
+#define LCD_C_SEGMENT_LINE_20                                              (20)
+#define LCD_C_SEGMENT_LINE_21                                              (21)
+#define LCD_C_SEGMENT_LINE_22                                              (22)
+#define LCD_C_SEGMENT_LINE_23                                              (23)
+#define LCD_C_SEGMENT_LINE_24                                              (24)
+#define LCD_C_SEGMENT_LINE_25                                              (25)
+#define LCD_C_SEGMENT_LINE_26                                              (26)
+#define LCD_C_SEGMENT_LINE_27                                              (27)
+#define LCD_C_SEGMENT_LINE_28                                              (28)
+#define LCD_C_SEGMENT_LINE_29                                              (29)
+#define LCD_C_SEGMENT_LINE_30                                              (30)
+#define LCD_C_SEGMENT_LINE_31                                              (31)
+#define LCD_C_SEGMENT_LINE_32                                              (32)
+#define LCD_C_SEGMENT_LINE_33                                              (33)
+#define LCD_C_SEGMENT_LINE_34                                              (34)
+#define LCD_C_SEGMENT_LINE_35                                              (35)
+#define LCD_C_SEGMENT_LINE_36                                              (36)
+#define LCD_C_SEGMENT_LINE_37                                              (37)
+#define LCD_C_SEGMENT_LINE_38                                              (38)
+#define LCD_C_SEGMENT_LINE_39                                              (39)
+#define LCD_C_SEGMENT_LINE_40                                              (40)
+#define LCD_C_SEGMENT_LINE_41                                              (41)
+#define LCD_C_SEGMENT_LINE_42                                              (42)
+#define LCD_C_SEGMENT_LINE_43                                              (43)
+#define LCD_C_SEGMENT_LINE_44                                              (44)
+#define LCD_C_SEGMENT_LINE_45                                              (45)
+#define LCD_C_SEGMENT_LINE_46                                              (46)
+#define LCD_C_SEGMENT_LINE_47                                              (47)
+#define LCD_C_SEGMENT_LINE_48                                              (48)
+#define LCD_C_SEGMENT_LINE_49                                              (49)
+#define LCD_C_SEGMENT_LINE_50                                              (50)
+#define LCD_C_SEGMENT_LINE_51                                              (51)
+#define LCD_C_SEGMENT_LINE_52                                              (52)
+#define LCD_C_SEGMENT_LINE_53                                              (53)
+#define LCD_C_SEGMENT_LINE_54                                              (54)
+#define LCD_C_SEGMENT_LINE_55                                              (55)
+#define LCD_C_SEGMENT_LINE_56                                              (56)
+#define LCD_C_SEGMENT_LINE_57                                              (57)
+#define LCD_C_SEGMENT_LINE_58                                              (58)
+#define LCD_C_SEGMENT_LINE_59                                              (59)
+#define LCD_C_SEGMENT_LINE_60                                              (60)
+#define LCD_C_SEGMENT_LINE_61                                              (61)
+#define LCD_C_SEGMENT_LINE_62                                              (62)
+#define LCD_C_SEGMENT_LINE_63                                              (63)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the syncToClock parameter for
+// functions: LCD_C_configChargePump().
+//
+//*****************************************************************************
+#define LCD_C_SYNCHRONIZATION_DISABLED                                    (0x0)
+#define LCD_C_SYNCHRONIZATION_ENABLED                            (LCDCPCLKSYNC)
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Initializes the LCD Module.
+//!
+//! This function initializes the LCD but without turning on. It bascially
+//! setup the clock source, clock divider, clock prescalar, mux rate, low-power
+//! waveform and segments on/off. After calling this function, user can config
+//! charge pump, internal reference voltage and voltage sources.
+//!
+//! \param baseAddress is the base address of the LCD_C module.
+//! \param initParams is the pointer to LCD_InitParam structure. See the
+//!        following parameters for each field.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void LCD_C_init(uint16_t baseAddress,
+                       LCD_C_initParam *initParams);
+
+//*****************************************************************************
+//
+//! \brief Turns on the LCD module.
+//!
+//! \param baseAddress is the base address of the LCD_C module.
+//!
+//! Modified bits are \b LCDON of \b LCDCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void LCD_C_on(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Turns off the LCD module.
+//!
+//! \param baseAddress is the base address of the LCD_C module.
+//!
+//! Modified bits are \b LCDON of \b LCDCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void LCD_C_off(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Clears the LCD interrupt flags.
+//!
+//! \param baseAddress is the base address of the LCD_C module.
+//! \param mask is the masked interrupt flag to be cleared.
+//!        Valid values are:
+//!        - \b LCD_C_NO_CAPACITANCE_CONNECTED_INTERRUPT
+//!        - \b LCD_C_BLINKING_SEGMENTS_ON_INTERRUPT
+//!        - \b LCD_C_BLINKING_SEGMENTS_OFF_INTERRUPT
+//!        - \b LCD_C_FRAME_INTERRUPT
+//!        \n Modified bits are \b LCDCAPIFG, \b LCDBLKONIFG, \b LCDBLKOFFIFG
+//!        and \b LCDFRMIFG of \b LCDCTL1 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void LCD_C_clearInterrupt(uint16_t baseAddress,
+                                 uint16_t mask);
+
+//*****************************************************************************
+//
+//! \brief Gets the LCD interrupt status.
+//!
+//! \param baseAddress is the base address of the LCD_C module.
+//! \param mask is the masked interrupt flags.
+//!        Valid values are:
+//!        - \b LCD_C_NO_CAPACITANCE_CONNECTED_INTERRUPT
+//!        - \b LCD_C_BLINKING_SEGMENTS_ON_INTERRUPT
+//!        - \b LCD_C_BLINKING_SEGMENTS_OFF_INTERRUPT
+//!        - \b LCD_C_FRAME_INTERRUPT
+//!
+//! \return None
+//!         Return Logical OR of any of the following:
+//!         - \b LCD_C_NO_CAPACITANCE_CONNECTED_INTERRUPT
+//!         - \b LCD_C_BLINKING_SEGMENTS_ON_INTERRUPT
+//!         - \b LCD_C_BLINKING_SEGMENTS_OFF_INTERRUPT
+//!         - \b LCD_C_FRAME_INTERRUPT
+//!         \n indicating the status of the masked interrupts
+//
+//*****************************************************************************
+extern uint16_t LCD_C_getInterruptStatus(uint16_t baseAddress,
+                                         uint16_t mask);
+
+//*****************************************************************************
+//
+//! \brief Enables LCD interrupt sources.
+//!
+//! \param baseAddress is the base address of the LCD_C module.
+//! \param mask is the interrupts to be enabled.
+//!        Valid values are:
+//!        - \b LCD_C_NO_CAPACITANCE_CONNECTED_INTERRUPT
+//!        - \b LCD_C_BLINKING_SEGMENTS_ON_INTERRUPT
+//!        - \b LCD_C_BLINKING_SEGMENTS_OFF_INTERRUPT
+//!        - \b LCD_C_FRAME_INTERRUPT
+//!        \n Modified bits are \b LCDCAPIE, \b LCDBLKONIE, \b LCDBLKOFFIE and
+//!        \b LCDFRMIE of \b LCDCTL1 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void LCD_C_enableInterrupt(uint16_t baseAddress,
+                                  uint16_t mask);
+
+//*****************************************************************************
+//
+//! \brief Disables LCD interrupt sources.
+//!
+//! \param baseAddress is the base address of the LCD_C module.
+//! \param mask is the interrupts to be disabled.
+//!        Valid values are:
+//!        - \b LCD_C_NO_CAPACITANCE_CONNECTED_INTERRUPT
+//!        - \b LCD_C_BLINKING_SEGMENTS_ON_INTERRUPT
+//!        - \b LCD_C_BLINKING_SEGMENTS_OFF_INTERRUPT
+//!        - \b LCD_C_FRAME_INTERRUPT
+//!        \n Modified bits are \b LCDCAPIE, \b LCDBLKONIE, \b LCDBLKOFFIE and
+//!        \b LCDFRMIE of \b LCDCTL1 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void LCD_C_disableInterrupt(uint16_t baseAddress,
+                                   uint16_t mask);
+
+//*****************************************************************************
+//
+//! \brief Clears all LCD memory registers.
+//!
+//! \param baseAddress is the base address of the LCD_C module.
+//!
+//! Modified bits are \b LCDCLRM of \b LCDMEMCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void LCD_C_clearMemory(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Clears all LCD blinking memory registers.
+//!
+//! \param baseAddress is the base address of the LCD_C module.
+//!
+//! Modified bits are \b LCDCLRBM of \b LCDMEMCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void LCD_C_clearBlinkingMemory(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Selects display memory.
+//!
+//! This function selects display memory either from memory or blinking memory.
+//! Please note if the blinking mode is selected as
+//! LCD_BLINKMODE_INDIVIDUALSEGMENTS or LCD_BLINKMODE_ALLSEGMENTS or mux rate
+//! >=5, display memory can not be changed. If
+//! LCD_BLINKMODE_SWITCHDISPLAYCONTENTS is selected, display memory bit
+//! reflects current displayed memory.
+//!
+//! \param baseAddress is the base address of the LCD_C module.
+//! \param displayMemory is the desired displayed memory.
+//!        Valid values are:
+//!        - \b LCD_C_DISPLAYSOURCE_MEMORY  [Default]
+//!        - \b LCD_C_DISPLAYSOURCE_BLINKINGMEMORY
+//!        \n Modified bits are \b LCDDISP of \b LCDMEMCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void LCD_C_selectDisplayMemory(uint16_t baseAddress,
+                                      uint16_t displayMemory);
+
+//*****************************************************************************
+//
+//! \brief Sets the blink settings.
+//!
+//! \param baseAddress is the base address of the LCD_C module.
+//! \param clockDivider is the clock divider for blinking frequency.
+//!        Valid values are:
+//!        - \b LCD_C_BLINK_FREQ_CLOCK_DIVIDER_1 [Default]
+//!        - \b LCD_C_BLINK_FREQ_CLOCK_DIVIDER_2
+//!        - \b LCD_C_BLINK_FREQ_CLOCK_DIVIDER_3
+//!        - \b LCD_C_BLINK_FREQ_CLOCK_DIVIDER_4
+//!        - \b LCD_C_BLINK_FREQ_CLOCK_DIVIDER_5
+//!        - \b LCD_C_BLINK_FREQ_CLOCK_DIVIDER_6
+//!        - \b LCD_C_BLINK_FREQ_CLOCK_DIVIDER_7
+//!        - \b LCD_C_BLINK_FREQ_CLOCK_DIVIDER_8
+//!        \n Modified bits are \b LCDBLKDIVx of \b LCDBLKCTL register.
+//! \param clockPrescalar is the clock pre-scalar for blinking frequency.
+//!        Valid values are:
+//!        - \b LCD_C_BLINK_FREQ_CLOCK_PRESCALAR_512 [Default]
+//!        - \b LCD_C_BLINK_FREQ_CLOCK_PRESCALAR_1024
+//!        - \b LCD_C_BLINK_FREQ_CLOCK_PRESCALAR_2048
+//!        - \b LCD_C_BLINK_FREQ_CLOCK_PRESCALAR_4096
+//!        - \b LCD_C_BLINK_FREQ_CLOCK_PRESCALAR_8162
+//!        - \b LCD_C_BLINK_FREQ_CLOCK_PRESCALAR_16384
+//!        - \b LCD_C_BLINK_FREQ_CLOCK_PRESCALAR_32768
+//!        - \b LCD_C_BLINK_FREQ_CLOCK_PRESCALAR_65536
+//!        \n Modified bits are \b LCDBLKPREx of \b LCDBLKCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void LCD_C_setBlinkingControl(uint16_t baseAddress,
+                                     uint8_t clockDivider,
+                                     uint8_t clockPrescalar,
+                                     uint8_t mode);
+
+//*****************************************************************************
+//
+//! \brief Enables the charge pump.
+//!
+//! \param baseAddress is the base address of the LCD_C module.
+//!
+//! Modified bits are \b LCDCPEN of \b LCDVCTL register; bits \b LCDON of \b
+//! LCDCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void LCD_C_enableChargePump(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Disables the charge pump.
+//!
+//! \param baseAddress is the base address of the LCD_C module.
+//!
+//! Modified bits are \b LCDCPEN of \b LCDVCTL register; bits \b LCDON of \b
+//! LCDCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void LCD_C_disableChargePump(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Selects the bias level.
+//!
+//! \param baseAddress is the base address of the LCD_C module.
+//! \param bias is the select for bias level.
+//!        Valid values are:
+//!        - \b LCD_C_BIAS_1_3 [Default] - 1/3 bias
+//!        - \b LCD_C_BIAS_1_2 - 1/2 bias
+//!
+//! Modified bits are \b LCD2B of \b LCDVCTL register; bits \b LCDON of \b
+//! LCDCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void LCD_C_selectBias(uint16_t baseAddress,
+                             uint16_t bias);
+
+//*****************************************************************************
+//
+//! \brief Selects the charge pump reference.
+//!
+//! The charge pump reference does not support
+//! LCD_C_EXTERNAL_REFERENCE_VOLTAGE,
+//! LCD_C_INTERNAL_REFERENCE_VOLTAGE_SWITCHED_TO_EXTERNAL_PIN when
+//! LCD_C_V2V3V4_SOURCED_EXTERNALLY or
+//! LCD_C_V2V3V4_GENERATED_INTERNALLY_SWITCHED_TO_PINS is selected.
+//!
+//! \param baseAddress is the base address of the LCD_C module.
+//! \param reference is the select for charge pump reference.
+//!        Valid values are:
+//!        - \b LCD_C_INTERNAL_REFERENCE_VOLTAGE [Default]
+//!        - \b LCD_C_EXTERNAL_REFERENCE_VOLTAGE
+//!        - \b LCD_C_INTERNAL_REFERENCE_VOLTAGE_SWITCHED_TO_EXTERNAL_PIN
+//!
+//! Modified bits are \b VLCDREFx of \b LCDVCTL register; bits \b LCDON of \b
+//! LCDCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void LCD_C_selectChargePumpReference(uint16_t baseAddress,
+                                            uint16_t reference);
+
+//*****************************************************************************
+//
+//! \brief Sets the voltage source for V2/V3/V4 and V5.
+//!
+//! The charge pump reference does not support
+//! LCD_C_EXTERNAL_REFERENCE_VOLTAGE,
+//! LCD_C_INTERNAL_REFERENCE_VOLTAGE_SWITCHED_TO_EXTERNAL_PIN when
+//! LCD_C_V2V3V4_SOURCED_EXTERNALLY or
+//! LCD_C_V2V3V4_GENERATED_INTERNALLY_SWITCHED_TO_PINS is selected.
+//!
+//! \param baseAddress is the base address of the LCD_C module.
+//! \param vlcdSource is the V(LCD) source select.
+//!        Valid values are:
+//!        - \b LCD_C_VLCD_GENERATED_INTERNALLY [Default]
+//!        - \b LCD_C_VLCD_SOURCED_EXTERNALLY
+//! \param v2v3v4Source is the V2/V3/V4 source select.
+//!        Valid values are:
+//!        - \b LCD_C_V2V3V4_GENERATED_INTERNALLY_NOT_SWITCHED_TO_PINS
+//!           [Default]
+//!        - \b LCD_C_V2V3V4_GENERATED_INTERNALLY_SWITCHED_TO_PINS
+//!        - \b LCD_C_V2V3V4_SOURCED_EXTERNALLY
+//! \param v5Source is the V5 source select.
+//!        Valid values are:
+//!        - \b LCD_C_V5_VSS [Default]
+//!        - \b LCD_C_V5_SOURCED_FROM_R03
+//!
+//! Modified bits are \b VLCDEXT, \b LCDREXT, \b LCDEXTBIAS and \b R03EXT of \b
+//! LCDVCTL register; bits \b LCDON of \b LCDCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void LCD_C_setVLCDSource(uint16_t baseAddress,
+                                uint16_t vlcdSource,
+                                uint16_t v2v3v4Source,
+                                uint16_t v5Source);
+
+//*****************************************************************************
+//
+//! \brief Selects the charge pump reference.
+//!
+//! Sets LCD charge pump voltage.
+//!
+//! \param baseAddress is the base address of the LCD_C module.
+//! \param voltage is the charge pump select.
+//!        Valid values are:
+//!        - \b LCD_C_CHARGEPUMP_DISABLED [Default]
+//!        - \b LCD_C_CHARGEPUMP_VOLTAGE_2_60V_OR_2_17VREF
+//!        - \b LCD_C_CHARGEPUMP_VOLTAGE_2_66V_OR_2_22VREF
+//!        - \b LCD_C_CHARGEPUMP_VOLTAGE_2_72V_OR_2_27VREF
+//!        - \b LCD_C_CHARGEPUMP_VOLTAGE_2_78V_OR_2_32VREF
+//!        - \b LCD_C_CHARGEPUMP_VOLTAGE_2_84V_OR_2_37VREF
+//!        - \b LCD_C_CHARGEPUMP_VOLTAGE_2_90V_OR_2_42VREF
+//!        - \b LCD_C_CHARGEPUMP_VOLTAGE_2_96V_OR_2_47VREF
+//!        - \b LCD_C_CHARGEPUMP_VOLTAGE_3_02V_OR_2_52VREF
+//!        - \b LCD_C_CHARGEPUMP_VOLTAGE_3_08V_OR_2_57VREF
+//!        - \b LCD_C_CHARGEPUMP_VOLTAGE_3_14V_OR_2_62VREF
+//!        - \b LCD_C_CHARGEPUMP_VOLTAGE_3_20V_OR_2_67VREF
+//!        - \b LCD_C_CHARGEPUMP_VOLTAGE_3_26V_OR_2_72VREF
+//!        - \b LCD_C_CHARGEPUMP_VOLTAGE_3_32V_OR_2_77VREF
+//!        - \b LCD_C_CHARGEPUMP_VOLTAGE_3_38V_OR_2_82VREF
+//!        - \b LCD_C_CHARGEPUMP_VOLTAGE_3_44V_OR_2_87VREF
+//!
+//! Modified bits are \b VLCDx of \b LCDVCTL register; bits \b LCDON of \b
+//! LCDCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void LCD_C_setVLCDVoltage(uint16_t baseAddress,
+                                 uint16_t voltage);
+
+//*****************************************************************************
+//
+//! \brief Sets the LCD Pin as LCD functions.
+//!
+//! \param baseAddress is the base address of the LCD_C module.
+//! \param pin is the select pin set as LCD function.
+//!        Valid values are:
+//!        - \b LCD_C_SEGMENT_LINE_0
+//!        - \b LCD_C_SEGMENT_LINE_1
+//!        - \b LCD_C_SEGMENT_LINE_2
+//!        - \b LCD_C_SEGMENT_LINE_3
+//!        - \b LCD_C_SEGMENT_LINE_4
+//!        - \b LCD_C_SEGMENT_LINE_5
+//!        - \b LCD_C_SEGMENT_LINE_6
+//!        - \b LCD_C_SEGMENT_LINE_7
+//!        - \b LCD_C_SEGMENT_LINE_8
+//!        - \b LCD_C_SEGMENT_LINE_9
+//!        - \b LCD_C_SEGMENT_LINE_10
+//!        - \b LCD_C_SEGMENT_LINE_11
+//!        - \b LCD_C_SEGMENT_LINE_12
+//!        - \b LCD_C_SEGMENT_LINE_13
+//!        - \b LCD_C_SEGMENT_LINE_14
+//!        - \b LCD_C_SEGMENT_LINE_15
+//!        - \b LCD_C_SEGMENT_LINE_16
+//!        - \b LCD_C_SEGMENT_LINE_17
+//!        - \b LCD_C_SEGMENT_LINE_18
+//!        - \b LCD_C_SEGMENT_LINE_19
+//!        - \b LCD_C_SEGMENT_LINE_20
+//!        - \b LCD_C_SEGMENT_LINE_21
+//!        - \b LCD_C_SEGMENT_LINE_22
+//!        - \b LCD_C_SEGMENT_LINE_23
+//!        - \b LCD_C_SEGMENT_LINE_24
+//!        - \b LCD_C_SEGMENT_LINE_25
+//!        - \b LCD_C_SEGMENT_LINE_26
+//!        - \b LCD_C_SEGMENT_LINE_27
+//!        - \b LCD_C_SEGMENT_LINE_28
+//!        - \b LCD_C_SEGMENT_LINE_29
+//!        - \b LCD_C_SEGMENT_LINE_30
+//!        - \b LCD_C_SEGMENT_LINE_31
+//!        - \b LCD_C_SEGMENT_LINE_32
+//!        - \b LCD_C_SEGMENT_LINE_33
+//!        - \b LCD_C_SEGMENT_LINE_34
+//!        - \b LCD_C_SEGMENT_LINE_35
+//!        - \b LCD_C_SEGMENT_LINE_36
+//!        - \b LCD_C_SEGMENT_LINE_37
+//!        - \b LCD_C_SEGMENT_LINE_38
+//!        - \b LCD_C_SEGMENT_LINE_39
+//!        - \b LCD_C_SEGMENT_LINE_40
+//!        - \b LCD_C_SEGMENT_LINE_41
+//!        - \b LCD_C_SEGMENT_LINE_42
+//!        - \b LCD_C_SEGMENT_LINE_43
+//!        - \b LCD_C_SEGMENT_LINE_44
+//!        - \b LCD_C_SEGMENT_LINE_45
+//!        - \b LCD_C_SEGMENT_LINE_46
+//!        - \b LCD_C_SEGMENT_LINE_47
+//!        - \b LCD_C_SEGMENT_LINE_48
+//!        - \b LCD_C_SEGMENT_LINE_49
+//!        - \b LCD_C_SEGMENT_LINE_50
+//!        - \b LCD_C_SEGMENT_LINE_51
+//!        - \b LCD_C_SEGMENT_LINE_52
+//!        - \b LCD_C_SEGMENT_LINE_53
+//!        - \b LCD_C_SEGMENT_LINE_54
+//!        - \b LCD_C_SEGMENT_LINE_55
+//!        - \b LCD_C_SEGMENT_LINE_56
+//!        - \b LCD_C_SEGMENT_LINE_57
+//!        - \b LCD_C_SEGMENT_LINE_58
+//!        - \b LCD_C_SEGMENT_LINE_59
+//!        - \b LCD_C_SEGMENT_LINE_60
+//!        - \b LCD_C_SEGMENT_LINE_61
+//!        - \b LCD_C_SEGMENT_LINE_62
+//!        - \b LCD_C_SEGMENT_LINE_63
+//!
+//! Modified bits are \b LCDSx of \b LCDPCTLx register; bits \b LCDON of \b
+//! LCDCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void LCD_C_setPinAsLCDFunction(uint16_t baseAddress,
+                                      uint8_t pin);
+
+//*****************************************************************************
+//
+//! \brief Sets the LCD Pin as Port functions.
+//!
+//! \param baseAddress is the base address of the LCD_C module.
+//! \param pin is the select pin set as Port function.
+//!        Valid values are:
+//!        - \b LCD_C_SEGMENT_LINE_0
+//!        - \b LCD_C_SEGMENT_LINE_1
+//!        - \b LCD_C_SEGMENT_LINE_2
+//!        - \b LCD_C_SEGMENT_LINE_3
+//!        - \b LCD_C_SEGMENT_LINE_4
+//!        - \b LCD_C_SEGMENT_LINE_5
+//!        - \b LCD_C_SEGMENT_LINE_6
+//!        - \b LCD_C_SEGMENT_LINE_7
+//!        - \b LCD_C_SEGMENT_LINE_8
+//!        - \b LCD_C_SEGMENT_LINE_9
+//!        - \b LCD_C_SEGMENT_LINE_10
+//!        - \b LCD_C_SEGMENT_LINE_11
+//!        - \b LCD_C_SEGMENT_LINE_12
+//!        - \b LCD_C_SEGMENT_LINE_13
+//!        - \b LCD_C_SEGMENT_LINE_14
+//!        - \b LCD_C_SEGMENT_LINE_15
+//!        - \b LCD_C_SEGMENT_LINE_16
+//!        - \b LCD_C_SEGMENT_LINE_17
+//!        - \b LCD_C_SEGMENT_LINE_18
+//!        - \b LCD_C_SEGMENT_LINE_19
+//!        - \b LCD_C_SEGMENT_LINE_20
+//!        - \b LCD_C_SEGMENT_LINE_21
+//!        - \b LCD_C_SEGMENT_LINE_22
+//!        - \b LCD_C_SEGMENT_LINE_23
+//!        - \b LCD_C_SEGMENT_LINE_24
+//!        - \b LCD_C_SEGMENT_LINE_25
+//!        - \b LCD_C_SEGMENT_LINE_26
+//!        - \b LCD_C_SEGMENT_LINE_27
+//!        - \b LCD_C_SEGMENT_LINE_28
+//!        - \b LCD_C_SEGMENT_LINE_29
+//!        - \b LCD_C_SEGMENT_LINE_30
+//!        - \b LCD_C_SEGMENT_LINE_31
+//!        - \b LCD_C_SEGMENT_LINE_32
+//!        - \b LCD_C_SEGMENT_LINE_33
+//!        - \b LCD_C_SEGMENT_LINE_34
+//!        - \b LCD_C_SEGMENT_LINE_35
+//!        - \b LCD_C_SEGMENT_LINE_36
+//!        - \b LCD_C_SEGMENT_LINE_37
+//!        - \b LCD_C_SEGMENT_LINE_38
+//!        - \b LCD_C_SEGMENT_LINE_39
+//!        - \b LCD_C_SEGMENT_LINE_40
+//!        - \b LCD_C_SEGMENT_LINE_41
+//!        - \b LCD_C_SEGMENT_LINE_42
+//!        - \b LCD_C_SEGMENT_LINE_43
+//!        - \b LCD_C_SEGMENT_LINE_44
+//!        - \b LCD_C_SEGMENT_LINE_45
+//!        - \b LCD_C_SEGMENT_LINE_46
+//!        - \b LCD_C_SEGMENT_LINE_47
+//!        - \b LCD_C_SEGMENT_LINE_48
+//!        - \b LCD_C_SEGMENT_LINE_49
+//!        - \b LCD_C_SEGMENT_LINE_50
+//!        - \b LCD_C_SEGMENT_LINE_51
+//!        - \b LCD_C_SEGMENT_LINE_52
+//!        - \b LCD_C_SEGMENT_LINE_53
+//!        - \b LCD_C_SEGMENT_LINE_54
+//!        - \b LCD_C_SEGMENT_LINE_55
+//!        - \b LCD_C_SEGMENT_LINE_56
+//!        - \b LCD_C_SEGMENT_LINE_57
+//!        - \b LCD_C_SEGMENT_LINE_58
+//!        - \b LCD_C_SEGMENT_LINE_59
+//!        - \b LCD_C_SEGMENT_LINE_60
+//!        - \b LCD_C_SEGMENT_LINE_61
+//!        - \b LCD_C_SEGMENT_LINE_62
+//!        - \b LCD_C_SEGMENT_LINE_63
+//!
+//! Modified bits are \b LCDSx of \b LCDPCTLx register; bits \b LCDON of \b
+//! LCDCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void LCD_C_setPinAsPortFunction(uint16_t baseAddress,
+                                       uint8_t pin);
+
+//*****************************************************************************
+//
+//! \brief Sets the LCD pins as LCD function pin.
+//!
+//! This function sets the LCD pins as LCD function pin. Instead of passing the
+//! all the possible pins, it just requires the start pin and the end pin.
+//!
+//! \param baseAddress is the base address of the LCD_C module.
+//! \param startPin is the starting pin to be configed as LCD function pin.
+//!        Valid values are:
+//!        - \b LCD_C_SEGMENT_LINE_0
+//!        - \b LCD_C_SEGMENT_LINE_1
+//!        - \b LCD_C_SEGMENT_LINE_2
+//!        - \b LCD_C_SEGMENT_LINE_3
+//!        - \b LCD_C_SEGMENT_LINE_4
+//!        - \b LCD_C_SEGMENT_LINE_5
+//!        - \b LCD_C_SEGMENT_LINE_6
+//!        - \b LCD_C_SEGMENT_LINE_7
+//!        - \b LCD_C_SEGMENT_LINE_8
+//!        - \b LCD_C_SEGMENT_LINE_9
+//!        - \b LCD_C_SEGMENT_LINE_10
+//!        - \b LCD_C_SEGMENT_LINE_11
+//!        - \b LCD_C_SEGMENT_LINE_12
+//!        - \b LCD_C_SEGMENT_LINE_13
+//!        - \b LCD_C_SEGMENT_LINE_14
+//!        - \b LCD_C_SEGMENT_LINE_15
+//!        - \b LCD_C_SEGMENT_LINE_16
+//!        - \b LCD_C_SEGMENT_LINE_17
+//!        - \b LCD_C_SEGMENT_LINE_18
+//!        - \b LCD_C_SEGMENT_LINE_19
+//!        - \b LCD_C_SEGMENT_LINE_20
+//!        - \b LCD_C_SEGMENT_LINE_21
+//!        - \b LCD_C_SEGMENT_LINE_22
+//!        - \b LCD_C_SEGMENT_LINE_23
+//!        - \b LCD_C_SEGMENT_LINE_24
+//!        - \b LCD_C_SEGMENT_LINE_25
+//!        - \b LCD_C_SEGMENT_LINE_26
+//!        - \b LCD_C_SEGMENT_LINE_27
+//!        - \b LCD_C_SEGMENT_LINE_28
+//!        - \b LCD_C_SEGMENT_LINE_29
+//!        - \b LCD_C_SEGMENT_LINE_30
+//!        - \b LCD_C_SEGMENT_LINE_31
+//!        - \b LCD_C_SEGMENT_LINE_32
+//!        - \b LCD_C_SEGMENT_LINE_33
+//!        - \b LCD_C_SEGMENT_LINE_34
+//!        - \b LCD_C_SEGMENT_LINE_35
+//!        - \b LCD_C_SEGMENT_LINE_36
+//!        - \b LCD_C_SEGMENT_LINE_37
+//!        - \b LCD_C_SEGMENT_LINE_38
+//!        - \b LCD_C_SEGMENT_LINE_39
+//!        - \b LCD_C_SEGMENT_LINE_40
+//!        - \b LCD_C_SEGMENT_LINE_41
+//!        - \b LCD_C_SEGMENT_LINE_42
+//!        - \b LCD_C_SEGMENT_LINE_43
+//!        - \b LCD_C_SEGMENT_LINE_44
+//!        - \b LCD_C_SEGMENT_LINE_45
+//!        - \b LCD_C_SEGMENT_LINE_46
+//!        - \b LCD_C_SEGMENT_LINE_47
+//!        - \b LCD_C_SEGMENT_LINE_48
+//!        - \b LCD_C_SEGMENT_LINE_49
+//!        - \b LCD_C_SEGMENT_LINE_50
+//!        - \b LCD_C_SEGMENT_LINE_51
+//!        - \b LCD_C_SEGMENT_LINE_52
+//!        - \b LCD_C_SEGMENT_LINE_53
+//!        - \b LCD_C_SEGMENT_LINE_54
+//!        - \b LCD_C_SEGMENT_LINE_55
+//!        - \b LCD_C_SEGMENT_LINE_56
+//!        - \b LCD_C_SEGMENT_LINE_57
+//!        - \b LCD_C_SEGMENT_LINE_58
+//!        - \b LCD_C_SEGMENT_LINE_59
+//!        - \b LCD_C_SEGMENT_LINE_60
+//!        - \b LCD_C_SEGMENT_LINE_61
+//!        - \b LCD_C_SEGMENT_LINE_62
+//!        - \b LCD_C_SEGMENT_LINE_63
+//! \param endPin is the ending pin to be configed as LCD function pin.
+//!        Valid values are:
+//!        - \b LCD_C_SEGMENT_LINE_0
+//!        - \b LCD_C_SEGMENT_LINE_1
+//!        - \b LCD_C_SEGMENT_LINE_2
+//!        - \b LCD_C_SEGMENT_LINE_3
+//!        - \b LCD_C_SEGMENT_LINE_4
+//!        - \b LCD_C_SEGMENT_LINE_5
+//!        - \b LCD_C_SEGMENT_LINE_6
+//!        - \b LCD_C_SEGMENT_LINE_7
+//!        - \b LCD_C_SEGMENT_LINE_8
+//!        - \b LCD_C_SEGMENT_LINE_9
+//!        - \b LCD_C_SEGMENT_LINE_10
+//!        - \b LCD_C_SEGMENT_LINE_11
+//!        - \b LCD_C_SEGMENT_LINE_12
+//!        - \b LCD_C_SEGMENT_LINE_13
+//!        - \b LCD_C_SEGMENT_LINE_14
+//!        - \b LCD_C_SEGMENT_LINE_15
+//!        - \b LCD_C_SEGMENT_LINE_16
+//!        - \b LCD_C_SEGMENT_LINE_17
+//!        - \b LCD_C_SEGMENT_LINE_18
+//!        - \b LCD_C_SEGMENT_LINE_19
+//!        - \b LCD_C_SEGMENT_LINE_20
+//!        - \b LCD_C_SEGMENT_LINE_21
+//!        - \b LCD_C_SEGMENT_LINE_22
+//!        - \b LCD_C_SEGMENT_LINE_23
+//!        - \b LCD_C_SEGMENT_LINE_24
+//!        - \b LCD_C_SEGMENT_LINE_25
+//!        - \b LCD_C_SEGMENT_LINE_26
+//!        - \b LCD_C_SEGMENT_LINE_27
+//!        - \b LCD_C_SEGMENT_LINE_28
+//!        - \b LCD_C_SEGMENT_LINE_29
+//!        - \b LCD_C_SEGMENT_LINE_30
+//!        - \b LCD_C_SEGMENT_LINE_31
+//!        - \b LCD_C_SEGMENT_LINE_32
+//!        - \b LCD_C_SEGMENT_LINE_33
+//!        - \b LCD_C_SEGMENT_LINE_34
+//!        - \b LCD_C_SEGMENT_LINE_35
+//!        - \b LCD_C_SEGMENT_LINE_36
+//!        - \b LCD_C_SEGMENT_LINE_37
+//!        - \b LCD_C_SEGMENT_LINE_38
+//!        - \b LCD_C_SEGMENT_LINE_39
+//!        - \b LCD_C_SEGMENT_LINE_40
+//!        - \b LCD_C_SEGMENT_LINE_41
+//!        - \b LCD_C_SEGMENT_LINE_42
+//!        - \b LCD_C_SEGMENT_LINE_43
+//!        - \b LCD_C_SEGMENT_LINE_44
+//!        - \b LCD_C_SEGMENT_LINE_45
+//!        - \b LCD_C_SEGMENT_LINE_46
+//!        - \b LCD_C_SEGMENT_LINE_47
+//!        - \b LCD_C_SEGMENT_LINE_48
+//!        - \b LCD_C_SEGMENT_LINE_49
+//!        - \b LCD_C_SEGMENT_LINE_50
+//!        - \b LCD_C_SEGMENT_LINE_51
+//!        - \b LCD_C_SEGMENT_LINE_52
+//!        - \b LCD_C_SEGMENT_LINE_53
+//!        - \b LCD_C_SEGMENT_LINE_54
+//!        - \b LCD_C_SEGMENT_LINE_55
+//!        - \b LCD_C_SEGMENT_LINE_56
+//!        - \b LCD_C_SEGMENT_LINE_57
+//!        - \b LCD_C_SEGMENT_LINE_58
+//!        - \b LCD_C_SEGMENT_LINE_59
+//!        - \b LCD_C_SEGMENT_LINE_60
+//!        - \b LCD_C_SEGMENT_LINE_61
+//!        - \b LCD_C_SEGMENT_LINE_62
+//!        - \b LCD_C_SEGMENT_LINE_63
+//!
+//! Modified bits are \b LCDSx of \b LCDPCTLx register; bits \b LCDON of \b
+//! LCDCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void LCD_C_setPinAsLCDFunctionEx(uint16_t baseAddress,
+                                        uint8_t startPin,
+                                        uint8_t endPin);
+
+//*****************************************************************************
+//
+//! \brief Sets the LCD memory register.
+//!
+//! \param baseAddress is the base address of the LCD_C module.
+//! \param pin is the select pin for setting value.
+//!        Valid values are:
+//!        - \b LCD_C_SEGMENT_LINE_0
+//!        - \b LCD_C_SEGMENT_LINE_1
+//!        - \b LCD_C_SEGMENT_LINE_2
+//!        - \b LCD_C_SEGMENT_LINE_3
+//!        - \b LCD_C_SEGMENT_LINE_4
+//!        - \b LCD_C_SEGMENT_LINE_5
+//!        - \b LCD_C_SEGMENT_LINE_6
+//!        - \b LCD_C_SEGMENT_LINE_7
+//!        - \b LCD_C_SEGMENT_LINE_8
+//!        - \b LCD_C_SEGMENT_LINE_9
+//!        - \b LCD_C_SEGMENT_LINE_10
+//!        - \b LCD_C_SEGMENT_LINE_11
+//!        - \b LCD_C_SEGMENT_LINE_12
+//!        - \b LCD_C_SEGMENT_LINE_13
+//!        - \b LCD_C_SEGMENT_LINE_14
+//!        - \b LCD_C_SEGMENT_LINE_15
+//!        - \b LCD_C_SEGMENT_LINE_16
+//!        - \b LCD_C_SEGMENT_LINE_17
+//!        - \b LCD_C_SEGMENT_LINE_18
+//!        - \b LCD_C_SEGMENT_LINE_19
+//!        - \b LCD_C_SEGMENT_LINE_20
+//!        - \b LCD_C_SEGMENT_LINE_21
+//!        - \b LCD_C_SEGMENT_LINE_22
+//!        - \b LCD_C_SEGMENT_LINE_23
+//!        - \b LCD_C_SEGMENT_LINE_24
+//!        - \b LCD_C_SEGMENT_LINE_25
+//!        - \b LCD_C_SEGMENT_LINE_26
+//!        - \b LCD_C_SEGMENT_LINE_27
+//!        - \b LCD_C_SEGMENT_LINE_28
+//!        - \b LCD_C_SEGMENT_LINE_29
+//!        - \b LCD_C_SEGMENT_LINE_30
+//!        - \b LCD_C_SEGMENT_LINE_31
+//!        - \b LCD_C_SEGMENT_LINE_32
+//!        - \b LCD_C_SEGMENT_LINE_33
+//!        - \b LCD_C_SEGMENT_LINE_34
+//!        - \b LCD_C_SEGMENT_LINE_35
+//!        - \b LCD_C_SEGMENT_LINE_36
+//!        - \b LCD_C_SEGMENT_LINE_37
+//!        - \b LCD_C_SEGMENT_LINE_38
+//!        - \b LCD_C_SEGMENT_LINE_39
+//!        - \b LCD_C_SEGMENT_LINE_40
+//!        - \b LCD_C_SEGMENT_LINE_41
+//!        - \b LCD_C_SEGMENT_LINE_42
+//!        - \b LCD_C_SEGMENT_LINE_43
+//!        - \b LCD_C_SEGMENT_LINE_44
+//!        - \b LCD_C_SEGMENT_LINE_45
+//!        - \b LCD_C_SEGMENT_LINE_46
+//!        - \b LCD_C_SEGMENT_LINE_47
+//!        - \b LCD_C_SEGMENT_LINE_48
+//!        - \b LCD_C_SEGMENT_LINE_49
+//!        - \b LCD_C_SEGMENT_LINE_50
+//!        - \b LCD_C_SEGMENT_LINE_51
+//!        - \b LCD_C_SEGMENT_LINE_52
+//!        - \b LCD_C_SEGMENT_LINE_53
+//!        - \b LCD_C_SEGMENT_LINE_54
+//!        - \b LCD_C_SEGMENT_LINE_55
+//!        - \b LCD_C_SEGMENT_LINE_56
+//!        - \b LCD_C_SEGMENT_LINE_57
+//!        - \b LCD_C_SEGMENT_LINE_58
+//!        - \b LCD_C_SEGMENT_LINE_59
+//!        - \b LCD_C_SEGMENT_LINE_60
+//!        - \b LCD_C_SEGMENT_LINE_61
+//!        - \b LCD_C_SEGMENT_LINE_62
+//!        - \b LCD_C_SEGMENT_LINE_63
+//! \param value is the designated value for corresponding pin.
+//!
+//! Modified bits are \b MBITx of \b LCDMx register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void LCD_C_setMemory(uint16_t baseAddress,
+                            uint8_t pin,
+                            uint8_t value);
+
+//*****************************************************************************
+//
+//! \brief Gets the LCD memory register.
+//!
+//!
+//! \return The uint8_t value of the LCD memory register.
+//
+//*****************************************************************************
+extern uint8_t LCD_C_getMemory(uint16_t baseAddress,
+                               uint8_t pin);
+
+//*****************************************************************************
+//
+//! \brief Sets the LCD memory register without erasing what is already there.
+//! Uses LCD getMemory() function.
+//!
+//!
+//! Modified bits are \b MBITx of \b LCDMx register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void LCD_C_setMemoryWithoutOverwrite(uint16_t baseAddress,
+                                            uint8_t pin,
+                                            uint8_t value);
+
+//*****************************************************************************
+//
+//! \brief Sets the LCD blink memory register.
+//!
+//! \param baseAddress is the base address of the LCD_C module.
+//! \param pin is the select pin for setting value.
+//!        Valid values are:
+//!        - \b LCD_C_SEGMENT_LINE_0
+//!        - \b LCD_C_SEGMENT_LINE_1
+//!        - \b LCD_C_SEGMENT_LINE_2
+//!        - \b LCD_C_SEGMENT_LINE_3
+//!        - \b LCD_C_SEGMENT_LINE_4
+//!        - \b LCD_C_SEGMENT_LINE_5
+//!        - \b LCD_C_SEGMENT_LINE_6
+//!        - \b LCD_C_SEGMENT_LINE_7
+//!        - \b LCD_C_SEGMENT_LINE_8
+//!        - \b LCD_C_SEGMENT_LINE_9
+//!        - \b LCD_C_SEGMENT_LINE_10
+//!        - \b LCD_C_SEGMENT_LINE_11
+//!        - \b LCD_C_SEGMENT_LINE_12
+//!        - \b LCD_C_SEGMENT_LINE_13
+//!        - \b LCD_C_SEGMENT_LINE_14
+//!        - \b LCD_C_SEGMENT_LINE_15
+//!        - \b LCD_C_SEGMENT_LINE_16
+//!        - \b LCD_C_SEGMENT_LINE_17
+//!        - \b LCD_C_SEGMENT_LINE_18
+//!        - \b LCD_C_SEGMENT_LINE_19
+//!        - \b LCD_C_SEGMENT_LINE_20
+//!        - \b LCD_C_SEGMENT_LINE_21
+//!        - \b LCD_C_SEGMENT_LINE_22
+//!        - \b LCD_C_SEGMENT_LINE_23
+//!        - \b LCD_C_SEGMENT_LINE_24
+//!        - \b LCD_C_SEGMENT_LINE_25
+//!        - \b LCD_C_SEGMENT_LINE_26
+//!        - \b LCD_C_SEGMENT_LINE_27
+//!        - \b LCD_C_SEGMENT_LINE_28
+//!        - \b LCD_C_SEGMENT_LINE_29
+//!        - \b LCD_C_SEGMENT_LINE_30
+//!        - \b LCD_C_SEGMENT_LINE_31
+//!        - \b LCD_C_SEGMENT_LINE_32
+//!        - \b LCD_C_SEGMENT_LINE_33
+//!        - \b LCD_C_SEGMENT_LINE_34
+//!        - \b LCD_C_SEGMENT_LINE_35
+//!        - \b LCD_C_SEGMENT_LINE_36
+//!        - \b LCD_C_SEGMENT_LINE_37
+//!        - \b LCD_C_SEGMENT_LINE_38
+//!        - \b LCD_C_SEGMENT_LINE_39
+//!        - \b LCD_C_SEGMENT_LINE_40
+//!        - \b LCD_C_SEGMENT_LINE_41
+//!        - \b LCD_C_SEGMENT_LINE_42
+//!        - \b LCD_C_SEGMENT_LINE_43
+//!        - \b LCD_C_SEGMENT_LINE_44
+//!        - \b LCD_C_SEGMENT_LINE_45
+//!        - \b LCD_C_SEGMENT_LINE_46
+//!        - \b LCD_C_SEGMENT_LINE_47
+//!        - \b LCD_C_SEGMENT_LINE_48
+//!        - \b LCD_C_SEGMENT_LINE_49
+//!        - \b LCD_C_SEGMENT_LINE_50
+//!        - \b LCD_C_SEGMENT_LINE_51
+//!        - \b LCD_C_SEGMENT_LINE_52
+//!        - \b LCD_C_SEGMENT_LINE_53
+//!        - \b LCD_C_SEGMENT_LINE_54
+//!        - \b LCD_C_SEGMENT_LINE_55
+//!        - \b LCD_C_SEGMENT_LINE_56
+//!        - \b LCD_C_SEGMENT_LINE_57
+//!        - \b LCD_C_SEGMENT_LINE_58
+//!        - \b LCD_C_SEGMENT_LINE_59
+//!        - \b LCD_C_SEGMENT_LINE_60
+//!        - \b LCD_C_SEGMENT_LINE_61
+//!        - \b LCD_C_SEGMENT_LINE_62
+//!        - \b LCD_C_SEGMENT_LINE_63
+//! \param value is the designated value for corresponding blink pin.
+//!
+//! Modified bits are \b MBITx of \b LCDBMx register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void LCD_C_setBlinkingMemory(uint16_t baseAddress,
+                                    uint8_t pin,
+                                    uint8_t value);
+
+//*****************************************************************************
+//
+//! \brief Gets the LCD blink memory register.
+//!
+//!
+//! \return The uint8_t value of the LCD blink memory register.
+//
+//*****************************************************************************
+extern uint8_t LCD_C_getBlinkingMemory(uint16_t baseAddress,
+                                       uint8_t pin);
+
+//*****************************************************************************
+//
+//! \brief Sets the LCD blink memory register without erasing what is already
+//! there. Uses LCD getBlinkingMemory() function.
+//!
+//!
+//! Modified bits are \b MBITx of \b LCDBMx register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void LCD_C_setBlinkingMemoryWithoutOverwrite(uint16_t baseAddress,
+                                                    uint8_t pin,
+                                                    uint8_t value);
+
+//*****************************************************************************
+//
+//! \brief Configs the charge pump for synchronization and disabled capability.
+//!
+//! This function is device-specific. The charge pump clock can be synchronized
+//! to a device-specific clock, and also can be disabled by connected function.
+//!
+//! \param baseAddress is the base address of the LCD_C module.
+//! \param syncToClock is the synchronization select.
+//!        Valid values are:
+//!        - \b LCD_C_SYNCHRONIZATION_DISABLED [Default]
+//!        - \b LCD_C_SYNCHRONIZATION_ENABLED
+//! \param functionControl is the connected function control select. Setting 0
+//!        to make connected function not disable charge pump.
+//!
+//! Modified bits are \b MBITx of \b LCDBMx register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void LCD_C_configChargePump(uint16_t baseAddress,
+                                   uint16_t syncToClock,
+                                   uint16_t functionControl);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_LCD_C_H__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/mpu.c b/Apps/FlightSoftware/MotorControl/driverlib/mpu.c
new file mode 100644
index 000000000..0b49bb035
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/mpu.c
@@ -0,0 +1,338 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// mpu.c - Driver for the mpu Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup mpu_api mpu
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_MPU__
+#include "mpu.h"
+
+#include <assert.h>
+
+//*****************************************************************************
+//
+// The following value is used by createTwoSegments, createThreeSegments to
+// check the user has passed a valid segmentation value. This value was
+// obtained from the User's Guide.
+//
+//*****************************************************************************
+#define MPU_MAX_SEG_VALUE                                                0x13C1
+
+void MPU_initTwoSegments(uint16_t baseAddress,
+        uint16_t seg1boundary,
+        uint8_t seg1accmask,
+        uint8_t seg2accmask
+        )
+{
+    // Write MPU password to allow MPU register configuration
+    HWREG16(baseAddress + OFS_MPUCTL0) = MPUPW | HWREG8(baseAddress + OFS_MPUCTL0);
+
+    // Create two memory segmentations
+    HWREG16(baseAddress + OFS_MPUSEGB1) = seg1boundary;
+    HWREG16(baseAddress + OFS_MPUSEGB2) = seg1boundary;
+
+    // Set access rights based on user's selection for segment1
+    switch (seg1accmask) {
+        case MPU_EXEC|MPU_READ:
+            HWREG16(baseAddress + OFS_MPUSAM) &= ~MPUSEG1WE;
+            HWREG16(baseAddress + OFS_MPUSAM) |= MPUSEG1XE + MPUSEG1RE;
+            break;
+        case MPU_READ|MPU_WRITE:
+            HWREG16(baseAddress + OFS_MPUSAM) &= ~MPUSEG1XE;
+            HWREG16(baseAddress + OFS_MPUSAM) |= MPUSEG1RE + MPUSEG1WE;
+            break;
+        case MPU_READ:
+            HWREG16(baseAddress + OFS_MPUSAM) &= ~(MPUSEG1XE +MPUSEG1WE);
+            HWREG16(baseAddress + OFS_MPUSAM) |= MPUSEG1RE;
+            break;
+        case MPU_EXEC|MPU_READ|MPU_WRITE:
+            HWREG16(baseAddress + OFS_MPUSAM) |= (MPUSEG1XE + MPUSEG1WE + MPUSEG1RE);
+            break;
+        case MPU_NO_READ_WRITE_EXEC:
+            HWREG16(baseAddress + OFS_MPUSAM) &= ~(MPUSEG1XE + MPUSEG1WE + MPUSEG1RE);
+            break;
+        default:
+            break;
+    }
+
+    // Set access rights based on user's selection for segment2
+    switch (seg2accmask) {
+        case MPU_EXEC|MPU_READ:
+            HWREG16(baseAddress + OFS_MPUSAM) &= ~(MPUSEG3WE + MPUSEG2WE);
+            HWREG16(baseAddress + OFS_MPUSAM) |= MPUSEG3XE + MPUSEG3RE +
+                MPUSEG2XE + MPUSEG2RE;
+            break;
+        case MPU_READ|MPU_WRITE:
+            HWREG16(baseAddress + OFS_MPUSAM) &= ~(MPUSEG3XE + MPUSEG2XE);
+            HWREG16(baseAddress + OFS_MPUSAM) |= MPUSEG3RE + MPUSEG3WE +
+                MPUSEG2RE + MPUSEG2WE;
+            break;
+        case MPU_READ:
+            HWREG16(baseAddress + OFS_MPUSAM) &= ~(MPUSEG3XE + MPUSEG3WE +
+                MPUSEG2XE + MPUSEG2WE);
+            HWREG16(baseAddress + OFS_MPUSAM) |= MPUSEG3RE + MPUSEG2RE;
+            break;
+        case MPU_EXEC|MPU_READ|MPU_WRITE:
+            HWREG16(baseAddress + OFS_MPUSAM) |= (MPUSEG3XE + MPUSEG3WE +
+                MPUSEG3RE + MPUSEG2XE + MPUSEG2WE + MPUSEG2RE);
+            break;
+        case MPU_NO_READ_WRITE_EXEC:
+            HWREG16(baseAddress + OFS_MPUSAM) &= ~(MPUSEG3XE + MPUSEG3WE +
+                MPUSEG3RE + MPUSEG2XE + MPUSEG2WE + MPUSEG2RE);
+            break;
+        default:
+            break;
+    }
+
+    //Lock MPU to disable writing to all registers
+    HWREG8(baseAddress + OFS_MPUCTL0_H) = 0x00;
+}
+
+void MPU_initThreeSegments(uint16_t baseAddress,
+    MPU_initThreeSegmentsParam *param)
+{
+    // Write MPU password to allow MPU register configuration
+    HWREG16(baseAddress + OFS_MPUCTL0) = MPUPW | HWREG8(baseAddress + OFS_MPUCTL0);
+
+    // Create two memory segmentations
+    HWREG16(baseAddress + OFS_MPUSEGB1) = param->seg1boundary;
+    HWREG16(baseAddress + OFS_MPUSEGB2) = param->seg2boundary;
+
+    // Set access rights based on user's selection for segment1
+    switch (param->seg1accmask) {
+        case MPU_EXEC|MPU_READ:
+            HWREG16(baseAddress + OFS_MPUSAM) &= ~MPUSEG1WE;
+            HWREG16(baseAddress + OFS_MPUSAM) |= MPUSEG1XE + MPUSEG1RE;
+            break;
+        case MPU_READ|MPU_WRITE:
+            HWREG16(baseAddress + OFS_MPUSAM) &= ~MPUSEG1XE;
+            HWREG16(baseAddress + OFS_MPUSAM) |= MPUSEG1RE + MPUSEG1WE;
+            break;
+        case MPU_READ:
+            HWREG16(baseAddress + OFS_MPUSAM) &= ~(MPUSEG1XE +MPUSEG1WE);
+            HWREG16(baseAddress + OFS_MPUSAM) |= MPUSEG1RE;
+            break;
+        case MPU_EXEC|MPU_READ|MPU_WRITE:
+            HWREG16(baseAddress + OFS_MPUSAM) |= (MPUSEG1XE + MPUSEG1WE + MPUSEG1RE);
+            break;
+        case MPU_NO_READ_WRITE_EXEC:
+            HWREG16(baseAddress + OFS_MPUSAM) &= ~(MPUSEG1XE + MPUSEG1WE + MPUSEG1RE);
+            break;
+        default:
+            break;
+    }
+
+    // Set access rights based on user's selection for segment2
+    switch (param->seg2accmask) {
+        case MPU_EXEC|MPU_READ:
+            HWREG16(baseAddress + OFS_MPUSAM) &= ~MPUSEG2WE;
+            HWREG16(baseAddress + OFS_MPUSAM) |= MPUSEG2XE + MPUSEG2RE;
+            break;
+        case MPU_READ|MPU_WRITE:
+            HWREG16(baseAddress + OFS_MPUSAM) &= ~MPUSEG2XE;
+            HWREG16(baseAddress + OFS_MPUSAM) |= MPUSEG2RE + MPUSEG2WE;
+            break;
+        case MPU_READ:
+            HWREG16(baseAddress + OFS_MPUSAM) &= ~(MPUSEG2XE +MPUSEG2WE);
+            HWREG16(baseAddress + OFS_MPUSAM) |= MPUSEG2RE;
+            break;
+        case MPU_EXEC|MPU_READ|MPU_WRITE:
+            HWREG16(baseAddress + OFS_MPUSAM) |= (MPUSEG2XE + MPUSEG2WE + MPUSEG2RE);
+            break;
+        case MPU_NO_READ_WRITE_EXEC:
+            HWREG16(baseAddress + OFS_MPUSAM) &= ~(MPUSEG2XE + MPUSEG2WE + MPUSEG2RE);
+            break;
+        default:
+            break;
+    }
+
+    // Set access rights based on user's selection for segment3
+    switch (param->seg3accmask) {
+        case MPU_EXEC|MPU_READ:
+            HWREG16(baseAddress + OFS_MPUSAM) &= ~MPUSEG3WE;
+            HWREG16(baseAddress + OFS_MPUSAM) |= MPUSEG3XE + MPUSEG3RE;
+            break;
+        case MPU_READ|MPU_WRITE:
+            HWREG16(baseAddress + OFS_MPUSAM) &= ~MPUSEG3XE;
+            HWREG16(baseAddress + OFS_MPUSAM) |= MPUSEG3RE + MPUSEG3WE;
+            break;
+        case MPU_READ:
+            HWREG16(baseAddress + OFS_MPUSAM) &= ~(MPUSEG3XE +MPUSEG3WE);
+            HWREG16(baseAddress + OFS_MPUSAM) |= MPUSEG3RE;
+            break;
+        case MPU_EXEC|MPU_READ|MPU_WRITE:
+            HWREG16(baseAddress + OFS_MPUSAM) |= (MPUSEG3XE + MPUSEG3WE + MPUSEG3RE);
+            break;
+        case MPU_NO_READ_WRITE_EXEC:
+            HWREG16(baseAddress + OFS_MPUSAM) &= ~(MPUSEG3XE + MPUSEG3WE + MPUSEG3RE);
+            break;
+        default:
+            break;
+    }
+
+    //Lock MPU to disable writing to all registers
+    HWREG8(baseAddress + OFS_MPUCTL0_H) = 0x00;
+}
+
+void MPU_initInfoSegment(uint16_t baseAddress, uint8_t accmask)
+{
+    // Write MPU password to allow MPU register configuration
+    HWREG16(baseAddress + OFS_MPUCTL0) = MPUPW | HWREG8(baseAddress + OFS_MPUCTL0);
+
+    // Set access rights based on user's selection for segment1
+    switch (accmask) {
+        case MPU_EXEC|MPU_READ:
+            HWREG16(baseAddress + OFS_MPUSAM) &= ~MPUSEGIWE;
+            HWREG16(baseAddress + OFS_MPUSAM) |= MPUSEGIXE + MPUSEGIRE;
+            break;
+        case MPU_READ|MPU_WRITE:
+            HWREG16(baseAddress + OFS_MPUSAM) &= ~MPUSEGIXE;
+            HWREG16(baseAddress + OFS_MPUSAM) |= MPUSEGIRE + MPUSEGIWE;
+            break;
+        case MPU_READ:
+            HWREG16(baseAddress + OFS_MPUSAM) &= ~(MPUSEGIXE + MPUSEGIWE);
+            HWREG16(baseAddress + OFS_MPUSAM) |= MPUSEGIRE;
+            break;
+        case MPU_EXEC|MPU_READ|MPU_WRITE:
+            HWREG16(baseAddress + OFS_MPUSAM) |= (MPUSEGIXE + MPUSEGIWE + MPUSEGIRE);
+            break;
+        case MPU_NO_READ_WRITE_EXEC:
+            HWREG16(baseAddress + OFS_MPUSAM) &= ~(MPUSEGIXE + MPUSEGIWE + MPUSEGIRE);
+            break;
+        default:
+            break;
+    }
+
+    //Lock MPU to disable writing to all registers
+    HWREG8(baseAddress + OFS_MPUCTL0_H) = 0x00;
+}
+void MPU_enableNMIevent(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_MPUCTL0) = MPUPW | MPUSEGIE |
+                                            HWREG8(baseAddress + OFS_MPUCTL0);
+
+    //Lock MPU to disable writing to all registers
+    HWREG8(baseAddress + OFS_MPUCTL0_H) = 0x00;
+}
+
+void MPU_start(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_MPUCTL0) = MPUPW | MPUENA | HWREG8(baseAddress + OFS_MPUCTL0);
+
+    //Lock MPU to disable writing to all registers
+    HWREG8(baseAddress + OFS_MPUCTL0_H) = 0x00;
+}
+
+void MPU_enablePUCOnViolation(uint16_t baseAddress,
+        uint16_t segment
+        )
+{
+    HWREG16(baseAddress + OFS_MPUCTL0) = MPUPW | HWREG8(baseAddress + OFS_MPUCTL0);
+    HWREG16(baseAddress + OFS_MPUSAM) |= segment;
+
+    //Lock MPU to disable writing to all registers
+    HWREG8(baseAddress + OFS_MPUCTL0_H) = 0x00;
+}
+
+void MPU_disablePUCOnViolation(uint16_t baseAddress,
+        uint16_t segment
+        )
+{
+    HWREG16(baseAddress + OFS_MPUCTL0) = MPUPW | HWREG8(baseAddress + OFS_MPUCTL0);
+    HWREG16(baseAddress + OFS_MPUSAM) &= ~segment;
+
+    //Lock MPU to disable writing to all registers
+    HWREG8(baseAddress + OFS_MPUCTL0_H) = 0x00;
+}
+
+uint16_t MPU_getInterruptStatus(uint16_t baseAddress,
+        uint16_t memAccFlag
+        )
+{
+    return (HWREG16(baseAddress + OFS_MPUCTL1) & memAccFlag);
+}
+
+uint16_t MPU_clearInterrupt(uint16_t baseAddress,
+        uint16_t memAccFlag
+    )
+{
+
+    HWREG16(baseAddress + OFS_MPUCTL0) = MPUPW | HWREG8(baseAddress + OFS_MPUCTL0);
+    HWREG16(baseAddress + OFS_MPUCTL1) &= ~memAccFlag;
+
+    //Lock MPU to disable writing to all registers
+    HWREG8(baseAddress + OFS_MPUCTL0_H) = 0x00;
+
+    return (HWREG16(baseAddress + OFS_MPUCTL1) & memAccFlag);
+}
+
+uint16_t MPU_clearAllInterrupts(uint16_t baseAddress
+    )
+{
+
+    HWREG16(baseAddress + OFS_MPUCTL0) = MPUPW | HWREG8(baseAddress + OFS_MPUCTL0);
+    HWREG16(baseAddress + OFS_MPUCTL1) &= ~(MPUSEG1IFG + MPUSEG2IFG + MPUSEG3IFG);
+
+    //Lock MPU to disable writing to all registers
+    HWREG8(baseAddress + OFS_MPUCTL0_H) = 0x00;
+
+    return (HWREG16(baseAddress + OFS_MPUCTL1) & (MPUSEG1IFG + MPUSEG2IFG + MPUSEG3IFG));
+}
+
+void MPU_lockMPU(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_MPUCTL0) = MPUPW | MPULOCK |
+                                            HWREG8(baseAddress + OFS_MPUCTL0);
+
+    //Lock MPU to disable writing to all registers
+    HWREG8(baseAddress + OFS_MPUCTL0_H) = 0x00;
+}
+
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for mpu_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/mpu.h b/Apps/FlightSoftware/MotorControl/driverlib/mpu.h
new file mode 100644
index 000000000..a1f6d2f9c
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/mpu.h
@@ -0,0 +1,423 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// mpu.h - Driver for the MPU Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_MPU_H__
+#define __MSP430WARE_MPU_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_MPU__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "inc/hw_memmap.h"
+//*****************************************************************************
+//
+//! \brief Used in the MPU_initThreeSegments() function as the param parameter.
+//
+//*****************************************************************************
+typedef struct MPU_initThreeSegmentsParam {
+    //! Valid values can be found in the Family User's Guide
+    uint16_t seg1boundary;
+    //! Valid values can be found in the Family User's Guide
+    uint16_t seg2boundary;
+    //! Is the bit mask of access right for memory segment 1.
+    //! \n Logical OR of any of the following:
+    //! - \b MPU_READ - Read rights
+    //! - \b MPU_WRITE - Write rights
+    //! - \b MPU_EXEC - Execute rights
+    //! - \b MPU_NO_READ_WRITE_EXEC - no read/write/execute rights
+    uint8_t seg1accmask;
+    //! Is the bit mask of access right for memory segment 2.
+    //! \n Logical OR of any of the following:
+    //! - \b MPU_READ - Read rights
+    //! - \b MPU_WRITE - Write rights
+    //! - \b MPU_EXEC - Execute rights
+    //! - \b MPU_NO_READ_WRITE_EXEC - no read/write/execute rights
+    uint8_t seg2accmask;
+    //! Is the bit mask of access right for memory segment 3.
+    //! \n Logical OR of any of the following:
+    //! - \b MPU_READ - Read rights
+    //! - \b MPU_WRITE - Write rights
+    //! - \b MPU_EXEC - Execute rights
+    //! - \b MPU_NO_READ_WRITE_EXEC - no read/write/execute rights
+    uint8_t seg3accmask;
+} MPU_initThreeSegmentsParam;
+
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the accmask parameter for
+// functions: MPU_initInfoSegment(); the seg2accmask parameter for functions:
+// MPU_initTwoSegments(); the seg1accmask parameter for functions:
+// MPU_initTwoSegments(); the param parameter for functions:
+// MPU_initThreeSegments(), MPU_initThreeSegments(), and
+// MPU_initThreeSegments().
+//
+//*****************************************************************************
+#define MPU_READ                                                      MPUSEG1RE
+#define MPU_WRITE                                                     MPUSEG1WE
+#define MPU_EXEC                                                      MPUSEG1XE
+#define MPU_NO_READ_WRITE_EXEC                                         (0x0000)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the segment parameter for
+// functions: MPU_enablePUCOnViolation(), and MPU_disablePUCOnViolation().
+//
+//*****************************************************************************
+#define MPU_FIRST_SEG                                                 MPUSEG1VS
+#define MPU_SECOND_SEG                                                MPUSEG2VS
+#define MPU_THIRD_SEG                                                 MPUSEG3VS
+#define MPU_INFO_SEG                                                  MPUSEGIVS
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the memAccFlag parameter for
+// functions: MPU_getInterruptStatus(), and MPU_clearInterrupt() as well as
+// returned by the MPU_getInterruptStatus() function, the
+// MPU_clearAllInterrupts() function and the MPU_clearInterrupt() function.
+//
+//*****************************************************************************
+#define MPU_SEG_1_ACCESS_VIOLATION                                   MPUSEG1IFG
+#define MPU_SEG_2_ACCESS_VIOLATION                                   MPUSEG2IFG
+#define MPU_SEG_3_ACCESS_VIOLATION                                   MPUSEG3IFG
+#define MPU_SEG_INFO_ACCESS_VIOLATION                                MPUSEGIIFG
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Initializes MPU with two memory segments
+//!
+//! This function creates two memory segments in FRAM allowing the user to set
+//! access right to each segment. To set the correct value for seg1boundary,
+//! the user must consult the Device Family User's Guide and provide the MPUSBx
+//! value corresponding to the memory address where the user wants to create
+//! the partition. Consult the "Segment Border Setting" section in the User's
+//! Guide to find the options available for MPUSBx.
+//!
+//! \param baseAddress is the base address of the MPU module.
+//! \param seg1boundary Valid values can be found in the Family User's Guide
+//! \param seg1accmask is the bit mask of access right for memory segment 1.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b MPU_READ - Read rights
+//!        - \b MPU_WRITE - Write rights
+//!        - \b MPU_EXEC - Execute rights
+//!        - \b MPU_NO_READ_WRITE_EXEC - no read/write/execute rights
+//! \param seg2accmask is the bit mask of access right for memory segment 2
+//!        Mask value is the logical OR of any of the following:
+//!        - \b MPU_READ - Read rights
+//!        - \b MPU_WRITE - Write rights
+//!        - \b MPU_EXEC - Execute rights
+//!        - \b MPU_NO_READ_WRITE_EXEC - no read/write/execute rights
+//!
+//! Modified bits of \b MPUSAM register, bits of \b MPUSEG register and bits of
+//! \b MPUCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MPU_initTwoSegments(uint16_t baseAddress,
+                                uint16_t seg1boundary,
+                                uint8_t seg1accmask,
+                                uint8_t seg2accmask);
+
+//*****************************************************************************
+//
+//! \brief Initializes MPU with three memory segments
+//!
+//! This function creates three memory segments in FRAM allowing the user to
+//! set access right to each segment. To set the correct value for
+//! seg1boundary, the user must consult the Device Family User's Guide and
+//! provide the MPUSBx value corresponding to the memory address where the user
+//! wants to create the partition. Consult the "Segment Border Setting" section
+//! in the User's Guide to find the options available for MPUSBx.
+//!
+//! \param baseAddress is the base address of the MPU module.
+//! \param param is the pointer to struct for initializing three segments.
+//!
+//! Modified bits of \b MPUSAM register, bits of \b MPUSEG register and bits of
+//! \b MPUCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MPU_initThreeSegments(uint16_t baseAddress,
+                                  MPU_initThreeSegmentsParam *param);
+
+//*****************************************************************************
+//
+//! \brief Initializes user information memory segment
+//!
+//! This function initializes user information memory segment with specified
+//! access rights.
+//!
+//! \param baseAddress is the base address of the MPU module.
+//! \param accmask is the bit mask of access right for user information memory
+//!        segment.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b MPU_READ - Read rights
+//!        - \b MPU_WRITE - Write rights
+//!        - \b MPU_EXEC - Execute rights
+//!        - \b MPU_NO_READ_WRITE_EXEC - no read/write/execute rights
+//!
+//! Modified bits of \b MPUSAM register and bits of \b MPUCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MPU_initInfoSegment(uint16_t baseAddress,
+                                uint8_t accmask);
+
+//*****************************************************************************
+//
+//! \brief The following function enables the NMI Event if a Segment violation
+//! has occurred.
+//!
+//! \param baseAddress is the base address of the MPU module.
+//!
+//! Modified bits of \b MPUCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MPU_enableNMIevent(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief The following function enables the MPU module in the device.
+//!
+//! This function needs to be called once all memory segmentation has been
+//! done. If this function is not called the MPU module will not be activated.
+//!
+//! \param baseAddress is the base address of the MPU module.
+//!
+//! Modified bits of \b MPUCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MPU_start(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief The following function enables PUC generation when an access
+//! violation has occurred on the memory segment selected by the user.
+//!
+//! Note that only specified segments for PUC generation are enabled. Other
+//! segments for PUC generation are left untouched. Users may call
+//! MPU_enablePUCOnViolation() and MPU_disablePUCOnViolation() to assure that
+//! all the bits will be set and/or cleared.
+//!
+//! \param baseAddress is the base address of the MPU module.
+//! \param segment is the bit mask of memory segment that will generate a PUC
+//!        when an access violation occurs.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b MPU_FIRST_SEG - PUC generation on first memory segment
+//!        - \b MPU_SECOND_SEG - PUC generation on second memory segment
+//!        - \b MPU_THIRD_SEG - PUC generation on third memory segment
+//!        - \b MPU_INFO_SEG - PUC generation on user information memory
+//!           segment
+//!
+//! Modified bits of \b MPUSAM register and bits of \b MPUCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MPU_enablePUCOnViolation(uint16_t baseAddress,
+                                     uint16_t segment);
+
+//*****************************************************************************
+//
+//! \brief The following function disables PUC generation when an access
+//! violation has occurred on the memory segment selected by the user.
+//!
+//! Note that only specified segments for PUC generation are disabled. Other
+//! segments for PUC generation are left untouched. Users may call
+//! MPU_enablePUCOnViolation() and MPU_disablePUCOnViolation() to assure that
+//! all the bits will be set and/or cleared.
+//!
+//! \param baseAddress is the base address of the MPU module.
+//! \param segment is the bit mask of memory segment that will NOT generate a
+//!        PUC when an access violation occurs.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b MPU_FIRST_SEG - PUC generation on first memory segment
+//!        - \b MPU_SECOND_SEG - PUC generation on second memory segment
+//!        - \b MPU_THIRD_SEG - PUC generation on third memory segment
+//!        - \b MPU_INFO_SEG - PUC generation on user information memory
+//!           segment
+//!
+//! Modified bits of \b MPUSAM register and bits of \b MPUCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MPU_disablePUCOnViolation(uint16_t baseAddress,
+                                      uint16_t segment);
+
+//*****************************************************************************
+//
+//! \brief Returns the memory segment violation flag status requested by the
+//! user.
+//!
+//! \param baseAddress is the base address of the MPU module.
+//! \param memAccFlag is the is the memory access violation flag.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b MPU_SEG_1_ACCESS_VIOLATION - is set if an access violation in
+//!           Main Memory Segment 1 is detected
+//!        - \b MPU_SEG_2_ACCESS_VIOLATION - is set if an access violation in
+//!           Main Memory Segment 2 is detected
+//!        - \b MPU_SEG_3_ACCESS_VIOLATION - is set if an access violation in
+//!           Main Memory Segment 3 is detected
+//!        - \b MPU_SEG_INFO_ACCESS_VIOLATION - is set if an access violation
+//!           in User Information Memory Segment is detected
+//!
+//! \return Logical OR of any of the following:
+//!         - \b MPU_SEG_1_ACCESS_VIOLATION is set if an access violation in
+//!         Main Memory Segment 1 is detected
+//!         - \b MPU_SEG_2_ACCESS_VIOLATION is set if an access violation in
+//!         Main Memory Segment 2 is detected
+//!         - \b MPU_SEG_3_ACCESS_VIOLATION is set if an access violation in
+//!         Main Memory Segment 3 is detected
+//!         - \b MPU_SEG_INFO_ACCESS_VIOLATION is set if an access violation in
+//!         User Information Memory Segment is detected
+//!         \n indicating the status of the masked flags.
+//
+//*****************************************************************************
+extern uint16_t MPU_getInterruptStatus(uint16_t baseAddress,
+                                       uint16_t memAccFlag);
+
+//*****************************************************************************
+//
+//! \brief Clears the masked interrupt flags
+//!
+//! Returns the memory segment violation flag status requested by the user or
+//! if user is providing a bit mask value, the function will return a value
+//! indicating if all flags were cleared.
+//!
+//! \param baseAddress is the base address of the MPU module.
+//! \param memAccFlag is the is the memory access violation flag.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b MPU_SEG_1_ACCESS_VIOLATION - is set if an access violation in
+//!           Main Memory Segment 1 is detected
+//!        - \b MPU_SEG_2_ACCESS_VIOLATION - is set if an access violation in
+//!           Main Memory Segment 2 is detected
+//!        - \b MPU_SEG_3_ACCESS_VIOLATION - is set if an access violation in
+//!           Main Memory Segment 3 is detected
+//!        - \b MPU_SEG_INFO_ACCESS_VIOLATION - is set if an access violation
+//!           in User Information Memory Segment is detected
+//!
+//! \return Logical OR of any of the following:
+//!         - \b MPU_SEG_1_ACCESS_VIOLATION is set if an access violation in
+//!         Main Memory Segment 1 is detected
+//!         - \b MPU_SEG_2_ACCESS_VIOLATION is set if an access violation in
+//!         Main Memory Segment 2 is detected
+//!         - \b MPU_SEG_3_ACCESS_VIOLATION is set if an access violation in
+//!         Main Memory Segment 3 is detected
+//!         - \b MPU_SEG_INFO_ACCESS_VIOLATION is set if an access violation in
+//!         User Information Memory Segment is detected
+//!         \n indicating the status of the masked flags.
+//
+//*****************************************************************************
+extern uint16_t MPU_clearInterrupt(uint16_t baseAddress,
+                                   uint16_t memAccFlag);
+
+//*****************************************************************************
+//
+//! \brief Clears all Memory Segment Access Violation Interrupt Flags.
+//!
+//! \param baseAddress is the base address of the MPU module.
+//!
+//! Modified bits of \b MPUCTL1 register.
+//!
+//! \return Logical OR of any of the following:
+//!         - \b MPU_SEG_1_ACCESS_VIOLATION is set if an access violation in
+//!         Main Memory Segment 1 is detected
+//!         - \b MPU_SEG_2_ACCESS_VIOLATION is set if an access violation in
+//!         Main Memory Segment 2 is detected
+//!         - \b MPU_SEG_3_ACCESS_VIOLATION is set if an access violation in
+//!         Main Memory Segment 3 is detected
+//!         - \b MPU_SEG_INFO_ACCESS_VIOLATION is set if an access violation in
+//!         User Information Memory Segment is detected
+//!         \n indicating the status of the interrupt flags.
+//
+//*****************************************************************************
+extern uint16_t MPU_clearAllInterrupts(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Lock MPU to protect from write access.
+//!
+//! Sets MPULOCK to protect MPU from write access on all MPU registers except
+//! MPUCTL1, MPUIPC0 and MPUIPSEGBx until a BOR occurs. MPULOCK bit cannot be
+//! cleared manually. MPU_clearInterrupt() and MPU_clearAllInterrupts() still
+//! can be used after this API is called.
+//!
+//! \param baseAddress is the base address of the MPU module.
+//!
+//! Modified bits are \b MPULOCK of \b MPUCTL1 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MPU_lockMPU(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_MPU_H__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/mpy32.c b/Apps/FlightSoftware/MotorControl/driverlib/mpy32.c
new file mode 100644
index 000000000..b377d0d2e
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/mpy32.c
@@ -0,0 +1,176 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// mpy32.c - Driver for the mpy32 Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup mpy32_api mpy32
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_MPY32__
+#include "mpy32.h"
+
+#include <assert.h>
+
+void MPY32_setWriteDelay (uint16_t writeDelaySelect)
+{
+    HWREG16(MPY32_BASE + OFS_MPY32CTL0) &= ~(MPYDLY32 + MPYDLYWRTEN);
+    HWREG16(MPY32_BASE + OFS_MPY32CTL0) |= writeDelaySelect;
+}
+
+void MPY32_enableSaturationMode (void)
+{
+    HWREG8(MPY32_BASE + OFS_MPY32CTL0_L) |= MPYSAT;
+}
+
+void MPY32_disableSaturationMode (void)
+{
+    HWREG8(MPY32_BASE + OFS_MPY32CTL0_L) &= ~(MPYSAT);
+}
+
+uint8_t MPY32_getSaturationMode (void)
+{
+    return (HWREG8(MPY32_BASE + OFS_MPY32CTL0_L) &(MPYSAT));
+}
+
+void MPY32_enableFractionalMode (void)
+{
+    HWREG8(MPY32_BASE + OFS_MPY32CTL0_L) |= MPYFRAC;
+}
+
+void MPY32_disableFractionalMode (void)
+{
+    HWREG8(MPY32_BASE + OFS_MPY32CTL0_L) &= ~(MPYFRAC);
+}
+
+uint8_t MPY32_getFractionalMode (void)
+{
+    return (HWREG8(MPY32_BASE + OFS_MPY32CTL0_L) &(MPYFRAC));
+}
+
+void MPY32_setOperandOne8Bit (uint8_t multiplicationType,
+    uint8_t operand)
+{
+    HWREG8(MPY32_BASE + OFS_MPY + multiplicationType) = operand;
+}
+
+void MPY32_setOperandOne16Bit (uint8_t multiplicationType,
+    uint16_t operand)
+{
+    HWREG16(MPY32_BASE + OFS_MPY + multiplicationType) = operand;
+}
+
+void MPY32_setOperandOne24Bit (uint8_t multiplicationType,
+    uint32_t operand)
+{
+    multiplicationType <<= 1;
+    HWREG16(MPY32_BASE + OFS_MPY32L + multiplicationType) = operand;
+    HWREG8(MPY32_BASE + OFS_MPY32H + multiplicationType) = (operand >> 16);
+}
+
+void MPY32_setOperandOne32Bit (uint8_t multiplicationType,
+    uint32_t operand)
+{
+    multiplicationType <<= 1;
+    HWREG16(MPY32_BASE + OFS_MPY32L + multiplicationType) = operand;
+    HWREG16(MPY32_BASE + OFS_MPY32H + multiplicationType) = (operand >> 16);
+}
+
+void MPY32_setOperandTwo8Bit (uint8_t operand)
+{
+    HWREG8(MPY32_BASE + OFS_OP2) = operand;
+}
+
+void MPY32_setOperandTwo16Bit (uint16_t operand)
+{
+    HWREG16(MPY32_BASE + OFS_OP2) = operand;
+}
+
+void MPY32_setOperandTwo24Bit (uint32_t operand)
+{
+    HWREG16(MPY32_BASE + OFS_OP2L) = operand;
+    HWREG8(MPY32_BASE + OFS_OP2H) = (operand >> 16);
+}
+
+void MPY32_setOperandTwo32Bit (uint32_t operand)
+{
+    HWREG16(MPY32_BASE + OFS_OP2L) = operand;
+    HWREG16(MPY32_BASE + OFS_OP2H) = (operand >> 16);
+}
+
+uint64_t MPY32_getResult (void)
+{
+    uint64_t result;
+
+    result = HWREG16(MPY32_BASE + OFS_RES0);
+    result += ((uint64_t)HWREG16(MPY32_BASE + OFS_RES1) << 16);
+    result += ((uint64_t)HWREG16(MPY32_BASE + OFS_RES2) << 32);
+    result += ((uint64_t)HWREG16(MPY32_BASE + OFS_RES3) << 48);
+    return ( result );
+}
+
+uint16_t MPY32_getSumExtension (void)
+{
+    return ( HWREG16(MPY32_BASE + OFS_SUMEXT) );
+}
+
+uint16_t MPY32_getCarryBitValue (void)
+{
+    return ( HWREG16(MPY32_BASE + OFS_MPY32CTL0) | MPYC);
+}
+void MPY32_clearCarryBitValue (void)
+{
+    HWREG16(MPY32_BASE + OFS_MPY32CTL0) &= ~MPYC;
+}
+void MPY32_preloadResult (uint64_t result)
+{
+    HWREG16(MPY32_BASE + OFS_RES0) = (result & 0xFFFF);
+    HWREG16(MPY32_BASE + OFS_RES1) = ((result >> 16) & 0xFFFF);
+    HWREG16(MPY32_BASE + OFS_RES2) = ((result >> 32) & 0xFFFF);
+    HWREG16(MPY32_BASE + OFS_RES3) = ((result >> 48) & 0xFFFF);
+}
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for mpy32_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/mpy32.h b/Apps/FlightSoftware/MotorControl/driverlib/mpy32.h
new file mode 100644
index 000000000..a7fc94444
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/mpy32.h
@@ -0,0 +1,445 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// mpy32.h - Driver for the MPY32 Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_MPY32_H__
+#define __MSP430WARE_MPY32_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_MPY32__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "inc/hw_memmap.h"
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the writeDelaySelect
+// parameter for functions: MPY32_setWriteDelay().
+//
+//*****************************************************************************
+#define MPY32_WRITEDELAY_OFF                        (!(MPYDLY32 + MPYDLYWRTEN))
+#define MPY32_WRITEDELAY_32BIT                                    (MPYDLYWRTEN)
+#define MPY32_WRITEDELAY_64BIT                         (MPYDLY32 + MPYDLYWRTEN)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the multiplicationType
+// parameter for functions: MPY32_setOperandOne8Bit(),
+// MPY32_setOperandOne16Bit(), MPY32_setOperandOne24Bit(), and
+// MPY32_setOperandOne32Bit().
+//
+//*****************************************************************************
+#define MPY32_MULTIPLY_UNSIGNED                                          (0x00)
+#define MPY32_MULTIPLY_SIGNED                                            (0x02)
+#define MPY32_MULTIPLYACCUMULATE_UNSIGNED                                (0x04)
+#define MPY32_MULTIPLYACCUMULATE_SIGNED                                  (0x06)
+
+//*****************************************************************************
+//
+// The following are values that can be passed toThe following are values that
+// can be returned by the MPY32_getSaturationMode() function.
+//
+//*****************************************************************************
+#define MPY32_SATURATION_MODE_DISABLED                                     0x00
+#define MPY32_SATURATION_MODE_ENABLED                                    MPYSAT
+
+//*****************************************************************************
+//
+// The following are values that can be passed toThe following are values that
+// can be returned by the MPY32_getFractionalMode() function.
+//
+//*****************************************************************************
+#define MPY32_FRACTIONAL_MODE_DISABLED                                     0x00
+#define MPY32_FRACTIONAL_MODE_ENABLED                                   MPYFRAC
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Sets the write delay setting for the MPY32 module.
+//!
+//! This function sets up a write delay to the MPY module's registers, which
+//! holds any writes to the registers until all calculations are complete.
+//! There are two different settings, one which waits for 32-bit results to be
+//! ready, and one which waits for 64-bit results to be ready. This prevents
+//! unpredicatble results if registers are changed before the results are
+//! ready.
+//!
+//! \param writeDelaySelect delays the write to any MPY32 register until the
+//!        selected bit size of result has been written.
+//!        Valid values are:
+//!        - \b MPY32_WRITEDELAY_OFF [Default] - writes are not delayed
+//!        - \b MPY32_WRITEDELAY_32BIT - writes are delayed until a 32-bit
+//!           result is available in the result registers
+//!        - \b MPY32_WRITEDELAY_64BIT - writes are delayed until a 64-bit
+//!           result is available in the result registers
+//!        \n Modified bits are \b MPYDLY32 and \b MPYDLYWRTEN of \b MPY32CTL0
+//!        register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MPY32_setWriteDelay(uint16_t writeDelaySelect);
+
+//*****************************************************************************
+//
+//! \brief Enables Saturation Mode.
+//!
+//! This function enables saturation mode. When this is enabled, the result
+//! read out from the MPY result registers is converted to the most-positive
+//! number in the case of an overflow, or the most-negative number in the case
+//! of an underflow. Please note, that the raw value in the registers does not
+//! reflect the result returned, and if the saturation mode is disabled, then
+//! the raw value of the registers will be returned instead.
+//!
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MPY32_enableSaturationMode(void);
+
+//*****************************************************************************
+//
+//! \brief Disables Saturation Mode.
+//!
+//! This function disables saturation mode, which allows the raw result of the
+//! MPY result registers to be returned.
+//!
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MPY32_disableSaturationMode(void);
+
+//*****************************************************************************
+//
+//! \brief Gets the Saturation Mode.
+//!
+//! This function gets the current saturation mode.
+//!
+//!
+//! \return Gets the Saturation Mode
+//!         Return one of the following:
+//!         - \b MPY32_SATURATION_MODE_DISABLED
+//!         - \b MPY32_SATURATION_MODE_ENABLED
+//!         \n Gets the Saturation Mode
+//
+//*****************************************************************************
+extern uint8_t MPY32_getSaturationMode(void);
+
+//*****************************************************************************
+//
+//! \brief Enables Fraction Mode.
+//!
+//! This function enables fraction mode.
+//!
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MPY32_enableFractionalMode(void);
+
+//*****************************************************************************
+//
+//! \brief Disables Fraction Mode.
+//!
+//! This function disables fraction mode.
+//!
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MPY32_disableFractionalMode(void);
+
+//*****************************************************************************
+//
+//! \brief Gets the Fractional Mode.
+//!
+//! This function gets the current fractional mode.
+//!
+//!
+//! \return Gets the fractional mode
+//!         Return one of the following:
+//!         - \b MPY32_FRACTIONAL_MODE_DISABLED
+//!         - \b MPY32_FRACTIONAL_MODE_ENABLED
+//!         \n Gets the Fractional Mode
+//
+//*****************************************************************************
+extern uint8_t MPY32_getFractionalMode(void);
+
+//*****************************************************************************
+//
+//! \brief Sets an 8-bit value into operand 1.
+//!
+//! This function sets the first operand for multiplication and determines what
+//! type of operation should be performed. Once the second operand is set, then
+//! the operation will begin.
+//!
+//! \param multiplicationType is the type of multiplication to perform once the
+//!        second operand is set.
+//!        Valid values are:
+//!        - \b MPY32_MULTIPLY_UNSIGNED
+//!        - \b MPY32_MULTIPLY_SIGNED
+//!        - \b MPY32_MULTIPLYACCUMULATE_UNSIGNED
+//!        - \b MPY32_MULTIPLYACCUMULATE_SIGNED
+//! \param operand is the 8-bit value to load into the 1st operand.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MPY32_setOperandOne8Bit(uint8_t multiplicationType,
+                                    uint8_t operand);
+
+//*****************************************************************************
+//
+//! \brief Sets an 16-bit value into operand 1.
+//!
+//! This function sets the first operand for multiplication and determines what
+//! type of operation should be performed. Once the second operand is set, then
+//! the operation will begin.
+//!
+//! \param multiplicationType is the type of multiplication to perform once the
+//!        second operand is set.
+//!        Valid values are:
+//!        - \b MPY32_MULTIPLY_UNSIGNED
+//!        - \b MPY32_MULTIPLY_SIGNED
+//!        - \b MPY32_MULTIPLYACCUMULATE_UNSIGNED
+//!        - \b MPY32_MULTIPLYACCUMULATE_SIGNED
+//! \param operand is the 16-bit value to load into the 1st operand.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MPY32_setOperandOne16Bit(uint8_t multiplicationType,
+                                     uint16_t operand);
+
+//*****************************************************************************
+//
+//! \brief Sets an 24-bit value into operand 1.
+//!
+//! This function sets the first operand for multiplication and determines what
+//! type of operation should be performed. Once the second operand is set, then
+//! the operation will begin.
+//!
+//! \param multiplicationType is the type of multiplication to perform once the
+//!        second operand is set.
+//!        Valid values are:
+//!        - \b MPY32_MULTIPLY_UNSIGNED
+//!        - \b MPY32_MULTIPLY_SIGNED
+//!        - \b MPY32_MULTIPLYACCUMULATE_UNSIGNED
+//!        - \b MPY32_MULTIPLYACCUMULATE_SIGNED
+//! \param operand is the 24-bit value to load into the 1st operand.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MPY32_setOperandOne24Bit(uint8_t multiplicationType,
+                                     uint32_t operand);
+
+//*****************************************************************************
+//
+//! \brief Sets an 32-bit value into operand 1.
+//!
+//! This function sets the first operand for multiplication and determines what
+//! type of operation should be performed. Once the second operand is set, then
+//! the operation will begin.
+//!
+//! \param multiplicationType is the type of multiplication to perform once the
+//!        second operand is set.
+//!        Valid values are:
+//!        - \b MPY32_MULTIPLY_UNSIGNED
+//!        - \b MPY32_MULTIPLY_SIGNED
+//!        - \b MPY32_MULTIPLYACCUMULATE_UNSIGNED
+//!        - \b MPY32_MULTIPLYACCUMULATE_SIGNED
+//! \param operand is the 32-bit value to load into the 1st operand.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MPY32_setOperandOne32Bit(uint8_t multiplicationType,
+                                     uint32_t operand);
+
+//*****************************************************************************
+//
+//! \brief Sets an 8-bit value into operand 2, which starts the multiplication.
+//!
+//! This function sets the second operand of the multiplication operation and
+//! starts the operation.
+//!
+//! \param operand is the 8-bit value to load into the 2nd operand.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MPY32_setOperandTwo8Bit(uint8_t operand);
+
+//*****************************************************************************
+//
+//! \brief Sets an 16-bit value into operand 2, which starts the
+//! multiplication.
+//!
+//! This function sets the second operand of the multiplication operation and
+//! starts the operation.
+//!
+//! \param operand is the 16-bit value to load into the 2nd operand.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MPY32_setOperandTwo16Bit(uint16_t operand);
+
+//*****************************************************************************
+//
+//! \brief Sets an 24-bit value into operand 2, which starts the
+//! multiplication.
+//!
+//! This function sets the second operand of the multiplication operation and
+//! starts the operation.
+//!
+//! \param operand is the 24-bit value to load into the 2nd operand.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MPY32_setOperandTwo24Bit(uint32_t operand);
+
+//*****************************************************************************
+//
+//! \brief Sets an 32-bit value into operand 2, which starts the
+//! multiplication.
+//!
+//! This function sets the second operand of the multiplication operation and
+//! starts the operation.
+//!
+//! \param operand is the 32-bit value to load into the 2nd operand.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MPY32_setOperandTwo32Bit(uint32_t operand);
+
+//*****************************************************************************
+//
+//! \brief Returns an 64-bit result of the last multiplication operation.
+//!
+//! This function returns all 64 bits of the result registers
+//!
+//!
+//! \return The 64-bit result is returned as a uint64_t type
+//
+//*****************************************************************************
+extern uint64_t MPY32_getResult(void);
+
+//*****************************************************************************
+//
+//! \brief Returns the Sum Extension of the last multiplication operation.
+//!
+//! This function returns the Sum Extension of the MPY module, which either
+//! gives the sign after a signed operation or shows a carry after a multiply-
+//! and-accumulate operation. The Sum Extension acts as a check for overflows
+//! or underflows.
+//!
+//!
+//! \return The value of the MPY32 module Sum Extension.
+//
+//*****************************************************************************
+extern uint16_t MPY32_getSumExtension(void);
+
+//*****************************************************************************
+//
+//! \brief Returns the Carry Bit of the last multiplication operation.
+//!
+//! This function returns the Carry Bit of the MPY module, which either gives
+//! the sign after a signed operation or shows a carry after a multiply- and-
+//! accumulate operation.
+//!
+//!
+//! \return The value of the MPY32 module Carry Bit 0x0 or 0x1.
+//
+//*****************************************************************************
+extern uint16_t MPY32_getCarryBitValue(void);
+
+//*****************************************************************************
+//
+//! \brief Clears the Carry Bit of the last multiplication operation.
+//!
+//! This function clears the Carry Bit of the MPY module
+//!
+//!
+//! \return The value of the MPY32 module Carry Bit 0x0 or 0x1.
+//
+//*****************************************************************************
+extern void MPY32_clearCarryBitValue(void);
+
+//*****************************************************************************
+//
+//! \brief Preloads the result register
+//!
+//! This function Preloads the result register
+//!
+//! \param result value to preload the result register to
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MPY32_preloadResult(uint64_t result);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_MPY32_H__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/mtif.c b/Apps/FlightSoftware/MotorControl/driverlib/mtif.c
new file mode 100644
index 000000000..20c4efe61
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/mtif.c
@@ -0,0 +1,210 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// mtif.c - Driver for the MTIF Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup mtif_api mtif
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_MTIF__
+#include "mtif.h"
+
+#include <assert.h>
+
+void MTIF_enablePulseGen(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_MTIFPGCNF) = (PGPW | PGEN);
+}
+
+void MTIF_disablePulseGen(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_MTIFPGCNF) = PGPW;
+}
+
+void MTIF_clearPulseGenCounter(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_MTIFPGCNF) = (PGPW | PGCLR);
+}
+
+void MTIF_setPulseGenPulseGridFreq(uint16_t baseAddress, uint8_t freq)
+{
+    uint8_t state = HWREG8(baseAddress + OFS_MTIFPGCNF_L);
+    state &= ~PGFS;
+    state |= freq;
+    HWREG16(baseAddress + OFS_MTIFPGCNF) = (PGPW | state);
+}
+
+void MTIF_setPulseGenCountNum(uint16_t baseAddress, uint8_t num)
+{
+    HWREG16(baseAddress + OFS_MTIFPGKVAL) = (PGPW | num);
+}
+
+void MTIF_clearPulseKCountUpdateRequest(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_MTIFPGCTL) = (PGPW | PKUR);
+}
+
+void MTIF_clearPulseGridFreqUpdateRequest(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_MTIFPGCTL) = (PGPW | PGUR);
+}
+
+void MTIF_setPulseKCountUpdateAck(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_MTIFPGSR) |= PKUA;
+}
+
+uint16_t MTIF_isPulseKCountUpdated(uint16_t baseAddress)
+{
+    return (HWREG16(baseAddress + OFS_MTIFPGSR) & PKUA);
+}
+
+void MTIF_setPulseGridFreqUpdateAck(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_MTIFPGSR) |= PGUA;
+}
+
+uint16_t MTIF_isPulseGridFreqUpdated(uint16_t baseAddress)
+{
+    return (HWREG16(baseAddress + OFS_MTIFPGSR) & PGUA);
+}
+
+void MTIF_enablePulseCounter(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_MTIFPCCNF) = (PCEN | PCPW);
+}
+
+void MTIF_disablePulseCounter(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_MTIFPCCNF) = PCPW;
+}
+
+void MTIF_clearPulseCounter(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_MTIFPCCNF) = (PCPW | PCCLR);
+}
+
+uint16_t MTIF_getPulseCount(uint16_t baseAddress)
+{
+    return HWREG16(baseAddress + OFS_MTIFPCR);
+}
+
+void MTIF_setPulseCounterReadRequest(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_MTIFPCCTL) |= PCRR;
+}
+
+void MTIF_setPulseCounterReadAck(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_MTIFPCSR) |= PCRA;
+}
+
+uint16_t MTIF_isPulseCounterReadReady(uint16_t baseAddress)
+{
+    return (HWREG16(baseAddress + OFS_MTIFPCSR) & PCRA);
+}
+
+uint16_t MTIF_getPulseCounterOverflow(uint16_t baseAddress)
+{
+    return (HWREG16(baseAddress + OFS_MTIFPCSR) & PCOFL);
+}
+
+void MTIF_ackPulseCounterOverflow(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_MTIFPCSR) |= PCOFL;
+}
+
+void MTIF_enableTestPortOutput(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_MTIFTPCTL) = (TPPW |
+        HWREG8(baseAddress + OFS_MTIFTPCTL_L) | TPOE);
+}
+
+void MTIF_disableTestPortOutput(uint16_t baseAddress)
+{
+    uint8_t state = HWREG8(baseAddress + OFS_MTIFTPCTL_L);
+    HWREG16(baseAddress + OFS_MTIFTPCTL) = (TPPW | (state & ~TPOE));
+}
+
+void MTIF_enableTestPortInput(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_MTIFTPCTL) = (TPPW |
+        HWREG8(baseAddress + OFS_MTIFTPCTL_L) | TPIE);
+}
+
+void MTIF_disableTestPortInput(uint16_t baseAddress)
+{
+    uint8_t state = HWREG8(baseAddress + OFS_MTIFTPCTL_L);
+    HWREG16(baseAddress + OFS_MTIFTPCTL) = (TPPW | (state & ~TPIE));
+}
+
+void MTIF_setPulseGeneratorAsPulseCounterInput(uint16_t baseAddress)
+{
+    uint8_t state = HWREG8(baseAddress + OFS_MTIFTPCTL_L);
+    HWREG16(baseAddress + OFS_MTIFTPCTL) = (TPPW | (state & ~TPISEL));
+}
+
+void MTIF_setTestPortInputTerminalAsPulseCounterInput(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_MTIFTPCTL) = (TPPW |
+        HWREG8(baseAddress + OFS_MTIFTPCTL_L) | TPISEL);
+}
+
+void MTIF_enableTestPortTerminalActivationBySW(uint16_t baseAddress)
+{
+    uint8_t state = HWREG8(baseAddress + OFS_MTIFTPCTL_L);
+    HWREG16(baseAddress + OFS_MTIFTPCTL) = (TPPW | (state & ~ACTIVATE));
+}
+
+void MTIF_enableTestPortTerminalActivationBySWAndHW(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_MTIFTPCTL) = (TPPW |
+        HWREG8(baseAddress + OFS_MTIFTPCTL_L) | ACTIVATE);
+}
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for mtif_api
+//! @}
+//
+//*****************************************************************************
+
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/mtif.h b/Apps/FlightSoftware/MotorControl/driverlib/mtif.h
new file mode 100644
index 000000000..71c257e96
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/mtif.h
@@ -0,0 +1,563 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// mtif.h - Driver for the MTIF Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_MTIF_H__
+#define __MSP430WARE_MTIF_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_MTIF__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the freq parameter for
+// functions: MTIF_setPulseGenPulseGridFreq
+//
+//*****************************************************************************
+#define MTIF_PULSE_GRID_FREQUENCY_8HZ                                    PGFS_0
+#define MTIF_PULSE_GRID_FREQUENCY_16HZ                                   PGFS_1
+#define MTIF_PULSE_GRID_FREQUENCY_32HZ                                   PGFS_2
+#define MTIF_PULSE_GRID_FREQUENCY_64HZ                                   PGFS_3
+#define MTIF_PULSE_GRID_FREQUENCY_128HZ                                  PGFS_4
+#define MTIF_PULSE_GRID_FREQUENCY_256HZ                                  PGFS_5
+#define MTIF_PULSE_GRID_FREQUENCY_512HZ                                  PGFS_6
+#define MTIF_PULSE_GRID_FREQUENCY_1024HZ                                 PGFS_7
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the num parameter for
+// functions: MTIF_setPulseGenCountNum
+//
+//*****************************************************************************
+#define MTIF_KVAL_BIT0                                                    KVAL0
+#define MTIF_KVAL_BIT1                                                    KVAL1
+#define MTIF_KVAL_BIT2                                                    KVAL2
+#define MTIF_KVAL_BIT3                                                    KVAL3
+#define MTIF_KVAL_BIT4                                                    KVAL4
+#define MTIF_KVAL_BIT5                                                    KVAL5
+#define MTIF_KVAL_BIT6                                                    KVAL6
+
+//*****************************************************************************
+//
+// The following are values that can be returned by the
+// MTIF_isPulseKCountUpdated() function.
+//
+//*****************************************************************************
+#define MTIF_K_COUNT_IS_UPDATED                                           PKUA
+#define MTIF_K_COUNT_IS_NOT_UPDATED                                        0x0
+
+//*****************************************************************************
+//
+// The following are values that can be returned by the
+// MTIF_isPulseGridFreqUpdated() function.
+//
+//*****************************************************************************
+#define MTIF_PULSE_GRID_FREQUENCY_IS_UPDATED                              PGUA
+#define MTIF_PULSE_GRID_FREQUENCY_IS_NOT_UPDATED                           0x0
+
+//*****************************************************************************
+//
+// The following are values that can be returned by the
+// MTIF_getPulseCounterOverflow() function.
+//
+//*****************************************************************************
+#define MTIF_PULSE_COUNTER_OVERFLOW                                       PCOFL
+#define MTIF_PULSE_COUNTER_NOT_OVERFLOW                                     0x0
+
+//*****************************************************************************
+//
+// The following are values that can be returned by the
+// MTIF_isPulseCounterReadReady() function.
+//
+//*****************************************************************************
+#define MTIF_PULSE_COUNTER_READY_TO_READ                                   PCRA
+#define MTIF_PULSE_COUNTER_NOT_READY_TO_READ                                0x0
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Enables Pulse Generator.
+//!
+//! Enable the PG sub module
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MTIF_enablePulseGen(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Disables Pulse Generator.
+//!
+//! Disable the PG sub module
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MTIF_disablePulseGen(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Pulse Generator pulse counter clear.
+//!
+//! Clears the pulse generator. (PGEN has to be set to one to perform a clear).
+//! Note!: A clear request is being latched and released after the clear
+//! is executed. MTIF_disablePulseGen (PCEN=0) and LFXTOFF=1 will prevent that.
+//! The clear occurs then after the clock is reenabled. Clear reset by PUC.
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MTIF_clearPulseGenCounter(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Pulse Generator pulse grid frequency select.
+//!
+//! This value determines at which time grid pulses are generated.
+//! The pulse generator frame frequency is an 1/256th of this
+//! (PGEN has to be one to perform a change). Reset by PUC.
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//! \param freq is the specified pulse grid frequency select.
+//!        Valid values are:
+//!        - \b MTIF_PULSE_GRID_FREQUENCY_8HZ
+//!        - \b MTIF_PULSE_GRID_FREQUENCY_16HZ
+//!        - \b MTIF_PULSE_GRID_FREQUENCY_32HZ
+//!        - \b MTIF_PULSE_GRID_FREQUENCY_64HZ
+//!        - \b MTIF_PULSE_GRID_FREQUENCY_128HZ
+//!        - \b MTIF_PULSE_GRID_FREQUENCY_256HZ
+//!        - \b MTIF_PULSE_GRID_FREQUENCY_512HZ
+//!        - \b MTIF_PULSE_GRID_FREQUENCY_1024HZ [Default]
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MTIF_setPulseGenPulseGridFreq(uint16_t baseAddress, uint8_t freq);
+
+//*****************************************************************************
+//
+//! \brief Set Pulse Count Number.
+//!
+//! This register value determines how many pulses are generated withing
+//! 256 periods of the pulse grid frequency(with password protection as in PGCNF).
+//! PGEN has to be one to perform a change. Reset by PUC.
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//! \param num is the logical OR of any of the following:
+//!        - \b MTIF_KVAL_BIT0
+//!        - \b MTIF_KVAL_BIT1
+//!        - \b MTIF_KVAL_BIT2
+//!        - \b MTIF_KVAL_BIT3
+//!        - \b MTIF_KVAL_BIT4
+//!        - \b MTIF_KVAL_BIT5
+//!        - \b MTIF_KVAL_BIT6
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MTIF_setPulseGenCountNum(uint16_t baseAddress, uint8_t num);
+
+//*****************************************************************************
+//
+//! \brief Pulse K-Count Update Request.
+//!
+//! The update of KVAL occurs during the frequency grid slot
+//! 0xff (e.g. in the last 4ms of a second with a pulse grid frequency of
+//! 256Hz). Reset type: PUC
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MTIF_clearPulseKCountUpdateRequest(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Pulse Grid Frequency Update Request.
+//!
+//! The update of PGFS occurs during the frequency grid
+//! slot 0xff (e.g. in the last 4ms of an second with an pulse grid
+//! frequency of 256Hz). Reset type: PUC
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MTIF_clearPulseGridFreqUpdateRequest(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Pulse K-Count Update Acknowledge.
+//!
+//! This acknowledges a PCUR directly after the K-values has been updated.
+//! Reset type: PUC
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MTIF_setPulseKCountUpdateAck(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Is Pulse K-Count Updated?
+//!
+//! This checks whether Pulse K-Count has been updated.
+//! Reset type: PUC
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//!
+//! \return Valid values are:
+//!        - \b MTIF_K_COUNT_IS_UPDATED
+//!        - \b MTIF_K_COUNT_IS_NOT_UPDATED
+//
+//*****************************************************************************
+extern uint16_t MTIF_isPulseKCountUpdated(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Pulse Grid Frequency Update Acknowledge.
+//!
+//! This acknowledges a PGUR directly after the PGFS has been updated.
+//! Reset type: PUC
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MTIF_setPulseGridFreqUpdateAck(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Is Pulse Pulse Grid Frequency Updated?
+//!
+//! This checks whether Pulse Grid Frequency has been updated.
+//! Reset type: PUC
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//!
+//! \return Valid values are:
+//!        - \b MTIF_PULSE_GRID_FREQUENCY_IS_UPDATED
+//!        - \b MTIF_PULSE_GRID_FREQUENCY_IS_NOT_UPDATED
+//
+//*****************************************************************************
+extern uint16_t MTIF_isPulseGridFreqUpdated(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief PC sub module enable.
+//!
+//! This bit enables the PC sub module when set to one. Reset type: POR
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MTIF_enablePulseCounter(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief PC sub module disable.
+//!
+//! This bit disables the PC sub module when set to zero. Reset type: POR
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MTIF_disablePulseCounter(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Pulse counter clear.
+//!
+//! Clears the pulse counter (PC has to be disabled to perform a clear).
+//! Note!: A clear request is being latched and released after the clear is executed.
+//! LFXTOFF=1 and PCEN=0 will prevent that. The clear occurs then after the clock
+//! is reenabled. This bit is for triggering only; it's state cannot be read back
+//! Reset type: PUC
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MTIF_clearPulseCounter(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Pulse Counter value register.
+//!
+//! Get count value from the pulse counter.
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//!
+//! \return 16-bit count value from pulse counter
+//
+//*****************************************************************************
+extern uint16_t MTIF_getPulseCount(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Pulse Counter Read Request.
+//!
+//! Requests an update of PCR read register from the actual counter.
+//! Reset type: PUC
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MTIF_setPulseCounterReadRequest(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Pulse counter read acknowledge.
+//!
+//! This acknowledges the update of the PCR register as response to
+//! the PCRR read request. Note!: A read request is being latched.
+//! LFXTOFF=1 and PCEN=0 will prevent that.The read will then be performed and
+//! acknowledged after the clock is reenabled. Reset type: PUC
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MTIF_setPulseCounterReadAck(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Is Pulse Counter value ready to read?.
+//!
+//! This function will let you know if Pulse Counter value is updated and ready
+//! to read as a response to the Pulse Counter Read Request. Reset type: PUC
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//!
+//! \return Valid values are:
+//!        - \b MTIF_PULSE_COUNTER_READY_TO_READ
+//!        - \b MTIF_PULSE_COUNTER_NOT_READY_TO_READ
+//
+//*****************************************************************************
+extern uint16_t MTIF_isPulseCounterReadReady(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Pulse counter overflow.
+//!
+//! This bit indicates an overflow of the pulse counter when its value changes since
+//! the last read request procedure. It is basically the 17th bit of the counter
+//! Reset type: PUC
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//!
+//! \return Valid values are:
+//!        - \b MTIF_PULSE_COUNTER_OVERFLOW
+//!        - \b MTIF_PULSE_COUNTER_NOT_OVERFLOW
+//
+//*****************************************************************************
+extern uint16_t MTIF_getPulseCounterOverflow(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Acknowledge pulse counter overflow.
+//!
+//! This function acknowledges an overflow of the pulse counter since
+//! the last read request procedure.
+//! Reset type: PUC
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MTIF_ackPulseCounterOverflow(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Enables test port output.
+//!
+//! Enable the test pulse output. Reset type: POR
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MTIF_enableTestPortOutput(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Disables test port output.
+//!
+//! Disable the test pulse output. Reset type: POR
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MTIF_disableTestPortOutput(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Enables test port input.
+//!
+//! Enable the test input port. Reset type: POR
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MTIF_enableTestPortInput(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Disables test port input.
+//!
+//! Disable the test input port. Reset type: POR
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MTIF_disableTestPortInput(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Test port input select for pulse counter, sourced from pulse generator.
+//!
+//! Pulse generator is used as input for test port of pulse counter
+//! Reset Type: POR
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MTIF_setPulseGeneratorAsPulseCounterInput(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Test port input select for pulse counter, sourced from test port
+//! input terminal.
+//!
+//! Test port input terminal is used as input for test port of pulse counter
+//! Reset Type: POR
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MTIF_setTestPortInputTerminalAsPulseCounterInput(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Test port terminal enable activation by software.
+//!
+//! The test port output is enabled solely by TPOE (enabled if TPOE=1) test port
+//! output enabled.
+//! Reset Type: POR
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MTIF_enableTestPortTerminalActivationBySW(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Test port terminal enable activation by software and hardware.
+//!
+//! The test port output requires both TPOE (enabled if TPOE=1) test port
+//! output enabled, and MTPE pin to be high, to be enabled.
+//! Reset Type: POR
+//!
+//! \param baseAddress is the base address of the MTIF module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void MTIF_enableTestPortTerminalActivationBySWAndHW(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_MTIF_H__
+
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/pmm.c b/Apps/FlightSoftware/MotorControl/driverlib/pmm.c
new file mode 100644
index 000000000..393fbfee2
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/pmm.c
@@ -0,0 +1,124 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// pmm.c - Driver for the pmm Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup pmm_api pmm
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_PMM_FRAM__
+#include "pmm.h"
+
+#include <assert.h>
+
+void PMM_enableSVSH (void)
+{
+    HWREG8(PMM_BASE + OFS_PMMCTL0_H) = PMMPW_H;
+    HWREG8(PMM_BASE + OFS_PMMCTL0_L) |= SVSHE;
+    HWREG8(PMM_BASE + OFS_PMMCTL0_H) = 0x00;
+}
+
+void PMM_disableSVSH (void)
+{
+    HWREG8(PMM_BASE + OFS_PMMCTL0_H) = PMMPW_H;
+    HWREG8(PMM_BASE + OFS_PMMCTL0_L) &= ~SVSHE;
+    HWREG8(PMM_BASE + OFS_PMMCTL0_H) = 0x00;
+}
+
+void PMM_turnOnRegulator (void)
+{
+    HWREG8(PMM_BASE + OFS_PMMCTL0_H) = PMMPW_H;
+    HWREG8(PMM_BASE + OFS_PMMCTL0) &= ~PMMREGOFF;
+    HWREG8(PMM_BASE + OFS_PMMCTL0_H) = 0x00;
+}
+
+void PMM_turnOffRegulator (void)
+{
+    HWREG8(PMM_BASE + OFS_PMMCTL0_H) = PMMPW_H;
+    HWREG8(PMM_BASE + OFS_PMMCTL0) |= PMMREGOFF;
+    HWREG8(PMM_BASE + OFS_PMMCTL0_H) = 0x00;
+}
+
+void PMM_trigPOR (void)
+{
+    HWREG8(PMM_BASE + OFS_PMMCTL0_H) = PMMPW_H;
+    HWREG8(PMM_BASE + OFS_PMMCTL0) |= PMMSWPOR;
+    HWREG8(PMM_BASE + OFS_PMMCTL0_H) = 0x00;
+}
+
+void PMM_trigBOR (void)
+{
+    HWREG8(PMM_BASE + OFS_PMMCTL0_H) = PMMPW_H;
+    HWREG8(PMM_BASE + OFS_PMMCTL0) |= PMMSWBOR;
+    HWREG8(PMM_BASE + OFS_PMMCTL0_H) = 0x00;
+}
+
+void PMM_clearInterrupt (uint16_t mask)
+{
+    HWREG8(PMM_BASE + OFS_PMMCTL0_H) = PMMPW_H;
+    HWREG16(PMM_BASE + OFS_PMMIFG) &= ~mask;
+    HWREG8(PMM_BASE + OFS_PMMCTL0_H) = 0x00;
+}
+
+uint16_t PMM_getInterruptStatus (uint16_t mask)
+{
+    return ( (HWREG16(PMM_BASE + OFS_PMMIFG)) & mask );
+}
+
+void PMM_unlockLPM5 (void)
+{
+	//Direct register access to avoid compiler warning - #10420-D  
+	//For FRAM devices, at start up, the GPO power-on default 
+	//high-impedance mode needs to be disabled to activate previously 
+	//configured port settings. This can be done by clearing the LOCKLPM5
+	//bit in PM5CTL0 register
+
+	PM5CTL0 &= ~LOCKLPM5;
+}
+
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for pmm_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/pmm.h b/Apps/FlightSoftware/MotorControl/driverlib/pmm.h
new file mode 100644
index 000000000..12e9edfb6
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/pmm.h
@@ -0,0 +1,219 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// pmm.h - Driver for the PMM Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_PMM_H__
+#define __MSP430WARE_PMM_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_PMM_FRAM__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the mask parameter for
+// functions: PMM_clearInterrupt(), and PMM_getInterruptStatus() as well as
+// returned by the PMM_getInterruptStatus() function.
+//
+//*****************************************************************************
+#define PMM_BOR_INTERRUPT                                             PMMBORIFG
+#define PMM_RST_INTERRUPT                                             PMMRSTIFG
+#define PMM_POR_INTERRUPT                                             PMMPORIFG
+#define PMM_SVSH_INTERRUPT                                              SVSHIFG
+#define PMM_LPM5_INTERRUPT                                           PMMLPM5IFG
+#define PMM_ALL                                                          (0xA7)
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Enables the high-side SVS circuitry
+//!
+//!
+//! Modified bits of \b PMMCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void PMM_enableSVSH(void);
+
+//*****************************************************************************
+//
+//! \brief Disables the high-side SVS circuitry
+//!
+//!
+//! Modified bits of \b PMMCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void PMM_disableSVSH(void);
+
+//*****************************************************************************
+//
+//! \brief Makes the low-dropout voltage regulator (LDO) remain ON when going
+//! into LPM 3/4.
+//!
+//!
+//! Modified bits of \b PMMCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void PMM_turnOnRegulator(void);
+
+//*****************************************************************************
+//
+//! \brief Turns OFF the low-dropout voltage regulator (LDO) when going into
+//! LPM3/4, thus the system will enter LPM3.5 or LPM4.5 respectively
+//!
+//!
+//! Modified bits of \b PMMCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void PMM_turnOffRegulator(void);
+
+//*****************************************************************************
+//
+//! \brief Calling this function will trigger a software Power On Reset (POR).
+//!
+//!
+//! Modified bits of \b PMMCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void PMM_trigPOR(void);
+
+//*****************************************************************************
+//
+//! \brief Calling this function will trigger a software Brown Out Rest (BOR).
+//!
+//!
+//! Modified bits of \b PMMCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void PMM_trigBOR(void);
+
+//*****************************************************************************
+//
+//! \brief Clears interrupt flags for the PMM
+//!
+//! \param mask is the mask for specifying the required flag
+//!        Mask value is the logical OR of any of the following:
+//!        - \b PMM_BOR_INTERRUPT - Software BOR interrupt
+//!        - \b PMM_RST_INTERRUPT - RESET pin interrupt
+//!        - \b PMM_POR_INTERRUPT - Software POR interrupt
+//!        - \b PMM_SVSH_INTERRUPT - SVS high side interrupt
+//!        - \b PMM_LPM5_INTERRUPT - LPM5 indication
+//!        - \b PMM_ALL - All interrupts
+//!
+//! Modified bits of \b PMMCTL0 register and bits of \b PMMIFG register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void PMM_clearInterrupt(uint16_t mask);
+
+//*****************************************************************************
+//
+//! \brief Returns interrupt status
+//!
+//! \param mask is the mask for specifying the required flag
+//!        Mask value is the logical OR of any of the following:
+//!        - \b PMM_BOR_INTERRUPT - Software BOR interrupt
+//!        - \b PMM_RST_INTERRUPT - RESET pin interrupt
+//!        - \b PMM_POR_INTERRUPT - Software POR interrupt
+//!        - \b PMM_SVSH_INTERRUPT - SVS high side interrupt
+//!        - \b PMM_LPM5_INTERRUPT - LPM5 indication
+//!        - \b PMM_ALL - All interrupts
+//!
+//! \return Logical OR of any of the following:
+//!         - \b PMM_BOR_INTERRUPT Software BOR interrupt
+//!         - \b PMM_RST_INTERRUPT RESET pin interrupt
+//!         - \b PMM_POR_INTERRUPT Software POR interrupt
+//!         - \b PMM_SVSH_INTERRUPT SVS high side interrupt
+//!         - \b PMM_LPM5_INTERRUPT LPM5 indication
+//!         - \b PMM_ALL All interrupts
+//!         \n indicating  the status of the selected  interrupt flags
+//
+//*****************************************************************************
+extern uint16_t PMM_getInterruptStatus(uint16_t mask);
+
+//*****************************************************************************
+//
+//! \brief Unlock LPM5
+//!
+//! LPMx.5 configuration is not locked and defaults to its reset condition.
+//! Disable the GPIO power-on default high-impedance mode to activate
+//! previously configured port settings.
+//!
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void PMM_unlockLPM5(void);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_PMM_H__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/ram.c b/Apps/FlightSoftware/MotorControl/driverlib/ram.c
new file mode 100644
index 000000000..85d06ed62
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/ram.c
@@ -0,0 +1,72 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// ram.c - Driver for the ram Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup ram_api ram
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_RC_FRAM__
+#include "ram.h"
+
+#include <assert.h>
+
+void RAM_setSectorOff(uint8_t sector, uint8_t mode)
+{
+    uint8_t sectorPos = sector<<1;
+    uint8_t val = HWREG8(RAM_BASE + OFS_RCCTL0_L) & ~(0x3 << sectorPos);
+
+    HWREG16(RAM_BASE + OFS_RCCTL0) = (RCKEY | val | (mode << sectorPos));
+}
+
+uint8_t RAM_getSectorState (uint8_t sector)
+{
+    uint8_t sectorPos = sector<<1;
+    return (HWREG8(RAM_BASE + OFS_RCCTL0_L) & (0x3<<sectorPos)) >> sectorPos;
+}
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for ram_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/ram.h b/Apps/FlightSoftware/MotorControl/driverlib/ram.h
new file mode 100644
index 000000000..d13f4fd87
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/ram.h
@@ -0,0 +1,138 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// ram.h - Driver for the RAM Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_RAM_H__
+#define __MSP430WARE_RAM_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_RC_FRAM__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the sector parameter for
+// functions: RAM_setSectorOff(), and RAM_getSectorState().
+//
+//*****************************************************************************
+#define RAM_SECTOR0                                                      (0x00)
+#define RAM_SECTOR1                                                      (0x01)
+#define RAM_SECTOR2                                                      (0x02)
+#define RAM_SECTOR3                                                      (0x03)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the mode parameter for
+// functions: RAM_setSectorOff() as well as returned by the
+// RAM_getSectorState() function.
+//
+//*****************************************************************************
+#define RAM_RETENTION_MODE                                               (0x00)
+#define RAM_OFF_WAKEUP_MODE                                         (RCRS0OFF0)
+#define RAM_OFF_NON_WAKEUP_MODE                                     (RCRS0OFF1)
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Set specified RAM sector off
+//!
+//! \param sector is specified sector to be set off.
+//!        Valid values are:
+//!        - \b RAM_SECTOR0
+//!        - \b RAM_SECTOR1
+//!        - \b RAM_SECTOR2
+//!        - \b RAM_SECTOR3
+//! \param mode is sector off mode
+//!        Valid values are:
+//!        - \b RAM_RETENTION_MODE
+//!        - \b RAM_OFF_WAKEUP_MODE
+//!        - \b RAM_OFF_NON_WAKEUP_MODE
+//!
+//! Modified bits of \b RCCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RAM_setSectorOff(uint8_t sector,
+                             uint8_t mode);
+
+//*****************************************************************************
+//
+//! \brief Get RAM sector ON/OFF status
+//!
+//! \param sector is specified sector
+//!        Valid values are:
+//!        - \b RAM_SECTOR0
+//!        - \b RAM_SECTOR1
+//!        - \b RAM_SECTOR2
+//!        - \b RAM_SECTOR3
+//!
+//! \return One of the following:
+//!         - \b RAM_RETENTION_MODE
+//!         - \b RAM_OFF_WAKEUP_MODE
+//!         - \b RAM_OFF_NON_WAKEUP_MODE
+//!         \n indicating the status of the masked sectors
+//
+//*****************************************************************************
+extern uint8_t RAM_getSectorState(uint8_t sector);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_RAM_H__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/ref_a.c b/Apps/FlightSoftware/MotorControl/driverlib/ref_a.c
new file mode 100644
index 000000000..12db0ce74
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/ref_a.c
@@ -0,0 +1,151 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// ref_a.c - Driver for the ref_a Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup ref_a_api ref_a
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_REF_A__
+#include "ref_a.h"
+
+#include <assert.h>
+
+void Ref_A_setReferenceVoltage (uint16_t baseAddress,
+    uint8_t referenceVoltageSelect)
+{
+    HWREG8(baseAddress + OFS_REFCTL0_L) &= ~(REFVSEL_3);
+    HWREG8(baseAddress + OFS_REFCTL0_L) |= referenceVoltageSelect;
+}
+
+void Ref_A_disableTempSensor (uint16_t baseAddress)
+{
+    HWREG8(baseAddress + OFS_REFCTL0_L) |= REFTCOFF;
+}
+
+void Ref_A_enableTempSensor (uint16_t baseAddress)
+{
+    HWREG8(baseAddress + OFS_REFCTL0_L) &= ~(REFTCOFF);
+}
+
+void Ref_A_enableReferenceVoltageOutput (uint16_t baseAddress)
+{
+    HWREG8(baseAddress + OFS_REFCTL0_L) |= REFOUT;
+}
+
+void Ref_A_disableReferenceVoltageOutput (uint16_t baseAddress)
+{
+    HWREG8(baseAddress + OFS_REFCTL0_L) &= ~(REFOUT);
+}
+
+void Ref_A_enableReferenceVoltage (uint16_t baseAddress)
+{
+    HWREG8(baseAddress + OFS_REFCTL0_L) |= REFON;
+}
+
+void Ref_A_disableReferenceVoltage (uint16_t baseAddress)
+{
+    HWREG8(baseAddress + OFS_REFCTL0_L) &= ~(REFON);
+}
+
+uint16_t Ref_A_getBandgapMode (uint16_t baseAddress)
+{
+    return (HWREG16((baseAddress) + OFS_REFCTL0) & BGMODE);
+}
+
+bool Ref_A_isBandgapActive (uint16_t baseAddress)
+{
+    if (HWREG16((baseAddress) + OFS_REFCTL0) & REFBGACT){
+        return (REF_A_ACTIVE) ;
+    } else   {
+        return (REF_A_INACTIVE) ;
+    }
+}
+
+uint16_t Ref_A_isRefGenBusy (uint16_t baseAddress)
+{
+    return (HWREG16((baseAddress) + OFS_REFCTL0) & REFGENBUSY);
+}
+
+bool Ref_A_isRefGenActive (uint16_t baseAddress)
+{
+    if (HWREG16((baseAddress) + OFS_REFCTL0) & REFGENACT){
+        return (REF_A_ACTIVE) ;
+    } else   {
+        return (REF_A_INACTIVE) ;
+    }
+}
+
+bool Ref_A_isBufferedBandgapVoltageReady(uint16_t baseAddress)
+{
+    if (HWREG16((baseAddress) + OFS_REFCTL0) & REFBGRDY){
+        return (REF_A_READY) ;
+    } else   {
+        return (REF_A_NOTREADY) ;
+    }
+}
+
+bool Ref_A_isVariableReferenceVoltageOutputReady(uint16_t baseAddress)
+{
+    if (HWREG16((baseAddress) + OFS_REFCTL0) & REFGENRDY){
+        return (REF_A_READY) ;
+    } else   {
+        return (REF_A_NOTREADY) ;
+    }
+}
+
+void Ref_A_setReferenceVoltageOneTimeTrigger(uint16_t baseAddress)
+{
+    HWREG8(baseAddress + OFS_REFCTL0_L) |= REFGENOT;
+}
+
+void Ref_A_setBufferedBandgapVoltageOneTimeTrigger(uint16_t baseAddress)
+{
+    HWREG8(baseAddress + OFS_REFCTL0_L) |= REFBGOT;
+}
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for ref_a_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/ref_a.h b/Apps/FlightSoftware/MotorControl/driverlib/ref_a.h
new file mode 100644
index 000000000..818a60e7a
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/ref_a.h
@@ -0,0 +1,412 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// ref_a.h - Driver for the REF_A Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_REF_A_H__
+#define __MSP430WARE_REF_A_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_REF_A__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the referenceVoltageSelect
+// parameter for functions: Ref_A_setReferenceVoltage().
+//
+//*****************************************************************************
+#define REF_A_VREF1_2V                                              (REFVSEL_0)
+#define REF_A_VREF2_0V                                              (REFVSEL_1)
+#define REF_A_VREF2_5V                                              (REFVSEL_2)
+
+//*****************************************************************************
+//
+// The following are values that can be passed toThe following are values that
+// can be returned by the Ref_A_isBandgapActive() function and the
+// Ref_A_isRefGenActive() function.
+//
+//*****************************************************************************
+#define REF_A_ACTIVE                                                       true
+#define REF_A_INACTIVE                                                    false
+
+//*****************************************************************************
+//
+// The following are values that can be passed toThe following are values that
+// can be returned by the Ref_A_getBandgapMode() function.
+//
+//*****************************************************************************
+#define REF_A_STATICMODE                                                   0x00
+#define REF_A_SAMPLEMODE                                                 BGMODE
+
+//*****************************************************************************
+//
+// The following are values that can be passed toThe following are values that
+// can be returned by the Ref_A_isRefGenBusy() function.
+//
+//*****************************************************************************
+#define REF_A_NOTBUSY                                                      0x00
+#define REF_A_BUSY                                                   REFGENBUSY
+
+//*****************************************************************************
+//
+// The following are values that can be passed toThe following are values that
+// can be returned by the Ref_A_isVariableReferenceVoltageOutputReady()
+// function and the Ref_A_isBufferedBandgapVoltageReady() function.
+//
+//*****************************************************************************
+#define REF_A_NOTREADY                                                    false
+#define REF_A_READY                                                        true
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Sets the reference voltage for the voltage generator.
+//!
+//! This function sets the reference voltage generated by the voltage generator
+//! to be used by other peripherals. This reference voltage will only be valid
+//! while the Ref_A module is in control. Please note, if the
+//! Ref_A_isRefGenBusy() returns Ref_A_BUSY, this function will have no effect.
+//!
+//! \param baseAddress is the base address of the REF_A module.
+//! \param referenceVoltageSelect is the desired voltage to generate for a
+//!        reference voltage.
+//!        Valid values are:
+//!        - \b REF_A_VREF1_2V [Default]
+//!        - \b REF_A_VREF2_0V
+//!        - \b REF_A_VREF2_5V
+//!        \n Modified bits are \b REFVSEL of \b REFCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Ref_A_setReferenceVoltage(uint16_t baseAddress,
+                                      uint8_t referenceVoltageSelect);
+
+//*****************************************************************************
+//
+//! \brief Disables the internal temperature sensor to save power consumption.
+//!
+//! This function is used to turn off the internal temperature sensor to save
+//! on power consumption. The temperature sensor is enabled by default. Please
+//! note, that giving ADC12 module control over the Ref_A module, the state of
+//! the temperature sensor is dependent on the controls of the ADC12 module.
+//! Please note, if the Ref_A_isRefGenBusy() returns Ref_A_BUSY, this function
+//! will have no effect.
+//!
+//! \param baseAddress is the base address of the REF_A module.
+//!
+//! Modified bits are \b REFTCOFF of \b REFCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Ref_A_disableTempSensor(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Enables the internal temperature sensor.
+//!
+//! This function is used to turn on the internal temperature sensor to use by
+//! other peripherals. The temperature sensor is enabled by default. Please
+//! note, if the Ref_A_isRefGenBusy() returns Ref_A_BUSY, this function will
+//! have no effect.
+//!
+//! \param baseAddress is the base address of the REF_A module.
+//!
+//! Modified bits are \b REFTCOFF of \b REFCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Ref_A_enableTempSensor(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Outputs the reference voltage to an output pin.
+//!
+//! This function is used to output the reference voltage being generated to an
+//! output pin. Please note, the output pin is device specific. Please note,
+//! that giving ADC12 module control over the Ref_A module, the state of the
+//! reference voltage as an output to a pin is dependent on the controls of the
+//! ADC12 module. If ADC12_A reference burst is disabled or DAC12_A is enabled,
+//! this output is available continuously. If ADC12_A reference burst is
+//! enabled, this output is available only during an ADC12_A conversion. For
+//! devices with CTSD16, Ref_enableReferenceVoltage() needs to be invoked to
+//! get VREFBG available continuously. Otherwise, VREFBG is only available
+//! externally when a module requests it. Please note, if the
+//! Ref_A_isRefGenBusy() returns Ref_A_BUSY, this function will have no effect.
+//!
+//! \param baseAddress is the base address of the REF_A module.
+//!
+//! Modified bits are \b REFOUT of \b REFCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Ref_A_enableReferenceVoltageOutput(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Disables the reference voltage as an output to a pin.
+//!
+//! This function is used to disables the reference voltage being generated to
+//! be given to an output pin. Please note, if the Ref_A_isRefGenBusy() returns
+//! Ref_A_BUSY, this function will have no effect.
+//!
+//! \param baseAddress is the base address of the REF_A module.
+//!
+//! Modified bits are \b REFOUT of \b REFCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Ref_A_disableReferenceVoltageOutput(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Enables the reference voltage to be used by peripherals.
+//!
+//! This function is used to enable the generated reference voltage to be used
+//! other peripherals or by an output pin, if enabled. Please note, that giving
+//! ADC12 module control over the Ref_A module, the state of the reference
+//! voltage is dependent on the controls of the ADC12 module. Please note,
+//! ADC10_A does not support the reference request. If the Ref_A_isRefGenBusy()
+//! returns Ref_A_BUSY, this function will have no effect.
+//!
+//! \param baseAddress is the base address of the REF_A module.
+//!
+//! Modified bits are \b REFON of \b REFCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Ref_A_enableReferenceVoltage(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Disables the reference voltage.
+//!
+//! This function is used to disable the generated reference voltage. Please
+//! note, if the Ref_A_isRefGenBusy() returns Ref_A_BUSY, this function will
+//! have no effect.
+//!
+//! \param baseAddress is the base address of the REF_A module.
+//!
+//! Modified bits are \b REFON of \b REFCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Ref_A_disableReferenceVoltage(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Returns the bandgap mode of the Ref_A module.
+//!
+//! This function is used to return the bandgap mode of the Ref_A module,
+//! requested by the peripherals using the bandgap. If a peripheral requests
+//! static mode, then the bandgap mode will be static for all modules, whereas
+//! if all of the peripherals using the bandgap request sample mode, then that
+//! will be the mode returned. Sample mode allows the bandgap to be active only
+//! when necessary to save on power consumption, static mode requires the
+//! bandgap to be active until no peripherals are using it anymore.
+//!
+//! \param baseAddress is the base address of the REF_A module.
+//!
+//! \return One of the following:
+//!         - \b REF_A_STATICMODE if the bandgap is operating in static mode
+//!         - \b REF_A_SAMPLEMODE if the bandgap is operating in sample mode
+//!         \n indicating the bandgap mode of the module
+//
+//*****************************************************************************
+extern uint16_t Ref_A_getBandgapMode(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Returns the active status of the bandgap in the Ref_A module.
+//!
+//! This function is used to return the active status of the bandgap in the
+//! Ref_A module. If the bandgap is in use by a peripheral, then the status
+//! will be seen as active.
+//!
+//! \param baseAddress is the base address of the REF_A module.
+//!
+//! \return One of the following:
+//!         - \b REF_A_ACTIVE if active
+//!         - \b REF_A_INACTIVE if not active
+//!         \n indicating the bandgap active status of the module
+//
+//*****************************************************************************
+extern bool Ref_A_isBandgapActive(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Returns the busy status of the reference generator in the Ref_A
+//! module.
+//!
+//! This function is used to return the busy status of the reference generator
+//! in the Ref_A module. If the ref generator is in use by a peripheral, then
+//! the status will be seen as busy.
+//!
+//! \param baseAddress is the base address of the REF_A module.
+//!
+//! \return One of the following:
+//!         - \b REF_A_NOTBUSY if the reference generator is not being used
+//!         - \b REF_A_BUSY if the reference generator is being used,
+//!         disallowing changes to be made to the Ref_A module controls
+//!         \n indicating the reference generator busy status of the module
+//
+//*****************************************************************************
+extern uint16_t Ref_A_isRefGenBusy(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Returns the active status of the reference generator in the Ref_A
+//! module.
+//!
+//! This function is used to return the active status of the reference
+//! generator in the Ref_A module. If the ref generator is on and ready to use,
+//! then the status will be seen as active.
+//!
+//! \param baseAddress is the base address of the REF_A module.
+//!
+//! \return One of the following:
+//!         - \b REF_A_ACTIVE if active
+//!         - \b REF_A_INACTIVE if not active
+//!         \n indicating the reference generator active status of the module
+//
+//*****************************************************************************
+extern bool Ref_A_isRefGenActive(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Returns the busy status of the reference generator in the Ref_A
+//! module.
+//!
+//! This function is used to return the buys status of the buffered bandgap
+//! voltage in the Ref_A module. If the ref generator is on and ready to use,
+//! then the status will be seen as active.
+//!
+//! \param baseAddress is the base address of the REF_A module.
+//!
+//! \return One of the following:
+//!         - \b REF_A_NOTREADY if NOT ready to be used
+//!         - \b REF_A_READY if ready to be used
+//!         \n indicating the the busy status of the reference generator in the
+//!         module
+//
+//*****************************************************************************
+extern bool Ref_A_isBufferedBandgapVoltageReady(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Returns the busy status of the variable reference voltage in the
+//! Ref_A module.
+//!
+//! This function is used to return the busy status of the variable reference
+//! voltage in the Ref_A module. If the ref generator is on and ready to use,
+//! then the status will be seen as active.
+//!
+//! \param baseAddress is the base address of the REF_A module.
+//!
+//! \return One of the following:
+//!         - \b REF_A_NOTREADY if NOT ready to be used
+//!         - \b REF_A_READY if ready to be used
+//!         \n indicating the the busy status of the variable reference voltage
+//!         in the module
+//
+//*****************************************************************************
+extern bool Ref_A_isVariableReferenceVoltageOutputReady(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Enables the one-time trigger of the reference voltage.
+//!
+//! Triggers the one-time generation of the variable reference voltage. Once
+//! the reference voltage request is set, this bit is cleared by hardware
+//!
+//! \param baseAddress is the base address of the REF_A module.
+//!
+//! Modified bits are \b REFGENOT of \b REFCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Ref_A_setReferenceVoltageOneTimeTrigger(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Enables the one-time trigger of the buffered bandgap voltage.
+//!
+//! Triggers the one-time generation of the buffered bandgap voltage. Once the
+//! buffered bandgap voltage request is set, this bit is cleared by hardware
+//!
+//! \param baseAddress is the base address of the REF_A module.
+//!
+//! Modified bits are \b REFBGOT of \b REFCTL0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Ref_A_setBufferedBandgapVoltageOneTimeTrigger(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_REF_A_H__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/rtc_b.c b/Apps/FlightSoftware/MotorControl/driverlib/rtc_b.c
new file mode 100644
index 000000000..d051ab10f
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/rtc_b.c
@@ -0,0 +1,268 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// rtc_b.c - Driver for the rtc_b Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup rtc_b_api rtc_b
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_RTC_B__
+#include "rtc_b.h"
+
+#include <assert.h>
+
+void RTC_B_startClock (uint16_t baseAddress)
+{
+    HWREG8(baseAddress + OFS_RTCCTL01_H) &= ~(RTCHOLD_H);
+}
+
+void RTC_B_holdClock (uint16_t baseAddress)
+{
+    HWREG8(baseAddress + OFS_RTCCTL01_H) |= RTCHOLD_H;
+}
+
+void RTC_B_setCalibrationFrequency (uint16_t baseAddress,
+    uint16_t frequencySelect)
+{
+    HWREG16(baseAddress + OFS_RTCCTL23) &= ~(RTCCALF_3);
+    HWREG16(baseAddress + OFS_RTCCTL23) |= frequencySelect;
+}
+
+void RTC_B_setCalibrationData (uint16_t baseAddress,
+    uint8_t offsetDirection,
+    uint8_t offsetValue)
+{
+    HWREG8(baseAddress + OFS_RTCCTL23_L) = offsetValue + offsetDirection;
+}
+
+void RTC_B_initCalendar (uint16_t baseAddress,
+    Calendar *CalendarTime,
+    uint16_t formatSelect)
+{
+    HWREG8(baseAddress + OFS_RTCCTL01_H) |= RTCHOLD_H;
+
+    HWREG16(baseAddress + OFS_RTCCTL01) &= ~(RTCBCD);
+    HWREG16(baseAddress + OFS_RTCCTL01) |= formatSelect;
+
+    HWREG8(baseAddress + OFS_RTCTIM0_L) = CalendarTime->Seconds;
+    HWREG8(baseAddress + OFS_RTCTIM0_H) = CalendarTime->Minutes;
+    HWREG8(baseAddress + OFS_RTCTIM1_L) = CalendarTime->Hours;
+    HWREG8(baseAddress + OFS_RTCTIM1_H) = CalendarTime->DayOfWeek;
+    HWREG8(baseAddress + OFS_RTCDATE_L) = CalendarTime->DayOfMonth;
+    HWREG8(baseAddress + OFS_RTCDATE_H) = CalendarTime->Month;
+    HWREG16(baseAddress + OFS_RTCYEAR) = CalendarTime->Year;
+}
+
+Calendar RTC_B_getCalendarTime (uint16_t baseAddress)
+{
+    Calendar tempCal;
+
+    while ( !(HWREG16(baseAddress + OFS_RTCCTL01) & RTCRDY) ) ;
+
+    tempCal.Seconds    = HWREG8(baseAddress + OFS_RTCTIM0_L);
+    tempCal.Minutes    = HWREG8(baseAddress + OFS_RTCTIM0_H);
+    tempCal.Hours      = HWREG8(baseAddress + OFS_RTCTIM1_L);
+    tempCal.DayOfWeek  = HWREG8(baseAddress + OFS_RTCTIM1_H);
+    tempCal.DayOfMonth = HWREG8(baseAddress + OFS_RTCDATE_L);
+    tempCal.Month      = HWREG8(baseAddress + OFS_RTCDATE_H);
+    tempCal.Year       = HWREG16(baseAddress + OFS_RTCYEAR);
+
+    return ( tempCal) ;
+}
+
+void RTC_B_configureCalendarAlarm(uint16_t baseAddress, 
+    RTC_B_configureCalendarAlarmParam *param)
+{
+    //Each of these is XORed with 0x80 to turn on if an integer is passed,
+    //or turn OFF if RTC_B_ALARM_OFF (0x80) is passed.
+    HWREG8(baseAddress + OFS_RTCAMINHR_L) = (param->minutesAlarm ^ 0x80);
+    HWREG8(baseAddress + OFS_RTCAMINHR_H) = (param->hoursAlarm ^ 0x80);
+    HWREG8(baseAddress + OFS_RTCADOWDAY_L) = (param->dayOfWeekAlarm ^ 0x80);
+    HWREG8(baseAddress + OFS_RTCADOWDAY_H) = (param->dayOfMonthAlarm ^ 0x80);
+}
+void RTC_B_setCalendarEvent (uint16_t baseAddress,
+    uint16_t eventSelect)
+{
+    HWREG16(baseAddress + OFS_RTCCTL01) &= ~(RTCTEV_3); //Reset bits
+    HWREG16(baseAddress + OFS_RTCCTL01) |= eventSelect;
+}
+
+void RTC_B_definePrescaleEvent (uint16_t baseAddress,
+    uint8_t prescaleSelect,
+    uint8_t prescaleEventDivider)
+{
+    HWREG8(baseAddress + OFS_RTCPS0CTL_L + prescaleSelect) &= ~(RT0IP_7);
+    HWREG8(baseAddress + OFS_RTCPS0CTL_L +
+        prescaleSelect) |= prescaleEventDivider;
+}
+
+uint8_t RTC_B_getPrescaleValue (uint16_t baseAddress,
+    uint8_t prescaleSelect)
+{
+    if (RTC_B_PRESCALE_0 == prescaleSelect){
+        return ( HWREG8(baseAddress + OFS_RTCPS_L) );
+    } else if (RTC_B_PRESCALE_1 == prescaleSelect){
+        return ( HWREG8(baseAddress + OFS_RTCPS_H) );
+    } else   {
+        return ( 0) ;
+    }
+}
+
+void RTC_B_setPrescaleValue (uint16_t baseAddress,
+    uint8_t prescaleSelect,
+    uint8_t prescaleCounterValue)
+{
+    if (RTC_B_PRESCALE_0 == prescaleSelect){
+        HWREG8(baseAddress + OFS_RTCPS_L) = prescaleCounterValue;
+    } else if (RTC_B_PRESCALE_1 == prescaleSelect){
+        HWREG8(baseAddress + OFS_RTCPS_H) = prescaleCounterValue;
+    }
+}
+
+void RTC_B_enableInterrupt (uint16_t baseAddress,
+    uint8_t interruptMask)
+{
+    if ( interruptMask & (RTCOFIE + RTCTEVIE + RTCAIE + RTCRDYIE) ){
+        HWREG8(baseAddress + OFS_RTCCTL01_L) |=
+            (interruptMask & (RTCOFIE + RTCTEVIE + RTCAIE + RTCRDYIE));
+    }
+
+    if (interruptMask & RTC_B_PRESCALE_TIMER0_INTERRUPT){
+        HWREG8(baseAddress + OFS_RTCPS0CTL) |= RT0PSIE;
+    }
+
+    if (interruptMask & RTC_B_PRESCALE_TIMER1_INTERRUPT){
+        HWREG8(baseAddress + OFS_RTCPS1CTL) |= RT1PSIE;
+    }
+}
+
+void RTC_B_disableInterrupt (uint16_t baseAddress,
+    uint8_t interruptMask)
+{
+    if ( interruptMask & (RTCOFIE + RTCTEVIE + RTCAIE + RTCRDYIE) ){
+        HWREG8(baseAddress + OFS_RTCCTL01_L) &=
+            ~(interruptMask & (RTCOFIE + RTCTEVIE + RTCAIE + RTCRDYIE));
+    }
+
+    if (interruptMask & RTC_B_PRESCALE_TIMER0_INTERRUPT){
+        HWREG8(baseAddress + OFS_RTCPS0CTL) &= ~(RT0PSIE);
+    }
+
+    if (interruptMask & RTC_B_PRESCALE_TIMER1_INTERRUPT){
+        HWREG8(baseAddress + OFS_RTCPS1CTL) &= ~(RT1PSIE);
+    }
+}
+
+uint8_t RTC_B_getInterruptStatus (uint16_t baseAddress,
+    uint8_t interruptFlagMask)
+{
+    uint8_t tempInterruptFlagMask = 0x0000;
+
+    tempInterruptFlagMask |= (HWREG8(baseAddress + OFS_RTCCTL01_L)
+                              & ((interruptFlagMask >> 4)
+                                 & (RTCOFIFG +
+                                    RTCTEVIFG +
+                                    RTCAIFG +
+                                    RTCRDYIFG)));
+
+    tempInterruptFlagMask = tempInterruptFlagMask << 4;
+
+    if (interruptFlagMask & RTC_B_PRESCALE_TIMER0_INTERRUPT){
+        if ( HWREG8(baseAddress + OFS_RTCPS0CTL) & RT0PSIFG){
+            tempInterruptFlagMask |= RTC_B_PRESCALE_TIMER0_INTERRUPT;
+        }
+    }
+
+    if (interruptFlagMask & RTC_B_PRESCALE_TIMER1_INTERRUPT){
+        if ( HWREG8(baseAddress + OFS_RTCPS1CTL) & RT1PSIFG){
+            tempInterruptFlagMask |= RTC_B_PRESCALE_TIMER1_INTERRUPT;
+        }
+    }
+
+    return ( tempInterruptFlagMask) ;
+}
+
+void RTC_B_clearInterrupt (uint16_t baseAddress,
+    uint8_t interruptFlagMask)
+{
+    if ( interruptFlagMask & (RTC_B_TIME_EVENT_INTERRUPT +
+                              RTC_B_CLOCK_ALARM_INTERRUPT +
+                              RTC_B_CLOCK_READ_READY_INTERRUPT +
+                              RTC_B_OSCILLATOR_FAULT_INTERRUPT) ){
+
+        HWREG8(baseAddress + OFS_RTCCTL01_L) &=
+            ~((interruptFlagMask>>4) & (RTCOFIFG +
+                                        RTCTEVIFG +
+                                        RTCAIFG +
+                                        RTCRDYIFG));
+    }
+
+    if (interruptFlagMask & RTC_B_PRESCALE_TIMER0_INTERRUPT){
+        HWREG8(baseAddress + OFS_RTCPS0CTL) &= ~(RT0PSIFG);
+    }
+
+    if (interruptFlagMask & RTC_B_PRESCALE_TIMER1_INTERRUPT){
+        HWREG8(baseAddress + OFS_RTCPS1CTL) &= ~(RT1PSIFG);
+    }
+}
+
+uint16_t RTC_B_convertBCDToBinary (uint16_t baseAddress,
+    uint16_t valueToConvert)
+{
+    HWREG16(baseAddress + OFS_BCD2BIN) = valueToConvert;
+    return ( HWREG16(baseAddress + OFS_BCD2BIN) );
+}
+
+uint16_t RTC_B_convertBinaryToBCD (uint16_t baseAddress,
+    uint16_t valueToConvert)
+{
+    HWREG16(baseAddress + OFS_BIN2BCD) = valueToConvert;
+    return ( HWREG16(baseAddress + OFS_BIN2BCD) );
+}
+
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for rtc_b_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/rtc_b.h b/Apps/FlightSoftware/MotorControl/driverlib/rtc_b.h
new file mode 100644
index 000000000..0dead9fec
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/rtc_b.h
@@ -0,0 +1,633 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// rtc_b.h - Driver for the RTC_B Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_RTC_B_H__
+#define __MSP430WARE_RTC_B_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_RTC_B__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "inc/hw_memmap.h"
+//*****************************************************************************
+//
+//! \brief Used in the RTC_B_initCalendar() function as the CalendarTime
+//! parameter.
+//
+//*****************************************************************************
+typedef struct Calendar {
+    //! Seconds of minute between 0-59
+    uint8_t Seconds;
+    //! Minutes of hour between 0-59
+    uint8_t Minutes;
+    //! Hour of day between 0-23
+    uint8_t Hours;
+    //! Day of week between 0-6
+    uint8_t DayOfWeek;
+    //! Day of month between 1-31
+    uint8_t DayOfMonth;
+    //! Month between 1-12
+    uint8_t Month;
+    //! Year between 0-4095
+    uint16_t Year;
+} Calendar;
+
+//*****************************************************************************
+//
+//! \brief Used in the RTC_B_configureCalendarAlarm() function as the param
+//! parameter.
+//
+//*****************************************************************************
+typedef struct RTC_B_configureCalendarAlarmParam {
+    //! Is the alarm condition for the minutes.
+    //! \n Valid values are:
+    //! - \b RTC_B_ALARMCONDITION_OFF [Default]
+    uint8_t minutesAlarm;
+    //! Is the alarm condition for the hours.
+    //! \n Valid values are:
+    //! - \b RTC_B_ALARMCONDITION_OFF [Default]
+    uint8_t hoursAlarm;
+    //! Is the alarm condition for the day of week.
+    //! \n Valid values are:
+    //! - \b RTC_B_ALARMCONDITION_OFF [Default]
+    uint8_t dayOfWeekAlarm;
+    //! Is the alarm condition for the day of the month.
+    //! \n Valid values are:
+    //! - \b RTC_B_ALARMCONDITION_OFF [Default]
+    uint8_t dayOfMonthAlarm;
+} RTC_B_configureCalendarAlarmParam;
+
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the frequencySelect parameter
+// for functions: RTC_B_setCalibrationFrequency().
+//
+//*****************************************************************************
+#define RTC_B_CALIBRATIONFREQ_OFF                                   (RTCCALF_0)
+#define RTC_B_CALIBRATIONFREQ_512HZ                                 (RTCCALF_1)
+#define RTC_B_CALIBRATIONFREQ_256HZ                                 (RTCCALF_2)
+#define RTC_B_CALIBRATIONFREQ_1HZ                                   (RTCCALF_3)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the offsetDirection parameter
+// for functions: RTC_B_setCalibrationData().
+//
+//*****************************************************************************
+#define RTC_B_CALIBRATION_DOWN2PPM                                 (!(RTCCALS))
+#define RTC_B_CALIBRATION_UP4PPM                                      (RTCCALS)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the formatSelect parameter
+// for functions: RTC_B_initCalendar().
+//
+//*****************************************************************************
+#define RTC_B_FORMAT_BINARY                                         (!(RTCBCD))
+#define RTC_B_FORMAT_BCD                                               (RTCBCD)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: RTC_B_configureCalendarAlarm(), RTC_B_configureCalendarAlarm(),
+// RTC_B_configureCalendarAlarm(), and RTC_B_configureCalendarAlarm().
+//
+//*****************************************************************************
+#define RTC_B_ALARMCONDITION_OFF                                         (0x80)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the eventSelect parameter for
+// functions: RTC_B_setCalendarEvent().
+//
+//*****************************************************************************
+#define RTC_B_CALENDAREVENT_MINUTECHANGE                             (RTCTEV_0)
+#define RTC_B_CALENDAREVENT_HOURCHANGE                               (RTCTEV_1)
+#define RTC_B_CALENDAREVENT_NOON                                     (RTCTEV_2)
+#define RTC_B_CALENDAREVENT_MIDNIGHT                                 (RTCTEV_3)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the prescaleEventDivider
+// parameter for functions: RTC_B_definePrescaleEvent().
+//
+//*****************************************************************************
+#define RTC_B_PSEVENTDIVIDER_2                                        (RT0IP_0)
+#define RTC_B_PSEVENTDIVIDER_4                                        (RT0IP_1)
+#define RTC_B_PSEVENTDIVIDER_8                                        (RT0IP_2)
+#define RTC_B_PSEVENTDIVIDER_16                                       (RT0IP_3)
+#define RTC_B_PSEVENTDIVIDER_32                                       (RT0IP_4)
+#define RTC_B_PSEVENTDIVIDER_64                                       (RT0IP_5)
+#define RTC_B_PSEVENTDIVIDER_128                                      (RT0IP_6)
+#define RTC_B_PSEVENTDIVIDER_256                                      (RT0IP_7)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the prescaleSelect parameter
+// for functions: RTC_B_definePrescaleEvent(), RTC_B_getPrescaleValue(), and
+// RTC_B_setPrescaleValue().
+//
+//*****************************************************************************
+#define RTC_B_PRESCALE_0                                                  (0x0)
+#define RTC_B_PRESCALE_1                                                  (0x2)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the interruptMask parameter
+// for functions: RTC_B_enableInterrupt(), and RTC_B_disableInterrupt(); the
+// interruptFlagMask parameter for functions: RTC_B_getInterruptStatus(), and
+// RTC_B_clearInterrupt() as well as returned by the RTC_B_getInterruptStatus()
+// function.
+//
+//*****************************************************************************
+#define RTC_B_TIME_EVENT_INTERRUPT                                     RTCTEVIE
+#define RTC_B_CLOCK_ALARM_INTERRUPT                                      RTCAIE
+#define RTC_B_CLOCK_READ_READY_INTERRUPT                               RTCRDYIE
+#define RTC_B_PRESCALE_TIMER0_INTERRUPT                                    0x02
+#define RTC_B_PRESCALE_TIMER1_INTERRUPT                                    0x01
+#define RTC_B_OSCILLATOR_FAULT_INTERRUPT                                RTCOFIE
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Starts the RTC.
+//!
+//! This function clears the RTC main hold bit to allow the RTC to function.
+//!
+//! \param baseAddress is the base address of the RTC_B module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_B_startClock(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Holds the RTC.
+//!
+//! This function sets the RTC main hold bit to disable RTC functionality.
+//!
+//! \param baseAddress is the base address of the RTC_B module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_B_holdClock(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Allows and Sets the frequency output to RTCCLK pin for calibration
+//! measurement.
+//!
+//! This function sets a frequency to measure at the RTCCLK output pin. After
+//! testing the set frequency, the calibration could be set accordingly.
+//!
+//! \param baseAddress is the base address of the RTC_B module.
+//! \param frequencySelect is the frequency output to RTCCLK.
+//!        Valid values are:
+//!        - \b RTC_B_CALIBRATIONFREQ_OFF [Default] - turn off calibration
+//!           output
+//!        - \b RTC_B_CALIBRATIONFREQ_512HZ - output signal at 512Hz for
+//!           calibration
+//!        - \b RTC_B_CALIBRATIONFREQ_256HZ - output signal at 256Hz for
+//!           calibration
+//!        - \b RTC_B_CALIBRATIONFREQ_1HZ - output signal at 1Hz for
+//!           calibration
+//!        \n Modified bits are \b RTCCALF of \b RTCCTL3 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_B_setCalibrationFrequency(uint16_t baseAddress,
+                                          uint16_t frequencySelect);
+
+//*****************************************************************************
+//
+//! \brief Sets the specified calibration for the RTC.
+//!
+//! This function sets the calibration offset to make the RTC as accurate as
+//! possible. The offsetDirection can be either +4-ppm or -2-ppm, and the
+//! offsetValue should be from 1-63 and is multiplied by the direction setting
+//! (i.e. +4-ppm * 8 (offsetValue) = +32-ppm). Please note, when measuring the
+//! frequency after setting the calibration, you will only see a change on the
+//! 1Hz frequency.
+//!
+//! \param baseAddress is the base address of the RTC_B module.
+//! \param offsetDirection is the direction that the calibration offset will
+//!        go.
+//!        Valid values are:
+//!        - \b RTC_B_CALIBRATION_DOWN2PPM - calibrate at steps of -2
+//!        - \b RTC_B_CALIBRATION_UP4PPM - calibrate at steps of +4
+//!        \n Modified bits are \b RTCCALS of \b RTCCTL2 register.
+//! \param offsetValue is the value that the offset will be a factor of; a
+//!        valid value is any integer from 1-63.
+//!        \n Modified bits are \b RTCCAL of \b RTCCTL2 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_B_setCalibrationData(uint16_t baseAddress,
+                                     uint8_t offsetDirection,
+                                     uint8_t offsetValue);
+
+//*****************************************************************************
+//
+//! \brief Initializes the settings to operate the RTC in calendar mode
+//!
+//! This function initializes the Calendar mode of the RTC module. To prevent
+//! potential erroneous alarm conditions from occurring, the alarm should be
+//! disabled by clearing the RTCAIE, RTCAIFG and AE bits with APIs:
+//! RTC_B_disableInterrupt(), RTC_B_clearInterrupt() and
+//! RTC_B_configureCalendarAlarm() before calendar initialization.
+//!
+//! \param baseAddress is the base address of the RTC_B module.
+//! \param CalendarTime is the pointer to the structure containing the values
+//!        for the Calendar to be initialized to. Valid values should be of
+//!        type pointer to Calendar and should contain the following members
+//!        and corresponding values: \n\b Seconds between 0-59 \n\b Minutes
+//!        between 0-59 \n\b Hours between 0-23 \n\b DayOfWeek between 0-6 \n\b
+//!        DayOfMonth between 1-31 \n\b Month between 1-12 \n\b Year between
+//!        0-4095 \n\b NOTE: Values beyond the ones specified may result in
+//!        erratic behavior.
+//! \param formatSelect is the format for the Calendar registers to use.
+//!        Valid values are:
+//!        - \b RTC_B_FORMAT_BINARY [Default]
+//!        - \b RTC_B_FORMAT_BCD
+//!        \n Modified bits are \b RTCBCD of \b RTCCTL1 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_B_initCalendar(uint16_t baseAddress,
+                               Calendar *CalendarTime,
+                               uint16_t formatSelect);
+
+//*****************************************************************************
+//
+//! \brief Returns the Calendar Time stored in the Calendar registers of the
+//! RTC.
+//!
+//! This function returns the current Calendar time in the form of a Calendar
+//! structure. The RTCRDY polling is used in this function to prevent reading
+//! invalid time.
+//!
+//! \param baseAddress is the base address of the RTC_B module.
+//!
+//! \return A Calendar structure containing the current time.
+//
+//*****************************************************************************
+extern Calendar RTC_B_getCalendarTime(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Sets and Enables the desired Calendar Alarm settings.
+//!
+//! This function sets a Calendar interrupt condition to assert the RTCAIFG
+//! interrupt flag. The condition is a logical and of all of the parameters.
+//! For example if the minutes and hours alarm is set, then the interrupt will
+//! only assert when the minutes AND the hours change to the specified setting.
+//! Use the RTC_B_ALARM_OFF for any alarm settings that should not be apart of
+//! the alarm condition.
+//!
+//! \param baseAddress is the base address of the RTC_B module.
+//! \param param is the pointer to struct for calendar alarm configuration.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_B_configureCalendarAlarm(uint16_t baseAddress,
+                                         RTC_B_configureCalendarAlarmParam *param);
+
+//*****************************************************************************
+//
+//! \brief Sets a single specified Calendar interrupt condition
+//!
+//! This function sets a specified event to assert the RTCTEVIFG interrupt.
+//! This interrupt is independent from the Calendar alarm interrupt.
+//!
+//! \param baseAddress is the base address of the RTC_B module.
+//! \param eventSelect is the condition selected.
+//!        Valid values are:
+//!        - \b RTC_B_CALENDAREVENT_MINUTECHANGE - assert interrupt on every
+//!           minute
+//!        - \b RTC_B_CALENDAREVENT_HOURCHANGE - assert interrupt on every hour
+//!        - \b RTC_B_CALENDAREVENT_NOON - assert interrupt when hour is 12
+//!        - \b RTC_B_CALENDAREVENT_MIDNIGHT - assert interrupt when hour is 0
+//!        \n Modified bits are \b RTCTEV of \b RTCCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_B_setCalendarEvent(uint16_t baseAddress,
+                                   uint16_t eventSelect);
+
+//*****************************************************************************
+//
+//! \brief Sets up an interrupt condition for the selected Prescaler.
+//!
+//! This function sets the condition for an interrupt to assert based on the
+//! individual prescalers.
+//!
+//! \param baseAddress is the base address of the RTC_B module.
+//! \param prescaleSelect is the prescaler to define an interrupt for.
+//!        Valid values are:
+//!        - \b RTC_B_PRESCALE_0
+//!        - \b RTC_B_PRESCALE_1
+//! \param prescaleEventDivider is a divider to specify when an interrupt can
+//!        occur based on the clock source of the selected prescaler. (Does not
+//!        affect timer of the selected prescaler).
+//!        Valid values are:
+//!        - \b RTC_B_PSEVENTDIVIDER_2 [Default]
+//!        - \b RTC_B_PSEVENTDIVIDER_4
+//!        - \b RTC_B_PSEVENTDIVIDER_8
+//!        - \b RTC_B_PSEVENTDIVIDER_16
+//!        - \b RTC_B_PSEVENTDIVIDER_32
+//!        - \b RTC_B_PSEVENTDIVIDER_64
+//!        - \b RTC_B_PSEVENTDIVIDER_128
+//!        - \b RTC_B_PSEVENTDIVIDER_256
+//!        \n Modified bits are \b RTxIP of \b RTCPSxCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_B_definePrescaleEvent(uint16_t baseAddress,
+                                      uint8_t prescaleSelect,
+                                      uint8_t prescaleEventDivider);
+
+//*****************************************************************************
+//
+//! \brief Returns the selected prescaler value.
+//!
+//! This function returns the value of the selected prescale counter register.
+//! Note that the counter value should be held by calling RTC_B_holdClock()
+//! before calling this API.
+//!
+//! \param baseAddress is the base address of the RTC_B module.
+//! \param prescaleSelect is the prescaler to obtain the value of.
+//!        Valid values are:
+//!        - \b RTC_B_PRESCALE_0
+//!        - \b RTC_B_PRESCALE_1
+//!
+//! \return The value of the specified prescaler count register
+//
+//*****************************************************************************
+extern uint8_t RTC_B_getPrescaleValue(uint16_t baseAddress,
+                                      uint8_t prescaleSelect);
+
+//*****************************************************************************
+//
+//! \brief Sets the selected prescaler value.
+//!
+//! This function sets the prescale counter value. Before setting the prescale
+//! counter, it should be held by calling RTC_B_holdClock().
+//!
+//! \param baseAddress is the base address of the RTC_B module.
+//! \param prescaleSelect is the prescaler to set the value for.
+//!        Valid values are:
+//!        - \b RTC_B_PRESCALE_0
+//!        - \b RTC_B_PRESCALE_1
+//! \param prescaleCounterValue is the specified value to set the prescaler to.
+//!        Valid values are any integer between 0-255
+//!        \n Modified bits are \b RTxPS of \b RTxPS register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_B_setPrescaleValue(uint16_t baseAddress,
+                                   uint8_t prescaleSelect,
+                                   uint8_t prescaleCounterValue);
+
+//*****************************************************************************
+//
+//! \brief Enables selected RTC interrupt sources.
+//!
+//! This function enables the selected RTC interrupt source.  Only the sources
+//! that are enabled can be reflected to the processor interrupt; disabled
+//! sources have no effect on the processor. Does not clear interrupt flags.
+//!
+//! \param baseAddress is the base address of the RTC_B module.
+//! \param interruptMask is a bit mask of the interrupts to enable.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b RTC_B_TIME_EVENT_INTERRUPT - asserts when counter overflows in
+//!           counter mode or when Calendar event condition defined by
+//!           defineCalendarEvent() is met.
+//!        - \b RTC_B_CLOCK_ALARM_INTERRUPT - asserts when alarm condition in
+//!           Calendar mode is met.
+//!        - \b RTC_B_CLOCK_READ_READY_INTERRUPT - asserts when Calendar
+//!           registers are settled.
+//!        - \b RTC_B_PRESCALE_TIMER0_INTERRUPT - asserts when Prescaler 0
+//!           event condition is met.
+//!        - \b RTC_B_PRESCALE_TIMER1_INTERRUPT - asserts when Prescaler 1
+//!           event condition is met.
+//!        - \b RTC_B_OSCILLATOR_FAULT_INTERRUPT - asserts if there is a
+//!           problem with the 32kHz oscillator, while the RTC is running.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_B_enableInterrupt(uint16_t baseAddress,
+                                  uint8_t interruptMask);
+
+//*****************************************************************************
+//
+//! \brief Disables selected RTC interrupt sources.
+//!
+//! This function disables the selected RTC interrupt source. Only the sources
+//! that are enabled can be reflected to the processor interrupt; disabled
+//! sources have no effect on the processor.
+//!
+//! \param baseAddress is the base address of the RTC_B module.
+//! \param interruptMask is a bit mask of the interrupts to disable.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b RTC_B_TIME_EVENT_INTERRUPT - asserts when counter overflows in
+//!           counter mode or when Calendar event condition defined by
+//!           defineCalendarEvent() is met.
+//!        - \b RTC_B_CLOCK_ALARM_INTERRUPT - asserts when alarm condition in
+//!           Calendar mode is met.
+//!        - \b RTC_B_CLOCK_READ_READY_INTERRUPT - asserts when Calendar
+//!           registers are settled.
+//!        - \b RTC_B_PRESCALE_TIMER0_INTERRUPT - asserts when Prescaler 0
+//!           event condition is met.
+//!        - \b RTC_B_PRESCALE_TIMER1_INTERRUPT - asserts when Prescaler 1
+//!           event condition is met.
+//!        - \b RTC_B_OSCILLATOR_FAULT_INTERRUPT - asserts if there is a
+//!           problem with the 32kHz oscillator, while the RTC is running.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_B_disableInterrupt(uint16_t baseAddress,
+                                   uint8_t interruptMask);
+
+//*****************************************************************************
+//
+//! \brief Returns the status of the selected interrupts flags.
+//!
+//! This function returns the status of the interrupt flag for the selected
+//! channel.
+//!
+//! \param baseAddress is the base address of the RTC_B module.
+//! \param interruptFlagMask is a bit mask of the interrupt flags to return the
+//!        status of.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b RTC_B_TIME_EVENT_INTERRUPT - asserts when counter overflows in
+//!           counter mode or when Calendar event condition defined by
+//!           defineCalendarEvent() is met.
+//!        - \b RTC_B_CLOCK_ALARM_INTERRUPT - asserts when alarm condition in
+//!           Calendar mode is met.
+//!        - \b RTC_B_CLOCK_READ_READY_INTERRUPT - asserts when Calendar
+//!           registers are settled.
+//!        - \b RTC_B_PRESCALE_TIMER0_INTERRUPT - asserts when Prescaler 0
+//!           event condition is met.
+//!        - \b RTC_B_PRESCALE_TIMER1_INTERRUPT - asserts when Prescaler 1
+//!           event condition is met.
+//!        - \b RTC_B_OSCILLATOR_FAULT_INTERRUPT - asserts if there is a
+//!           problem with the 32kHz oscillator, while the RTC is running.
+//!
+//! \return Logical OR of any of the following:
+//!         - \b RTC_B_TIME_EVENT_INTERRUPT asserts when counter overflows in
+//!         counter mode or when Calendar event condition defined by
+//!         defineCalendarEvent() is met.
+//!         - \b RTC_B_CLOCK_ALARM_INTERRUPT asserts when alarm condition in
+//!         Calendar mode is met.
+//!         - \b RTC_B_CLOCK_READ_READY_INTERRUPT asserts when Calendar
+//!         registers are settled.
+//!         - \b RTC_B_PRESCALE_TIMER0_INTERRUPT asserts when Prescaler 0 event
+//!         condition is met.
+//!         - \b RTC_B_PRESCALE_TIMER1_INTERRUPT asserts when Prescaler 1 event
+//!         condition is met.
+//!         - \b RTC_B_OSCILLATOR_FAULT_INTERRUPT asserts if there is a problem
+//!         with the 32kHz oscillator, while the RTC is running.
+//!         \n indicating the status of the masked interrupts
+//
+//*****************************************************************************
+extern uint8_t RTC_B_getInterruptStatus(uint16_t baseAddress,
+                                        uint8_t interruptFlagMask);
+
+//*****************************************************************************
+//
+//! \brief Clears selected RTC interrupt flags.
+//!
+//! This function clears the RTC interrupt flag is cleared, so that it no
+//! longer asserts.
+//!
+//! \param baseAddress is the base address of the RTC_B module.
+//! \param interruptFlagMask is a bit mask of the interrupt flags to be
+//!        cleared.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b RTC_B_TIME_EVENT_INTERRUPT - asserts when counter overflows in
+//!           counter mode or when Calendar event condition defined by
+//!           defineCalendarEvent() is met.
+//!        - \b RTC_B_CLOCK_ALARM_INTERRUPT - asserts when alarm condition in
+//!           Calendar mode is met.
+//!        - \b RTC_B_CLOCK_READ_READY_INTERRUPT - asserts when Calendar
+//!           registers are settled.
+//!        - \b RTC_B_PRESCALE_TIMER0_INTERRUPT - asserts when Prescaler 0
+//!           event condition is met.
+//!        - \b RTC_B_PRESCALE_TIMER1_INTERRUPT - asserts when Prescaler 1
+//!           event condition is met.
+//!        - \b RTC_B_OSCILLATOR_FAULT_INTERRUPT - asserts if there is a
+//!           problem with the 32kHz oscillator, while the RTC is running.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_B_clearInterrupt(uint16_t baseAddress,
+                                 uint8_t interruptFlagMask);
+
+//*****************************************************************************
+//
+//! \brief Convert the given BCD value to binary format
+//!
+//! This function converts BCD values to binary format. This API uses the
+//! hardware registers to perform the conversion rather than a software method.
+//!
+//! \param baseAddress is the base address of the RTC_B module.
+//! \param valueToConvert is the raw value in BCD format to convert to Binary.
+//!        \n Modified bits are \b BCD2BIN of \b BCD2BIN register.
+//!
+//! \return The binary version of the input parameter
+//
+//*****************************************************************************
+extern uint16_t RTC_B_convertBCDToBinary(uint16_t baseAddress,
+                                         uint16_t valueToConvert);
+
+//*****************************************************************************
+//
+//! \brief Convert the given binary value to BCD format
+//!
+//! This function converts binary values to BCD format. This API uses the
+//! hardware registers to perform the conversion rather than a software method.
+//!
+//! \param baseAddress is the base address of the RTC_B module.
+//! \param valueToConvert is the raw value in Binary format to convert to BCD.
+//!        \n Modified bits are \b BIN2BCD of \b BIN2BCD register.
+//!
+//! \return The BCD version of the valueToConvert parameter
+//
+//*****************************************************************************
+extern uint16_t RTC_B_convertBinaryToBCD(uint16_t baseAddress,
+                                         uint16_t valueToConvert);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_RTC_B_H__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/rtc_c.c b/Apps/FlightSoftware/MotorControl/driverlib/rtc_c.c
new file mode 100644
index 000000000..690a028a4
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/rtc_c.c
@@ -0,0 +1,376 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// rtc_c.c - Driver for the rtc_c Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup rtc_c_api rtc_c
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_RTC_C__
+#include "rtc_c.h"
+
+#include <assert.h>
+
+void RTC_C_startClock (uint16_t baseAddress)
+{
+    HWREG8(baseAddress + OFS_RTCCTL0_H) = RTCKEY_H;
+    HWREG8(baseAddress + OFS_RTCCTL13_L) &= ~(RTCHOLD);
+    HWREG8(baseAddress + OFS_RTCCTL0_H) = 0x00;
+}
+
+void RTC_C_holdClock (uint16_t baseAddress)
+{
+    HWREG8(baseAddress + OFS_RTCCTL0_H) = RTCKEY_H;
+    HWREG8(baseAddress + OFS_RTCCTL13_L) |= RTCHOLD;
+    HWREG8(baseAddress + OFS_RTCCTL0_H) = 0x00;
+}
+
+void RTC_C_setCalibrationFrequency (uint16_t baseAddress,
+    uint16_t frequencySelect)
+{
+    HWREG8(baseAddress + OFS_RTCCTL0_H) = RTCKEY_H;
+    HWREG16(baseAddress + OFS_RTCCTL13) &= ~(RTCCALF_3);
+    HWREG16(baseAddress + OFS_RTCCTL13) |= frequencySelect;
+    HWREG8(baseAddress + OFS_RTCCTL0_H) = 0x00;
+}
+
+void RTC_C_setCalibrationData (uint16_t baseAddress,
+    uint8_t offsetDirection,
+    uint8_t offsetValue)
+{
+    HWREG8(baseAddress + OFS_RTCCTL0_H) = RTCKEY_H;
+    HWREG16(baseAddress + OFS_RTCOCAL) = offsetValue + offsetDirection;
+    HWREG8(baseAddress + OFS_RTCCTL0_H) = 0x00;
+}
+
+void RTC_C_initCounter (uint16_t baseAddress,
+    uint16_t clockSelect,
+    uint16_t counterSizeSelect)
+{
+    HWREG8(baseAddress + OFS_RTCCTL0_H) = RTCKEY_H;
+
+    HWREG8(baseAddress + OFS_RTCCTL13) |= RTCHOLD;
+    HWREG8(baseAddress + OFS_RTCCTL13) &= ~(RTCMODE);
+
+    HWREG16(baseAddress + OFS_RTCCTL13) &= ~(RTCSSEL_3 | RTCTEV_3 );
+    HWREG16(baseAddress + OFS_RTCCTL13) |= clockSelect + counterSizeSelect;
+
+    HWREG8(baseAddress + OFS_RTCCTL0_H) = 0x00;
+}
+
+bool RTC_C_setTemperatureCompensation(uint16_t baseAddress,
+    uint16_t offsetDirection,
+    uint8_t offsetValue)
+{
+
+    while(!(HWREG8(baseAddress + OFS_RTCTCMP_H) & RTCTCRDY_H));
+
+    HWREG16(baseAddress + OFS_RTCTCMP) = offsetValue + offsetDirection;
+
+    if(HWREG8(baseAddress + OFS_RTCTCMP_H) & RTCTCOK_H) {
+        return STATUS_SUCCESS;
+    } else {
+        return STATUS_FAIL;
+    }
+}
+
+void RTC_C_initCalendar (uint16_t baseAddress,
+    Calendar *CalendarTime,
+    uint16_t formatSelect)
+{
+
+    HWREG8(baseAddress + OFS_RTCCTL0_H) = RTCKEY_H;
+
+    HWREG8(baseAddress + OFS_RTCCTL13_L) |= RTCHOLD;
+
+    HWREG16(baseAddress + OFS_RTCCTL13_L) &= ~(RTCBCD);
+    HWREG16(baseAddress + OFS_RTCCTL13_L) |= formatSelect;
+
+    HWREG8(baseAddress + OFS_RTCTIM0_L) = CalendarTime->Seconds;
+    HWREG8(baseAddress + OFS_RTCTIM0_H) = CalendarTime->Minutes;
+    HWREG8(baseAddress + OFS_RTCTIM1_L) = CalendarTime->Hours;
+    HWREG8(baseAddress + OFS_RTCTIM1_H) = CalendarTime->DayOfWeek;
+    HWREG8(baseAddress + OFS_RTCDATE_L) = CalendarTime->DayOfMonth;
+    HWREG8(baseAddress + OFS_RTCDATE_H) = CalendarTime->Month;
+    HWREG16(baseAddress + OFS_RTCYEAR) = CalendarTime->Year;
+
+    HWREG8(baseAddress + OFS_RTCCTL0_H) = 0x00;
+}
+
+Calendar RTC_C_getCalendarTime (uint16_t baseAddress)
+{
+    Calendar tempCal;
+
+    while ( !(HWREG8(baseAddress + OFS_RTCCTL13_L) & RTCRDY) ) ;
+
+    tempCal.Seconds    = HWREG8(baseAddress + OFS_RTCTIM0_L);
+    tempCal.Minutes    = HWREG8(baseAddress + OFS_RTCTIM0_H);
+    tempCal.Hours      = HWREG8(baseAddress + OFS_RTCTIM1_L);
+    tempCal.DayOfWeek  = HWREG8(baseAddress + OFS_RTCTIM1_H);
+    tempCal.DayOfMonth = HWREG8(baseAddress + OFS_RTCDATE_L);
+    tempCal.Month      = HWREG8(baseAddress + OFS_RTCDATE_H);
+    tempCal.Year       = HWREG16(baseAddress + OFS_RTCYEAR);
+
+    return ( tempCal) ;
+}
+
+void RTC_C_configureCalendarAlarm(uint16_t baseAddress,
+    RTC_C_configureCalendarAlarmParam *param)
+{
+    //Each of these is XORed with 0x80 to turn on if an integer is passed,
+    //or turn OFF if RTC_C_ALARM_OFF (0x80) is passed.
+    HWREG8(baseAddress + OFS_RTCAMINHR_L) = (param->minutesAlarm ^ 0x80);
+    HWREG8(baseAddress + OFS_RTCAMINHR_H) = (param->hoursAlarm ^ 0x80);
+    HWREG8(baseAddress + OFS_RTCADOWDAY_L) = (param->dayOfWeekAlarm ^ 0x80);
+    HWREG8(baseAddress + OFS_RTCADOWDAY_H) = (param->dayOfMonthAlarm ^ 0x80);
+}
+void RTC_C_setCalendarEvent (uint16_t baseAddress,
+    uint16_t eventSelect)
+{
+    HWREG8(baseAddress + OFS_RTCCTL0_H) = RTCKEY_H;
+    HWREG8(baseAddress + OFS_RTCCTL13_L) &= ~(RTCTEV_3); //Reset bits
+    HWREG8(baseAddress + OFS_RTCCTL13_L) |= eventSelect;
+    HWREG8(baseAddress + OFS_RTCCTL0_H) = 0x00;
+}
+
+uint32_t RTC_C_getCounterValue (uint16_t baseAddress)
+{
+    if ( (HWREG8(baseAddress + OFS_RTCCTL13) & RTCHOLD)
+         || (HWREG8(baseAddress + OFS_RTCPS1CTL) & RT1PSHOLD) ){
+        return ( 0) ;
+    }
+
+    uint32_t counterValue_L = HWREG16(baseAddress + OFS_RTCTIM0);
+    uint32_t counterValue_H = HWREG16(baseAddress + OFS_RTCTIM1);
+    return ( (counterValue_H << 16) + counterValue_L );
+}
+
+void RTC_C_setCounterValue (uint16_t baseAddress,
+    uint32_t counterValue)
+{
+    uint16_t mode = HWREG16(baseAddress + OFS_RTCCTL13) & RTCTEV_3;
+
+    if(mode == RTC_C_COUNTERSIZE_8BIT && counterValue > UINT8_MAX)
+        counterValue = UINT8_MAX;
+    else if(mode == RTC_C_COUNTERSIZE_16BIT && counterValue > UINT16_MAX)
+        counterValue = UINT16_MAX;
+    else if(mode == RTC_C_COUNTERSIZE_24BIT && counterValue > 0xFFFFFF)
+        counterValue = 0xFFFFFF;
+
+    HWREG16(baseAddress + OFS_RTCTIM0) = counterValue;
+    HWREG16(baseAddress + OFS_RTCTIM1) = ( counterValue >> 16 );
+}
+
+void RTC_C_initCounterPrescale (uint16_t baseAddress,
+    uint8_t prescaleSelect,
+    uint16_t prescaleClockSelect,
+    uint16_t prescaleDivider)
+{
+    HWREG8(baseAddress + OFS_RTCCTL0_H) = RTCKEY_H;
+
+    //Reset bits and set clock select
+    HWREG16(baseAddress + OFS_RTCPS0CTL + prescaleSelect) =
+        prescaleClockSelect + prescaleDivider;
+
+    HWREG8(baseAddress + OFS_RTCCTL0_H) = 0x00;
+}
+
+void RTC_C_holdCounterPrescale (uint16_t baseAddress,
+    uint8_t prescaleSelect)
+{
+    HWREG8(baseAddress + OFS_RTCPS0CTL_H + prescaleSelect) |= RT0PSHOLD_H;
+}
+
+void RTC_C_startCounterPrescale (uint16_t baseAddress,
+    uint8_t prescaleSelect)
+{
+    HWREG8(baseAddress + OFS_RTCPS0CTL_H + prescaleSelect) &= ~(RT0PSHOLD_H);
+}
+
+void RTC_C_definePrescaleEvent (uint16_t baseAddress,
+    uint8_t prescaleSelect,
+    uint8_t prescaleEventDivider)
+{
+    HWREG8(baseAddress + OFS_RTCPS0CTL_L + prescaleSelect) &= ~(RT0IP_7);
+    HWREG8(baseAddress + OFS_RTCPS0CTL_L +
+        prescaleSelect) |= prescaleEventDivider;
+}
+
+uint8_t RTC_C_getPrescaleValue (uint16_t baseAddress,
+    uint8_t prescaleSelect)
+{
+    if (RTC_C_PRESCALE_0 == prescaleSelect){
+        return ( HWREG8(baseAddress + OFS_RTCPS_L) );
+    } else if (RTC_C_PRESCALE_1 == prescaleSelect){
+        return ( HWREG8(baseAddress + OFS_RTCPS_H) );
+    } else   {
+        return ( 0) ;
+    }
+}
+
+void RTC_C_setPrescaleValue(uint16_t baseAddress,
+    uint8_t prescaleSelect,
+    uint8_t prescaleCounterValue)
+{
+    HWREG8(baseAddress + OFS_RTCCTL0_H) = RTCKEY_H;
+    if (RTC_C_PRESCALE_0 == prescaleSelect){
+        HWREG8(baseAddress + OFS_RTCPS_L) = prescaleCounterValue;
+    } else if (RTC_C_PRESCALE_1 == prescaleSelect){
+        HWREG8(baseAddress + OFS_RTCPS_H) = prescaleCounterValue;
+    }
+    HWREG8(baseAddress + OFS_RTCCTL0_H) = 0x00;
+}
+
+void RTC_C_enableInterrupt (uint16_t baseAddress,
+    uint8_t interruptMask)
+{
+    if ( interruptMask & (RTCOFIE + RTCTEVIE + RTCAIE + RTCRDYIE) ){
+        HWREG8(baseAddress + OFS_RTCCTL0_H) = RTCKEY_H;
+        HWREG8(baseAddress + OFS_RTCCTL0_L) |=
+            (interruptMask & (RTCOFIE + RTCTEVIE + RTCAIE + RTCRDYIE));
+        HWREG8(baseAddress + OFS_RTCCTL0_H) = 0x00;
+    }
+
+    if (interruptMask & RTC_C_PRESCALE_TIMER0_INTERRUPT){
+        HWREG8(baseAddress + OFS_RTCPS0CTL_L) |= RT0PSIE;
+    }
+
+    if (interruptMask & RTC_C_PRESCALE_TIMER1_INTERRUPT){
+        HWREG8(baseAddress + OFS_RTCPS1CTL_L) |= RT1PSIE;
+    }
+}
+
+void RTC_C_disableInterrupt (uint16_t baseAddress,
+    uint8_t interruptMask)
+{
+
+    if ( interruptMask & (RTCOFIE + RTCTEVIE + RTCAIE + RTCRDYIE) ){
+        HWREG8(baseAddress + OFS_RTCCTL0_H) = RTCKEY_H;
+        HWREG8(baseAddress + OFS_RTCCTL0_L) &=
+            ~(interruptMask & (RTCOFIE + RTCTEVIE + RTCAIE + RTCRDYIE));
+        HWREG8(baseAddress + OFS_RTCCTL0_H) = 0x00;
+    }
+
+    if (interruptMask & RTC_C_PRESCALE_TIMER0_INTERRUPT){
+        HWREG8(baseAddress + OFS_RTCPS0CTL_L) &= ~(RT0PSIE);
+    }
+
+    if (interruptMask & RTC_C_PRESCALE_TIMER1_INTERRUPT){
+        HWREG8(baseAddress + OFS_RTCPS1CTL_L) &= ~(RT1PSIE);
+    }
+}
+
+uint8_t RTC_C_getInterruptStatus (uint16_t baseAddress,
+    uint8_t interruptFlagMask)
+{
+    uint8_t tempInterruptFlagMask = 0x0000;
+
+    tempInterruptFlagMask |= (HWREG8(baseAddress + OFS_RTCCTL0_L)
+                              & ((interruptFlagMask >> 4)
+                                 & (RTCOFIFG +
+                                    RTCTEVIFG +
+                                    RTCAIFG +
+                                    RTCRDYIFG)));
+
+    tempInterruptFlagMask = tempInterruptFlagMask << 4;
+
+    if (interruptFlagMask & RTC_C_PRESCALE_TIMER0_INTERRUPT){
+        if ( HWREG8(baseAddress + OFS_RTCPS0CTL_L) & RT0PSIFG){
+            tempInterruptFlagMask |= RTC_C_PRESCALE_TIMER0_INTERRUPT;
+        }
+    }
+
+    if (interruptFlagMask & RTC_C_PRESCALE_TIMER1_INTERRUPT){
+        if ( HWREG8(baseAddress + OFS_RTCPS1CTL_L) & RT1PSIFG){
+            tempInterruptFlagMask |= RTC_C_PRESCALE_TIMER1_INTERRUPT;
+        }
+    }
+
+    return ( tempInterruptFlagMask) ;
+}
+
+void RTC_C_clearInterrupt (uint16_t baseAddress,
+    uint8_t interruptFlagMask)
+{
+
+    if ( interruptFlagMask & (RTC_C_TIME_EVENT_INTERRUPT +
+                              RTC_C_CLOCK_ALARM_INTERRUPT +
+                              RTC_C_CLOCK_READ_READY_INTERRUPT +
+                              RTC_C_OSCILLATOR_FAULT_INTERRUPT) ){
+        HWREG8(baseAddress + OFS_RTCCTL0_H) = RTCKEY_H;
+        HWREG8(baseAddress + OFS_RTCCTL0_L) &=
+            ~((interruptFlagMask>>4) & (RTCOFIFG +
+                                        RTCTEVIFG +
+                                        RTCAIFG +
+                                        RTCRDYIFG));
+        HWREG8(baseAddress + OFS_RTCCTL0_H) = 0x00;
+    }
+
+    if (interruptFlagMask & RTC_C_PRESCALE_TIMER0_INTERRUPT){
+        HWREG8(baseAddress + OFS_RTCPS0CTL_L) &= ~(RT0PSIFG);
+    }
+
+    if (interruptFlagMask & RTC_C_PRESCALE_TIMER1_INTERRUPT){
+        HWREG8(baseAddress + OFS_RTCPS1CTL_L) &= ~(RT1PSIFG);
+    }
+}
+
+uint16_t RTC_C_convertBCDToBinary (uint16_t baseAddress,
+    uint16_t valueToConvert)
+{
+    HWREG16(baseAddress + OFS_BCD2BIN) = valueToConvert;
+    return ( HWREG16(baseAddress + OFS_BCD2BIN) );
+}
+
+uint16_t RTC_C_convertBinaryToBCD (uint16_t baseAddress,
+    uint16_t valueToConvert)
+{
+    HWREG16(baseAddress + OFS_BIN2BCD) = valueToConvert;
+    return ( HWREG16(baseAddress + OFS_BIN2BCD) );
+}
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for rtc_c_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/rtc_c.h b/Apps/FlightSoftware/MotorControl/driverlib/rtc_c.h
new file mode 100644
index 000000000..5d2ff4711
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/rtc_c.h
@@ -0,0 +1,856 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// rtc_c.h - Driver for the RTC_C Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_RTC_C_H__
+#define __MSP430WARE_RTC_C_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_RTC_C__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "inc/hw_memmap.h"
+//*****************************************************************************
+//
+//! \brief Used in the RTC_C_initCalendar() function as the CalendarTime
+//! parameter.
+//
+//*****************************************************************************
+typedef struct Calendar {
+    //! Seconds of minute between 0-59
+    uint8_t Seconds;
+    //! Minutes of hour between 0-59
+    uint8_t Minutes;
+    //! Hour of day between 0-23
+    uint8_t Hours;
+    //! Day of week between 0-6
+    uint8_t DayOfWeek;
+    //! Day of month between 1-31
+    uint8_t DayOfMonth;
+    //! Month between 1-12
+    uint8_t Month;
+    //! Year between 0-4095
+    uint16_t Year;
+} Calendar;
+
+//*****************************************************************************
+//
+//! \brief Used in the RTC_C_configureCalendarAlarm() function as the param
+//! parameter.
+//
+//*****************************************************************************
+typedef struct RTC_C_configureCalendarAlarmParam {
+    //! Is the alarm condition for the minutes.
+    //! \n Valid values are:
+    //! - \b RTC_C_ALARMCONDITION_OFF [Default]
+    uint8_t minutesAlarm;
+    //! Is the alarm condition for the hours.
+    //! \n Valid values are:
+    //! - \b RTC_C_ALARMCONDITION_OFF [Default]
+    uint8_t hoursAlarm;
+    //! Is the alarm condition for the day of week.
+    //! \n Valid values are:
+    //! - \b RTC_C_ALARMCONDITION_OFF [Default]
+    uint8_t dayOfWeekAlarm;
+    //! Is the alarm condition for the day of the month.
+    //! \n Valid values are:
+    //! - \b RTC_C_ALARMCONDITION_OFF [Default]
+    uint8_t dayOfMonthAlarm;
+} RTC_C_configureCalendarAlarmParam;
+
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the frequencySelect parameter
+// for functions: RTC_C_setCalibrationFrequency().
+//
+//*****************************************************************************
+#define RTC_C_CALIBRATIONFREQ_OFF                                   (RTCCALF_0)
+#define RTC_C_CALIBRATIONFREQ_512HZ                                 (RTCCALF_1)
+#define RTC_C_CALIBRATIONFREQ_256HZ                                 (RTCCALF_2)
+#define RTC_C_CALIBRATIONFREQ_1HZ                                   (RTCCALF_3)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the offsetDirection parameter
+// for functions: RTC_C_setCalibrationData().
+//
+//*****************************************************************************
+#define RTC_C_CALIBRATION_DOWN1PPM                                 (!(RTCCALS))
+#define RTC_C_CALIBRATION_UP1PPM                                      (RTCCALS)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the offsetDirection parameter
+// for functions: RTC_C_setTemperatureCompensation().
+//
+//*****************************************************************************
+#define RTC_C_COMPENSATION_DOWN1PPM                               (!(RTCTCMPS))
+#define RTC_C_COMPENSATION_UP1PPM                                    (RTCTCMPS)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the clockSelect parameter for
+// functions: RTC_C_initCounter().
+//
+//*****************************************************************************
+#define RTC_C_CLOCKSELECT_32KHZ_OSC                                 (RTCSSEL_0)
+#define RTC_C_CLOCKSELECT_RT1PS                                     (RTCSSEL_2)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the counterSizeSelect
+// parameter for functions: RTC_C_initCounter().
+//
+//*****************************************************************************
+#define RTC_C_COUNTERSIZE_8BIT                                       (RTCTEV_0)
+#define RTC_C_COUNTERSIZE_16BIT                                      (RTCTEV_1)
+#define RTC_C_COUNTERSIZE_24BIT                                      (RTCTEV_2)
+#define RTC_C_COUNTERSIZE_32BIT                                      (RTCTEV_3)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the formatSelect parameter
+// for functions: RTC_C_initCalendar().
+//
+//*****************************************************************************
+#define RTC_C_FORMAT_BINARY                                         (!(RTCBCD))
+#define RTC_C_FORMAT_BCD                                               (RTCBCD)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: RTC_C_configureCalendarAlarm(), RTC_C_configureCalendarAlarm(),
+// RTC_C_configureCalendarAlarm(), and RTC_C_configureCalendarAlarm().
+//
+//*****************************************************************************
+#define RTC_C_ALARMCONDITION_OFF                                         (0x80)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the eventSelect parameter for
+// functions: RTC_C_setCalendarEvent().
+//
+//*****************************************************************************
+#define RTC_C_CALENDAREVENT_MINUTECHANGE                             (RTCTEV_0)
+#define RTC_C_CALENDAREVENT_HOURCHANGE                               (RTCTEV_1)
+#define RTC_C_CALENDAREVENT_NOON                                     (RTCTEV_2)
+#define RTC_C_CALENDAREVENT_MIDNIGHT                                 (RTCTEV_3)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the prescaleDivider parameter
+// for functions: RTC_C_initCounterPrescale().
+//
+//*****************************************************************************
+#define RTC_C_PSDIVIDER_2                                          (RT0PSDIV_0)
+#define RTC_C_PSDIVIDER_4                                          (RT0PSDIV_1)
+#define RTC_C_PSDIVIDER_8                                          (RT0PSDIV_2)
+#define RTC_C_PSDIVIDER_16                                         (RT0PSDIV_3)
+#define RTC_C_PSDIVIDER_32                                         (RT0PSDIV_4)
+#define RTC_C_PSDIVIDER_64                                         (RT0PSDIV_5)
+#define RTC_C_PSDIVIDER_128                                        (RT0PSDIV_6)
+#define RTC_C_PSDIVIDER_256                                        (RT0PSDIV_7)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the prescaleClockSelect
+// parameter for functions: RTC_C_initCounterPrescale().
+//
+//*****************************************************************************
+#define RTC_C_PSCLOCKSELECT_ACLK                                    (RT1SSEL_0)
+#define RTC_C_PSCLOCKSELECT_SMCLK                                   (RT1SSEL_1)
+#define RTC_C_PSCLOCKSELECT_RT0PS                                   (RT1SSEL_2)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the prescaleEventDivider
+// parameter for functions: RTC_C_definePrescaleEvent().
+//
+//*****************************************************************************
+#define RTC_C_PSEVENTDIVIDER_2                                        (RT0IP_0)
+#define RTC_C_PSEVENTDIVIDER_4                                        (RT0IP_1)
+#define RTC_C_PSEVENTDIVIDER_8                                        (RT0IP_2)
+#define RTC_C_PSEVENTDIVIDER_16                                       (RT0IP_3)
+#define RTC_C_PSEVENTDIVIDER_32                                       (RT0IP_4)
+#define RTC_C_PSEVENTDIVIDER_64                                       (RT0IP_5)
+#define RTC_C_PSEVENTDIVIDER_128                                      (RT0IP_6)
+#define RTC_C_PSEVENTDIVIDER_256                                      (RT0IP_7)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the prescaleSelect parameter
+// for functions: RTC_C_initCounterPrescale(), RTC_C_holdCounterPrescale(),
+// RTC_C_startCounterPrescale(), RTC_C_definePrescaleEvent(),
+// RTC_C_getPrescaleValue(), and RTC_C_setPrescaleValue().
+//
+//*****************************************************************************
+#define RTC_C_PRESCALE_0                                                  (0x0)
+#define RTC_C_PRESCALE_1                                                  (0x2)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the interruptMask parameter
+// for functions: RTC_C_enableInterrupt(), and RTC_C_disableInterrupt(); the
+// interruptFlagMask parameter for functions: RTC_C_getInterruptStatus(), and
+// RTC_C_clearInterrupt() as well as returned by the RTC_C_getInterruptStatus()
+// function.
+//
+//*****************************************************************************
+#define RTC_C_TIME_EVENT_INTERRUPT                                     RTCTEVIE
+#define RTC_C_CLOCK_ALARM_INTERRUPT                                      RTCAIE
+#define RTC_C_CLOCK_READ_READY_INTERRUPT                               RTCRDYIE
+#define RTC_C_PRESCALE_TIMER0_INTERRUPT                                    0x02
+#define RTC_C_PRESCALE_TIMER1_INTERRUPT                                    0x01
+#define RTC_C_OSCILLATOR_FAULT_INTERRUPT                                RTCOFIE
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Starts the RTC.
+//!
+//! This function clears the RTC main hold bit to allow the RTC to function.
+//!
+//! \param baseAddress is the base address of the RTC_C module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_C_startClock(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Holds the RTC.
+//!
+//! This function sets the RTC main hold bit to disable RTC functionality.
+//!
+//! \param baseAddress is the base address of the RTC_C module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_C_holdClock(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Allows and Sets the frequency output to RTCCLK pin for calibration
+//! measurement.
+//!
+//! This function sets a frequency to measure at the RTCCLK output pin. After
+//! testing the set frequency, the calibration could be set accordingly.
+//!
+//! \param baseAddress is the base address of the RTC_C module.
+//! \param frequencySelect is the frequency output to RTCCLK.
+//!        Valid values are:
+//!        - \b RTC_C_CALIBRATIONFREQ_OFF [Default] - turn off calibration
+//!           output
+//!        - \b RTC_C_CALIBRATIONFREQ_512HZ - output signal at 512Hz for
+//!           calibration
+//!        - \b RTC_C_CALIBRATIONFREQ_256HZ - output signal at 256Hz for
+//!           calibration
+//!        - \b RTC_C_CALIBRATIONFREQ_1HZ - output signal at 1Hz for
+//!           calibration
+//!        \n Modified bits are \b RTCCALF of \b RTCCTL3 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_C_setCalibrationFrequency(uint16_t baseAddress,
+                                          uint16_t frequencySelect);
+
+//*****************************************************************************
+//
+//! \brief Sets the specified calibration for the RTC.
+//!
+//! This function sets the calibration offset to make the RTC as accurate as
+//! possible. The offsetDirection can be either +1-ppm or -1-ppm, and the
+//! offsetValue should be from 1-240 and is multiplied by the direction setting
+//! (i.e. +1-ppm * 8 (offsetValue) = +8-ppm).
+//!
+//! \param baseAddress is the base address of the RTC_C module.
+//! \param offsetDirection is the direction that the calibration offset will
+//!        go.
+//!        Valid values are:
+//!        - \b RTC_C_CALIBRATION_DOWN1PPM - calibrate at steps of -1
+//!        - \b RTC_C_CALIBRATION_UP1PPM - calibrate at steps of +1
+//!        \n Modified bits are \b RTC0CALS of \b RTC0CAL register.
+//! \param offsetValue is the value that the offset will be a factor of; a
+//!        valid value is any integer from 1-240.
+//!        \n Modified bits are \b RTC0CALx of \b RTC0CAL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_C_setCalibrationData(uint16_t baseAddress,
+                                     uint8_t offsetDirection,
+                                     uint8_t offsetValue);
+
+//*****************************************************************************
+//
+//! \brief Initializes the settings to operate the RTC in Counter mode.
+//!
+//! This function initializes the Counter mode of the RTC_C. Setting the clock
+//! source and counter size will allow an interrupt from the RTCTEVIFG once an
+//! overflow to the counter register occurs.
+//!
+//! \param baseAddress is the base address of the RTC_C module.
+//! \param clockSelect is the selected clock for the counter mode to use.
+//!        Valid values are:
+//!        - \b RTC_C_CLOCKSELECT_32KHZ_OSC
+//!        - \b RTC_C_CLOCKSELECT_RT1PS
+//!        \n Modified bits are \b RTCSSEL of \b RTCCTL1 register.
+//! \param counterSizeSelect is the size of the counter.
+//!        Valid values are:
+//!        - \b RTC_C_COUNTERSIZE_8BIT [Default]
+//!        - \b RTC_C_COUNTERSIZE_16BIT
+//!        - \b RTC_C_COUNTERSIZE_24BIT
+//!        - \b RTC_C_COUNTERSIZE_32BIT
+//!        \n Modified bits are \b RTCTEV of \b RTCCTL1 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_C_initCounter(uint16_t baseAddress,
+                              uint16_t clockSelect,
+                              uint16_t counterSizeSelect);
+
+//*****************************************************************************
+//
+//! \brief Sets the specified temperature compensation for the RTC.
+//!
+//! This function sets the calibration offset to make the RTC as accurate as
+//! possible. The offsetDirection can be either +1-ppm or -1-ppm, and the
+//! offsetValue should be from 1-240 and is multiplied by the direction setting
+//! (i.e. +1-ppm * 8 (offsetValue) = +8-ppm).
+//!
+//! \param baseAddress is the base address of the RTC_C module.
+//! \param offsetDirection is the direction that the calibration offset wil go
+//!        Valid values are:
+//!        - \b RTC_C_COMPENSATION_DOWN1PPM
+//!        - \b RTC_C_COMPENSATION_UP1PPM
+//!        \n Modified bits are \b RTCTCMPS of \b RTCTCMP register.
+//! \param offsetValue is the value that the offset will be a factor of; a
+//!        valid value is any integer from 1-240.
+//!        \n Modified bits are \b RTCTCMPx of \b RTCTCMP register.
+//!
+//! \return STATUS_SUCCESS or STATUS_FAILURE of setting the temperature
+//!         compensation
+//
+//*****************************************************************************
+extern bool RTC_C_setTemperatureCompensation(uint16_t baseAddress,
+                                             uint16_t offsetDirection,
+                                             uint8_t offsetValue);
+
+//*****************************************************************************
+//
+//! \brief Initializes the settings to operate the RTC in calendar mode
+//!
+//! This function initializes the Calendar mode of the RTC module. To prevent
+//! potential erroneous alarm conditions from occurring, the alarm should be
+//! disabled by clearing the RTCAIE, RTCAIFG and AE bits with APIs:
+//! RTC_C_disableInterrupt(), RTC_C_clearInterrupt() and
+//! RTC_C_configureCalendarAlarm() before calendar initialization.
+//!
+//! \param baseAddress is the base address of the RTC_C module.
+//! \param CalendarTime is the pointer to the structure containing the values
+//!        for the Calendar to be initialized to. Valid values should be of
+//!        type pointer to Calendar and should contain the following members
+//!        and corresponding values: \n\b Seconds between 0-59 \n\b Minutes
+//!        between 0-59 \n\b Hours between 0-23 \n\b DayOfWeek between 0-6 \n\b
+//!        DayOfMonth between 1-31 \n\b Month between 1-12 \n\b Year between
+//!        0-4095 \n\b NOTE: Values beyond the ones specified may result in
+//!        erratic behavior.
+//! \param formatSelect is the format for the Calendar registers to use.
+//!        Valid values are:
+//!        - \b RTC_C_FORMAT_BINARY [Default]
+//!        - \b RTC_C_FORMAT_BCD
+//!        \n Modified bits are \b RTCBCD of \b RTCCTL1 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_C_initCalendar(uint16_t baseAddress,
+                               Calendar *CalendarTime,
+                               uint16_t formatSelect);
+
+//*****************************************************************************
+//
+//! \brief Returns the Calendar Time stored in the Calendar registers of the
+//! RTC.
+//!
+//! This function returns the current Calendar time in the form of a Calendar
+//! structure. The RTCRDY polling is used in this function to prevent reading
+//! invalid time.
+//!
+//! \param baseAddress is the base address of the RTC_C module.
+//!
+//! \return A Calendar structure containing the current time.
+//
+//*****************************************************************************
+extern Calendar RTC_C_getCalendarTime(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Sets and Enables the desired Calendar Alarm settings.
+//!
+//! This function sets a Calendar interrupt condition to assert the RTCAIFG
+//! interrupt flag. The condition is a logical and of all of the parameters.
+//! For example if the minutes and hours alarm is set, then the interrupt will
+//! only assert when the minutes AND the hours change to the specified setting.
+//! Use the RTC_C_ALARM_OFF for any alarm settings that should not be apart of
+//! the alarm condition.
+//!
+//! \param baseAddress is the base address of the RTC_C module.
+//! \param param is the pointer to struct for calendar alarm configuration.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_C_configureCalendarAlarm(uint16_t baseAddress,
+                                         RTC_C_configureCalendarAlarmParam *param);
+
+//*****************************************************************************
+//
+//! \brief Sets a single specified Calendar interrupt condition
+//!
+//! This function sets a specified event to assert the RTCTEVIFG interrupt.
+//! This interrupt is independent from the Calendar alarm interrupt.
+//!
+//! \param baseAddress is the base address of the RTC_C module.
+//! \param eventSelect is the condition selected.
+//!        Valid values are:
+//!        - \b RTC_C_CALENDAREVENT_MINUTECHANGE - assert interrupt on every
+//!           minute
+//!        - \b RTC_C_CALENDAREVENT_HOURCHANGE - assert interrupt on every hour
+//!        - \b RTC_C_CALENDAREVENT_NOON - assert interrupt when hour is 12
+//!        - \b RTC_C_CALENDAREVENT_MIDNIGHT - assert interrupt when hour is 0
+//!        \n Modified bits are \b RTCTEV of \b RTCCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_C_setCalendarEvent(uint16_t baseAddress,
+                                   uint16_t eventSelect);
+
+//*****************************************************************************
+//
+//! \brief Returns the value of the Counter register.
+//!
+//! This function returns the value of the counter register for the RTC_C
+//! module. It will return the 32-bit value no matter the size set during
+//! initialization. The RTC should be held before trying to use this function.
+//!
+//! \param baseAddress is the base address of the RTC_C module.
+//!
+//! \return The raw value of the full 32-bit Counter Register.
+//
+//*****************************************************************************
+extern uint32_t RTC_C_getCounterValue(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Sets the value of the Counter register
+//!
+//! This function sets the counter register of the RTC_C module.
+//!
+//! \param baseAddress is the base address of the RTC_C module.
+//! \param counterValue is the value to set the Counter register to; a valid
+//!        value may be any 32-bit integer.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_C_setCounterValue(uint16_t baseAddress,
+                                  uint32_t counterValue);
+
+//*****************************************************************************
+//
+//! \brief Initializes the Prescaler for Counter mode.
+//!
+//! This function initializes the selected prescaler for the counter mode in
+//! the RTC_C module. If the RTC is initialized in Calendar mode, then these
+//! are automatically initialized. The Prescalers can be used to divide a clock
+//! source additionally before it gets to the main RTC clock.
+//!
+//! \param baseAddress is the base address of the RTC_C module.
+//! \param prescaleSelect is the prescaler to initialize.
+//!        Valid values are:
+//!        - \b RTC_C_PRESCALE_0
+//!        - \b RTC_C_PRESCALE_1
+//! \param prescaleClockSelect is the clock to drive the selected prescaler.
+//!        Valid values are:
+//!        - \b RTC_C_PSCLOCKSELECT_ACLK
+//!        - \b RTC_C_PSCLOCKSELECT_SMCLK
+//!        - \b RTC_C_PSCLOCKSELECT_RT0PS - use Prescaler 0 as source to
+//!           Prescaler 1 (May only be used if prescaleSelect is
+//!           RTC_C_PRESCALE_1)
+//!        \n Modified bits are \b RTxSSEL of \b RTCPSxCTL register.
+//! \param prescaleDivider is the divider for the selected clock source.
+//!        Valid values are:
+//!        - \b RTC_C_PSDIVIDER_2 [Default]
+//!        - \b RTC_C_PSDIVIDER_4
+//!        - \b RTC_C_PSDIVIDER_8
+//!        - \b RTC_C_PSDIVIDER_16
+//!        - \b RTC_C_PSDIVIDER_32
+//!        - \b RTC_C_PSDIVIDER_64
+//!        - \b RTC_C_PSDIVIDER_128
+//!        - \b RTC_C_PSDIVIDER_256
+//!        \n Modified bits are \b RTxPSDIV of \b RTCPSxCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_C_initCounterPrescale(uint16_t baseAddress,
+                                      uint8_t prescaleSelect,
+                                      uint16_t prescaleClockSelect,
+                                      uint16_t prescaleDivider);
+
+//*****************************************************************************
+//
+//! \brief Holds the selected Prescaler.
+//!
+//! This function holds the prescale counter from continuing. This will only
+//! work in counter mode, in Calendar mode, the RTC_C_holdClock() must be used.
+//! In counter mode, if using both prescalers in conjunction with the main RTC
+//! counter, then stopping RT0PS will stop RT1PS, but stopping RT1PS will not
+//! stop RT0PS.
+//!
+//! \param baseAddress is the base address of the RTC_C module.
+//! \param prescaleSelect is the prescaler to hold.
+//!        Valid values are:
+//!        - \b RTC_C_PRESCALE_0
+//!        - \b RTC_C_PRESCALE_1
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_C_holdCounterPrescale(uint16_t baseAddress,
+                                      uint8_t prescaleSelect);
+
+//*****************************************************************************
+//
+//! \brief Starts the selected Prescaler.
+//!
+//! This function starts the selected prescale counter. This function will only
+//! work if the RTC is in counter mode.
+//!
+//! \param baseAddress is the base address of the RTC_C module.
+//! \param prescaleSelect is the prescaler to start.
+//!        Valid values are:
+//!        - \b RTC_C_PRESCALE_0
+//!        - \b RTC_C_PRESCALE_1
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_C_startCounterPrescale(uint16_t baseAddress,
+                                       uint8_t prescaleSelect);
+
+//*****************************************************************************
+//
+//! \brief Sets up an interrupt condition for the selected Prescaler.
+//!
+//! This function sets the condition for an interrupt to assert based on the
+//! individual prescalers.
+//!
+//! \param baseAddress is the base address of the RTC_C module.
+//! \param prescaleSelect is the prescaler to define an interrupt for.
+//!        Valid values are:
+//!        - \b RTC_C_PRESCALE_0
+//!        - \b RTC_C_PRESCALE_1
+//! \param prescaleEventDivider is a divider to specify when an interrupt can
+//!        occur based on the clock source of the selected prescaler. (Does not
+//!        affect timer of the selected prescaler).
+//!        Valid values are:
+//!        - \b RTC_C_PSEVENTDIVIDER_2 [Default]
+//!        - \b RTC_C_PSEVENTDIVIDER_4
+//!        - \b RTC_C_PSEVENTDIVIDER_8
+//!        - \b RTC_C_PSEVENTDIVIDER_16
+//!        - \b RTC_C_PSEVENTDIVIDER_32
+//!        - \b RTC_C_PSEVENTDIVIDER_64
+//!        - \b RTC_C_PSEVENTDIVIDER_128
+//!        - \b RTC_C_PSEVENTDIVIDER_256
+//!        \n Modified bits are \b RTxIP of \b RTCPSxCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_C_definePrescaleEvent(uint16_t baseAddress,
+                                      uint8_t prescaleSelect,
+                                      uint8_t prescaleEventDivider);
+
+//*****************************************************************************
+//
+//! \brief Returns the selected prescaler value.
+//!
+//! This function returns the value of the selected prescale counter register.
+//! Note that the counter value should be held by calling RTC_C_holdClock()
+//! before calling this API.
+//!
+//! \param baseAddress is the base address of the RTC_C module.
+//! \param prescaleSelect is the prescaler to obtain the value of.
+//!        Valid values are:
+//!        - \b RTC_C_PRESCALE_0
+//!        - \b RTC_C_PRESCALE_1
+//!
+//! \return The value of the specified prescaler count register
+//
+//*****************************************************************************
+extern uint8_t RTC_C_getPrescaleValue(uint16_t baseAddress,
+                                      uint8_t prescaleSelect);
+
+//*****************************************************************************
+//
+//! \brief Sets the selected Prescaler value.
+//!
+//! This function sets the prescale counter value. Before setting the prescale
+//! counter, it should be held by calling RTC_C_holdClock().
+//!
+//! \param baseAddress is the base address of the RTC_C module.
+//! \param prescaleSelect is the prescaler to set the value for.
+//!        Valid values are:
+//!        - \b RTC_C_PRESCALE_0
+//!        - \b RTC_C_PRESCALE_1
+//! \param prescaleCounterValue is the specified value to set the prescaler to.
+//!        Valid values are any integer between 0-255
+//!        \n Modified bits are \b RTxPS of \b RTxPS register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_C_setPrescaleValue(uint16_t baseAddress,
+                                   uint8_t prescaleSelect,
+                                   uint8_t prescaleCounterValue);
+
+//*****************************************************************************
+//
+//! \brief Enables selected RTC interrupt sources.
+//!
+//! This function enables the selected RTC interrupt source.  Only the sources
+//! that are enabled can be reflected to the processor interrupt; disabled
+//! sources have no effect on the processor. Does not clear interrupt flags.
+//!
+//! \param baseAddress is the base address of the RTC_C module.
+//! \param interruptMask is a bit mask of the interrupts to enable.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b RTC_C_TIME_EVENT_INTERRUPT - asserts when counter overflows in
+//!           counter mode or when Calendar event condition defined by
+//!           defineCalendarEvent() is met.
+//!        - \b RTC_C_CLOCK_ALARM_INTERRUPT - asserts when alarm condition in
+//!           Calendar mode is met.
+//!        - \b RTC_C_CLOCK_READ_READY_INTERRUPT - asserts when Calendar
+//!           registers are settled.
+//!        - \b RTC_C_PRESCALE_TIMER0_INTERRUPT - asserts when Prescaler 0
+//!           event condition is met.
+//!        - \b RTC_C_PRESCALE_TIMER1_INTERRUPT - asserts when Prescaler 1
+//!           event condition is met.
+//!        - \b RTC_C_OSCILLATOR_FAULT_INTERRUPT - asserts if there is a
+//!           problem with the 32kHz oscillator, while the RTC is running.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_C_enableInterrupt(uint16_t baseAddress,
+                                  uint8_t interruptMask);
+
+//*****************************************************************************
+//
+//! \brief Disables selected RTC interrupt sources.
+//!
+//! This function disables the selected RTC interrupt source. Only the sources
+//! that are enabled can be reflected to the processor interrupt; disabled
+//! sources have no effect on the processor.
+//!
+//! \param baseAddress is the base address of the RTC_C module.
+//! \param interruptMask is a bit mask of the interrupts to disable.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b RTC_C_TIME_EVENT_INTERRUPT - asserts when counter overflows in
+//!           counter mode or when Calendar event condition defined by
+//!           defineCalendarEvent() is met.
+//!        - \b RTC_C_CLOCK_ALARM_INTERRUPT - asserts when alarm condition in
+//!           Calendar mode is met.
+//!        - \b RTC_C_CLOCK_READ_READY_INTERRUPT - asserts when Calendar
+//!           registers are settled.
+//!        - \b RTC_C_PRESCALE_TIMER0_INTERRUPT - asserts when Prescaler 0
+//!           event condition is met.
+//!        - \b RTC_C_PRESCALE_TIMER1_INTERRUPT - asserts when Prescaler 1
+//!           event condition is met.
+//!        - \b RTC_C_OSCILLATOR_FAULT_INTERRUPT - asserts if there is a
+//!           problem with the 32kHz oscillator, while the RTC is running.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_C_disableInterrupt(uint16_t baseAddress,
+                                   uint8_t interruptMask);
+
+//*****************************************************************************
+//
+//! \brief Returns the status of the selected interrupts flags.
+//!
+//! This function returns the status of the interrupt flag for the selected
+//! channel.
+//!
+//! \param baseAddress is the base address of the RTC_C module.
+//! \param interruptFlagMask is a bit mask of the interrupt flags to return the
+//!        status of.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b RTC_C_TIME_EVENT_INTERRUPT - asserts when counter overflows in
+//!           counter mode or when Calendar event condition defined by
+//!           defineCalendarEvent() is met.
+//!        - \b RTC_C_CLOCK_ALARM_INTERRUPT - asserts when alarm condition in
+//!           Calendar mode is met.
+//!        - \b RTC_C_CLOCK_READ_READY_INTERRUPT - asserts when Calendar
+//!           registers are settled.
+//!        - \b RTC_C_PRESCALE_TIMER0_INTERRUPT - asserts when Prescaler 0
+//!           event condition is met.
+//!        - \b RTC_C_PRESCALE_TIMER1_INTERRUPT - asserts when Prescaler 1
+//!           event condition is met.
+//!        - \b RTC_C_OSCILLATOR_FAULT_INTERRUPT - asserts if there is a
+//!           problem with the 32kHz oscillator, while the RTC is running.
+//!
+//! \return Logical OR of any of the following:
+//!         - \b RTC_C_TIME_EVENT_INTERRUPT asserts when counter overflows in
+//!         counter mode or when Calendar event condition defined by
+//!         defineCalendarEvent() is met.
+//!         - \b RTC_C_CLOCK_ALARM_INTERRUPT asserts when alarm condition in
+//!         Calendar mode is met.
+//!         - \b RTC_C_CLOCK_READ_READY_INTERRUPT asserts when Calendar
+//!         registers are settled.
+//!         - \b RTC_C_PRESCALE_TIMER0_INTERRUPT asserts when Prescaler 0 event
+//!         condition is met.
+//!         - \b RTC_C_PRESCALE_TIMER1_INTERRUPT asserts when Prescaler 1 event
+//!         condition is met.
+//!         - \b RTC_C_OSCILLATOR_FAULT_INTERRUPT asserts if there is a problem
+//!         with the 32kHz oscillator, while the RTC is running.
+//!         \n indicating the status of the masked interrupts
+//
+//*****************************************************************************
+extern uint8_t RTC_C_getInterruptStatus(uint16_t baseAddress,
+                                        uint8_t interruptFlagMask);
+
+//*****************************************************************************
+//
+//! \brief Clears selected RTC interrupt flags.
+//!
+//! This function clears the RTC interrupt flag is cleared, so that it no
+//! longer asserts.
+//!
+//! \param baseAddress is the base address of the RTC_C module.
+//! \param interruptFlagMask is a bit mask of the interrupt flags to be
+//!        cleared.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b RTC_C_TIME_EVENT_INTERRUPT - asserts when counter overflows in
+//!           counter mode or when Calendar event condition defined by
+//!           defineCalendarEvent() is met.
+//!        - \b RTC_C_CLOCK_ALARM_INTERRUPT - asserts when alarm condition in
+//!           Calendar mode is met.
+//!        - \b RTC_C_CLOCK_READ_READY_INTERRUPT - asserts when Calendar
+//!           registers are settled.
+//!        - \b RTC_C_PRESCALE_TIMER0_INTERRUPT - asserts when Prescaler 0
+//!           event condition is met.
+//!        - \b RTC_C_PRESCALE_TIMER1_INTERRUPT - asserts when Prescaler 1
+//!           event condition is met.
+//!        - \b RTC_C_OSCILLATOR_FAULT_INTERRUPT - asserts if there is a
+//!           problem with the 32kHz oscillator, while the RTC is running.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void RTC_C_clearInterrupt(uint16_t baseAddress,
+                                 uint8_t interruptFlagMask);
+
+//*****************************************************************************
+//
+//! \brief Convert the given BCD value to binary format
+//!
+//! This function converts BCD values to binary format. This API uses the
+//! hardware registers to perform the conversion rather than a software method.
+//!
+//! \param baseAddress is the base address of the RTC_C module.
+//! \param valueToConvert is the raw value in BCD format to convert to Binary.
+//!        \n Modified bits are \b BCD2BIN of \b BCD2BIN register.
+//!
+//! \return The binary version of the input parameter
+//
+//*****************************************************************************
+extern uint16_t RTC_C_convertBCDToBinary(uint16_t baseAddress,
+                                         uint16_t valueToConvert);
+
+//*****************************************************************************
+//
+//! \brief Convert the given binary value to BCD format
+//!
+//! This function converts binary values to BCD format. This API uses the
+//! hardware registers to perform the conversion rather than a software method.
+//!
+//! \param baseAddress is the base address of the RTC_C module.
+//! \param valueToConvert is the raw value in Binary format to convert to BCD.
+//!        \n Modified bits are \b BIN2BCD of \b BIN2BCD register.
+//!
+//! \return The BCD version of the valueToConvert parameter
+//
+//*****************************************************************************
+extern uint16_t RTC_C_convertBinaryToBCD(uint16_t baseAddress,
+                                         uint16_t valueToConvert);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_RTC_C_H__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/saph.c b/Apps/FlightSoftware/MotorControl/driverlib/saph.c
new file mode 100644
index 000000000..a1d8269ea
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/saph.c
@@ -0,0 +1,276 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// saph.c - Driver for the SAPH Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup saph_api saph
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_SAPH__
+#include "saph.h"
+
+#include <assert.h>
+
+void SAPH_unlock(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_SAPHKEY) = KEY;
+}
+
+void SAPH_lock(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_SAPHKEY) = 0;
+}
+
+void SAPH_clearInterrupt(uint16_t baseAddress, uint8_t mask)
+{
+    HWREG16(baseAddress + OFS_SAPHICR) |= mask;
+}
+
+void SAPH_enableInterrupt(uint16_t baseAddress, uint8_t mask)
+{
+    HWREG16(baseAddress + OFS_SAPHIMSC) |= mask;
+}
+
+void SAPH_disableInterrupt(uint16_t baseAddress, uint8_t mask)
+{
+    HWREG16(baseAddress + OFS_SAPHIMSC) &= ~mask;
+}
+
+uint8_t SAPH_getInterruptStatus(uint16_t baseAddress, uint8_t mask)
+{
+    return HWREG16(baseAddress + OFS_SAPHRIS) & mask;
+}
+
+void SAPH_configurePHY(uint16_t baseAddress, SAPH_configPHYParam *config)
+{
+    uint8_t offset = config->channel;
+
+    HWREG16(baseAddress + OFS_SAPHOCTL0) &= ~ ((SAPH_PHY_OUTPUT_ENABLE<<offset) 
+        | (SAPH_PHY_OUTPUT_HIGH<<offset));
+    HWREG16(baseAddress + OFS_SAPHOCTL0) |= ((config->outputValue<<offset) 
+        | (config->enableOutput<<offset));
+
+    HWREG16(baseAddress + OFS_SAPHOCTL1) &= ~ ((SAPH_PHY_FULLPULL_ENABLE<<offset) 
+        | (SAPH_PHY_TERMINATION_ENABLE<<offset));
+    HWREG16(baseAddress + OFS_SAPHOCTL1) |= ((config->enableFullPull<<offset) 
+        | (config->enableTermination<<offset));
+
+    HWREG16(baseAddress + OFS_SAPHTACTL) |= UNLOCK;
+
+    HWREG16(baseAddress + OFS_SAPHOSEL) &= ~(PCH0SEL_3<<(offset*2));
+    HWREG16(baseAddress + OFS_SAPHOSEL) |= config->outputFunction<<(offset*2);
+
+    HWREG16(baseAddress + OFS_SAPHCH0PUT + offset*6 ) &= ~CH0PUT;
+    HWREG16(baseAddress + OFS_SAPHCH0PUT + offset*6 ) |= config->pullUpTrim;
+
+    HWREG16(baseAddress + OFS_SAPHCH0PDT + offset*6 ) &= ~CH0PDT;
+    HWREG16(baseAddress + OFS_SAPHCH0PDT + offset*6 ) |= config->pullDownTrim;
+
+    HWREG16(baseAddress + OFS_SAPHCH0TT + offset*6 ) &= ~CH0TT;
+    HWREG16(baseAddress + OFS_SAPHCH0TT + offset*6 ) |= config->terminationTrim;
+
+}
+
+void SAPH_configurePHYMultiplexer(uint16_t baseAddress,
+    uint16_t dummyLoad, uint16_t source, uint16_t input)
+{
+    HWREG16(baseAddress + OFS_SAPHICTL0) &= ~(DUMEN | MUXCTL | MUXSEL);
+    HWREG16(baseAddress + OFS_SAPHICTL0) |= dummyLoad | source | input;
+}
+
+void SAPH_configurePHYBias(uint16_t baseAddress, SAPH_configPHYBiasParam * config)
+{
+    uint8_t i = 0;
+    for (i=0; i<SAPH_PHY_CHANNEL_COUNT; i++) {
+        HWREG16(baseAddress + OFS_SAPHBCTL) &= ~(CH0EBSW<<i);
+        HWREG16(baseAddress + OFS_SAPHBCTL) |= config->biasSwitch[i]<<i;
+    }
+
+    HWREG16(baseAddress + OFS_SAPHBCTL) &= ~(PGABIAS_3 | EXCBIAS_3 | CPDA | LILC
+        | PGABSW | ASQBSC);
+    HWREG16(baseAddress + OFS_SAPHBCTL) |= (config->biasPGA | config->biasExcitation
+        | config->enableChargePump | config->enableLeakageCompensation
+        | config->biasSwitchPGA | config->biasSwitchASQ);
+}
+
+void SAPH_configurePPGCount(uint16_t baseAddress, SAPH_configPPGCountParam *config)
+{
+    HWREG16(baseAddress + OFS_SAPHPGC) &= ~(PHIZ | PLEV | PPOL | SPULS | EPULS);
+    HWREG16(baseAddress + OFS_SAPHPGC) |= (config->highImpedance 
+        | config->pauseLevel | config->pausePolarity | config->stopPauseCount
+        | config->excitationPulseCount);
+}
+
+void SAPH_setPPGLowPeriod(uint16_t baseAddress, uint16_t period)
+{
+    HWREG16(baseAddress + OFS_SAPHPGLPER) &= ~LPER;
+    HWREG16(baseAddress + OFS_SAPHPGLPER) |= period;
+}
+
+void SAPH_setPPGHighPeriod(uint16_t baseAddress, uint16_t period)
+{
+    HWREG16(baseAddress + OFS_SAPHPGHPER) &= ~HPER;
+    HWREG16(baseAddress + OFS_SAPHPGHPER) |= period;
+}
+
+void SAPH_configurePPG(uint16_t baseAddress, SAPH_configPPGParam *config)
+{
+    HWREG16(baseAddress + OFS_SAPHPGCTL) &= ~(PSCEN | PPGEN | TRSEL_3 | PPGCHSEL | PGSEL);
+    HWREG16(baseAddress + OFS_SAPHPGCTL) |= (config->enablePrescaler | PPGEN |
+        config->triggerSource | config->channelSelect | config->portSelect);
+
+}
+
+void SAPH_triggerPPG(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_SAPHPPGTRIG) |= PPGTRIG;
+}
+
+void SAPH_stopPPG(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_SAPHPGCTL) |= PPGSTOP;
+}
+
+void SAPH_configureASQ(uint16_t baseAddress, SAPH_configASQParam *config)
+{
+    HWREG16(baseAddress + OFS_SAPHASCTL0) &= ~(ERABRT | TRIGSEL | ASQTEN | ASQCHSEL);
+    HWREG16(baseAddress + OFS_SAPHASCTL1) &= ~(CHOWN | STDBY | ESOFF | EARLYRB | CHTOG);
+
+    HWREG16(baseAddress + OFS_SAPHASCTL1) |= config->sideOfChannel | config->standByIndication
+        | config->endOfSequence | config->earlyReceiveBias | config->enableChannelToggle;
+    HWREG16(baseAddress + OFS_SAPHASCTL0) |= config->abortOnError | config->triggerSource
+        | config->channelSelect | ASQTEN;
+}
+
+void SAPH_triggerASQ(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_SAPHASQTRIG) |= ASQTRIG;
+}
+
+void SAPH_stopASQ(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_SAPHASCTL0) |= ASQSTOP;
+}
+
+uint8_t SAPH_getASQPingCounter(uint16_t baseAddress)
+{
+    return HWREG8(baseAddress + OFS_SAPHASCTL0) & PNGCNT;
+}
+
+void SAPH_configureASQPing(uint16_t baseAddress, SAPH_configASQPingParam *config)
+{
+    HWREG16(baseAddress + OFS_SAPHAPOL) &= ~PCPOL;
+    HWREG16(baseAddress + OFS_SAPHAPOL) |= config->polarity;
+
+    HWREG16(baseAddress + OFS_SAPHAPLEV) &= ~PCPLEV;
+    HWREG16(baseAddress + OFS_SAPHAPLEV) |= config->pauseLevel;
+
+    HWREG16(baseAddress + OFS_SAPHAPHIZ) &= ~PCPHIZ;
+    HWREG16(baseAddress + OFS_SAPHAPHIZ) |= config->pauseHighImpedance;
+}
+
+void SAPH_configureASQTimeBase(uint16_t baseAddress, uint16_t prescalerStartValue)
+{
+    HWREG16(baseAddress + OFS_SAPHTBCTL) &= ~(PSSV);
+    HWREG16(baseAddress + OFS_SAPHTBCTL) |= prescalerStartValue;
+}
+
+void SAPH_startASQTimer(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_SAPHTBCTL) |= TSTART;
+}
+
+void SAPH_stopASQTimer(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_SAPHTBCTL) |= TSTOP;
+}
+
+void SAPH_clearASQTimer(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_SAPHTBCTL) |= TCLR;
+}
+
+void SAPH_configureMode(uint16_t baseAddress, SAPH_configModeParam *config)
+{
+    HWREG16(baseAddress + OFS_SAPHMCNF) &= ~LPBE;
+    HWREG16(baseAddress + OFS_SAPHMCNF) |= config->lowPowerBiasMode;
+
+    HWREG16(baseAddress + OFS_SAPHMCNF) &= ~CPEO;
+    HWREG16(baseAddress + OFS_SAPHMCNF) |= config->chargePump;
+
+    HWREG16(baseAddress + OFS_SAPHMCNF) &= ~BIMP;
+    HWREG16(baseAddress + OFS_SAPHMCNF) |= config->biasImpedance;
+}
+
+void SAPH_enableLowPowerBiasMode(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_SAPHMCNF) |= LPBE;
+}
+
+void SAPH_disableLowPowerBiasMode(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_SAPHMCNF) &= ~LPBE;
+}
+
+void SAPH_enableChargePumpAlways(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_SAPHMCNF) |= CPEO;
+}
+
+void SAPH_enableChargePumpOnAcquisitionOnly(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_SAPHMCNF) &= ~CPEO;
+}
+
+void SAPH_setBiasGeneratorImpedance(uint16_t baseAddress, uint16_t biasImpedance)
+{
+    HWREG16(baseAddress + OFS_SAPHMCNF) &= ~BIMP;
+    HWREG16(baseAddress + OFS_SAPHMCNF) |= biasImpedance;
+}
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for saph_api
+//! @}
+//
+//*****************************************************************************
+
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/saph.h b/Apps/FlightSoftware/MotorControl/driverlib/saph.h
new file mode 100644
index 000000000..743bab43f
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/saph.h
@@ -0,0 +1,1119 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// saph.h - Driver for the SAPH Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_SAPH_H__
+#define __MSP430WARE_SAPH_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_SAPH__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+//*****************************************************************************
+//
+// The following value specifies how many configurable channels in physcial
+// interface.
+//
+//*****************************************************************************
+#define SAPH_PHY_CHANNEL_COUNT                                                2
+
+typedef struct _phy_param {
+    //! Is the physical output channel to configure.
+    //! \n Valid values are:
+    //! - \b SAPH_PHY_CHANNEL_1
+    //! - \b SAPH_PHY_CHANNEL_2
+    uint16_t channel;
+    //! Is the channel output value.
+    //! \n Valid values are:
+    //! - \b SAPH_PHY_OUTPUT_HIGH 
+    //! - \b SAPH_PHY_OUTPUT_LOW [Default]
+    uint16_t outputValue;
+    //! Is the channel output enable.
+    //! \n Valid values are:
+    //! - \b SAPH_PHY_OUTPUT_ENABLE 
+    //! - \b SAPH_PHY_OUTPUT_DISABLE [Default]
+    uint16_t enableOutput;
+    //! Is the channel output full pull enable.
+    //! \n Valid values are:
+    //! - \b SAPH_PHY_FULLPULL_ENABLE 
+    //! - \b SAPH_PHY_FULLPULL_DISABLE [Default]
+    uint16_t enableFullPull;
+    //! Is the channel output termination enable.
+    //! \n Valid values are:
+    //! - \b SAPH_PHY_TERMINATION_ENABLE 
+    //! - \b SAPH_PHY_TERMINATION_DISABLE [Default]
+    uint16_t enableTermination;
+    //! Is the channel output functional select.
+    //! \n Valid values are:
+    //! - \b SAPH_PHY_OUTPUT_GENERAL_PURPOSE [Default]
+    //! - \b SAPH_PHY_OUTPUT_PULSEGENERATOR_SINGLE_DRIVE
+    //! - \b SAPH_PHY_OUTPUT_PULSEGENERATOR_DIFFERENTIAL_DRIVE
+    uint16_t outputFunction;
+    //! Is the channel pull up trim pattern.
+    uint16_t pullUpTrim;
+    //! Is the channel pull down trim pattern.
+    uint16_t pullDownTrim;
+    //! Is the channel termination trim pattern.
+    uint16_t terminationTrim;
+} SAPH_configPHYParam;
+
+typedef struct _phy_bias {
+    //! Selects the channel for excitation bias switch.
+    //! \n Valid values are:
+    //! - \b SAPH_PHY_BIAS_SWITCH_OPEN [Default]
+    //! - \b SAPH_PHY_BIAS_SWITCH_CLOSED 
+    uint16_t biasSwitch[SAPH_PHY_CHANNEL_COUNT];
+    //! Selects PGA bias.
+    //! \n Valid values are:
+    //! - \b SAPH_PHY_PGA_BIAS_GROUNDED 
+    //! - \b SAPH_PHY_PGA_BIAS_LOW_VALUE
+    //! - \b SAPH_PHY_PGA_BIAS_NOMINAL_VALUE
+    //! - \b SAPH_PHY_PGA_BIAS_HIGH_VALUE
+    uint16_t biasPGA;
+    //! Selects excitation bias.
+    //! \n Valid values are:
+    //! - \b SAPH_PHY_EXCITATION_BIAS_GROUNDED
+    //! - \b SAPH_PHY_EXCITATION_BIAS_LOW_VALUE
+    //! - \b SAPH_PHY_EXCITATION_BIAS_NOMINAL_VALUE
+    //! - \b SAPH_PHY_EXCITATION_BIAS_HIGH_VALUE
+    uint16_t biasExcitation;
+    //! Enables charge pump during acquisition.
+    //! \n Valid values are:
+    //! - \b SAPH_PHY_MULTIPLEXER_CHARGEPUMP_ENABLE
+    //! - \b SAPH_PHY_MULTIPLEXER_CHARGEPUMP_DISABLE
+    uint16_t enableChargePump;
+    //! Enables line input leakage compensation.
+    //! \n Valid values are:
+    //! - \b SAPH_PHY_LEAKAGE_COMPENSATION_ENABLE
+    //! - \b SAPH_PHY_LEAKAGE_COMPENSATION_DISABLE
+    uint16_t enableLeakageCompensation;
+    //! Selects PGA bias switch open or closed.
+    //! \n Valid values are:
+    //! - \b SAPH_PHY_PGA_BIAS_SWITCH_OPEN
+    //! - \b SAPH_PHY_PGA_BIAS_SWITCH_CLOSED
+    uint16_t biasSwitchPGA;
+    //! Select ASQ bias switch control.
+    //! \n Valid values are:
+    //! - \b SAPH_PHY_BIAS_SWITCH_CONTROLLED_BY_REGISTER
+    //! - \b SAPH_PHY_BIAS_SWITCH_CONTROLLED_BY_ASQ
+    uint16_t biasSwitchASQ;
+} SAPH_configPHYBiasParam;
+
+typedef struct _ppg_count
+{
+    //! Selects high impedance input.
+    //! \n Valid values are:
+    //! - \b SAPH_PPG_HIGH_IMPEDANCE_ON_PAUSE_OUTPUTDRIVE
+    //! - \b SAPH_PPG_HIGH_IMPEDANCE_ON_PAUSE_PLEV
+    uint16_t highImpedance;
+    //! Sets the pause level high or low.
+    //! \n Valid values are:
+    //! - \b SAPH_PPG_PAUSE_LEVEL_LOW
+    //! - \b SAPH_PPG_PAUSE_LEVEL_HIGH
+    uint16_t pauseLevel;
+    //! Sets the pause polarity high or low.
+    //! \n Valid values are:
+    //! - \b SAPH_PPG_PAUSE_POLARITY_HIGH
+    //! - \b SAPH_PPG_PAUSE_POLARITY_LOW
+    uint16_t pausePolarity;
+    //! Sets the stop pulse count.
+    uint16_t stopPauseCount;
+    //! Sets the excitation pulse count.
+    uint16_t excitationPulseCount;
+} SAPH_configPPGCountParam;
+
+typedef struct _ppg_config
+{
+    //! Enables PPG prescaler.
+    //! \n Valid values are:
+    //! - \b SAPH_PPG_PRESCALER_ENABLE
+    //! - \b SAPH_PPG_PRESCALER_DISABLE
+    uint16_t enablePrescaler;
+    //! Selects PPG trigger source.
+    //! \n Valid values are:
+    //! - \b SAPH_PPG_TRIGGER_SOURCE_SOFTWARE
+    //! - \b SAPH_PPG_TRIGGER_SOURCE_ASQ
+    //! - \b SAPH_PPG_TRIGGER_SOURCE_TIMER
+    uint16_t triggerSource;
+    //! Selects PPG channel.
+    //! \n Valid values are:
+    //! - \b SAPH_PPG_CHANNEL_0
+    //! - \b SAPH_PPG_CHANNEL_1
+    uint16_t channelSelect;
+    //! Selects PPG or ASEQ in charge of PHY port.
+    //! \n Valid values are:
+    //! - \b SAPH_PPG_PORT_CHARGED_BY_PPG
+    //! - \b SAPH_PPG_PORT_CHARGED_BY_ASEQ
+    uint16_t portSelect;
+} SAPH_configPPGParam;
+
+typedef struct _asq_config
+{
+    //! Enables ASQ abort on errors if the conversion result is outside of expected
+    //! value or an overflow/underflow condition occured.
+    //! \n Valid values are:
+    //! - \b SAPH_ASQ_ABORT_ON_ERROR_ENABLE
+    //! - \b SAPH_ASQ_ABORT_ON_ERROR_DISABLE
+    uint16_t abortOnError;
+    //! Selects ASQ trigger source.
+    //! \n Valid values are:
+    //! - \b SAPH_ASQ_TRIGGER_SOURCE_SOFTWARE
+    //! - \b SAPH_ASQ_TRIGGER_SOURCE_P_SEQUENCER
+    //! - \b SAPH_ASQ_TRIGGER_SOURCE_TIMER
+    uint16_t triggerSource;
+    //! Selects ASQ channel.
+    //! \n Valid values are:
+    //! - \b SAPH_ASQ_CHANNEL_0
+    //! - \b SAPH_ASQ_CHANNEL_1
+    uint16_t channelSelect;
+    //! Selects pwn channel or opposite side channel to receive.
+    //! \n Valid values are:
+    //! - \b SAPH_ASQ_IDENTICAL_CHANNEL
+    //! - \b SAPH_ASQ_DIFFERENT_CHANNEL
+    uint16_t sideOfChannel;
+    //! Selects standby indication.
+    //! \n Valid values are:
+    //! - \b SAPH_ASQ_STANDBY_INDICATION_POWEROFF
+    //! - \b SAPH_ASQ_STANDBY_INDICATION_STANDBY
+    uint16_t standByIndication;
+    //! Requests OFF in the end of sequence.
+    //! \n Valid values are:
+    //! - \b SAPH_ASQ_END_OF_SEQUENCE_OFF_DISABLE
+    //! - \b SAPH_ASQ_END_OF_SEQUENCE_OFF_ENABLE
+    uint16_t endOfSequence;
+    //! Selects early receive bias generating source.
+    //! \n Valid values are:
+    //! - \b SAPH_ASQ_EARLY_RECEIVE_BIAS_BY_TIMEMARK_C
+    //! - \b SAPH_ASQ_EARLY_RECEIVE_BIAS_BY_TIMEMARK_A
+    uint16_t earlyReceiveBias;
+    //! Enables channel toggle.
+    //! \n Valid values are:
+    //! - \b SAPH_ASQ_TOGGLE_CHANNEL_ENABLE
+    //! - \b SAPH_ASQ_TOGGLE_CHANNEL_DISABLE
+    uint16_t enableChannelToggle;
+} SAPH_configASQParam;
+
+typedef struct _asq_ping_config
+{
+    //! Sets ASQ ping counter for polarity.
+    uint16_t polarity;
+    //! Sets ASQ ping counter for pause level.
+    uint16_t pauseLevel;
+    //! Sets ASQ ping counter for high impedance.
+    uint16_t pauseHighImpedance;
+} SAPH_configASQPingParam;
+
+typedef struct _mcnf_config
+{
+    //! Enables/disables low power bias operation mode.
+    //! \n Valid values are:
+    //! - \b SAPH_LOW_POWER_BIAS_MODE_DISABLE [Default]
+    //! - \b SAPH_LOW_POWER_BIAS_MODE_ENABLE
+    uint16_t lowPowerBiasMode;
+    //! Enables/disables charge pump of the input multiplexer.
+    //! \n Valid values are:
+    //! - \b SAPH_CHARGE_PUMP_ON_SDHS_ASQ_REQUESTS_ONLY [Default]
+    //! - \b SAPH_CHARGE_PUMP_ON_ALWAYS
+    uint16_t chargePump;
+    //! Sets bias impedance for RxBias and TxBias.
+    //! \n Valid values are:
+    //! - \b SAPH_MCNF_500_OHMS_RXBIAS_450_OHMS_TXBIAS
+    //! - \b SAPH_MCNF_900_OHMS_RXBIAS_850_OHMS_TXBIAS
+    //! - \b SAPH_MCNF_1500_OHMS_RXBIAS_1450_OHMS_TXBIAS [Default]
+    //! - \b SAPH_MCNF_2950_OHMS_RXBIAS_2900_OHMS_TXBIAS
+    uint16_t biasImpedance;
+} SAPH_configModeParam;
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the mask parameter for
+// functions: SAPH_clearInterrupt(), SAPH_enableInterrupt(), and 
+// SAPH_disableInterrupt() as well as returned by the 
+// SAPH_getInterruptStatus() function.
+//
+//*****************************************************************************
+#define SAPH_DATA_ERROR_INTERRUPT                                       DATAERR
+#define SAPH_TIMEMARK_F_TIMEOUT_INTERRUPT                                 TMFTO
+#define SAPH_ACQUISITION_SEQUENCER_DONE_INTERRUPT                         SEQDN
+#define SAPH_PING_TRANSMIT_DONE_INTERRUPT                                 PNGDN
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configurePHY().
+//
+//*****************************************************************************
+#define SAPH_PHY_CHANNEL_1                                                    0
+#define SAPH_PHY_CHANNEL_2                                                    1
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configurePHY().
+//
+//*****************************************************************************
+#define SAPH_PHY_OUTPUT_HIGH                                           CH0OUT_1
+#define SAPH_PHY_OUTPUT_LOW                                            CH0OUT_0
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configurePHY().
+//
+//*****************************************************************************
+#define SAPH_PHY_OUTPUT_ENABLE                                          CH0OE_1
+#define SAPH_PHY_OUTPUT_DISABLE                                         CH0OE_0
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configurePHY().
+//
+//*****************************************************************************
+#define SAPH_PHY_FULLPULL_ENABLE                                        CH0FP_1
+#define SAPH_PHY_FULLPULL_DISABLE                                       CH0FP_0
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configurePHY().
+//
+//*****************************************************************************
+#define SAPH_PHY_TERMINATION_ENABLE                                   CH0TERM_1
+#define SAPH_PHY_TERMINATION_DISABLE                                  CH0TERM_0
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configurePHY().
+//
+//*****************************************************************************
+#define SAPH_PHY_OUTPUT_GENERAL_PURPOSE                               PCH0SEL_0
+#define SAPH_PHY_OUTPUT_PULSEGENERATOR_SINGLE_DRIVE                   PCH0SEL_1
+#define SAPH_PHY_OUTPUT_PULSEGENERATOR_DIFFERENTIAL_DRIVE             PCH0SEL_2
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the enableDummyLoad parameter
+// for functions: SAPH_configurePHYMultiplexer().
+//
+//*****************************************************************************
+#define SAPH_PHY_DUMMYLOAD_ENABLE                                       DUMEN_1
+#define SAPH_PHY_DUMMYLOAD_DISABLE                                      DUMEN_0
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the sourceControl parameter
+// for functions: SAPH_configurePHYMultiplexer().
+//
+//*****************************************************************************
+#define SAPH_PHY_SOURCE_CONTROLLED_BY_REGISTER                         MUXCTL_0
+#define SAPH_PHY_SOURCE_CONTROLLED_BY_ASQ                              MUXCTL_1
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the inputChannel parameter
+// for functions: SAPH_configurePHYMultiplexer().
+//
+//*****************************************************************************
+#define SAPH_PHY_INPUT_CHANNEL_0                                  MUXSEL__CH0IN
+#define SAPH_PHY_INPUT_CHANNEL_1                                  MUXSEL__CH1IN
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configurePHYBias().
+//
+//*****************************************************************************
+#define SAPH_PHY_BIAS_SWITCH_OPEN                                     CH0EBSW_0
+#define SAPH_PHY_BIAS_SWITCH_CLOSED                                   CH0EBSW_1
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configurePHYBias().
+//
+//*****************************************************************************
+#define SAPH_PHY_PGA_BIAS_GROUNDED                                    PGABIAS_0
+#define SAPH_PHY_PGA_BIAS_LOW_VALUE                                   PGABIAS_1
+#define SAPH_PHY_PGA_BIAS_NOMINAL_VALUE                               PGABIAS_2
+#define SAPH_PHY_PGA_BIAS_HIGH_VALUE                                  PGABIAS_3
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configurePHYBias().
+//
+//*****************************************************************************
+#define SAPH_PHY_EXCITATION_BIAS_GROUNDED                             EXCBIAS_0
+#define SAPH_PHY_EXCITATION_BIAS_LOW_VALUE                            EXCBIAS_1
+#define SAPH_PHY_EXCITATION_BIAS_NOMINAL_VALUE                        EXCBIAS_2
+#define SAPH_PHY_EXCITATION_BIAS_HIGH_VALUE                           EXCBIAS_3
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configurePHYBias().
+//
+//*****************************************************************************
+#define SAPH_PHY_MULTIPLEXER_CHARGEPUMP_ENABLE                           CPDA_1
+#define SAPH_PHY_MULTIPLEXER_CHARGEPUMP_DISABLE                          CPDA_0
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configurePHYBias().
+//
+//*****************************************************************************
+#define SAPH_PHY_LEAKAGE_COMPENSATION_ENABLE                             LILC_1
+#define SAPH_PHY_LEAKAGE_COMPENSATION_DISABLE                            LILC_0
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configurePHYBias().
+//
+//*****************************************************************************
+#define SAPH_PHY_PGA_BIAS_SWITCH_OPEN                                  PGABSW_0
+#define SAPH_PHY_PGA_BIAS_SWITCH_CLOSED                                PGABSW_1
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configurePHYBias().
+//
+//*****************************************************************************
+#define SAPH_PHY_BIAS_SWITCH_CONTROLLED_BY_REGISTER                    ASQBSC_0
+#define SAPH_PHY_BIAS_SWITCH_CONTROLLED_BY_ASQ                         ASQBSC_1
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configurePPGCount().
+//
+//*****************************************************************************
+#define SAPH_PPG_HIGH_IMPEDANCE_ON_PAUSE_HIGH                            PHIZ_1
+#define SAPH_PPG_HIGH_IMPEDANCE_ON_PAUSE_LOW                             PHIZ_0
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configurePPGCount().
+//
+//*****************************************************************************
+#define SAPH_PPG_PAUSE_LEVEL_HIGH                                        PLEV_1
+#define SAPH_PPG_PAUSE_LEVEL_LOW                                         PLEV_0
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configurePPGCount().
+//
+//*****************************************************************************
+#define SAPH_PPG_PAUSE_POLARITY_HIGH                                     PPOL_0
+#define SAPH_PPG_PAUSE_POLARITY_LOW                                      PPOL_1
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configurePPG().
+//
+//*****************************************************************************
+#define SAPH_PPG_PRESCALER_ENABLE                                       PSCEN_1
+#define SAPH_PPG_PRESCALER_DISABLE                                      PSCEN_0
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configurePPG().
+//
+//*****************************************************************************
+#define SAPH_PPG_TRIGGER_SOURCE_SOFTWARE                                TRSEL_0
+#define SAPH_PPG_TRIGGER_SOURCE_ASQ                                     TRSEL_1
+#define SAPH_PPG_TRIGGER_SOURCE_TIMER                                   TRSEL_2
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configurePPG().
+//
+//*****************************************************************************
+#define SAPH_PPG_CHANNEL_0                                           PPGCHSEL_0
+#define SAPH_PPG_CHANNEL_1                                           PPGCHSEL_1
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configurePPG().
+//
+//*****************************************************************************
+#define SAPH_PPG_PORT_CHARGED_BY_PPG                                    PGSEL_0
+#define SAPH_PPG_PORT_CHARGED_BY_ASEQ                                   PGSEL_1
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configureASQ().
+//
+//*****************************************************************************
+#define SAPH_ASQ_ABORT_ON_ERROR_ENABLE                                 ERABRT_1
+#define SAPH_ASQ_ABORT_ON_ERROR_DISABLE                                ERABRT_0
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configureASQ().
+//
+//*****************************************************************************
+#define SAPH_ASQ_TRIGGER_SOURCE_SOFTWARE                        TRIGSEL__SWTRIG
+#define SAPH_ASQ_TRIGGER_SOURCE_P_SEQUENCER                        TRIGSEL__PSQ
+#define SAPH_ASQ_TRIGGER_SOURCE_TIMER                            TRIGSEL__TIMER
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configureASQ().
+//
+//*****************************************************************************
+#define SAPH_ASQ_CHANNEL_0                                           ASQCHSEL_0
+#define SAPH_ASQ_CHANNEL_1                                           ASQCHSEL_1
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configureASQ().
+//
+//*****************************************************************************
+#define SAPH_ASQ_DIFFERENT_CHANNEL                                      CHOWN_0
+#define SAPH_ASQ_IDENTICAL_CHANNEL                                      CHOWN_1
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configureASQ().
+//
+//*****************************************************************************
+#define SAPH_ASQ_STANDBY_INDICATION_POWEROFF                      STDBY__PWROFF
+#define SAPH_ASQ_STANDBY_INDICATION_STANDBY                        STDBY__STDBY
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configureASQ().
+//
+//*****************************************************************************
+#define SAPH_ASQ_END_OF_SEQUENCE_OFF_DISABLE                            ESOFF_0
+#define SAPH_ASQ_END_OF_SEQUENCE_OFF_ENABLE                             ESOFF_1
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configureASQ().
+//
+//*****************************************************************************
+#define SAPH_ASQ_EARLY_RECEIVE_BIAS_BY_TIMEMARK_C                     EARLYRB_0
+#define SAPH_ASQ_EARLY_RECEIVE_BIAS_BY_TIMEMARK_A                     EARLYRB_1
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configureASQ().
+//
+//*****************************************************************************
+#define SAPH_ASQ_TOGGLE_CHANNEL_ENABLE                                  CHTOG_1
+#define SAPH_ASQ_TOGGLE_CHANNEL_DISABLE                                 CHTOG_0
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configureMode().
+//
+//*****************************************************************************
+#define SAPH_LOW_POWER_BIAS_MODE_DISABLE                                LPBE_0
+#define SAPH_LOW_POWER_BIAS_MODE_ENABLE                                 LPBE_1
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configureMode().
+//
+//*****************************************************************************
+#define SAPH_CHARGE_PUMP_ON_SDHS_ASQ_REQUESTS_ONLY                      CPEO_0
+#define SAPH_CHARGE_PUMP_ON_ALWAYS                                      CPEO_1
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the config parameter for
+// functions: SAPH_configureMode().
+//
+//*****************************************************************************
+#define SAPH_MCNF_500_OHMS_RXBIAS_450_OHMS_TXBIAS                       BIMP_0
+#define SAPH_MCNF_900_OHMS_RXBIAS_850_OHMS_TXBIAS                       BIMP_1
+#define SAPH_MCNF_1500_OHMS_RXBIAS_1450_OHMS_TXBIAS                     BIMP_2
+#define SAPH_MCNF_2950_OHMS_RXBIAS_2900_OHMS_TXBIAS                     BIMP_3
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Unlocks certain SAPH registers.
+//!
+//! Unlock SAPH registers with offset address of 0xF or higher. IIDX, MIS, RIS,
+//! IMSC, ICR, ISR, DESCLO, and DESCHI registers are not affected and the
+//! registers are not locked. Utilize this function if those registers need to
+//! be modified.
+//! \n\b NOTE: Most of the SAPH APIs will not work unless SAPH is unlocked.
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SAPH_unlock(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Locks certain SAPH registers.
+//!
+//! Locks SAPH registers with offset address of 0xF or higher. IIDX, MIS, RIS,
+//! IMSC, ICR, ISR, DESCLO, and DESCHI registers are not affected and the
+//! registers are not locked. Utilize this function after SAPH_unlock()
+//! after necessary registers have been modified.
+//! SAPH registers, with the exception of the list in paragraph above, are
+//! locked by default.
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SAPH_lock(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Clears SAPH interrupts.
+//!
+//! The SAPH interrupt source is cleared, so that it no longer asserts. If the
+//! interrupt is not enabled, the corresponding bit in the RIS register bit will
+//! be cleared. If the interrupt is enabled, the corresponding bit both MIS and 
+//! RIS registers will be both cleared.
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//! \param mask is the logical OR of any of the following:
+//!        - \b SAPH_DATA_ERROR_INTERRUPT - SAPH data error interrupt
+//!        - \b SAPH_TIMEMARK_F_TIMEOUT_INTERRUPT - SAPH TMF time out interrupt
+//!        - \b SAPH_ACQUISITION_SEQUENCER_DONE_INTERRUPT - SAPH acquistion sequencer done interrupt
+//!        - \b SAPH_PING_TRANSMIT_DONE_INTERRUPT - SAPH ping transmit done interrupt
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SAPH_clearInterrupt(uint16_t baseAddress, uint8_t mask);
+
+//*****************************************************************************
+//
+//! \brief Enables SAPH interrupts.
+//!
+//! Enables the indicated SAPH interrupt sources.  Only the sources that are
+//! enabled can be reflected to the processor interrupt; disabled sources have
+//! no effect on the processor. <b>Does not clear interrupt flags.</b>
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//! \param mask is the logical OR of any of the following:
+//!        - \b SAPH_DATA_ERROR_INTERRUPT - SAPH data error interrupt
+//!        - \b SAPH_TIMEMARK_F_TIMEOUT_INTERRUPT - SAPH TMF time out interrupt
+//!        - \b SAPH_ACQUISITION_SEQUENCER_DONE_INTERRUPT - SAPH acquistion sequencer done interrupt
+//!        - \b SAPH_PING_TRANSMIT_DONE_INTERRUPT - SAPH ping transmit done interrupt
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SAPH_enableInterrupt(uint16_t baseAddress, uint8_t mask);
+
+//*****************************************************************************
+//
+//! \brief Disables selected SAPH interrupt sources.
+//!
+//! Disables the indicated SAPH interrupt sources. Only the sources that are
+//! enabled can be reflected to the processor interrupt; disabled sources have
+//! no effect on the processor.
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//! \param mask is the logical OR of any of the following:
+//!        - \b SAPH_DATA_ERROR_INTERRUPT - SAPH data error interrupt
+//!        - \b SAPH_TIMEMARK_F_TIMEOUT_INTERRUPT - SAPH TMF time out interrupt
+//!        - \b SAPH_ACQUISITION_SEQUENCER_DONE_INTERRUPT - SAPH acquistion sequencer done interrupt
+//!        - \b SAPH_PING_TRANSMIT_DONE_INTERRUPT - SAPH ping transmit done interrupt
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SAPH_disableInterrupt(uint16_t baseAddress, uint8_t mask);
+
+//*****************************************************************************
+//
+//! \brief Gets the current SAPH interrupt status.
+//!
+//! This returns the interrupt status for the SAPH module based on which flag
+//! is passed.
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//! \param mask is the logical OR of any of the following:
+//!        - \b SAPH_DATA_ERROR_INTERRUPT - SAPH data error interrupt
+//!        - \b SAPH_TIMEMARK_F_TIMEOUT_INTERRUPT - SAPH TMF time out interrupt
+//!        - \b SAPH_ACQUISITION_SEQUENCER_DONE_INTERRUPT - SAPH acquistion sequencer done interrupt
+//!        - \b SAPH_PING_TRANSMIT_DONE_INTERRUPT - SAPH ping transmit done interrupt
+//!
+//! \return Logical OR of any of the following:
+//!        - \b SAPH_DATA_ERROR_INTERRUPT - SAPH data error interrupt
+//!        - \b SAPH_TIMEMARK_F_TIMEOUT_INTERRUPT - SAPH TMF time out interrupt
+//!        - \b SAPH_ACQUISITION_SEQUENCER_DONE_INTERRUPT - SAPH acquistion sequencer done interrupt
+//!        - \b SAPH_PING_TRANSMIT_DONE_INTERRUPT - SAPH ping transmit done interrupt
+//
+//*****************************************************************************
+extern uint8_t SAPH_getInterruptStatus(uint16_t baseAddress, uint8_t mask);
+
+//*****************************************************************************
+//
+//! \brief Configures physical interface output and trim values.
+//!
+//! This configures SAPH physical interface:
+//! - channel output 
+//! - channel related trim values
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//! \param config is the pointer to the struct for physical interface configuration.
+//!
+//! \return None
+//!
+//*****************************************************************************
+extern void SAPH_configurePHY(uint16_t baseAddress, SAPH_configPHYParam *config);
+
+//*****************************************************************************
+//
+//! \brief Configures physical interface multiplexer.
+//!
+//! This configures SAPH physical interface mutliplexer for dummy load, channel
+//! multiplexer source control and input channel selection.
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//! \param enableDummyLoad indicates whether to enable/disable dummy load on non-
+//!        selected multiplexer inputs.
+//!        Valid values are:
+//!        - \b SAPH_PHY_DUMMYLOAD_ENABLE
+//!        - \b SAPH_PHY_DUMMYLOAD_DISABLE [Default]
+//! \param sourceControl selects which controls the multiplexer.
+//!        Valid values are:
+//!        - \b SAPH_PHY_SOURCE_CONTROLLED_BY_REGISTER [Default]
+//!        - \b SAPH_PHY_SOURCE_CONTROLLED_BY_ASQ
+//! \param inputChannel selects input channel.
+//!        Valid values are:
+//!        - \b SAPH_PHY_INPUT_CHANNEL_0 [Default]
+//!        - \b SAPH_PHY_INPUT_CHANNEL_1
+//!
+//! \return None
+//!
+//*****************************************************************************
+extern void SAPH_configurePHYMultiplexer(uint16_t baseAddress,
+        uint16_t enableDummyLoad, uint16_t sourceControl, uint16_t inputChannel);
+
+//*****************************************************************************
+//
+//! \brief Configures physical interface bias.
+//!
+//! This configures SAPH physical interface bias parameters:
+//! - excitation bias switch
+//! - PGA bias
+//! - excitation bias
+//! - charge pump
+//! - line input leakage
+//! - compensation
+//! - ASQ bias
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//! \param config is the pointer to the struct for physical interface bias configuration.
+//!
+//! \return None
+//!
+//*****************************************************************************
+extern void SAPH_configurePHYBias(uint16_t baseAddress,
+        SAPH_configPHYBiasParam *config);
+
+//*****************************************************************************
+//
+//! \brief Configures pulse generator count.
+//!
+//! This configures SAPH pulse generator count:
+//! - high impedance
+//! - pause level
+//! - pause polarity
+//! - stop pulse
+//! - excitation pulse
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//! \param config is the pointer to the struct for pulse generator count configuration.
+//!
+//! \return None
+//!
+//*****************************************************************************
+extern void SAPH_configurePPGCount(uint16_t baseAddress,
+        SAPH_configPPGCountParam *config);
+
+//*****************************************************************************
+//
+//! \brief Sets pulse generator low period.
+//!
+//! The low phase of period of generator pulses defines the length of low phase
+//! of the pulses in units of high speed clocks. The minimum count is two regardless
+//! of the value set in this register.
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//! \param period is the low period value to set.
+//!
+//! \return None
+//!
+//*****************************************************************************
+extern void SAPH_setPPGLowPeriod(uint16_t baseAddress, uint16_t period);
+
+//*****************************************************************************
+//
+//! \brief Sets pulse generator high period.
+//!
+//! The high phase of period of generator pulses defines the length of high phase
+//! of the pulses in units of high speed clocks. The minimum count is two regardless
+//! of the value set in this register.
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//! \param period is the high period value to set.
+//!
+//! \return None
+//!
+//*****************************************************************************
+extern void SAPH_setPPGHighPeriod(uint16_t baseAddress, uint16_t period);
+
+//*****************************************************************************
+//
+//! \brief Configures pulse generator.
+//!
+//! This configures SAPH pulse generator:
+//! - trigger source
+//! - prescaler enable
+//! - channel select
+//! - control select
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//! \param config is the pointer to the struct for pulse generator configuration.
+//!
+//! \return None
+//!
+//*****************************************************************************
+extern void SAPH_configurePPG(uint16_t baseAddress, SAPH_configPPGParam *config);
+
+//*****************************************************************************
+//
+//! \brief Triggers pulse generator.
+//!
+//! This function triggers the pulse generator if SAPH_PPG_TRIGGER_SOURCE_SOFTWARE
+//! is selected as the trigger sourcce.
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//!
+//! \return None
+//!
+//*****************************************************************************
+extern void SAPH_triggerPPG(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Stops pulse generator.
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//!
+//! \return None
+//!
+//*****************************************************************************
+extern void SAPH_stopPPG(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Configures acquisition sequencer.
+//!
+//! This configures SAPH acquisition sequencer:
+//! - trigger source
+//! - abort-on-error control
+//! - channel select
+//! - side of channel to receive
+//! - standby indication
+//! - OFF at end-of-sequence
+//! - early receive bias
+//! - channel toggle
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//! \param config is the pointer to the struct for acquisition sequencer configuration.
+//!
+//! \return None
+//!
+//*****************************************************************************
+extern void SAPH_configureASQ(uint16_t baseAddress, SAPH_configASQParam *config);
+
+//*****************************************************************************
+//
+//! \brief Triggers acquisition sequencer.
+//!
+//! This function triggers the acquisition sequencer if SAPH_ASQ_TRIGGER_SOURCE_SOFTWARE
+//! is selected as the trigger sourcce.
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//!
+//! \return None
+//!
+//*****************************************************************************
+extern void SAPH_triggerASQ(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Stops acquisition sequencer.
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//!
+//! \return None
+//!
+//*****************************************************************************
+extern void SAPH_stopASQ(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Gets ping counter of acquisition sequencer.
+//!
+//! This function returns ping counter which represents the number of acquistion
+//! turns regardless if up/down direction is changed. The acquistion stops if
+//! this count decrements from zero.
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//!
+//! \return None
+//!
+//*****************************************************************************
+extern uint8_t SAPH_getASQPingCounter(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Configures acquisition sequencer ping parameters.
+//!
+//! This configures SAPH acquisition sequencer ping:
+//! - output polarity
+//! - pause level
+//! - pause impedance
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//! \param config is the pointer to the struct for acquisition sequencer ping 
+//!        configuration.
+//!
+//! \return None
+//!
+//*****************************************************************************
+extern void SAPH_configureASQPing(uint16_t baseAddress,
+        SAPH_configASQPingParam *config);
+
+//*****************************************************************************
+//
+//! \brief Configures acquisition sequencer time base parameters.
+//!
+//! This configures SAPH acquisition sequencer time base parameters:
+//! - power state
+//! - prescaler start value
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//! \param prescalerStartValue is the ASQ prescaler start value.
+//!
+//! \return None
+//!
+//*****************************************************************************
+extern void SAPH_configureASQTimeBase(uint16_t baseAddress,
+        uint16_t prescalerStartValue);
+
+//*****************************************************************************
+//
+//! \brief Starts acquisition timer.
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//!
+//! \return None
+//!
+//*****************************************************************************
+extern void SAPH_startASQTimer(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Stops acquisition timer.
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//!
+//! \return None
+//!
+//*****************************************************************************
+extern void SAPH_stopASQTimer(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Clears acquisition timer.
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//!
+//! \return None
+//!
+//*****************************************************************************
+extern void SAPH_clearASQTimer(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Configures certain mode configuration parameters.
+//!
+//! This configures SAPH:
+//! - bias generator impedance
+//! - charge pump enable timing
+//! - low power bias mode
+//! \n\b NOTE: This will modify all elements of SAPH mode configuration register. If there are elements not specified in the config parameter, the register values will be cleared. There are other SAPH functions to modify these features individually.
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//! \param config is the pointer to the struct for mode configuration.
+//!
+//! \return None
+//!
+//*****************************************************************************
+extern void SAPH_configureMode(uint16_t baseAddress,
+        SAPH_configModeParam *config);
+
+//*****************************************************************************
+//
+//! \brief Enables low power bias operation mode.
+//!
+//! In this mode, the SAPH acquisition sequencer (ASQ) uses the CHxEBSW and PGABSW as auxiliary values to achieve faster channel setting on reactive input loads. The ASQ has full controls over the bias switch multiplexer.
+//! \n\b NOTE: Avoid changing operation mode unless PSQ is in OFF state. Otherwise, it can cause corrupt measurement results and irregular triggers of sub modules by ASQ.
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//!
+//! \return None
+//!
+//*****************************************************************************
+extern void SAPH_enableLowPowerBiasMode(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Disables low power bias operation mode.
+//!
+//! Enters manual bias mode and regular ASQ bias mode. In this configuration, the user controls by the ASQBSW has full control over TxBias and RxBias switches.
+//! \n\b NOTE: Avoid changing operation mode unless PSQ is in OFF state. Otherwise, it can cause corrupt measurement results and irregular triggers of sub modules by ASQ.
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//!
+//! \return None
+//!
+//*****************************************************************************
+extern void SAPH_disableLowPowerBiasMode(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Keeps charge pump of the input multiplexer always on.
+//!
+//! The charge pump of the input multiplexer is on regardless of SDHS and ASQ requests. This setting will override other USS charge pump settings elsewhere.
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//!
+//! \return None
+//!
+//*****************************************************************************
+extern void SAPH_enableChargePumpAlways(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Charge pump of input multiplexer is only turned on by data acquisition.
+//!
+//! The charge pump of the input multiplexer is turned on by SDHS and ASQ related requests only. This will also require the charge pump to be enabled explicitly through other methods [controlled by CPDA bit or SAPH_configurePHYBias()] in the SAPH module.
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//!
+//! \return None
+//!
+//*****************************************************************************
+extern void SAPH_enableChargePumpOnAcquisitionOnly(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Sets impedance of the buffers for RxBias and TxBias.
+//!
+//! While for resistive loads the lowest impedance shows the fastest settling; this is not the case for reactive loads.
+//!
+//! \param baseAddress is the base address of the SAPH module.
+//! \param biasImpedance sets bias impedance for RxBias and TxBias.
+//!        Valid values are:
+//!        - \b SAPH_MCNF_500_OHMS_RXBIAS_450_OHMS_TXBIAS
+//!        - \b SAPH_MCNF_900_OHMS_RXBIAS_850_OHMS_TXBIAS
+//!        - \b SAPH_MCNF_1500_OHMS_RXBIAS_1450_OHMS_TXBIAS [Default]
+//!        - \b SAPH_MCNF_2950_OHMS_RXBIAS_2900_OHMS_TXBIAS
+//!
+//! \return None
+//!
+//*****************************************************************************
+extern void SAPH_setBiasGeneratorImpedance(uint16_t baseAddress, uint16_t biasImpedance);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_SAPH_H__
+
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/sdhs.c b/Apps/FlightSoftware/MotorControl/driverlib/sdhs.c
new file mode 100644
index 000000000..4b483f673
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/sdhs.c
@@ -0,0 +1,199 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// sdhs.c - Driver for the SDHS Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup sdhs_api sdhs
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_SDHS__
+#include "sdhs.h"
+
+#include <assert.h>
+
+void SDHS_init(uint16_t baseAddress, SDHS_initParam *param)
+{
+   //Unlock Registers
+   HWREG16(baseAddress + OFS_SDHSCTL3) &= ~TRIGEN;
+   HWREG16(baseAddress + OFS_SDHSCTL5) &= ~SDHS_LOCK;
+
+    //Set SDHS Control 0
+    HWREG16(baseAddress + OFS_SDHSCTL0) =
+        param->triggerSourceSelect
+        | param->msbShift 
+        | param->outputBitResolution
+        | param->dataFormat
+        | param->dataAlignment
+        | param->interruptDelayGeneration
+        | param->autoSampleStart;
+    
+    //Set SDHS Control 1
+    HWREG16(baseAddress + OFS_SDHSCTL1) =  param->oversamplingRate;
+    
+    //Set SDHS Control 2
+    HWREG16(baseAddress + OFS_SDHSCTL2) = 
+        param->dataTransferController
+        | param->windowComparator
+        | param->sampleSizeCounting;
+}
+
+void SDHS_setWindowComp(uint16_t baseAddress, uint16_t highThreshold,
+    uint16_t lowThreshold)
+{
+    uint16_t saveCTL3 = HWREG16(baseAddress + OFS_SDHSCTL3);
+    uint16_t saveCTL5 = HWREG16(baseAddress + OFS_SDHSCTL5);
+    
+    //Unlock Registers
+    HWREG16(baseAddress + OFS_SDHSCTL3) &= ~TRIGEN;
+    HWREG16(baseAddress + OFS_SDHSCTL5) &= ~SDHS_LOCK;
+   
+    HWREG16(baseAddress + OFS_SDHSWINHITH) = highThreshold;
+    HWREG16(baseAddress + OFS_SDHSWINLOTH) = lowThreshold;
+    
+    //Restore CTL3 and CTL5
+    HWREG16(baseAddress + OFS_SDHSCTL3) = saveCTL3;
+    HWREG16(baseAddress + OFS_SDHSCTL5) = saveCTL5;
+}
+
+void SDHS_setTotalSampleSize(uint16_t baseAddress, uint16_t sampleSize)
+{
+    uint16_t saveCTL3 = HWREG16(baseAddress + OFS_SDHSCTL3);
+    uint16_t saveCTL5 = HWREG16(baseAddress + OFS_SDHSCTL5);
+    
+    //Unlock Registers
+    HWREG16(baseAddress + OFS_SDHSCTL3) &= ~TRIGEN;
+    HWREG16(baseAddress + OFS_SDHSCTL5) &= ~SDHS_LOCK;
+   
+    HWREG16(baseAddress + OFS_SDHSCTL2) = sampleSize - 1;
+}
+
+void SDHS_enableTrigger(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_SDHSCTL3) |= TRIGEN;
+}
+
+void SDHS_disableTrigger(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_SDHSCTL3) &= ~TRIGEN;
+}
+
+void SDHS_enable(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_SDHSCTL4) |= SDHSON;
+}
+
+void SDHS_disable(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_SDHSCTL4) &= ~SDHSON;
+}
+
+uint16_t SDHS_getInterruptStatus(uint16_t baseAddress, uint16_t interruptMask)
+{
+    return (HWREG16(baseAddress + OFS_SDHSRIS) & interruptMask);
+}
+
+uint16_t SDHS_getInterruptMaskStatus(uint16_t baseAddress, uint16_t interruptMask)
+{
+    return (HWREG16(baseAddress + OFS_SDHSIMSC) & interruptMask);
+}
+
+void SDHS_enableInterrupt(uint16_t baseAddress, uint16_t interruptMask)
+{
+    HWREG16(baseAddress + OFS_SDHSIMSC) |= interruptMask;
+}
+void SDHS_disableInterrupt(uint16_t baseAddress, uint16_t interruptMask)
+{
+    HWREG16(baseAddress + OFS_SDHSIMSC) &= ~interruptMask;
+}
+
+void SDHS_clearInterrupt(uint16_t baseAddress, uint16_t interruptMask)
+{
+    HWREG16(baseAddress + OFS_SDHSICR) |= interruptMask;
+}
+
+void SDHS_setInterrupt(uint16_t baseAddress, uint16_t interruptMask)
+{
+    HWREG16(baseAddress + OFS_SDHSISR) |= interruptMask;
+}
+
+void SDHS_setPGAGain(uint16_t baseAddress, uint16_t gain)
+{
+    assert (gain < 0x40);
+    HWREG16(baseAddress + OFS_SDHSCTL6) = gain;
+}
+
+void SDHS_setModularOptimization(uint16_t baseAddress, uint16_t optimization)
+{
+    assert (optimization < 0x20);
+    HWREG16(baseAddress + OFS_SDHSCTL7) = optimization;
+}
+uint16_t SDHS_getRegisterLockStatus(uint16_t baseAddress)
+{
+    return (HWREG16(baseAddress + OFS_SDHSCTL5) & SDHS_LOCK);
+}
+
+void SDHS_startConversion(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_SDHSCTL5) |= SSTART;
+}
+
+void SDHS_endConversion(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_SDHSCTL5) &= ~SSTART;
+}
+
+uint16_t SDHS_getResults(uint16_t baseAddress)
+{
+    return (HWREG16(baseAddress + OFS_SDHSDT));
+}
+
+void SDHS_setDTCDestinationAddress(uint16_t baseAddress, uint16_t address)
+{
+    HWREG16(baseAddress + OFS_SDHSDTCDA) = address;
+}
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for sdhs_api
+//! @}
+//
+//*****************************************************************************
+
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/sdhs.h b/Apps/FlightSoftware/MotorControl/driverlib/sdhs.h
new file mode 100644
index 000000000..7896c930c
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/sdhs.h
@@ -0,0 +1,653 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// sdhs.h - Driver for the SDHS Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_SDHS_H__
+#define __MSP430WARE_SDHS_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_SDHS__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "inc/hw_memmap.h"
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the interruptMask parameter
+// for functions: SDHS_getInterruptStatus(), SDHS_enableInterrupt(), 
+// SDHS_disableInterrupt()
+//
+//*****************************************************************************
+#define SDHS_INCOMPLETE_STOP_INTERRUPT                                    ISTOP
+#define SDHS_WINDOW_LOW_INTERRUPT                                         WINLO
+#define SDHS_WINDOW_HIGH_INTERRUPT                                        WINHI
+#define SDHS_DATA_READY_INTERRUPT                                         DTRDY
+#define SDHS_START_CONVERSION_TRIGGER_INTERRUPT                           SSTRG
+#define SDHS_ACQUISITION_DONE_INTERRUPT                                 ACQDONE
+#define SDHS_DATA_OVERFLOW_INTERRUPT                                        OVF
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: SDHS_init(); the triggerSourceSelect parameter for
+// functions: SDHS_init().
+//
+//*****************************************************************************
+#define SDHS_REGISTER_CONTROL_MODE                                     TRGSRC_0
+#define SDHS_ASQ_CONTROL_MODE                                          TRGSRC_1
+
+//*****************************************************************************
+//
+// The following are values that are returned by SDHS_getRegisterLockStatus()
+//
+//*****************************************************************************
+#define SDHS_REGISTERS_LOCKED                                       SDHS_LOCK_1
+#define SDHS_REGISTERS_UNLOCKED                                     SDHS_LOCK_0
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: SDHS_init(); the msbShift parameter for
+// functions: SDHS_init().
+//
+//*****************************************************************************
+#define SDHS_NO_SHIFT                                                   SHIFT_0
+#define SDHS_SHIFT_LEFT_1                                               SHIFT_1
+#define SDHS_SHIFT_LEFT_2                                               SHIFT_2
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: SDHS_init(); the outputBitResolution parameter for
+// functions: SDHS_init().
+//
+//*****************************************************************************
+#define SDHS_OUTPUT_RESOLUTION_12_BIT                                     OBR_0
+#define SDHS_OUTPUT_RESOLUTION_13_BIT                                     OBR_1
+#define SDHS_OUTPUT_RESOLUTION_14_BIT                                     OBR_2
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: SDHS_init(); the dataFormat parameter for
+// functions: SDHS_init().
+//
+//*****************************************************************************
+#define SDHS_DATA_FORMAT_TWOS_COMPLEMENT                               DFMSEL_0
+#define SDHS_DATA_FORMAT_OFFSET_BINARY                                 DFMSEL_1
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: SDHS_init(); the dataAlignment parameter for
+// functions: SDHS_init().
+//
+//*****************************************************************************
+#define SDHS_DATA_ALIGNED_RIGHT                                         DALGN_0
+#define SDHS_DATA_ALIGNED_LEFT                                          DALGN_1
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: SDHS_init(); the interruptDelayGeneration parameter for
+// functions: SDHS_init().
+//
+//*****************************************************************************
+#define SDHS_DELAY_SAMPLES_0                                           INTDLY_0
+#define SDHS_DELAY_SAMPLES_1                                           INTDLY_1
+#define SDHS_DELAY_SAMPLES_2                                           INTDLY_2
+#define SDHS_DELAY_SAMPLES_3                                           INTDLY_3
+#define SDHS_DELAY_SAMPLES_4                                           INTDLY_4
+#define SDHS_DELAY_SAMPLES_5                                           INTDLY_5
+#define SDHS_DELAY_SAMPLES_6                                           INTDLY_6
+#define SDHS_DELAY_SAMPLES_7                                           INTDLY_7
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: SDHS_init(); the autoSampleStart parameter for
+// functions: SDHS_init().
+//
+//*****************************************************************************
+#define SDHS_AUTO_SAMPLE_START_ENABLED                              AUTOSSDIS_0
+#define SDHS_AUTO_SAMPLE_START_DISABLED                             AUTOSSDIS_1
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: SDHS_init(); the oversamplingRate parameter for
+// functions: SDHS_init().
+//
+//*****************************************************************************
+#define SDHS_OVERSAMPLING_RATE_10                                         OSR_0
+#define SDHS_OVERSAMPLING_RATE_20                                         OSR_1
+#define SDHS_OVERSAMPLING_RATE_40                                         OSR_2
+#define SDHS_OVERSAMPLING_RATE_80                                         OSR_3
+#define SDHS_OVERSAMPLING_RATE_160                                        OSR_4
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: SDHS_init(); the dataTransferController parameter for
+// functions: SDHS_init().
+//
+//*****************************************************************************
+#define SDHS_DATA_TRANSFER_CONTROLLER_ON                               DTCOFF_0
+#define SDHS_DATA_TRANSFER_CONTROLLER_OFF                              DTCOFF_1
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: SDHS_init(); the windowComparator parameter for
+// functions: SDHS_init().
+//
+//*****************************************************************************
+#define SDHS_WINDOW_COMPARATOR_DISABLE                               WINCMPEN_0
+#define SDHS_WINDOW_COMPARATOR_ENABLE                                WINCMPEN_1
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: SDHS_init(); the sampleSizeCounting parameter for
+// functions: SDHS_init().
+//
+//*****************************************************************************
+#define SDHS_SMPSZ_USED                                             SMPCTLOFF_0
+#define SDHS_SMPSZ_IGNORED                                          SMPCTLOFF_1
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the optimization parameter for
+// functions: SDHS_setModularOptimization().
+//
+//*****************************************************************************
+#define SDHS_OPTIMIZE_PLL_OUTPUT_FREQUENCY_77_80MHz                         0xC
+#define SDHS_OPTIMIZE_PLL_OUTPUT_FREQUENCY_74_77MHz                         0xD
+#define SDHS_OPTIMIZE_PLL_OUTPUT_FREQUENCY_71_74MHz                         0xE
+#define SDHS_OPTIMIZE_PLL_OUTPUT_FREQUENCY_68_71MHz                         0xF
+
+//*****************************************************************************
+//
+//! \brief Used in the SDHS_init() function as the param parameter.
+//
+//*****************************************************************************
+typedef struct SDHS_initParam
+{
+    //! Trigger source select
+    //! \n Valid values are:
+    //! - \B SDHS_REGISTER_CONTROL_MODE [Default]
+    //! - \b SDHS_ASQ_CONTROL_MODE
+    uint16_t triggerSourceSelect;
+    //! Selects MSB shift from filter out
+    //! - \b SDHS_NO_SHIFT [Default] 
+    //! - \b SDHS_SHIFT_LEFT_1 
+    //! - \b SDHS_SHIFT_LEFT_2 
+    uint8_t msbShift;
+    //! Selects the output bit resolution
+    //! \n Valid values are:
+    //! - \b SDHS_OUTPUT_RESOLUTION_12_BIT [Default]
+    //! - \b SDHS_OUTPUT_RESOLUTION_13_BIT
+    //! - \b SDHS_OUTPUT_RESOLUTION_14_BIT
+    uint16_t outputBitResolution;
+    //! Selects the data format
+    //! \n Valid values are:
+    //! - \b SDHS_DATA_FORMAT_TWOS_COMPLEMENT [Default]
+    //! - \b SDHS_DATA_FORMAT_OFFSET_BINARY
+    uint16_t dataFormat;
+    //! Selects the data format
+    //! \n Valid values are:
+    //! - \b SDHS_DATA_ALIGNED_RIGHT [Default]
+    //! - \b SDHS_DATA_ALIGNED_LEFT
+    uint16_t dataAlignment;
+    //! Selects the data format
+    //! \n Valid values are:
+    //! - \b SDHS_DELAY_SAMPLES_0
+    //! - \b SDHS_DELAY_SAMPLES_1 [Default]
+    //! - \b SDHS_DELAY_SAMPLES_2
+    //! - \b SDHS_DELAY_SAMPLES_3
+    //! - \b SDHS_DELAY_SAMPLES_4
+    //! - \b SDHS_DELAY_SAMPLES_5
+    //! - \b SDHS_DELAY_SAMPLES_6
+    //! - \b SDHS_DELAY_SAMPLES_7
+    uint16_t interruptDelayGeneration;
+    //! Selects the Auto Sample Start
+    //! \n Valid values are:
+    //! - \b SDHS_AUTO_SAMPLE_START_DISABLED [Default]
+    //! - \b SDHS_AUTO_SAMPLE_START_ENABLED
+    uint16_t autoSampleStart;
+    //! Selects the Oversampling Rate
+    //! \n Valid values are:
+    //! - \b SDHS_OVERSAMPLING_RATE_10 [Default]
+    //! - \b SDHS_OVERSAMPLING_RATE_20
+    //! - \b SDHS_OVERSAMPLING_RATE_40
+    //! - \b SDHS_OVERSAMPLING_RATE_80
+    //! - \b SDHS_OVERSAMPLING_RATE_160
+    uint16_t oversamplingRate;
+    //! Selects the Data Transfer Controller State
+    //! \n Valid values are:
+    //! - \b SDHS_DATA_TRANSFER_CONTROLLER_ON [Default]
+    //! - \b SDHS_DATA_TRANSFER_CONTROLLER_OFF
+    uint16_t dataTransferController;
+    //! Selects the Window Comparator State
+    //! \n Valid values are:
+    //! - \b SDHS_WINDOW_COMPARATOR_DISABLE [Default]
+    //! - \b SDHS_WINDOW_COMPARATOR_ENABLE
+    uint16_t windowComparator;
+    //! Selects the Sample Size Counting 
+    //! \n Valid values are:
+    //! - \b SDHS_SMPSZ_USED [Default]
+    //! - \b SDHS_SMPSZ_IGNORED
+    uint16_t sampleSizeCounting;
+} SDHS_initParam;
+
+//*****************************************************************************
+//
+//! \brief Initializes the SDHS module
+//!
+//! Initializes the SDHS moduleress
+//!
+//! \param baseAddress is the base address of the SDHS module.
+//!
+//! \param params is the pointer to the initialization structure
+//!
+//! At the end of this call the TRIGEN and SDHS_LOCK bits are reset
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SDHS_init(uint16_t baseAddress, SDHS_initParam *param);
+
+//*****************************************************************************
+//
+//! \brief Returns the status of the selected  interrupt flags.
+//!
+//! Returns the status of the selected  interrupt flags. 
+//!
+//! \param baseAddress is the base address of the SDHS module.
+//! \param interruptMask
+//!            Mask value is the logical OR of any of the following:
+//!         Valid values are:
+//!        - \b SDHS_INCOMPLETE_STOP_INTERRUPT    
+//!        - \b SDHS_WINDOW_LOW_INTERRUPT
+//!        - \b SDHS_WINDOW_HIGH_INTERRUPT 
+//!        - \b SDHS_DATA_READY_INTERRUPT
+//!        - \b SDHS_START_CONVERSION_TRIGGER_INTERRUPT
+//!        - \b SDHS_ACQUISITION_DONE_INTERRUPT
+//!        - \b SDHS_DATA_OVERFLOW_INTERRUPT
+//! \return Logical OR of any of above valid values for interruptMask
+//!         \n indicating the status of the masked flags
+//!
+//
+//*****************************************************************************
+extern uint16_t SDHS_getInterruptStatus(uint16_t baseAddress, uint16_t interruptMask);
+
+//*****************************************************************************
+//
+//! \brief Returns the mask status of the selected  interrupt.
+//!
+//! Returns the mask status of the selected  interrupt flags. 
+//!
+//! \param baseAddress is the base address of the SDHS module.
+//! \param interruptMask
+//!            Mask value is the logical OR of any of the following:
+//!         Valid values are:
+//!        - \b SDHS_INCOMPLETE_STOP_INTERRUPT
+//!        - \b SDHS_WINDOW_LOW_INTERRUPT
+//!        - \b SDHS_WINDOW_HIGH_INTERRUPT
+//!        - \b SDHS_DATA_READY_INTERRUPT
+//!        - \b SDHS_START_CONVERSION_TRIGGER_INTERRUPT
+//!        - \b SDHS_ACQUISITION_DONE_INTERRUPT
+//!        - \b SDHS_DATA_OVERFLOW_INTERRUPT
+//! \return Logical OR of any of above valid values for interruptMask
+//!         \n indicating the status of the masked flags
+//!
+//
+//*****************************************************************************
+extern uint16_t SDHS_getInterruptMaskStatus(uint16_t baseAddress, uint16_t interruptMask);
+
+//*****************************************************************************
+//
+//! \brief Clears SDHS selected interrupt flags.
+//!
+//! \param baseAddress is the base address of the SDHS module.
+//! \param interruptMask
+//!            Mask value is the logical OR of any of the following:
+//!         Valid values are:
+//!        - \b SDHS_INCOMPLETE_STOP_INTERRUPT
+//!        - \b SDHS_WINDOW_LOW_INTERRUPT
+//!        - \b SDHS_WINDOW_HIGH_INTERRUPT
+//!        - \b SDHS_DATA_READY_INTERRUPT
+//!        - \b SDHS_START_CONVERSION_TRIGGER_INTERRUPT
+//!        - \b SDHS_ACQUISITION_DONE_INTERRUPT
+//!        - \b SDHS_DATA_OVERFLOW_INTERRUPT
+//!
+//! Modified registers are \b SDHSICR 
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SDHS_clearInterrupt(uint16_t baseAddress, uint16_t interruptMask);
+
+//*****************************************************************************
+//
+//! \brief Enable SDHS selected interrupt masks.
+//!
+//! \param baseAddress is the base address of the SDHS module.
+//! \param interruptMask
+//!            Mask value is the logical OR of any of the following:
+//!         Valid values are:
+//!        - \b SDHS_WINDOW_LOW_INTERRUPT
+//!        - \b SDHS_WINDOW_HIGH_INTERRUPT
+//!        - \b SDHS_DATA_READY_INTERRUPT
+//!        - \b SDHS_START_CONVERSION_TRIGGER_INTERRUPT
+//!        - \b SDHS_ACQUISITION_DONE_INTERRUPT
+//!        - \b SDHS_DATA_OVERFLOW_INTERRUPT
+//!
+//! Modified registers are SDHSIMSC 
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SDHS_enableInterrupt(uint16_t baseAddress, uint16_t interruptMask);
+
+//*****************************************************************************
+//
+//! \brief Disable SDHS selected interrupt masks.
+//!
+//! \param baseAddress is the base address of the SDHS module.
+//! \param interruptMask 
+//!            Mask value is the logical OR of any of the following:
+//!         Valid values are:
+//!        - \b SDHS_WINDOW_LOW_INTERRUPT
+//!        - \b SDHS_WINDOW_HIGH_INTERRUPT 
+//!        - \b SDHS_DATA_READY_INTERRUPT
+//!        - \b SDHS_START_CONVERSION_TRIGGER_INTERRUPT
+//!        - \b SDHS_ACQUISITION_DONE_INTERRUPT
+//!        - \b SDHS_DATA_OVERFLOW_INTERRUPT
+//!
+//! Modified registers are SDHSIMSC 
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SDHS_disableInterrupt(uint16_t baseAddress, uint16_t interruptMask);
+
+//*****************************************************************************
+//
+//! \brief Set SDHS selected interrupts.
+//!
+//! \param baseAddress is the base address of the SDHS module.
+//! \param interruptMask 
+//!            Mask value is the logical OR of any of the following:
+//!         Valid values are:
+//!        - \b SDHS_WINDOW_LOW_INTERRUPT
+//!        - \b SDHS_WINDOW_HIGH_INTERRUPT 
+//!        - \b SDHS_DATA_READY_INTERRUPT
+//!        - \b SDHS_START_CONVERSION_TRIGGER_INTERRUPT
+//!        - \b SDHS_ACQUISITION_DONE_INTERRUPT
+//!        - \b SDHS_DATA_OVERFLOW_INTERRUPT
+//!
+//! Modified registers are SDHSISR 
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SDHS_setInterrupt(uint16_t baseAddress, uint16_t interruptMask);
+
+//*****************************************************************************
+//
+//! \brief Sets the high and low threshold for the window comparator feature.
+//!
+//! Sets the high and low threshold for the window comparator feature.
+//!
+//! \param baseAddress is the base address of the SDHS module.
+//! \param highThreshold is the upper bound that could trip an interrupt for
+//!        the window comparator.
+//! \param lowThreshold is the lower bound that could trip on interrupt for the
+//!        window comparator.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SDHS_setWindowComp(uint16_t baseAddress, uint16_t highThreshold,
+    uint16_t lowThreshold);
+
+//*****************************************************************************
+//
+//! \brief Sets total sample size
+//!
+//! Note that SDHSCTL2.SMPSZ includes the samples skipped by SDHSCTL0.INTDLY:
+//! - The total number of samples SDHS generates = sampleSize + 1.
+//! - The number of samples SDHS generates via SDHSDT register = sampleSize - INTDLY + 1.
+//! If sampleSize - INTDLY + 1 <= 0, then no data output to SDHSDT register
+//!
+//! \param baseAddress is the base address of the SDHS module.
+//! \param sampleSize is the total number of samples SDHS generates + 1
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SDHS_setTotalSampleSize(uint16_t baseAddress, uint16_t sampleSize);
+
+//*****************************************************************************
+//
+//! \brief Enables the SDHS Trigger.
+//!
+//! Enables the SDHS Trigger.
+//!
+//! \param baseAddress is the base address of the SDHS module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SDHS_enableTrigger(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Disables the SDHS Trigger.
+//!
+//! Disables the SDHS Trigger.
+//!
+//! \param baseAddress is the base address of the SDHS module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SDHS_disableTrigger(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Turn On Module
+//!
+//! Turn On Module
+//!
+//! \param baseAddress is the base address of the SDHS module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SDHS_enable(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Start Conversion
+//!
+//! Start Conversion
+//!
+//! \param baseAddress is the base address of the SDHS module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SDHS_startConversion(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief End Conversion
+//!
+//! End Conversion
+//!
+//! \param baseAddress is the base address of the SDHS module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SDHS_endConversion(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Set PGA Gain 
+//!
+//! Set PGA Gain 
+//!
+//! \param baseAddress is the base address of the SDHS module.
+//!
+//!    \param gain is the PGA Gain control value
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SDHS_setPGAGain(uint16_t baseAddress, uint16_t gain);
+
+//*****************************************************************************
+//
+//! \brief Set Modular Optimization
+//!
+//! Set Modular Optimization. Upper bound of optimization parameter label is non-inclusive.
+//! For example, if your PLL output frequency is 77 MHz, you should select
+//! SDHS_OPTIMIZE_PLL_OUTPUT_FREQUENCY_77_80MHz for optimization parameter.
+//!
+//! \param baseAddress is the base address of the SDHS module.
+//!
+//!    \param optimization is the Modular Optimization value
+//!         Valid values are:
+//!        - \b SDHS_OPTIMIZE_PLL_OUTPUT_FREQUENCY_77_80MHz
+//!        - \b SDHS_OPTIMIZE_PLL_OUTPUT_FREQUENCY_74_77MHz
+//!        - \b SDHS_OPTIMIZE_PLL_OUTPUT_FREQUENCY_71_74MHz
+//!        - \b SDHS_OPTIMIZE_PLL_OUTPUT_FREQUENCY_68_71MHz [Default]
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SDHS_setModularOptimization(uint16_t baseAddress, uint16_t optimization);
+
+//*****************************************************************************
+//
+//! \brief Turn Off Module
+//!
+//! Turn Off Module
+//!
+//! \param baseAddress is the base address of the SDHS module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SDHS_disable(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Returns the contents of the Data Conversion Register
+//!
+//! Returns the contents of the Data Conversion Register.
+//!    The sign bit is extended up to the bit 15.
+//!
+//! \param baseAddress is the base address of the SDHS module.
+//!
+//! \return The contents of the Data Conversion Register
+//
+//*****************************************************************************
+extern uint16_t SDHS_getResults(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Returns the lock status of the registers
+//!
+//! Returns the lock status of the registers
+//!
+//! \param baseAddress is the base address of the SDHS module.
+//!
+//! \return \b SDHS_REGISTERS_LOCKED or \b SDHS_REGISTERS_UNLOCKED
+//
+//*****************************************************************************
+extern uint16_t SDHS_getRegisterLockStatus(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Sets the DTC destination address
+//!
+//! Sets the DTC Destination Address
+//!
+//! \param baseAddress is the base address of the SDHS module.
+//!
+//! \param address is the destination address to be set
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SDHS_setDTCDestinationAddress(uint16_t baseAddress, uint16_t address);
+
+//*****************************************************************************
+//
+// The following are deprecated APIs.
+//
+//*****************************************************************************
+#define SDHS_turnOnModuleinStandaloneMode                           SDHS_enable
+#define SDHS_turnOffModuleinStandaloneMode                         SDHS_disable
+#define SDHS_startConversioninStandaloneMode               SDHS_startConversion
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_SDHS_H__
+
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/sfr.c b/Apps/FlightSoftware/MotorControl/driverlib/sfr.c
new file mode 100644
index 000000000..53deced67
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/sfr.c
@@ -0,0 +1,96 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// sfr.c - Driver for the sfr Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup sfr_api sfr
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_SFR__
+#include "sfr.h"
+
+#include <assert.h>
+
+void SFR_enableInterrupt (uint8_t interruptMask)
+{
+    HWREG8(SFR_BASE + OFS_SFRIE1_L) |= interruptMask;
+}
+
+void SFR_disableInterrupt (uint8_t interruptMask)
+{
+    HWREG8(SFR_BASE + OFS_SFRIE1_L) &= ~(interruptMask);
+}
+
+uint8_t SFR_getInterruptStatus (uint8_t interruptFlagMask)
+{
+    return ( HWREG8(SFR_BASE + OFS_SFRIFG1_L) & interruptFlagMask );
+}
+
+void SFR_clearInterrupt (uint8_t interruptFlagMask)
+{
+    HWREG8(SFR_BASE + OFS_SFRIFG1_L) &= ~(interruptFlagMask);
+}
+
+void SFR_setResetPinPullResistor (uint16_t pullResistorSetup)
+{
+    HWREG8(SFR_BASE + OFS_SFRRPCR_L) &= ~(SYSRSTRE + SYSRSTUP);
+    HWREG8(SFR_BASE + OFS_SFRRPCR_L) |= pullResistorSetup;
+}
+
+void SFR_setNMIEdge (uint16_t edgeDirection)
+{
+    HWREG8(SFR_BASE + OFS_SFRRPCR_L) &= ~(SYSNMIIES);
+    HWREG8(SFR_BASE + OFS_SFRRPCR_L) |= edgeDirection;
+}
+
+void SFR_setResetNMIPinFunction (uint8_t resetPinFunction)
+{
+    HWREG8(SFR_BASE + OFS_SFRRPCR_L) &= ~(SYSNMI);
+    HWREG8(SFR_BASE + OFS_SFRRPCR_L) |= resetPinFunction;
+}
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for sfr_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/sfr.h b/Apps/FlightSoftware/MotorControl/driverlib/sfr.h
new file mode 100644
index 000000000..dd9c9b708
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/sfr.h
@@ -0,0 +1,290 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// sfr.h - Driver for the SFR Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_SFR_H__
+#define __MSP430WARE_SFR_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_SFR__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the interruptMask parameter
+// for functions: SFR_enableInterrupt(), and SFR_disableInterrupt(); the
+// interruptFlagMask parameter for functions: SFR_getInterruptStatus(), and
+// SFR_clearInterrupt() as well as returned by the SFR_getInterruptStatus()
+// function.
+//
+//*****************************************************************************
+#define SFR_JTAG_OUTBOX_INTERRUPT                                      JMBOUTIE
+#define SFR_JTAG_INBOX_INTERRUPT                                        JMBINIE
+#define SFR_NMI_PIN_INTERRUPT                                             NMIIE
+#define SFR_VACANT_MEMORY_ACCESS_INTERRUPT                                VMAIE
+#define SFR_OSCILLATOR_FAULT_INTERRUPT                                     OFIE
+#define SFR_WATCHDOG_INTERVAL_TIMER_INTERRUPT                             WDTIE
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the pullResistorSetup
+// parameter for functions: SFR_setResetPinPullResistor().
+//
+//*****************************************************************************
+#define SFR_RESISTORDISABLE                            (!(SYSRSTRE + SYSRSTUP))
+#define SFR_RESISTORENABLE_PULLUP                         (SYSRSTRE + SYSRSTUP)
+#define SFR_RESISTORENABLE_PULLDOWN                                  (SYSRSTRE)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the edgeDirection parameter
+// for functions: SFR_setNMIEdge().
+//
+//*****************************************************************************
+#define SFR_NMI_RISINGEDGE                                       (!(SYSNMIIES))
+#define SFR_NMI_FALLINGEDGE                                         (SYSNMIIES)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the resetPinFunction
+// parameter for functions: SFR_setResetNMIPinFunction().
+//
+//*****************************************************************************
+#define SFR_RESETPINFUNC_RESET                                      (!(SYSNMI))
+#define SFR_RESETPINFUNC_NMI                                           (SYSNMI)
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Enables selected SFR interrupt sources.
+//!
+//! This function enables the selected SFR interrupt sources. Only the sources
+//! that are enabled can be reflected to the processor interrupt; disabled
+//! sources have no effect on the processor. Does not clear interrupt flags.
+//!
+//! \param interruptMask is the bit mask of interrupts that will be enabled.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b SFR_JTAG_OUTBOX_INTERRUPT - JTAG outbox interrupt
+//!        - \b SFR_JTAG_INBOX_INTERRUPT - JTAG inbox interrupt
+//!        - \b SFR_NMI_PIN_INTERRUPT - NMI pin interrupt, if NMI function is
+//!           chosen
+//!        - \b SFR_VACANT_MEMORY_ACCESS_INTERRUPT - Vacant memory access
+//!           interrupt
+//!        - \b SFR_OSCILLATOR_FAULT_INTERRUPT - Oscillator fault interrupt
+//!        - \b SFR_WATCHDOG_INTERVAL_TIMER_INTERRUPT - Watchdog interval timer
+//!           interrupt
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SFR_enableInterrupt(uint8_t interruptMask);
+
+//*****************************************************************************
+//
+//! \brief Disables selected SFR interrupt sources.
+//!
+//! This function disables the selected SFR interrupt sources. Only the sources
+//! that are enabled can be reflected to the processor interrupt; disabled
+//! sources have no effect on the processor.
+//!
+//! \param interruptMask is the bit mask of interrupts that will be disabled.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b SFR_JTAG_OUTBOX_INTERRUPT - JTAG outbox interrupt
+//!        - \b SFR_JTAG_INBOX_INTERRUPT - JTAG inbox interrupt
+//!        - \b SFR_NMI_PIN_INTERRUPT - NMI pin interrupt, if NMI function is
+//!           chosen
+//!        - \b SFR_VACANT_MEMORY_ACCESS_INTERRUPT - Vacant memory access
+//!           interrupt
+//!        - \b SFR_OSCILLATOR_FAULT_INTERRUPT - Oscillator fault interrupt
+//!        - \b SFR_WATCHDOG_INTERVAL_TIMER_INTERRUPT - Watchdog interval timer
+//!           interrupt
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SFR_disableInterrupt(uint8_t interruptMask);
+
+//*****************************************************************************
+//
+//! \brief Returns the status of the selected SFR interrupt flags.
+//!
+//! This function returns the status of the selected SFR interrupt flags in a
+//! bit mask format matching that passed into the interruptFlagMask parameter.
+//!
+//! \param interruptFlagMask is the bit mask of interrupt flags that the status
+//!        of should be returned.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b SFR_JTAG_OUTBOX_INTERRUPT - JTAG outbox interrupt
+//!        - \b SFR_JTAG_INBOX_INTERRUPT - JTAG inbox interrupt
+//!        - \b SFR_NMI_PIN_INTERRUPT - NMI pin interrupt, if NMI function is
+//!           chosen
+//!        - \b SFR_VACANT_MEMORY_ACCESS_INTERRUPT - Vacant memory access
+//!           interrupt
+//!        - \b SFR_OSCILLATOR_FAULT_INTERRUPT - Oscillator fault interrupt
+//!        - \b SFR_WATCHDOG_INTERVAL_TIMER_INTERRUPT - Watchdog interval timer
+//!           interrupt
+//!
+//! \return A bit mask of the status of the selected interrupt flags.
+//!         Return Logical OR of any of the following:
+//!         - \b SFR_JTAG_OUTBOX_INTERRUPT JTAG outbox interrupt
+//!         - \b SFR_JTAG_INBOX_INTERRUPT JTAG inbox interrupt
+//!         - \b SFR_NMI_PIN_INTERRUPT NMI pin interrupt, if NMI function is
+//!         chosen
+//!         - \b SFR_VACANT_MEMORY_ACCESS_INTERRUPT Vacant memory access
+//!         interrupt
+//!         - \b SFR_OSCILLATOR_FAULT_INTERRUPT Oscillator fault interrupt
+//!         - \b SFR_WATCHDOG_INTERVAL_TIMER_INTERRUPT Watchdog interval timer
+//!         interrupt
+//!         \n indicating the status of the masked interrupts
+//
+//*****************************************************************************
+extern uint8_t SFR_getInterruptStatus(uint8_t interruptFlagMask);
+
+//*****************************************************************************
+//
+//! \brief Clears the selected SFR interrupt flags.
+//!
+//! This function clears the status of the selected SFR interrupt flags.
+//!
+//! \param interruptFlagMask is the bit mask of interrupt flags that will be
+//!        cleared.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b SFR_JTAG_OUTBOX_INTERRUPT - JTAG outbox interrupt
+//!        - \b SFR_JTAG_INBOX_INTERRUPT - JTAG inbox interrupt
+//!        - \b SFR_NMI_PIN_INTERRUPT - NMI pin interrupt, if NMI function is
+//!           chosen
+//!        - \b SFR_VACANT_MEMORY_ACCESS_INTERRUPT - Vacant memory access
+//!           interrupt
+//!        - \b SFR_OSCILLATOR_FAULT_INTERRUPT - Oscillator fault interrupt
+//!        - \b SFR_WATCHDOG_INTERVAL_TIMER_INTERRUPT - Watchdog interval timer
+//!           interrupt
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SFR_clearInterrupt(uint8_t interruptFlagMask);
+
+//*****************************************************************************
+//
+//! \brief Sets the pull-up/down resistor on the ~RST/NMI pin.
+//!
+//! This function sets the pull-up/down resistors on the ~RST/NMI pin to the
+//! settings from the pullResistorSetup parameter.
+//!
+//! \param pullResistorSetup is the selection of how the pull-up/down resistor
+//!        on the ~RST/NMI pin should be setup or disabled.
+//!        Valid values are:
+//!        - \b SFR_RESISTORDISABLE
+//!        - \b SFR_RESISTORENABLE_PULLUP [Default]
+//!        - \b SFR_RESISTORENABLE_PULLDOWN
+//!        \n Modified bits are \b SYSRSTUP and \b SYSRSTRE of \b SFRRPCR
+//!        register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SFR_setResetPinPullResistor(uint16_t pullResistorSetup);
+
+//*****************************************************************************
+//
+//! \brief Sets the edge direction that will assert an NMI from a signal on the
+//! ~RST/NMI pin if NMI function is active.
+//!
+//! This function sets the edge direction that will assert an NMI from a signal
+//! on the ~RST/NMI pin if the NMI function is active. To activate the NMI
+//! function of the ~RST/NMI use the SFR_setResetNMIPinFunction() passing
+//! SFR_RESETPINFUNC_NMI into the resetPinFunction parameter.
+//!
+//! \param edgeDirection is the direction that the signal on the ~RST/NMI pin
+//!        should go to signal an interrupt, if enabled.
+//!        Valid values are:
+//!        - \b SFR_NMI_RISINGEDGE [Default]
+//!        - \b SFR_NMI_FALLINGEDGE
+//!        \n Modified bits are \b SYSNMIIES of \b SFRRPCR register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SFR_setNMIEdge(uint16_t edgeDirection);
+
+//*****************************************************************************
+//
+//! \brief Sets the function of the ~RST/NMI pin.
+//!
+//! This function sets the functionality of the ~RST/NMI pin, whether in reset
+//! mode which will assert a reset if a low signal is observed on that pin, or
+//! an NMI which will assert an interrupt from an edge of the signal dependent
+//! on the setting of the edgeDirection parameter in SFR_setNMIEdge().
+//!
+//! \param resetPinFunction is the function that the ~RST/NMI pin should take
+//!        on.
+//!        Valid values are:
+//!        - \b SFR_RESETPINFUNC_RESET [Default]
+//!        - \b SFR_RESETPINFUNC_NMI
+//!        \n Modified bits are \b SYSNMI of \b SFRRPCR register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SFR_setResetNMIPinFunction(uint8_t resetPinFunction);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_SFR_H__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/sysctl.c b/Apps/FlightSoftware/MotorControl/driverlib/sysctl.c
new file mode 100644
index 000000000..12731b6b9
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/sysctl.c
@@ -0,0 +1,131 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// sysctl.c - Driver for the sysctl Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup sysctl_api sysctl
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_SYS__
+#include "sysctl.h"
+
+#include <assert.h>
+
+void SysCtl_enableDedicatedJTAGPins (void)
+{
+    HWREG8(SYS_BASE + OFS_SYSCTL_L) |= SYSJTAGPIN;
+}
+
+uint8_t SysCtl_getBSLEntryIndication (void)
+{
+    if ( HWREG8(SYS_BASE + OFS_SYSCTL_L) & SYSBSLIND){
+        return (SYSCTL_BSLENTRY_INDICATED) ;
+    } else   {
+        return (SYSCTL_BSLENTRY_NOTINDICATED) ;
+    }
+}
+
+void SysCtl_enablePMMAccessProtect (void)
+{
+    HWREG8(SYS_BASE + OFS_SYSCTL_L) |= SYSPMMPE;
+}
+
+void SysCtl_enableRAMBasedInterruptVectors (void)
+{
+    HWREG8(SYS_BASE + OFS_SYSCTL_L) |= SYSRIVECT;
+}
+
+void SysCtl_disableRAMBasedInterruptVectors (void)
+{
+    HWREG8(SYS_BASE + OFS_SYSCTL_L) &= ~(SYSRIVECT);
+}
+
+void SysCtl_initJTAGMailbox (uint8_t mailboxSizeSelect,
+    uint8_t autoClearInboxFlagSelect)
+{
+    HWREG8(SYS_BASE + OFS_SYSJMBC_L) &= ~(JMBCLR1OFF + JMBCLR0OFF + JMBMODE);
+    HWREG8(SYS_BASE + OFS_SYSJMBC_L) |=
+        mailboxSizeSelect + autoClearInboxFlagSelect;
+}
+
+uint8_t SysCtl_getJTAGMailboxFlagStatus (uint8_t mailboxFlagMask)
+{
+    return ( HWREG8(SYS_BASE + OFS_SYSJMBC_L) & mailboxFlagMask);
+}
+
+void SysCtl_clearJTAGMailboxFlagStatus (uint8_t mailboxFlagMask)
+{
+    HWREG8(SYS_BASE + OFS_SYSJMBC_L) &= ~(mailboxFlagMask);
+}
+
+uint16_t SysCtl_getJTAGInboxMessage16Bit (uint8_t inboxSelect)
+{
+    return ( HWREG16(SYS_BASE + OFS_SYSJMBI0 + inboxSelect) );
+}
+
+uint32_t SysCtl_getJTAGInboxMessage32Bit (void)
+{
+    uint32_t JTAGInboxMessageLow = HWREG16(SYS_BASE + OFS_SYSJMBI0);
+    uint32_t JTAGInboxMessageHigh = HWREG16(SYS_BASE + OFS_SYSJMBI1);
+
+    return ( (JTAGInboxMessageHigh << 16) + JTAGInboxMessageLow );
+}
+
+void SysCtl_setJTAGOutgoingMessage16Bit (uint8_t outboxSelect,
+    uint16_t outgoingMessage)
+{
+    HWREG16(SYS_BASE + OFS_SYSJMBO0 + outboxSelect) = outgoingMessage;
+}
+
+void SysCtl_setJTAGOutgoingMessage32Bit (uint32_t outgoingMessage)
+{
+    HWREG16(SYS_BASE + OFS_SYSJMBO0) = (outgoingMessage);
+    HWREG16(SYS_BASE + OFS_SYSJMBO1) = (outgoingMessage >> 16);
+}
+
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for sysctl_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/sysctl.h b/Apps/FlightSoftware/MotorControl/driverlib/sysctl.h
new file mode 100644
index 000000000..64f8ab9b0
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/sysctl.h
@@ -0,0 +1,356 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// sysctl.h - Driver for the SYSCTL Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_SYSCTL_H__
+#define __MSP430WARE_SYSCTL_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_SYS__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the mailboxSizeSelect
+// parameter for functions: SysCtl_initJTAGMailbox().
+//
+//*****************************************************************************
+#define SYSCTL_JTAGMBSIZE_16BIT                                    (!(JMBMODE))
+#define SYSCTL_JTAGMBSIZE_32BIT                                       (JMBMODE)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the autoClearInboxFlagSelect
+// parameter for functions: SysCtl_initJTAGMailbox().
+//
+//*****************************************************************************
+#define SYSCTL_JTAGINBOX0AUTO_JTAGINBOX1AUTO       (!(JMBCLR0OFF + JMBCLR1OFF))
+#define SYSCTL_JTAGINBOX0AUTO_JTAGINBOX1SW                         (JMBCLR1OFF)
+#define SYSCTL_JTAGINBOX0SW_JTAGINBOX1AUTO                         (JMBCLR0OFF)
+#define SYSCTL_JTAGINBOX0SW_JTAGINBOX1SW              (JMBCLR0OFF + JMBCLR1OFF)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the mailboxFlagMask parameter
+// for functions: SysCtl_getJTAGMailboxFlagStatus(), and
+// SysCtl_clearJTAGMailboxFlagStatus().
+//
+//*****************************************************************************
+#define SYSCTL_JTAGOUTBOX_FLAG0                                     (JMBOUT0FG)
+#define SYSCTL_JTAGOUTBOX_FLAG1                                     (JMBOUT1FG)
+#define SYSCTL_JTAGINBOX_FLAG0                                       (JMBIN0FG)
+#define SYSCTL_JTAGINBOX_FLAG1                                       (JMBIN1FG)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the inboxSelect parameter for
+// functions: SysCtl_getJTAGInboxMessage16Bit().
+//
+//*****************************************************************************
+#define SYSCTL_JTAGINBOX_0                                                (0x0)
+#define SYSCTL_JTAGINBOX_1                                                (0x2)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the outboxSelect parameter
+// for functions: SysCtl_setJTAGOutgoingMessage16Bit().
+//
+//*****************************************************************************
+#define SYSCTL_JTAGOUTBOX_0                                               (0x0)
+#define SYSCTL_JTAGOUTBOX_1                                               (0x2)
+
+//*****************************************************************************
+//
+// The following are values that can be passed toThe following are values that
+// can be returned by the SysCtl_getBSLEntryIndication() function.
+//
+//*****************************************************************************
+#define SYSCTL_BSLENTRY_INDICATED                                         (0x1)
+#define SYSCTL_BSLENTRY_NOTINDICATED                                      (0x0)
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Sets the JTAG pins to be exclusively for JTAG until a BOR occurs.
+//!
+//! This function sets the JTAG pins to be exclusively used for the JTAG, and
+//! not to be shared with the GPIO pins. This setting can only be cleared when
+//! a BOR occurs.
+//!
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SysCtl_enableDedicatedJTAGPins(void);
+
+//*****************************************************************************
+//
+//! \brief Returns the indication of a BSL entry sequence from the Spy-Bi-Wire.
+//!
+//! This function returns the indication of a BSL entry sequence from the Spy-
+//! Bi-Wire.
+//!
+//!
+//! \return One of the following:
+//!         - \b SYSCTL_BSLENTRY_INDICATED
+//!         - \b SYSCTL_BSLENTRY_NOTINDICATED
+//!         \n indicating if a BSL entry sequence was detected
+//
+//*****************************************************************************
+extern uint8_t SysCtl_getBSLEntryIndication(void);
+
+//*****************************************************************************
+//
+//! \brief Enables PMM Access Protection.
+//!
+//! This function enables the PMM Access Protection, which will lock any
+//! changes on the PMM control registers until a BOR occurs.
+//!
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SysCtl_enablePMMAccessProtect(void);
+
+//*****************************************************************************
+//
+//! \brief Enables RAM-based Interrupt Vectors.
+//!
+//! This function enables RAM-base Interrupt Vectors, which means that
+//! interrupt vectors are generated with the end address at the top of RAM,
+//! instead of the top of the lower 64kB of flash.
+//!
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SysCtl_enableRAMBasedInterruptVectors(void);
+
+//*****************************************************************************
+//
+//! \brief Disables RAM-based Interrupt Vectors.
+//!
+//! This function disables the interrupt vectors from being generated at the
+//! top of the RAM.
+//!
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SysCtl_disableRAMBasedInterruptVectors(void);
+
+//*****************************************************************************
+//
+//! \brief Initializes JTAG Mailbox with selected properties.
+//!
+//! This function sets the specified settings for the JTAG Mailbox system. The
+//! settings that can be set are the size of the JTAG messages, and the auto-
+//! clearing of the inbox flags. If the inbox flags are set to auto-clear, then
+//! the inbox flags will be cleared upon reading of the inbox message buffer,
+//! otherwise they will have to be reset by software using the
+//! SYS_clearJTAGMailboxFlagStatus() function.
+//!
+//! \param mailboxSizeSelect is the size of the JTAG Mailboxes, whether 16- or
+//!        32-bits.
+//!        Valid values are:
+//!        - \b SYSCTL_JTAGMBSIZE_16BIT [Default] - the JTAG messages will take
+//!           up only one JTAG mailbox (i. e. an outgoing message will take up
+//!           only 1 outbox of the JTAG mailboxes)
+//!        - \b SYSCTL_JTAGMBSIZE_32BIT - the JTAG messages will be contained
+//!           within both JTAG mailboxes (i. e. an outgoing message will take
+//!           up both Outboxes of the JTAG mailboxes)
+//!        \n Modified bits are \b JMBMODE of \b SYSJMBC register.
+//! \param autoClearInboxFlagSelect decides how the JTAG inbox flags should be
+//!        cleared, whether automatically after the corresponding outbox has
+//!        been written to, or manually by software.
+//!        Valid values are:
+//!        - \b SYSCTL_JTAGINBOX0AUTO_JTAGINBOX1AUTO [Default] - both JTAG
+//!           inbox flags will be reset automatically when the corresponding
+//!           inbox is read from.
+//!        - \b SYSCTL_JTAGINBOX0AUTO_JTAGINBOX1SW - only JTAG inbox 0 flag is
+//!           reset automatically, while JTAG inbox 1 is reset with the
+//!        - \b SYSCTL_JTAGINBOX0SW_JTAGINBOX1AUTO - only JTAG inbox 1 flag is
+//!           reset automatically, while JTAG inbox 0 is reset with the
+//!        - \b SYSCTL_JTAGINBOX0SW_JTAGINBOX1SW - both JTAG inbox flags will
+//!           need to be reset manually by the
+//!        \n Modified bits are \b JMBCLR0OFF and \b JMBCLR1OFF of \b SYSJMBC
+//!        register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SysCtl_initJTAGMailbox(uint8_t mailboxSizeSelect,
+                                   uint8_t autoClearInboxFlagSelect);
+
+//*****************************************************************************
+//
+//! \brief Returns the status of the selected JTAG Mailbox flags.
+//!
+//! This function will return the status of the selected JTAG Mailbox flags in
+//! bit mask format matching that passed into the mailboxFlagMask parameter.
+//!
+//! \param mailboxFlagMask is the bit mask of JTAG mailbox flags that the
+//!        status of should be returned.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b SYSCTL_JTAGOUTBOX_FLAG0 - flag for JTAG outbox 0
+//!        - \b SYSCTL_JTAGOUTBOX_FLAG1 - flag for JTAG outbox 1
+//!        - \b SYSCTL_JTAGINBOX_FLAG0 - flag for JTAG inbox 0
+//!        - \b SYSCTL_JTAGINBOX_FLAG1 - flag for JTAG inbox 1
+//!
+//! \return A bit mask of the status of the selected mailbox flags.
+//
+//*****************************************************************************
+extern uint8_t SysCtl_getJTAGMailboxFlagStatus(uint8_t mailboxFlagMask);
+
+//*****************************************************************************
+//
+//! \brief Clears the status of the selected JTAG Mailbox flags.
+//!
+//! This function clears the selected JTAG Mailbox flags.
+//!
+//! \param mailboxFlagMask is the bit mask of JTAG mailbox flags that the
+//!        status of should be cleared.
+//!        Mask value is the logical OR of any of the following:
+//!        - \b SYSCTL_JTAGOUTBOX_FLAG0 - flag for JTAG outbox 0
+//!        - \b SYSCTL_JTAGOUTBOX_FLAG1 - flag for JTAG outbox 1
+//!        - \b SYSCTL_JTAGINBOX_FLAG0 - flag for JTAG inbox 0
+//!        - \b SYSCTL_JTAGINBOX_FLAG1 - flag for JTAG inbox 1
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SysCtl_clearJTAGMailboxFlagStatus(uint8_t mailboxFlagMask);
+
+//*****************************************************************************
+//
+//! \brief Returns the contents of the selected JTAG Inbox in a 16 bit format.
+//!
+//! This function returns the message contents of the selected JTAG inbox. If
+//! the auto clear settings for the Inbox flags were set, then using this
+//! function will automatically clear the corresponding JTAG inbox flag.
+//!
+//! \param inboxSelect is the chosen JTAG inbox that the contents of should be
+//!        returned
+//!        Valid values are:
+//!        - \b SYSCTL_JTAGINBOX_0 - return contents of JTAG inbox 0
+//!        - \b SYSCTL_JTAGINBOX_1 - return contents of JTAG inbox 1
+//!
+//! \return The contents of the selected JTAG inbox in a 16 bit format.
+//
+//*****************************************************************************
+extern uint16_t SysCtl_getJTAGInboxMessage16Bit(uint8_t inboxSelect);
+
+//*****************************************************************************
+//
+//! \brief Returns the contents of JTAG Inboxes in a 32 bit format.
+//!
+//! This function returns the message contents of both JTAG inboxes in a 32 bit
+//! format. This function should be used if 32-bit messaging has been set in
+//! the SYS_initJTAGMailbox() function. If the auto clear settings for the
+//! Inbox flags were set, then using this function will automatically clear
+//! both JTAG inbox flags.
+//!
+//!
+//! \return The contents of both JTAG messages in a 32 bit format.
+//
+//*****************************************************************************
+extern uint32_t SysCtl_getJTAGInboxMessage32Bit(void);
+
+//*****************************************************************************
+//
+//! \brief Sets a 16 bit outgoing message in to the selected JTAG Outbox.
+//!
+//! This function sets the outgoing message in the selected JTAG outbox. The
+//! corresponding JTAG outbox flag is cleared after this function, and set
+//! after the JTAG has read the message.
+//!
+//! \param outboxSelect is the chosen JTAG outbox that the message should be
+//!        set it.
+//!        Valid values are:
+//!        - \b SYSCTL_JTAGOUTBOX_0 - set the contents of JTAG outbox 0
+//!        - \b SYSCTL_JTAGOUTBOX_1 - set the contents of JTAG outbox 1
+//! \param outgoingMessage is the message to send to the JTAG.
+//!        \n Modified bits are \b MSGHI and \b MSGLO of \b SYSJMBOx register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SysCtl_setJTAGOutgoingMessage16Bit(uint8_t outboxSelect,
+                                               uint16_t outgoingMessage);
+
+//*****************************************************************************
+//
+//! \brief Sets a 32 bit message in to both JTAG Outboxes.
+//!
+//! This function sets the 32-bit outgoing message in both JTAG outboxes. The
+//! JTAG outbox flags are cleared after this function, and set after the JTAG
+//! has read the message.
+//!
+//! \param outgoingMessage is the message to send to the JTAG.
+//!        \n Modified bits are \b MSGHI and \b MSGLO of \b SYSJMBOx register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void SysCtl_setJTAGOutgoingMessage32Bit(uint32_t outgoingMessage);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_SYSCTL_H__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/timer_a.c b/Apps/FlightSoftware/MotorControl/driverlib/timer_a.c
new file mode 100644
index 000000000..2c4378609
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/timer_a.c
@@ -0,0 +1,364 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// timer_a.c - Driver for the timer_a Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup timer_a_api timer_a
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_TxA7__
+#include "timer_a.h"
+
+#include <assert.h>
+
+void Timer_A_startCounter ( uint16_t baseAddress,
+    uint16_t timerMode
+    )
+{
+    HWREG16(baseAddress + OFS_TAxCTL) &= ~MC_3;
+    HWREG16(baseAddress + OFS_TAxCTL) |= timerMode;
+}
+
+void Timer_A_initContinuousMode (uint16_t baseAddress,
+    Timer_A_initContinuousModeParam *param)
+{
+
+    HWREG16(baseAddress +
+        OFS_TAxCTL) &= ~(TIMER_A_CLOCKSOURCE_INVERTED_EXTERNAL_TXCLK +
+                         TIMER_A_UPDOWN_MODE +
+                         TIMER_A_DO_CLEAR +
+                         TIMER_A_TAIE_INTERRUPT_ENABLE +
+                         ID__8
+                         );
+    HWREG16(baseAddress + OFS_TAxEX0) &= ~TAIDEX_7;
+
+    HWREG16(baseAddress + OFS_TAxEX0) |= param->clockSourceDivider&0x7;
+    HWREG16(baseAddress + OFS_TAxCTL) |= (param->clockSource +
+                                          param->timerClear +
+                                          param->timerInterruptEnable_TAIE +
+                                          ((param->clockSourceDivider>>3)<<6));
+
+    if(param->startTimer) {
+        HWREG16(baseAddress + OFS_TAxCTL) |= TIMER_A_CONTINUOUS_MODE;
+    }
+}
+
+void Timer_A_initUpMode (uint16_t baseAddress,
+    Timer_A_initUpModeParam *param)
+{
+
+    HWREG16(baseAddress + OFS_TAxCTL) &=
+        ~(TIMER_A_CLOCKSOURCE_INVERTED_EXTERNAL_TXCLK +
+          TIMER_A_UPDOWN_MODE +
+          TIMER_A_DO_CLEAR +
+          TIMER_A_TAIE_INTERRUPT_ENABLE +
+          ID__8
+          );
+    HWREG16(baseAddress + OFS_TAxEX0) &= ~TAIDEX_7;
+
+    HWREG16(baseAddress + OFS_TAxEX0) |= param->clockSourceDivider&0x7;
+    HWREG16(baseAddress + OFS_TAxCTL) |= (param->clockSource +
+                                          param->timerClear +
+                                          param->timerInterruptEnable_TAIE +
+                                          ((param->clockSourceDivider>>3)<<6));
+
+    if (param->startTimer) {
+        HWREG16(baseAddress + OFS_TAxCTL) |= TIMER_A_UP_MODE;
+    }
+
+    if (TIMER_A_CCIE_CCR0_INTERRUPT_ENABLE ==
+        param->captureCompareInterruptEnable_CCR0_CCIE){
+        HWREG16(baseAddress + OFS_TAxCCTL0)  |= TIMER_A_CCIE_CCR0_INTERRUPT_ENABLE;
+    } else   {
+        HWREG16(baseAddress + OFS_TAxCCTL0)  &= ~TIMER_A_CCIE_CCR0_INTERRUPT_ENABLE;
+    }
+
+    HWREG16(baseAddress + OFS_TAxCCR0) = param->timerPeriod;
+}
+
+void Timer_A_initUpDownMode(uint16_t baseAddress,
+    Timer_A_initUpDownModeParam *param)
+{
+    HWREG16(baseAddress + OFS_TAxCTL) &=
+        ~(TIMER_A_CLOCKSOURCE_INVERTED_EXTERNAL_TXCLK +
+          TIMER_A_UPDOWN_MODE +
+          TIMER_A_DO_CLEAR +
+          TIMER_A_TAIE_INTERRUPT_ENABLE +
+          ID__8
+          );
+    HWREG16(baseAddress + OFS_TAxEX0) &= ~TAIDEX_7;
+
+    HWREG16(baseAddress + OFS_TAxEX0) |= param->clockSourceDivider&0x7;
+    HWREG16(baseAddress + OFS_TAxCTL) |= (param->clockSource +
+                                          param->timerClear +
+                                          param->timerInterruptEnable_TAIE +
+                                          ((param->clockSourceDivider>>3)<<6));
+
+    if (param->startTimer) {
+        HWREG16(baseAddress + OFS_TAxCTL) |= TIMER_A_UPDOWN_MODE;
+    }
+
+    if (TIMER_A_CCIE_CCR0_INTERRUPT_ENABLE ==
+        param->captureCompareInterruptEnable_CCR0_CCIE){
+        HWREG16(baseAddress + OFS_TAxCCTL0)  |= TIMER_A_CCIE_CCR0_INTERRUPT_ENABLE;
+    } else   {
+        HWREG16(baseAddress + OFS_TAxCCTL0)  &= ~TIMER_A_CCIE_CCR0_INTERRUPT_ENABLE;
+    }
+
+    HWREG16(baseAddress + OFS_TAxCCR0)  = param->timerPeriod;
+}
+
+void Timer_A_initCaptureMode(uint16_t baseAddress,
+    Timer_A_initCaptureModeParam *param)
+{
+    HWREG16(baseAddress + param->captureRegister ) |= CAP;
+
+    HWREG16(baseAddress + param->captureRegister) &=
+        ~(TIMER_A_CAPTUREMODE_RISING_AND_FALLING_EDGE +
+          TIMER_A_CAPTURE_INPUTSELECT_Vcc +
+          TIMER_A_CAPTURE_SYNCHRONOUS +
+          TIMER_A_DO_CLEAR +
+          TIMER_A_TAIE_INTERRUPT_ENABLE +
+          CM_3
+          );
+
+    HWREG16(baseAddress + param->captureRegister) |= (param->captureMode +
+                                              param->captureInputSelect +
+                                              param->synchronizeCaptureSource +
+                                              param->captureInterruptEnable +
+                                              param->captureOutputMode
+                                              );
+}
+
+void Timer_A_initCompareMode(uint16_t baseAddress,
+    Timer_A_initCompareModeParam *param)
+{
+    HWREG16(baseAddress + param->compareRegister ) &= ~CAP;
+
+    HWREG16(baseAddress + param->compareRegister) &=
+        ~(TIMER_A_CAPTURECOMPARE_INTERRUPT_ENABLE +
+          TIMER_A_OUTPUTMODE_RESET_SET
+          );
+
+    HWREG16(baseAddress + param->compareRegister) |= (param->compareInterruptEnable +
+                                               param->compareOutputMode
+                                               );
+
+    HWREG16(baseAddress + param->compareRegister + OFS_TAxR) = param->compareValue;
+}
+
+void Timer_A_enableInterrupt (uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_TAxCTL) |= TAIE;
+}
+
+void Timer_A_disableInterrupt (uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_TAxCTL) &= ~TAIE;
+}
+
+uint32_t Timer_A_getInterruptStatus (uint16_t baseAddress)
+{
+    return ( HWREG16(baseAddress + OFS_TAxCTL) & TAIFG );
+}
+
+void Timer_A_enableCaptureCompareInterrupt (uint16_t baseAddress,
+    uint16_t captureCompareRegister
+    )
+{
+    HWREG16(baseAddress + captureCompareRegister) |= CCIE;
+}
+
+void Timer_A_disableCaptureCompareInterrupt (uint16_t baseAddress,
+    uint16_t captureCompareRegister
+    )
+{
+    HWREG16(baseAddress + captureCompareRegister) &= ~CCIE;
+}
+
+uint32_t Timer_A_getCaptureCompareInterruptStatus (uint16_t baseAddress,
+		 uint16_t captureCompareRegister,
+		 uint16_t mask
+		 )
+{
+    return ( HWREG16(baseAddress + captureCompareRegister) & mask );
+}
+
+void Timer_A_clear (uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_TAxCTL) |= TACLR;
+}
+
+uint8_t Timer_A_getSynchronizedCaptureCompareInput
+    (uint16_t baseAddress,
+    uint16_t captureCompareRegister,
+    uint16_t synchronized
+    )
+{
+    if (HWREG16(baseAddress + captureCompareRegister) & synchronized){
+        return ( TIMER_A_CAPTURECOMPARE_INPUT_HIGH) ;
+    } else   {
+        return ( TIMER_A_CAPTURECOMPARE_INPUT_LOW) ;
+    }
+}
+
+uint8_t Timer_A_getOutputForOutputModeOutBitValue
+    (uint16_t baseAddress,
+    uint16_t captureCompareRegister
+    )
+{
+    if (HWREG16(baseAddress + captureCompareRegister) & OUT){
+        return ( TIMER_A_OUTPUTMODE_OUTBITVALUE_HIGH) ;
+    } else   {
+        return ( TIMER_A_OUTPUTMODE_OUTBITVALUE_LOW) ;
+    }
+}
+
+uint16_t Timer_A_getCaptureCompareCount
+    (uint16_t baseAddress,
+    uint16_t captureCompareRegister
+    )
+{
+    return  (HWREG16(baseAddress + OFS_TAxR + captureCompareRegister));
+}
+
+void Timer_A_setOutputForOutputModeOutBitValue
+    (uint16_t baseAddress,
+    uint16_t captureCompareRegister,
+    uint8_t outputModeOutBitValue
+    )
+{
+
+    HWREG16(baseAddress + captureCompareRegister) &= ~OUT;
+    HWREG16(baseAddress + captureCompareRegister) |= outputModeOutBitValue;
+}
+
+void Timer_A_outputPWM(uint16_t baseAddress, Timer_A_outputPWMParam *param)
+{
+    HWREG16(baseAddress + OFS_TAxCTL)  &=
+        ~( TIMER_A_CLOCKSOURCE_INVERTED_EXTERNAL_TXCLK +
+           TIMER_A_UPDOWN_MODE + TIMER_A_DO_CLEAR +
+           TIMER_A_TAIE_INTERRUPT_ENABLE +
+           ID__8
+           );
+    HWREG16(baseAddress + OFS_TAxEX0) &= ~TAIDEX_7;
+
+    HWREG16(baseAddress + OFS_TAxEX0) |= param->clockSourceDivider&0x7;
+    HWREG16(baseAddress + OFS_TAxCTL)  |= (param->clockSource +
+                                          TIMER_A_UP_MODE +
+                                          TIMER_A_DO_CLEAR +
+                                          ((param->clockSourceDivider>>3)<<6));
+
+    HWREG16(baseAddress + OFS_TAxCCR0) = param->timerPeriod;
+
+    HWREG16(baseAddress + OFS_TAxCCTL0)  &=
+        ~(TIMER_A_CAPTURECOMPARE_INTERRUPT_ENABLE +
+          TIMER_A_OUTPUTMODE_RESET_SET);
+
+    HWREG16(baseAddress + param->compareRegister) |= param->compareOutputMode;
+
+    HWREG16(baseAddress + param->compareRegister + OFS_TAxR) = param->dutyCycle;
+}
+
+void Timer_A_stop ( uint16_t baseAddress )
+{
+    HWREG16(baseAddress + OFS_TAxCTL)  &= ~MC_3;
+}
+
+void Timer_A_setCompareValue (  uint16_t baseAddress,
+    uint16_t compareRegister,
+    uint16_t compareValue
+    )
+{
+    HWREG16(baseAddress + compareRegister + OFS_TAxR) = compareValue;
+}
+
+void Timer_A_setOutputMode(uint16_t baseAddress,
+                             uint16_t compareRegister,
+                             uint16_t compareOutputMode)
+{
+    uint16_t temp = HWREG16(baseAddress + compareRegister);
+    HWREG16(baseAddress + compareRegister) = temp & ~(OUTMOD_7) | compareOutputMode;
+}
+void Timer_A_clearTimerInterrupt (uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_TAxCTL) &= ~TAIFG;
+}
+
+void Timer_A_clearCaptureCompareInterrupt (uint16_t baseAddress,
+    uint16_t captureCompareRegister
+    )
+{
+    HWREG16(baseAddress + captureCompareRegister)  &= ~CCIFG;
+}
+
+uint16_t Timer_A_getCounterValue (uint16_t baseAddress)
+{
+	uint16_t voteOne, voteTwo, res;
+
+    voteTwo = HWREG16(baseAddress + OFS_TAxR);
+
+	do
+    {
+        voteOne = voteTwo;
+        voteTwo = HWREG16(baseAddress + OFS_TAxR);
+
+		if(voteTwo > voteOne) {
+			res = voteTwo - voteOne;
+		} else if(voteOne > voteTwo) {
+			res = voteOne - voteTwo;
+		} else{
+			res = 0;
+		}
+
+    } while ( res > TIMER_A_THRESHOLD);
+
+    return voteTwo;
+}
+
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for timer_a_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/timer_a.h b/Apps/FlightSoftware/MotorControl/driverlib/timer_a.h
new file mode 100644
index 000000000..1f8972add
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/timer_a.h
@@ -0,0 +1,1097 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// timer_a.h - Driver for the TIMER_A Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_TIMER_A_H__
+#define __MSP430WARE_TIMER_A_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_TxA7__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "inc/hw_memmap.h"
+//*****************************************************************************
+//
+// The following is a parameter used for Timer_A_getCounterValue that
+// determines the maximum difference in counts of the TAxR register for a
+// majority vote.
+//
+//*****************************************************************************
+#define TIMER_A_THRESHOLD                                                    50
+
+//*****************************************************************************
+//
+//! \brief Used in the Timer_A_initContinuousMode() function as the param
+//! parameter.
+//
+//*****************************************************************************
+typedef struct Timer_A_initContinuousModeParam {
+    //! Selects Clock source.
+    //! \n Valid values are:
+    //! - \b TIMER_A_CLOCKSOURCE_EXTERNAL_TXCLK [Default]
+    //! - \b TIMER_A_CLOCKSOURCE_ACLK
+    //! - \b TIMER_A_CLOCKSOURCE_SMCLK
+    //! - \b TIMER_A_CLOCKSOURCE_INVERTED_EXTERNAL_TXCLK
+    uint16_t clockSource;
+    //! Is the desired divider for the clock source
+    //! \n Valid values are:
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_1 [Default]
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_2
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_3
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_4
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_5
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_6
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_7
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_8
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_10
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_12
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_14
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_16
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_20
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_24
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_28
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_32
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_40
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_48
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_56
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_64
+    uint16_t clockSourceDivider;
+    //! Is to enable or disable Timer_A interrupt
+    //! \n Valid values are:
+    //! - \b TIMER_A_TAIE_INTERRUPT_ENABLE
+    //! - \b TIMER_A_TAIE_INTERRUPT_DISABLE [Default]
+    uint16_t timerInterruptEnable_TAIE;
+    //! Decides if Timer_A clock divider, count direction, count need to be
+    //! reset.
+    //! \n Valid values are:
+    //! - \b TIMER_A_DO_CLEAR
+    //! - \b TIMER_A_SKIP_CLEAR [Default]
+    uint16_t timerClear;
+    //! Whether to start the timer immediately
+    bool startTimer;
+} Timer_A_initContinuousModeParam;
+
+//*****************************************************************************
+//
+//! \brief Used in the Timer_A_initCaptureMode() function as the param
+//! parameter.
+//
+//*****************************************************************************
+typedef struct Timer_A_initCaptureModeParam {
+    //! Selects the Capture register being used. Refer to datasheet to ensure
+    //! the device has the capture compare register being used.
+    //! \n Valid values are:
+    //! - \b TIMER_A_CAPTURECOMPARE_REGISTER_0
+    //! - \b TIMER_A_CAPTURECOMPARE_REGISTER_1
+    //! - \b TIMER_A_CAPTURECOMPARE_REGISTER_2
+    //! - \b TIMER_A_CAPTURECOMPARE_REGISTER_3
+    //! - \b TIMER_A_CAPTURECOMPARE_REGISTER_4
+    //! - \b TIMER_A_CAPTURECOMPARE_REGISTER_5
+    //! - \b TIMER_A_CAPTURECOMPARE_REGISTER_6
+    uint16_t captureRegister;
+    //! Is the capture mode selected.
+    //! \n Valid values are:
+    //! - \b TIMER_A_CAPTUREMODE_NO_CAPTURE [Default]
+    //! - \b TIMER_A_CAPTUREMODE_RISING_EDGE
+    //! - \b TIMER_A_CAPTUREMODE_FALLING_EDGE
+    //! - \b TIMER_A_CAPTUREMODE_RISING_AND_FALLING_EDGE
+    uint16_t captureMode;
+    //! Decides the Input Select
+    //! \n Valid values are:
+    //! - \b TIMER_A_CAPTURE_INPUTSELECT_CCIxA
+    //! - \b TIMER_A_CAPTURE_INPUTSELECT_CCIxB
+    //! - \b TIMER_A_CAPTURE_INPUTSELECT_GND
+    //! - \b TIMER_A_CAPTURE_INPUTSELECT_Vcc
+    uint16_t captureInputSelect;
+    //! Decides if capture source should be synchronized with timer clock
+    //! \n Valid values are:
+    //! - \b TIMER_A_CAPTURE_ASYNCHRONOUS [Default]
+    //! - \b TIMER_A_CAPTURE_SYNCHRONOUS
+    uint16_t synchronizeCaptureSource;
+    //! Is to enable or disable timer captureComapre interrupt.
+    //! \n Valid values are:
+    //! - \b TIMER_A_CAPTURECOMPARE_INTERRUPT_DISABLE [Default]
+    //! - \b TIMER_A_CAPTURECOMPARE_INTERRUPT_ENABLE
+    uint16_t captureInterruptEnable;
+    //! Specifies the output mode.
+    //! \n Valid values are:
+    //! - \b TIMER_A_OUTPUTMODE_OUTBITVALUE [Default]
+    //! - \b TIMER_A_OUTPUTMODE_SET
+    //! - \b TIMER_A_OUTPUTMODE_TOGGLE_RESET
+    //! - \b TIMER_A_OUTPUTMODE_SET_RESET
+    //! - \b TIMER_A_OUTPUTMODE_TOGGLE
+    //! - \b TIMER_A_OUTPUTMODE_RESET
+    //! - \b TIMER_A_OUTPUTMODE_TOGGLE_SET
+    //! - \b TIMER_A_OUTPUTMODE_RESET_SET
+    uint16_t captureOutputMode;
+} Timer_A_initCaptureModeParam;
+
+//*****************************************************************************
+//
+//! \brief Used in the Timer_A_initUpDownMode() function as the param
+//! parameter.
+//
+//*****************************************************************************
+typedef struct Timer_A_initUpDownModeParam {
+    //! Selects Clock source.
+    //! \n Valid values are:
+    //! - \b TIMER_A_CLOCKSOURCE_EXTERNAL_TXCLK [Default]
+    //! - \b TIMER_A_CLOCKSOURCE_ACLK
+    //! - \b TIMER_A_CLOCKSOURCE_SMCLK
+    //! - \b TIMER_A_CLOCKSOURCE_INVERTED_EXTERNAL_TXCLK
+    uint16_t clockSource;
+    //! Is the desired divider for the clock source
+    //! \n Valid values are:
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_1 [Default]
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_2
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_3
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_4
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_5
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_6
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_7
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_8
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_10
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_12
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_14
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_16
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_20
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_24
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_28
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_32
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_40
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_48
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_56
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_64
+    uint16_t clockSourceDivider;
+    //! Is the specified Timer_A period
+    uint16_t timerPeriod;
+    //! Is to enable or disable Timer_A interrupt
+    //! \n Valid values are:
+    //! - \b TIMER_A_TAIE_INTERRUPT_ENABLE
+    //! - \b TIMER_A_TAIE_INTERRUPT_DISABLE [Default]
+    uint16_t timerInterruptEnable_TAIE;
+    //! Is to enable or disable Timer_A CCR0 captureComapre interrupt.
+    //! \n Valid values are:
+    //! - \b TIMER_A_CCIE_CCR0_INTERRUPT_ENABLE
+    //! - \b TIMER_A_CCIE_CCR0_INTERRUPT_DISABLE [Default]
+    uint16_t captureCompareInterruptEnable_CCR0_CCIE;
+    //! Decides if Timer_A clock divider, count direction, count need to be
+    //! reset.
+    //! \n Valid values are:
+    //! - \b TIMER_A_DO_CLEAR
+    //! - \b TIMER_A_SKIP_CLEAR [Default]
+    uint16_t timerClear;
+    //! Whether to start the timer immediately
+    bool startTimer;
+} Timer_A_initUpDownModeParam;
+
+//*****************************************************************************
+//
+//! \brief Used in the Timer_A_outputPWM() function as the param parameter.
+//
+//*****************************************************************************
+typedef struct Timer_A_outputPWMParam {
+    //! Selects Clock source.
+    //! \n Valid values are:
+    //! - \b TIMER_A_CLOCKSOURCE_EXTERNAL_TXCLK [Default]
+    //! - \b TIMER_A_CLOCKSOURCE_ACLK
+    //! - \b TIMER_A_CLOCKSOURCE_SMCLK
+    //! - \b TIMER_A_CLOCKSOURCE_INVERTED_EXTERNAL_TXCLK
+    uint16_t clockSource;
+    //! Is the desired divider for the clock source
+    //! \n Valid values are:
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_1 [Default]
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_2
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_3
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_4
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_5
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_6
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_7
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_8
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_10
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_12
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_14
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_16
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_20
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_24
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_28
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_32
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_40
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_48
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_56
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_64
+    uint16_t clockSourceDivider;
+    //! Selects the desired timer period
+    uint16_t timerPeriod;
+    //! Selects the compare register being used. Refer to datasheet to ensure
+    //! the device has the capture compare register being used.
+    //! \n Valid values are:
+    //! - \b TIMER_A_CAPTURECOMPARE_REGISTER_0
+    //! - \b TIMER_A_CAPTURECOMPARE_REGISTER_1
+    //! - \b TIMER_A_CAPTURECOMPARE_REGISTER_2
+    //! - \b TIMER_A_CAPTURECOMPARE_REGISTER_3
+    //! - \b TIMER_A_CAPTURECOMPARE_REGISTER_4
+    //! - \b TIMER_A_CAPTURECOMPARE_REGISTER_5
+    //! - \b TIMER_A_CAPTURECOMPARE_REGISTER_6
+    uint16_t compareRegister;
+    //! Specifies the output mode.
+    //! \n Valid values are:
+    //! - \b TIMER_A_OUTPUTMODE_OUTBITVALUE [Default]
+    //! - \b TIMER_A_OUTPUTMODE_SET
+    //! - \b TIMER_A_OUTPUTMODE_TOGGLE_RESET
+    //! - \b TIMER_A_OUTPUTMODE_SET_RESET
+    //! - \b TIMER_A_OUTPUTMODE_TOGGLE
+    //! - \b TIMER_A_OUTPUTMODE_RESET
+    //! - \b TIMER_A_OUTPUTMODE_TOGGLE_SET
+    //! - \b TIMER_A_OUTPUTMODE_RESET_SET
+    uint16_t compareOutputMode;
+    //! Specifies the dutycycle for the generated waveform
+    uint16_t dutyCycle;
+} Timer_A_outputPWMParam;
+
+//*****************************************************************************
+//
+//! \brief Used in the Timer_A_initUpMode() function as the param parameter.
+//
+//*****************************************************************************
+typedef struct Timer_A_initUpModeParam {
+    //! Selects Clock source.
+    //! \n Valid values are:
+    //! - \b TIMER_A_CLOCKSOURCE_EXTERNAL_TXCLK [Default]
+    //! - \b TIMER_A_CLOCKSOURCE_ACLK
+    //! - \b TIMER_A_CLOCKSOURCE_SMCLK
+    //! - \b TIMER_A_CLOCKSOURCE_INVERTED_EXTERNAL_TXCLK
+    uint16_t clockSource;
+    //! Is the desired divider for the clock source
+    //! \n Valid values are:
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_1 [Default]
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_2
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_3
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_4
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_5
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_6
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_7
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_8
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_10
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_12
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_14
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_16
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_20
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_24
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_28
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_32
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_40
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_48
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_56
+    //! - \b TIMER_A_CLOCKSOURCE_DIVIDER_64
+    uint16_t clockSourceDivider;
+    //! Is the specified Timer_A period. This is the value that gets written
+    //! into the CCR0. Limited to 16 bits[uint16_t]
+    uint16_t timerPeriod;
+    //! Is to enable or disable Timer_A interrupt
+    //! \n Valid values are:
+    //! - \b TIMER_A_TAIE_INTERRUPT_ENABLE
+    //! - \b TIMER_A_TAIE_INTERRUPT_DISABLE [Default]
+    uint16_t timerInterruptEnable_TAIE;
+    //! Is to enable or disable Timer_A CCR0 captureComapre interrupt.
+    //! \n Valid values are:
+    //! - \b TIMER_A_CCIE_CCR0_INTERRUPT_ENABLE
+    //! - \b TIMER_A_CCIE_CCR0_INTERRUPT_DISABLE [Default]
+    uint16_t captureCompareInterruptEnable_CCR0_CCIE;
+    //! Decides if Timer_A clock divider, count direction, count need to be
+    //! reset.
+    //! \n Valid values are:
+    //! - \b TIMER_A_DO_CLEAR
+    //! - \b TIMER_A_SKIP_CLEAR [Default]
+    uint16_t timerClear;
+    //! Whether to start the timer immediately
+    bool startTimer;
+} Timer_A_initUpModeParam;
+
+//*****************************************************************************
+//
+//! \brief Used in the Timer_A_initCompareMode() function as the param
+//! parameter.
+//
+//*****************************************************************************
+typedef struct Timer_A_initCompareModeParam {
+    //! Selects the Capture register being used. Refer to datasheet to ensure
+    //! the device has the capture compare register being used.
+    //! \n Valid values are:
+    //! - \b TIMER_A_CAPTURECOMPARE_REGISTER_0
+    //! - \b TIMER_A_CAPTURECOMPARE_REGISTER_1
+    //! - \b TIMER_A_CAPTURECOMPARE_REGISTER_2
+    //! - \b TIMER_A_CAPTURECOMPARE_REGISTER_3
+    //! - \b TIMER_A_CAPTURECOMPARE_REGISTER_4
+    //! - \b TIMER_A_CAPTURECOMPARE_REGISTER_5
+    //! - \b TIMER_A_CAPTURECOMPARE_REGISTER_6
+    uint16_t compareRegister;
+    //! Is to enable or disable timer captureComapre interrupt.
+    //! \n Valid values are:
+    //! - \b TIMER_A_CAPTURECOMPARE_INTERRUPT_DISABLE [Default]
+    //! - \b TIMER_A_CAPTURECOMPARE_INTERRUPT_ENABLE
+    uint16_t compareInterruptEnable;
+    //! Specifies the output mode.
+    //! \n Valid values are:
+    //! - \b TIMER_A_OUTPUTMODE_OUTBITVALUE [Default]
+    //! - \b TIMER_A_OUTPUTMODE_SET
+    //! - \b TIMER_A_OUTPUTMODE_TOGGLE_RESET
+    //! - \b TIMER_A_OUTPUTMODE_SET_RESET
+    //! - \b TIMER_A_OUTPUTMODE_TOGGLE
+    //! - \b TIMER_A_OUTPUTMODE_RESET
+    //! - \b TIMER_A_OUTPUTMODE_TOGGLE_SET
+    //! - \b TIMER_A_OUTPUTMODE_RESET_SET
+    uint16_t compareOutputMode;
+    //! Is the count to be compared with in compare mode
+    uint16_t compareValue;
+} Timer_A_initCompareModeParam;
+
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: Timer_A_initContinuousMode(), Timer_A_initUpMode(),
+// Timer_A_initUpDownMode(), and Timer_A_outputPWM().
+//
+//*****************************************************************************
+#define TIMER_A_CLOCKSOURCE_DIVIDER_1                                      0x00
+#define TIMER_A_CLOCKSOURCE_DIVIDER_2                                      0x08
+#define TIMER_A_CLOCKSOURCE_DIVIDER_3                                      0x02
+#define TIMER_A_CLOCKSOURCE_DIVIDER_4                                      0x10
+#define TIMER_A_CLOCKSOURCE_DIVIDER_5                                      0x04
+#define TIMER_A_CLOCKSOURCE_DIVIDER_6                                      0x05
+#define TIMER_A_CLOCKSOURCE_DIVIDER_7                                      0x06
+#define TIMER_A_CLOCKSOURCE_DIVIDER_8                                      0x18
+#define TIMER_A_CLOCKSOURCE_DIVIDER_10                                     0x0C
+#define TIMER_A_CLOCKSOURCE_DIVIDER_12                                     0x0D
+#define TIMER_A_CLOCKSOURCE_DIVIDER_14                                     0x0E
+#define TIMER_A_CLOCKSOURCE_DIVIDER_16                                     0x0F
+#define TIMER_A_CLOCKSOURCE_DIVIDER_20                                     0x14
+#define TIMER_A_CLOCKSOURCE_DIVIDER_24                                     0x15
+#define TIMER_A_CLOCKSOURCE_DIVIDER_28                                     0x16
+#define TIMER_A_CLOCKSOURCE_DIVIDER_32                                     0x17
+#define TIMER_A_CLOCKSOURCE_DIVIDER_40                                     0x1C
+#define TIMER_A_CLOCKSOURCE_DIVIDER_48                                     0x1D
+#define TIMER_A_CLOCKSOURCE_DIVIDER_56                                     0x1E
+#define TIMER_A_CLOCKSOURCE_DIVIDER_64                                     0x1F
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the timerMode parameter for
+// functions: Timer_A_startCounter().
+//
+//*****************************************************************************
+#define TIMER_A_STOP_MODE                                                  MC_0
+#define TIMER_A_UP_MODE                                                    MC_1
+#define TIMER_A_CONTINUOUS_MODE                                            MC_2
+#define TIMER_A_UPDOWN_MODE                                                MC_3
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: Timer_A_initContinuousMode(), Timer_A_initUpMode(), and
+// Timer_A_initUpDownMode().
+//
+//*****************************************************************************
+#define TIMER_A_DO_CLEAR                                                  TACLR
+#define TIMER_A_SKIP_CLEAR                                                 0x00
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: Timer_A_initContinuousMode(), Timer_A_initUpMode(),
+// Timer_A_initUpDownMode(), and Timer_A_outputPWM().
+//
+//*****************************************************************************
+#define TIMER_A_CLOCKSOURCE_EXTERNAL_TXCLK                        TASSEL__TACLK
+#define TIMER_A_CLOCKSOURCE_ACLK                                   TASSEL__ACLK
+#define TIMER_A_CLOCKSOURCE_SMCLK                                 TASSEL__SMCLK
+#define TIMER_A_CLOCKSOURCE_INVERTED_EXTERNAL_TXCLK               TASSEL__INCLK
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: Timer_A_initContinuousMode(), Timer_A_initUpMode(), and
+// Timer_A_initUpDownMode().
+//
+//*****************************************************************************
+#define TIMER_A_TAIE_INTERRUPT_ENABLE                                      TAIE
+#define TIMER_A_TAIE_INTERRUPT_DISABLE                                     0x00
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: Timer_A_initUpMode(), and Timer_A_initUpDownMode().
+//
+//*****************************************************************************
+#define TIMER_A_CCIE_CCR0_INTERRUPT_ENABLE                                 CCIE
+#define TIMER_A_CCIE_CCR0_INTERRUPT_DISABLE                                0x00
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: Timer_A_initCaptureMode(), and Timer_A_initCompareMode().
+//
+//*****************************************************************************
+#define TIMER_A_CAPTURECOMPARE_INTERRUPT_DISABLE                           0x00
+#define TIMER_A_CAPTURECOMPARE_INTERRUPT_ENABLE                            CCIE
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: Timer_A_initCaptureMode().
+//
+//*****************************************************************************
+#define TIMER_A_CAPTURE_INPUTSELECT_CCIxA                                CCIS_0
+#define TIMER_A_CAPTURE_INPUTSELECT_CCIxB                                CCIS_1
+#define TIMER_A_CAPTURE_INPUTSELECT_GND                                  CCIS_2
+#define TIMER_A_CAPTURE_INPUTSELECT_Vcc                                  CCIS_3
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the compareOutputMode
+// parameter for functions: Timer_A_setOutputMode(); the param parameter for
+// functions: Timer_A_initCaptureMode(), Timer_A_initCompareMode(), and
+// Timer_A_outputPWM().
+//
+//*****************************************************************************
+#define TIMER_A_OUTPUTMODE_OUTBITVALUE                                 OUTMOD_0
+#define TIMER_A_OUTPUTMODE_SET                                         OUTMOD_1
+#define TIMER_A_OUTPUTMODE_TOGGLE_RESET                                OUTMOD_2
+#define TIMER_A_OUTPUTMODE_SET_RESET                                   OUTMOD_3
+#define TIMER_A_OUTPUTMODE_TOGGLE                                      OUTMOD_4
+#define TIMER_A_OUTPUTMODE_RESET                                       OUTMOD_5
+#define TIMER_A_OUTPUTMODE_TOGGLE_SET                                  OUTMOD_6
+#define TIMER_A_OUTPUTMODE_RESET_SET                                   OUTMOD_7
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the compareRegister parameter
+// for functions: Timer_A_setCompareValue(), and Timer_A_setOutputMode(); the
+// captureCompareRegister parameter for functions:
+// Timer_A_enableCaptureCompareInterrupt(),
+// Timer_A_disableCaptureCompareInterrupt(),
+// Timer_A_getCaptureCompareInterruptStatus(),
+// Timer_A_getSynchronizedCaptureCompareInput(),
+// Timer_A_getOutputForOutputModeOutBitValue(),
+// Timer_A_getCaptureCompareCount(),
+// Timer_A_setOutputForOutputModeOutBitValue(), and
+// Timer_A_clearCaptureCompareInterrupt(); the param parameter for functions:
+// Timer_A_initCaptureMode(), Timer_A_initCompareMode(), and
+// Timer_A_outputPWM().
+//
+//*****************************************************************************
+#define TIMER_A_CAPTURECOMPARE_REGISTER_0                                  0x02
+#define TIMER_A_CAPTURECOMPARE_REGISTER_1                                  0x04
+#define TIMER_A_CAPTURECOMPARE_REGISTER_2                                  0x06
+#define TIMER_A_CAPTURECOMPARE_REGISTER_3                                  0x08
+#define TIMER_A_CAPTURECOMPARE_REGISTER_4                                  0x0A
+#define TIMER_A_CAPTURECOMPARE_REGISTER_5                                  0x0C
+#define TIMER_A_CAPTURECOMPARE_REGISTER_6                                  0x0E
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: Timer_A_initCaptureMode().
+//
+//*****************************************************************************
+#define TIMER_A_CAPTUREMODE_NO_CAPTURE                                     CM_0
+#define TIMER_A_CAPTUREMODE_RISING_EDGE                                    CM_1
+#define TIMER_A_CAPTUREMODE_FALLING_EDGE                                   CM_2
+#define TIMER_A_CAPTUREMODE_RISING_AND_FALLING_EDGE                        CM_3
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: Timer_A_initCaptureMode().
+//
+//*****************************************************************************
+#define TIMER_A_CAPTURE_ASYNCHRONOUS                                       0x00
+#define TIMER_A_CAPTURE_SYNCHRONOUS                                         SCS
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the mask parameter for
+// functions: Timer_A_getCaptureCompareInterruptStatus() as well as returned by
+// the Timer_A_getCaptureCompareInterruptStatus() function.
+//
+//*****************************************************************************
+#define TIMER_A_CAPTURE_OVERFLOW                                            COV
+#define TIMER_A_CAPTURECOMPARE_INTERRUPT_FLAG                             CCIFG
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the synchronized parameter
+// for functions: Timer_A_getSynchronizedCaptureCompareInput().
+//
+//*****************************************************************************
+#define TIMER_A_READ_SYNCHRONIZED_CAPTURECOMPAREINPUT                      SCCI
+#define TIMER_A_READ_CAPTURE_COMPARE_INPUT                                  CCI
+
+//*****************************************************************************
+//
+// The following are values that can be passed toThe following are values that
+// can be returned by the Timer_A_getSynchronizedCaptureCompareInput()
+// function.
+//
+//*****************************************************************************
+#define TIMER_A_CAPTURECOMPARE_INPUT_HIGH                                  0x01
+#define TIMER_A_CAPTURECOMPARE_INPUT_LOW                                   0x00
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the outputModeOutBitValue
+// parameter for functions: Timer_A_setOutputForOutputModeOutBitValue() as well
+// as returned by the Timer_A_getOutputForOutputModeOutBitValue() function.
+//
+//*****************************************************************************
+#define TIMER_A_OUTPUTMODE_OUTBITVALUE_HIGH                                 OUT
+#define TIMER_A_OUTPUTMODE_OUTBITVALUE_LOW                                 0x00
+
+//*****************************************************************************
+//
+// The following are values that can be passed toThe following are values that
+// can be returned by the Timer_A_getInterruptStatus() function.
+//
+//*****************************************************************************
+#define TIMER_A_INTERRUPT_NOT_PENDING                                      0x00
+#define TIMER_A_INTERRUPT_PENDING                                          0x01
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Starts Timer_A counter
+//!
+//! This function assumes that the timer has been previously configured using
+//! Timer_A_initContinuousMode, Timer_A_initUpMode or Timer_A_initUpDownMode.
+//!
+//! \param baseAddress is the base address of the TIMER_A module.
+//! \param timerMode mode to put the timer in
+//!        Valid values are:
+//!        - \b TIMER_A_STOP_MODE
+//!        - \b TIMER_A_UP_MODE
+//!        - \b TIMER_A_CONTINUOUS_MODE [Default]
+//!        - \b TIMER_A_UPDOWN_MODE
+//!
+//! Modified bits of \b TAxCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_A_startCounter(uint16_t baseAddress,
+                                 uint16_t timerMode);
+
+//*****************************************************************************
+//
+//! \brief Configures Timer_A in continuous mode.
+//!
+//! \param baseAddress is the base address of the TIMER_A module.
+//! \param param is the pointer to struct for continuous mode initialization.
+//!
+//! Modified bits of \b TAxCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_A_initContinuousMode(uint16_t baseAddress,
+                                       Timer_A_initContinuousModeParam *param);
+
+//*****************************************************************************
+//
+//! \brief Configures Timer_A in up mode.
+//!
+//! \param baseAddress is the base address of the TIMER_A module.
+//! \param param is the pointer to struct for up mode initialization.
+//!
+//! Modified bits of \b TAxCTL register, bits of \b TAxCCTL0 register and bits
+//! of \b TAxCCR0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_A_initUpMode(uint16_t baseAddress,
+                               Timer_A_initUpModeParam *param);
+
+//*****************************************************************************
+//
+//! \brief Configures Timer_A in up down mode.
+//!
+//! \param baseAddress is the base address of the TIMER_A module.
+//! \param param is the pointer to struct for up-down mode initialization.
+//!
+//! Modified bits of \b TAxCTL register, bits of \b TAxCCTL0 register and bits
+//! of \b TAxCCR0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_A_initUpDownMode(uint16_t baseAddress,
+                                   Timer_A_initUpDownModeParam *param);
+
+//*****************************************************************************
+//
+//! \brief Initializes Capture Mode
+//!
+//! \param baseAddress is the base address of the TIMER_A module.
+//! \param param is the pointer to struct for capture mode initialization.
+//!
+//! Modified bits of \b TAxCCTLn register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_A_initCaptureMode(uint16_t baseAddress,
+                                    Timer_A_initCaptureModeParam *param);
+
+//*****************************************************************************
+//
+//! \brief Initializes Compare Mode
+//!
+//! \param baseAddress is the base address of the TIMER_A module.
+//! \param param is the pointer to struct for compare mode initialization.
+//!
+//! Modified bits of \b TAxCCRn register and bits of \b TAxCCTLn register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_A_initCompareMode(uint16_t baseAddress,
+                                    Timer_A_initCompareModeParam *param);
+
+//*****************************************************************************
+//
+//! \brief Enable timer interrupt
+//!
+//! Does not clear interrupt flags
+//!
+//! \param baseAddress is the base address of the TIMER_A module.
+//!
+//! Modified bits of \b TAxCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_A_enableInterrupt(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Disable timer interrupt
+//!
+//! \param baseAddress is the base address of the TIMER_A module.
+//!
+//! Modified bits of \b TAxCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_A_disableInterrupt(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Get timer interrupt status
+//!
+//! \param baseAddress is the base address of the TIMER_A module.
+//!
+//! \return One of the following:
+//!         - \b TIMER_A_INTERRUPT_NOT_PENDING
+//!         - \b TIMER_A_INTERRUPT_PENDING
+//!         \n indicating the Timer_A interrupt status
+//
+//*****************************************************************************
+extern uint32_t Timer_A_getInterruptStatus(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Enable capture compare interrupt
+//!
+//! Does not clear interrupt flags
+//!
+//! \param baseAddress is the base address of the TIMER_A module.
+//! \param captureCompareRegister is the selected capture compare register
+//!        Valid values are:
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_0
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_1
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_2
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_3
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_4
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_5
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_6
+//!
+//! Modified bits of \b TAxCCTLn register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_A_enableCaptureCompareInterrupt(uint16_t baseAddress,
+                                                  uint16_t captureCompareRegister);
+
+//*****************************************************************************
+//
+//! \brief Disable capture compare interrupt
+//!
+//! \param baseAddress is the base address of the TIMER_A module.
+//! \param captureCompareRegister is the selected capture compare register
+//!        Valid values are:
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_0
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_1
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_2
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_3
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_4
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_5
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_6
+//!
+//! Modified bits of \b TAxCCTLn register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_A_disableCaptureCompareInterrupt(uint16_t baseAddress,
+                                                   uint16_t captureCompareRegister);
+
+//*****************************************************************************
+//
+//! \brief Return capture compare interrupt status
+//!
+//! \param baseAddress is the base address of the TIMER_A module.
+//! \param captureCompareRegister is the selected capture compare register
+//!        Valid values are:
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_0
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_1
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_2
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_3
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_4
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_5
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_6
+//! \param mask is the mask for the interrupt status
+//!        Mask value is the logical OR of any of the following:
+//!        - \b TIMER_A_CAPTURE_OVERFLOW
+//!        - \b TIMER_A_CAPTURECOMPARE_INTERRUPT_FLAG
+//!
+//! \return Logical OR of any of the following:
+//!         - \b TIMER_A_CAPTURE_OVERFLOW
+//!         - \b TIMER_A_CAPTURECOMPARE_INTERRUPT_FLAG
+//!         \n indicating the status of the masked interrupts
+//
+//*****************************************************************************
+extern uint32_t Timer_A_getCaptureCompareInterruptStatus(uint16_t baseAddress,
+                                                         uint16_t captureCompareRegister,
+                                                         uint16_t mask);
+
+//*****************************************************************************
+//
+//! \brief Reset/Clear the timer clock divider, count direction, count
+//!
+//! \param baseAddress is the base address of the TIMER_A module.
+//!
+//! Modified bits of \b TAxCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_A_clear(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Get synchronized capturecompare input
+//!
+//! \param baseAddress is the base address of the TIMER_A module.
+//! \param captureCompareRegister
+//!        Valid values are:
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_0
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_1
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_2
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_3
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_4
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_5
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_6
+//! \param synchronized
+//!        Valid values are:
+//!        - \b TIMER_A_READ_SYNCHRONIZED_CAPTURECOMPAREINPUT
+//!        - \b TIMER_A_READ_CAPTURE_COMPARE_INPUT
+//!
+//! \return One of the following:
+//!         - \b TIMER_A_CAPTURECOMPARE_INPUT_HIGH
+//!         - \b TIMER_A_CAPTURECOMPARE_INPUT_LOW
+//
+//*****************************************************************************
+extern uint8_t Timer_A_getSynchronizedCaptureCompareInput(uint16_t baseAddress,
+                                                          uint16_t captureCompareRegister,
+                                                          uint16_t synchronized);
+
+//*****************************************************************************
+//
+//! \brief Get output bit for output mode
+//!
+//! \param baseAddress is the base address of the TIMER_A module.
+//! \param captureCompareRegister
+//!        Valid values are:
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_0
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_1
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_2
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_3
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_4
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_5
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_6
+//!
+//! \return One of the following:
+//!         - \b TIMER_A_OUTPUTMODE_OUTBITVALUE_HIGH
+//!         - \b TIMER_A_OUTPUTMODE_OUTBITVALUE_LOW
+//
+//*****************************************************************************
+extern uint8_t Timer_A_getOutputForOutputModeOutBitValue(uint16_t baseAddress,
+                                                         uint16_t captureCompareRegister);
+
+//*****************************************************************************
+//
+//! \brief Get current capturecompare count
+//!
+//! \param baseAddress is the base address of the TIMER_A module.
+//! \param captureCompareRegister
+//!        Valid values are:
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_0
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_1
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_2
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_3
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_4
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_5
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_6
+//!
+//! \return Current count as an uint16_t
+//
+//*****************************************************************************
+extern uint16_t Timer_A_getCaptureCompareCount(uint16_t baseAddress,
+                                               uint16_t captureCompareRegister);
+
+//*****************************************************************************
+//
+//! \brief Set output bit for output mode
+//!
+//! \param baseAddress is the base address of the TIMER_A module.
+//! \param captureCompareRegister
+//!        Valid values are:
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_0
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_1
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_2
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_3
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_4
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_5
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_6
+//! \param outputModeOutBitValue is the value to be set for out bit
+//!        Valid values are:
+//!        - \b TIMER_A_OUTPUTMODE_OUTBITVALUE_HIGH
+//!        - \b TIMER_A_OUTPUTMODE_OUTBITVALUE_LOW
+//!
+//! Modified bits of \b TAxCCTLn register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_A_setOutputForOutputModeOutBitValue(uint16_t baseAddress,
+                                                      uint16_t captureCompareRegister,
+                                                      uint8_t outputModeOutBitValue);
+
+//*****************************************************************************
+//
+//! \brief Generate a PWM with timer running in up mode
+//!
+//! \param baseAddress is the base address of the TIMER_A module.
+//! \param param is the pointer to struct for PWM configuration.
+//!
+//! Modified bits of \b TAxCTL register, bits of \b TAxCCTL0 register, bits of
+//! \b TAxCCR0 register and bits of \b TAxCCTLn register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_A_outputPWM(uint16_t baseAddress,
+                              Timer_A_outputPWMParam *param);
+
+//*****************************************************************************
+//
+//! \brief Stops the timer
+//!
+//! \param baseAddress is the base address of the TIMER_A module.
+//!
+//! Modified bits of \b TAxCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_A_stop(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Sets the value of the capture-compare register
+//!
+//! \param baseAddress is the base address of the TIMER_A module.
+//! \param compareRegister selects the Capture register being used. Refer to
+//!        datasheet to ensure the device has the capture compare register
+//!        being used.
+//!        Valid values are:
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_0
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_1
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_2
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_3
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_4
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_5
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_6
+//! \param compareValue is the count to be compared with in compare mode
+//!
+//! Modified bits of \b TAxCCRn register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_A_setCompareValue(uint16_t baseAddress,
+                                    uint16_t compareRegister,
+                                    uint16_t compareValue);
+
+//*****************************************************************************
+//
+//! \brief Sets the output mode
+//!
+//! Sets the output mode for the timer even the timer is already running.
+//!
+//! \param baseAddress is the base address of the TIMER_A module.
+//! \param compareRegister selects the compare register being used.
+//!        Valid values are:
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_0
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_1
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_2
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_3
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_4
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_5
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_6
+//! \param compareOutputMode specifies the output mode.
+//!        Valid values are:
+//!        - \b TIMER_A_OUTPUTMODE_OUTBITVALUE [Default]
+//!        - \b TIMER_A_OUTPUTMODE_SET
+//!        - \b TIMER_A_OUTPUTMODE_TOGGLE_RESET
+//!        - \b TIMER_A_OUTPUTMODE_SET_RESET
+//!        - \b TIMER_A_OUTPUTMODE_TOGGLE
+//!        - \b TIMER_A_OUTPUTMODE_RESET
+//!        - \b TIMER_A_OUTPUTMODE_TOGGLE_SET
+//!        - \b TIMER_A_OUTPUTMODE_RESET_SET
+//!
+//! Modified bits are \b OUTMOD of \b TAxCCTLn register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_A_setOutputMode(uint16_t baseAddress,
+                                  uint16_t compareRegister,
+                                  uint16_t compareOutputMode);
+
+//*****************************************************************************
+//
+//! \brief Clears the Timer TAIFG interrupt flag
+//!
+//! \param baseAddress is the base address of the TIMER_A module.
+//!
+//! Modified bits are \b TAIFG of \b TAxCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_A_clearTimerInterrupt(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Clears the capture-compare interrupt flag
+//!
+//! \param baseAddress is the base address of the TIMER_A module.
+//! \param captureCompareRegister selects the Capture-compare register being
+//!        used.
+//!        Valid values are:
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_0
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_1
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_2
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_3
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_4
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_5
+//!        - \b TIMER_A_CAPTURECOMPARE_REGISTER_6
+//!
+//! Modified bits are \b CCIFG of \b TAxCCTLn register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_A_clearCaptureCompareInterrupt(uint16_t baseAddress,
+                                                 uint16_t captureCompareRegister);
+
+//*****************************************************************************
+//
+//! \brief Reads the current timer count value
+//!
+//! Reads the current count value of the timer. There is a majority vote system
+//! in place to confirm an accurate value is returned. The TIMER_A_THRESHOLD
+//! #define in the corresponding header file can be modified so that the votes
+//! must be closer together for a consensus to occur.
+//!
+//! \param baseAddress is the base address of the TIMER_A module.
+//!
+//! \return Majority vote of timer count value
+//
+//*****************************************************************************
+extern uint16_t Timer_A_getCounterValue(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_TIMER_A_H__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/timer_b.c b/Apps/FlightSoftware/MotorControl/driverlib/timer_b.c
new file mode 100644
index 000000000..7d5beab84
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/timer_b.c
@@ -0,0 +1,398 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// timer_b.c - Driver for the timer_b Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup timer_b_api timer_b
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_TxB7__
+#include "timer_b.h"
+
+#include <assert.h>
+
+void Timer_B_startCounter ( uint16_t baseAddress,
+    uint16_t timerMode
+    )
+{
+    HWREG16(baseAddress + OFS_TBxCTL) |= timerMode;
+}
+
+void Timer_B_initContinuousMode(uint16_t baseAddress,
+    Timer_B_initContinuousModeParam *param)
+{
+
+    HWREG16(baseAddress +
+        OFS_TBxCTL) &= ~(TIMER_B_CLOCKSOURCE_INVERTED_EXTERNAL_TXCLK +
+                         TIMER_B_UPDOWN_MODE +
+                         TIMER_B_DO_CLEAR +
+                         TIMER_B_TBIE_INTERRUPT_ENABLE +
+                         CNTL_3 +
+                         ID__8
+                         );
+    HWREG16(baseAddress + OFS_TBxEX0) &= ~TBIDEX_7;
+
+    HWREG16(baseAddress + OFS_TBxEX0) |= param->clockSourceDivider&0x7;
+
+    HWREG16(baseAddress + OFS_TBxCTL) |= (param->clockSource +
+                                          param->timerClear +
+                                          param->timerInterruptEnable_TBIE +
+                                          ((param->clockSourceDivider>>3)<<6));
+
+    if(param->startTimer) {
+        HWREG16(baseAddress + OFS_TBxCTL) |= TIMER_B_CONTINUOUS_MODE;
+    }
+}
+
+void Timer_B_initUpMode (uint16_t baseAddress,
+    Timer_B_initUpModeParam *param)
+{
+
+    HWREG16(baseAddress + OFS_TBxCTL) &=
+        ~(TIMER_B_CLOCKSOURCE_INVERTED_EXTERNAL_TXCLK +
+          TIMER_B_UPDOWN_MODE +
+          TIMER_B_DO_CLEAR +
+          TIMER_B_TBIE_INTERRUPT_ENABLE +
+          CNTL_3
+          );
+    HWREG16(baseAddress + OFS_TBxEX0) &= ~TBIDEX_7;
+
+    HWREG16(baseAddress + OFS_TBxEX0) |= param->clockSourceDivider&0x7;
+
+    HWREG16(baseAddress + OFS_TBxCTL) |= (param->clockSource +
+                                          param->timerClear +
+                                          param->timerInterruptEnable_TBIE +
+                                          ((param->clockSourceDivider>>3)<<6));
+
+    if (param->startTimer) {
+        HWREG16(baseAddress + OFS_TBxCTL) |= TIMER_B_UP_MODE;
+    }
+
+    if (TIMER_B_CCIE_CCR0_INTERRUPT_ENABLE ==
+        param->captureCompareInterruptEnable_CCR0_CCIE){
+        HWREG16(baseAddress + OFS_TBxCCTL0)  |= TIMER_B_CCIE_CCR0_INTERRUPT_ENABLE;
+    } else   {
+        HWREG16(baseAddress + OFS_TBxCCTL0)  &= ~TIMER_B_CCIE_CCR0_INTERRUPT_ENABLE;
+    }
+
+    HWREG16(baseAddress + OFS_TBxCCR0)  = param->timerPeriod;
+}
+
+void Timer_B_initUpDownMode(uint16_t baseAddress,
+    Timer_B_initUpDownModeParam *param)
+{
+    HWREG16(baseAddress + OFS_TBxCTL) &=
+        ~(TIMER_B_CLOCKSOURCE_INVERTED_EXTERNAL_TXCLK +
+          TIMER_B_UPDOWN_MODE +
+          TIMER_B_DO_CLEAR +
+          TIMER_B_TBIE_INTERRUPT_ENABLE +
+          CNTL_3
+          );
+    HWREG16(baseAddress + OFS_TBxEX0) &= ~TBIDEX_7;
+
+    HWREG16(baseAddress + OFS_TBxEX0) |= param->clockSourceDivider&0x7;
+
+    HWREG16(baseAddress + OFS_TBxCTL) |= (param->clockSource +
+                                          TIMER_B_STOP_MODE +
+                                          param->timerClear +
+                                          param->timerInterruptEnable_TBIE +
+                                          ((param->clockSourceDivider>>3)<<6));
+
+    if (param->startTimer) {
+        HWREG16(baseAddress + OFS_TBxCTL) |= TIMER_B_UPDOWN_MODE;
+    }
+
+    if (TIMER_B_CCIE_CCR0_INTERRUPT_ENABLE ==
+        param->captureCompareInterruptEnable_CCR0_CCIE){
+        HWREG16(baseAddress + OFS_TBxCCTL0)  |= TIMER_B_CCIE_CCR0_INTERRUPT_ENABLE;
+    } else   {
+        HWREG16(baseAddress + OFS_TBxCCTL0)  &= ~TIMER_B_CCIE_CCR0_INTERRUPT_ENABLE;
+    }
+
+    HWREG16(baseAddress + OFS_TBxCCR0)  = param->timerPeriod;
+}
+
+void Timer_B_initCaptureMode(uint16_t baseAddress,
+    Timer_B_initCaptureModeParam *param)
+{
+
+    HWREG16(baseAddress + param->captureRegister ) |= CAP;
+
+    HWREG16(baseAddress + param->captureRegister) &=
+        ~(TIMER_B_CAPTUREMODE_RISING_AND_FALLING_EDGE +
+          TIMER_B_CAPTURE_INPUTSELECT_Vcc +
+          TIMER_B_CAPTURE_SYNCHRONOUS +
+          TIMER_B_DO_CLEAR +
+          TIMER_B_TBIE_INTERRUPT_ENABLE +
+          CM_3
+          );
+
+    HWREG16(baseAddress + param->captureRegister) |= (param->captureMode +
+                                              param->captureInputSelect +
+                                              param->synchronizeCaptureSource +
+                                              param->captureInterruptEnable +
+                                              param->captureOutputMode
+                                              );
+}
+
+void Timer_B_initCompareMode(uint16_t baseAddress,
+    Timer_B_initCompareModeParam *param)
+{
+
+    HWREG16(baseAddress + param->compareRegister ) &= ~CAP;
+
+    HWREG16(baseAddress + param->compareRegister) &=
+        ~(TIMER_B_CAPTURECOMPARE_INTERRUPT_ENABLE +
+          TIMER_B_OUTPUTMODE_RESET_SET
+          );
+
+    HWREG16(baseAddress + param->compareRegister) |= (param->compareInterruptEnable +
+                                               param->compareOutputMode
+                                               );
+
+    HWREG16(baseAddress + param->compareRegister + OFS_TBxR) = param->compareValue;
+}
+
+void Timer_B_enableInterrupt (uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_TBxCTL) |= TBIE;
+}
+
+void Timer_B_disableInterrupt (uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_TBxCTL) &= ~TBIE;
+}
+
+uint32_t Timer_B_getInterruptStatus (uint16_t baseAddress)
+{
+    return ( HWREG16(baseAddress + OFS_TBxCTL) & TBIFG );
+}
+
+void Timer_B_enableCaptureCompareInterrupt (uint16_t baseAddress,
+    uint16_t captureCompareRegister
+    )
+{
+    HWREG16(baseAddress + captureCompareRegister) |= CCIE;
+}
+
+void Timer_B_disableCaptureCompareInterrupt (uint16_t baseAddress,
+    uint16_t captureCompareRegister
+    )
+{
+    HWREG16(baseAddress + captureCompareRegister) &= ~CCIE;
+}
+
+uint32_t Timer_B_getCaptureCompareInterruptStatus (uint16_t baseAddress,
+		 uint16_t captureCompareRegister,
+		 uint16_t mask
+		 )
+{
+    return ( HWREG16(baseAddress + captureCompareRegister) & mask );
+}
+
+void Timer_B_clear (uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_TBxCTL) |= TBCLR;
+}
+
+uint8_t Timer_B_getSynchronizedCaptureCompareInput
+    (uint16_t baseAddress,
+    uint16_t captureCompareRegister,
+    uint16_t synchronized
+    )
+{
+    if (HWREG16(baseAddress + captureCompareRegister) & synchronized){
+        return ( TIMER_B_CAPTURECOMPARE_INPUT_HIGH) ;
+    } else   {
+        return ( TIMER_B_CAPTURECOMPARE_INPUT_LOW) ;
+    }
+}
+
+uint8_t Timer_B_getOutputForOutputModeOutBitValue
+    (uint16_t baseAddress,
+    uint16_t captureCompareRegister
+    )
+{
+
+    if (HWREG16(baseAddress + captureCompareRegister) & OUT){
+        return ( TIMER_B_OUTPUTMODE_OUTBITVALUE_HIGH) ;
+    } else   {
+        return ( TIMER_B_OUTPUTMODE_OUTBITVALUE_LOW) ;
+    }
+}
+
+uint16_t Timer_B_getCaptureCompareCount
+    (uint16_t baseAddress,
+    uint16_t captureCompareRegister
+    )
+{
+    return  (HWREG16(baseAddress + OFS_TBxR + captureCompareRegister));
+}
+
+void Timer_B_setOutputForOutputModeOutBitValue
+    (uint16_t baseAddress,
+    uint16_t captureCompareRegister,
+    uint8_t outputModeOutBitValue
+    )
+{
+    HWREG16(baseAddress + captureCompareRegister) &= ~OUT;
+    HWREG16(baseAddress + captureCompareRegister) |= outputModeOutBitValue;
+}
+
+void Timer_B_outputPWM(uint16_t baseAddress, Timer_B_outputPWMParam *param)
+{
+
+    HWREG16(baseAddress + OFS_TBxCTL)  &=
+        ~( TIMER_B_CLOCKSOURCE_INVERTED_EXTERNAL_TXCLK +
+           TIMER_B_UPDOWN_MODE + TIMER_B_DO_CLEAR +
+           TIMER_B_TBIE_INTERRUPT_ENABLE
+           );
+    HWREG16(baseAddress + OFS_TBxEX0) &= ~TBIDEX_7;
+
+    HWREG16(baseAddress + OFS_TBxEX0) |= param->clockSourceDivider&0x7;
+
+    HWREG16(baseAddress + OFS_TBxCTL) |= (param->clockSource +
+                                          TIMER_B_UP_MODE +
+                                          TIMER_B_DO_CLEAR +
+                                          ((param->clockSourceDivider>>3)<<6));
+
+    HWREG16(baseAddress + OFS_TBxCCR0) = param->timerPeriod;
+
+    HWREG16(baseAddress + OFS_TBxCCTL0)  &=
+        ~(TIMER_B_CAPTURECOMPARE_INTERRUPT_ENABLE +
+          TIMER_B_OUTPUTMODE_RESET_SET
+          );
+
+    HWREG16(baseAddress + param->compareRegister)  |= param->compareOutputMode;
+
+    HWREG16(baseAddress + param->compareRegister + OFS_TBxR) = param->dutyCycle;
+}
+
+void Timer_B_stop ( uint16_t baseAddress )
+{
+    HWREG16(baseAddress + OFS_TBxCTL)  &= ~MC_3;
+}
+
+
+void Timer_B_setCompareValue (  uint16_t baseAddress,
+    uint16_t compareRegister,
+    uint16_t compareValue
+    )
+{
+    HWREG16(baseAddress + compareRegister + OFS_TBxR) = compareValue;
+}
+
+void Timer_B_clearTimerInterrupt (uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_TBxCTL) &= ~TBIFG;
+}
+
+void Timer_B_clearCaptureCompareInterrupt (uint16_t baseAddress,
+    uint16_t captureCompareRegister
+    )
+{
+    HWREG16(baseAddress + captureCompareRegister)  &= ~CCIFG;
+}
+
+void Timer_B_selectCounterLength (uint16_t  baseAddress,
+		uint16_t counterLength
+		)
+{
+	HWREG16(baseAddress + OFS_TBxCTL) &= ~CNTL_3;
+	HWREG16(baseAddress + OFS_TBxCTL) |= counterLength;
+}
+
+void Timer_B_selectLatchingGroup(uint16_t  baseAddress,
+		uint16_t  groupLatch)
+{
+	HWREG16(baseAddress + OFS_TBxCTL) &= ~TBCLGRP_3;
+	HWREG16(baseAddress + OFS_TBxCTL) |= groupLatch;
+}
+
+void Timer_B_initCompareLatchLoadEvent(uint16_t  baseAddress,
+		uint16_t  compareRegister,
+		uint16_t  compareLatchLoadEvent
+		)
+{
+	HWREG16(baseAddress + compareRegister)  &= ~CLLD_3;
+	HWREG16(baseAddress + compareRegister)  |= compareLatchLoadEvent;
+}
+
+uint16_t Timer_B_getCounterValue (uint16_t baseAddress)
+{
+	uint16_t voteOne, voteTwo, res;
+
+    voteTwo = HWREG16(baseAddress + OFS_TBxR);
+
+	do
+    {
+        voteOne = voteTwo;
+        voteTwo = HWREG16(baseAddress + OFS_TBxR);
+
+		if(voteTwo > voteOne) {
+			res = voteTwo - voteOne;
+		} else if(voteOne > voteTwo) {
+			res = voteOne - voteTwo;
+		} else{
+			res = 0;
+		}
+
+    } while ( res > TIMER_B_THRESHOLD);
+
+    return voteTwo;
+}
+
+void Timer_B_setOutputMode(uint16_t baseAddress,
+                             uint16_t compareRegister,
+                             uint16_t compareOutputMode)
+{
+    uint16_t temp = HWREG16(baseAddress + compareRegister);
+    HWREG16(baseAddress + compareRegister) = temp & ~(OUTMOD_7) | compareOutputMode;
+}
+
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for timer_b_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/timer_b.h b/Apps/FlightSoftware/MotorControl/driverlib/timer_b.h
new file mode 100644
index 000000000..106c85d5c
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/timer_b.h
@@ -0,0 +1,1224 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// timer_b.h - Driver for the TIMER_B Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_TIMER_B_H__
+#define __MSP430WARE_TIMER_B_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_TxB7__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "inc/hw_memmap.h"
+//*****************************************************************************
+//
+// The following is a parameter used for Timer_B_getCounterValue that
+// determines the maximum difference in counts of the TAxR register for a
+// majority vote.
+//
+//*****************************************************************************
+#define TIMER_B_THRESHOLD                                                    50
+
+//*****************************************************************************
+//
+//! \brief Used in the Timer_B_outputPWM() function as the param parameter.
+//
+//*****************************************************************************
+typedef struct Timer_B_outputPWMParam {
+    //! Selects the clock source
+    //! \n Valid values are:
+    //! - \b TIMER_B_CLOCKSOURCE_EXTERNAL_TXCLK [Default]
+    //! - \b TIMER_B_CLOCKSOURCE_ACLK
+    //! - \b TIMER_B_CLOCKSOURCE_SMCLK
+    //! - \b TIMER_B_CLOCKSOURCE_INVERTED_EXTERNAL_TXCLK
+    uint16_t clockSource;
+    //! Is the divider for Clock source.
+    //! \n Valid values are:
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_1 [Default]
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_2
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_3
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_4
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_5
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_6
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_7
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_8
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_10
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_12
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_14
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_16
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_20
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_24
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_28
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_32
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_40
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_48
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_56
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_64
+    uint16_t clockSourceDivider;
+    //! Selects the desired Timer_B period
+    uint16_t timerPeriod;
+    //! Selects the compare register being used. Refer to datasheet to ensure
+    //! the device has the compare register being used.
+    //! \n Valid values are:
+    //! - \b TIMER_B_CAPTURECOMPARE_REGISTER_0
+    //! - \b TIMER_B_CAPTURECOMPARE_REGISTER_1
+    //! - \b TIMER_B_CAPTURECOMPARE_REGISTER_2
+    //! - \b TIMER_B_CAPTURECOMPARE_REGISTER_3
+    //! - \b TIMER_B_CAPTURECOMPARE_REGISTER_4
+    //! - \b TIMER_B_CAPTURECOMPARE_REGISTER_5
+    //! - \b TIMER_B_CAPTURECOMPARE_REGISTER_6
+    uint16_t compareRegister;
+    //! Specifies the output mode.
+    //! \n Valid values are:
+    //! - \b TIMER_B_OUTPUTMODE_OUTBITVALUE [Default]
+    //! - \b TIMER_B_OUTPUTMODE_SET
+    //! - \b TIMER_B_OUTPUTMODE_TOGGLE_RESET
+    //! - \b TIMER_B_OUTPUTMODE_SET_RESET
+    //! - \b TIMER_B_OUTPUTMODE_TOGGLE
+    //! - \b TIMER_B_OUTPUTMODE_RESET
+    //! - \b TIMER_B_OUTPUTMODE_TOGGLE_SET
+    //! - \b TIMER_B_OUTPUTMODE_RESET_SET
+    uint16_t compareOutputMode;
+    //! Specifies the dutycycle for the generated waveform
+    uint16_t dutyCycle;
+} Timer_B_outputPWMParam;
+
+//*****************************************************************************
+//
+//! \brief Used in the Timer_B_initUpMode() function as the param parameter.
+//
+//*****************************************************************************
+typedef struct Timer_B_initUpModeParam {
+    //! Selects the clock source
+    //! \n Valid values are:
+    //! - \b TIMER_B_CLOCKSOURCE_EXTERNAL_TXCLK [Default]
+    //! - \b TIMER_B_CLOCKSOURCE_ACLK
+    //! - \b TIMER_B_CLOCKSOURCE_SMCLK
+    //! - \b TIMER_B_CLOCKSOURCE_INVERTED_EXTERNAL_TXCLK
+    uint16_t clockSource;
+    //! Is the divider for Clock source.
+    //! \n Valid values are:
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_1 [Default]
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_2
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_3
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_4
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_5
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_6
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_7
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_8
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_10
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_12
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_14
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_16
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_20
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_24
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_28
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_32
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_40
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_48
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_56
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_64
+    uint16_t clockSourceDivider;
+    //! Is the specified Timer_B period. This is the value that gets written
+    //! into the CCR0. Limited to 16 bits[uint16_t]
+    uint16_t timerPeriod;
+    //! Is to enable or disable Timer_B interrupt
+    //! \n Valid values are:
+    //! - \b TIMER_B_TBIE_INTERRUPT_ENABLE
+    //! - \b TIMER_B_TBIE_INTERRUPT_DISABLE [Default]
+    uint16_t timerInterruptEnable_TBIE;
+    //! Is to enable or disable Timer_B CCR0 capture compare interrupt.
+    //! \n Valid values are:
+    //! - \b TIMER_B_CCIE_CCR0_INTERRUPT_ENABLE
+    //! - \b TIMER_B_CCIE_CCR0_INTERRUPT_DISABLE [Default]
+    uint16_t captureCompareInterruptEnable_CCR0_CCIE;
+    //! Decides if Timer_B clock divider, count direction, count need to be
+    //! reset.
+    //! \n Valid values are:
+    //! - \b TIMER_B_DO_CLEAR
+    //! - \b TIMER_B_SKIP_CLEAR [Default]
+    uint16_t timerClear;
+    //! Whether to start the timer immediately
+    bool startTimer;
+} Timer_B_initUpModeParam;
+
+//*****************************************************************************
+//
+//! \brief Used in the Timer_B_initCaptureMode() function as the param
+//! parameter.
+//
+//*****************************************************************************
+typedef struct Timer_B_initCaptureModeParam {
+    //! Selects the capture register being used. Refer to datasheet to ensure
+    //! the device has the capture register being used.
+    //! \n Valid values are:
+    //! - \b TIMER_B_CAPTURECOMPARE_REGISTER_0
+    //! - \b TIMER_B_CAPTURECOMPARE_REGISTER_1
+    //! - \b TIMER_B_CAPTURECOMPARE_REGISTER_2
+    //! - \b TIMER_B_CAPTURECOMPARE_REGISTER_3
+    //! - \b TIMER_B_CAPTURECOMPARE_REGISTER_4
+    //! - \b TIMER_B_CAPTURECOMPARE_REGISTER_5
+    //! - \b TIMER_B_CAPTURECOMPARE_REGISTER_6
+    uint16_t captureRegister;
+    //! Is the capture mode selected.
+    //! \n Valid values are:
+    //! - \b TIMER_B_CAPTUREMODE_NO_CAPTURE [Default]
+    //! - \b TIMER_B_CAPTUREMODE_RISING_EDGE
+    //! - \b TIMER_B_CAPTUREMODE_FALLING_EDGE
+    //! - \b TIMER_B_CAPTUREMODE_RISING_AND_FALLING_EDGE
+    uint16_t captureMode;
+    //! Decides the Input Select
+    //! \n Valid values are:
+    //! - \b TIMER_B_CAPTURE_INPUTSELECT_CCIxA [Default]
+    //! - \b TIMER_B_CAPTURE_INPUTSELECT_CCIxB
+    //! - \b TIMER_B_CAPTURE_INPUTSELECT_GND
+    //! - \b TIMER_B_CAPTURE_INPUTSELECT_Vcc
+    uint16_t captureInputSelect;
+    //! Decides if capture source should be synchronized with Timer_B clock
+    //! \n Valid values are:
+    //! - \b TIMER_B_CAPTURE_ASYNCHRONOUS [Default]
+    //! - \b TIMER_B_CAPTURE_SYNCHRONOUS
+    uint16_t synchronizeCaptureSource;
+    //! Is to enable or disable Timer_B capture compare interrupt.
+    //! \n Valid values are:
+    //! - \b TIMER_B_CAPTURECOMPARE_INTERRUPT_DISABLE [Default]
+    //! - \b TIMER_B_CAPTURECOMPARE_INTERRUPT_ENABLE
+    uint16_t captureInterruptEnable;
+    //! Specifies the output mode.
+    //! \n Valid values are:
+    //! - \b TIMER_B_OUTPUTMODE_OUTBITVALUE [Default]
+    //! - \b TIMER_B_OUTPUTMODE_SET
+    //! - \b TIMER_B_OUTPUTMODE_TOGGLE_RESET
+    //! - \b TIMER_B_OUTPUTMODE_SET_RESET
+    //! - \b TIMER_B_OUTPUTMODE_TOGGLE
+    //! - \b TIMER_B_OUTPUTMODE_RESET
+    //! - \b TIMER_B_OUTPUTMODE_TOGGLE_SET
+    //! - \b TIMER_B_OUTPUTMODE_RESET_SET
+    uint16_t captureOutputMode;
+} Timer_B_initCaptureModeParam;
+
+//*****************************************************************************
+//
+//! \brief Used in the Timer_B_initContinuousMode() function as the param
+//! parameter.
+//
+//*****************************************************************************
+typedef struct Timer_B_initContinuousModeParam {
+    //! Selects the clock source
+    //! \n Valid values are:
+    //! - \b TIMER_B_CLOCKSOURCE_EXTERNAL_TXCLK [Default]
+    //! - \b TIMER_B_CLOCKSOURCE_ACLK
+    //! - \b TIMER_B_CLOCKSOURCE_SMCLK
+    //! - \b TIMER_B_CLOCKSOURCE_INVERTED_EXTERNAL_TXCLK
+    uint16_t clockSource;
+    //! Is the divider for Clock source.
+    //! \n Valid values are:
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_1 [Default]
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_2
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_3
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_4
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_5
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_6
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_7
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_8
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_10
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_12
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_14
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_16
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_20
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_24
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_28
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_32
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_40
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_48
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_56
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_64
+    uint16_t clockSourceDivider;
+    //! Is to enable or disable Timer_B interrupt
+    //! \n Valid values are:
+    //! - \b TIMER_B_TBIE_INTERRUPT_ENABLE
+    //! - \b TIMER_B_TBIE_INTERRUPT_DISABLE [Default]
+    uint16_t timerInterruptEnable_TBIE;
+    //! Decides if Timer_B clock divider, count direction, count need to be
+    //! reset.
+    //! \n Valid values are:
+    //! - \b TIMER_B_DO_CLEAR
+    //! - \b TIMER_B_SKIP_CLEAR [Default]
+    uint16_t timerClear;
+    //! Whether to start the timer immediately
+    bool startTimer;
+} Timer_B_initContinuousModeParam;
+
+//*****************************************************************************
+//
+//! \brief Used in the Timer_B_initUpDownMode() function as the param
+//! parameter.
+//
+//*****************************************************************************
+typedef struct Timer_B_initUpDownModeParam {
+    //! Selects the clock source
+    //! \n Valid values are:
+    //! - \b TIMER_B_CLOCKSOURCE_EXTERNAL_TXCLK [Default]
+    //! - \b TIMER_B_CLOCKSOURCE_ACLK
+    //! - \b TIMER_B_CLOCKSOURCE_SMCLK
+    //! - \b TIMER_B_CLOCKSOURCE_INVERTED_EXTERNAL_TXCLK
+    uint16_t clockSource;
+    //! Is the divider for Clock source.
+    //! \n Valid values are:
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_1 [Default]
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_2
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_3
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_4
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_5
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_6
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_7
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_8
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_10
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_12
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_14
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_16
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_20
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_24
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_28
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_32
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_40
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_48
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_56
+    //! - \b TIMER_B_CLOCKSOURCE_DIVIDER_64
+    uint16_t clockSourceDivider;
+    //! Is the specified Timer_B period
+    uint16_t timerPeriod;
+    //! Is to enable or disable Timer_B interrupt
+    //! \n Valid values are:
+    //! - \b TIMER_B_TBIE_INTERRUPT_ENABLE
+    //! - \b TIMER_B_TBIE_INTERRUPT_DISABLE [Default]
+    uint16_t timerInterruptEnable_TBIE;
+    //! Is to enable or disable Timer_B CCR0 capture compare interrupt.
+    //! \n Valid values are:
+    //! - \b TIMER_B_CCIE_CCR0_INTERRUPT_ENABLE
+    //! - \b TIMER_B_CCIE_CCR0_INTERRUPT_DISABLE [Default]
+    uint16_t captureCompareInterruptEnable_CCR0_CCIE;
+    //! Decides if Timer_B clock divider, count direction, count need to be
+    //! reset.
+    //! \n Valid values are:
+    //! - \b TIMER_B_DO_CLEAR
+    //! - \b TIMER_B_SKIP_CLEAR [Default]
+    uint16_t timerClear;
+    //! Whether to start the timer immediately
+    bool startTimer;
+} Timer_B_initUpDownModeParam;
+
+//*****************************************************************************
+//
+//! \brief Used in the Timer_B_initCompareMode() function as the param
+//! parameter.
+//
+//*****************************************************************************
+typedef struct Timer_B_initCompareModeParam {
+    //! Selects the compare register being used. Refer to datasheet to ensure
+    //! the device has the compare register being used.
+    //! \n Valid values are:
+    //! - \b TIMER_B_CAPTURECOMPARE_REGISTER_0
+    //! - \b TIMER_B_CAPTURECOMPARE_REGISTER_1
+    //! - \b TIMER_B_CAPTURECOMPARE_REGISTER_2
+    //! - \b TIMER_B_CAPTURECOMPARE_REGISTER_3
+    //! - \b TIMER_B_CAPTURECOMPARE_REGISTER_4
+    //! - \b TIMER_B_CAPTURECOMPARE_REGISTER_5
+    //! - \b TIMER_B_CAPTURECOMPARE_REGISTER_6
+    uint16_t compareRegister;
+    //! Is to enable or disable Timer_B capture compare interrupt.
+    //! \n Valid values are:
+    //! - \b TIMER_B_CAPTURECOMPARE_INTERRUPT_DISABLE [Default]
+    //! - \b TIMER_B_CAPTURECOMPARE_INTERRUPT_ENABLE
+    uint16_t compareInterruptEnable;
+    //! Specifies the output mode.
+    //! \n Valid values are:
+    //! - \b TIMER_B_OUTPUTMODE_OUTBITVALUE [Default]
+    //! - \b TIMER_B_OUTPUTMODE_SET
+    //! - \b TIMER_B_OUTPUTMODE_TOGGLE_RESET
+    //! - \b TIMER_B_OUTPUTMODE_SET_RESET
+    //! - \b TIMER_B_OUTPUTMODE_TOGGLE
+    //! - \b TIMER_B_OUTPUTMODE_RESET
+    //! - \b TIMER_B_OUTPUTMODE_TOGGLE_SET
+    //! - \b TIMER_B_OUTPUTMODE_RESET_SET
+    uint16_t compareOutputMode;
+    //! Is the count to be compared with in compare mode
+    uint16_t compareValue;
+} Timer_B_initCompareModeParam;
+
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: Timer_B_initContinuousMode(), Timer_B_initUpMode(),
+// Timer_B_initUpDownMode(), and Timer_B_outputPWM().
+//
+//*****************************************************************************
+#define TIMER_B_CLOCKSOURCE_DIVIDER_1                                      0x00
+#define TIMER_B_CLOCKSOURCE_DIVIDER_2                                      0x08
+#define TIMER_B_CLOCKSOURCE_DIVIDER_3                                      0x02
+#define TIMER_B_CLOCKSOURCE_DIVIDER_4                                      0x10
+#define TIMER_B_CLOCKSOURCE_DIVIDER_5                                      0x04
+#define TIMER_B_CLOCKSOURCE_DIVIDER_6                                      0x05
+#define TIMER_B_CLOCKSOURCE_DIVIDER_7                                      0x06
+#define TIMER_B_CLOCKSOURCE_DIVIDER_8                                      0x18
+#define TIMER_B_CLOCKSOURCE_DIVIDER_10                                     0x0C
+#define TIMER_B_CLOCKSOURCE_DIVIDER_12                                     0x0D
+#define TIMER_B_CLOCKSOURCE_DIVIDER_14                                     0x0E
+#define TIMER_B_CLOCKSOURCE_DIVIDER_16                                     0x0F
+#define TIMER_B_CLOCKSOURCE_DIVIDER_20                                     0x14
+#define TIMER_B_CLOCKSOURCE_DIVIDER_24                                     0x15
+#define TIMER_B_CLOCKSOURCE_DIVIDER_28                                     0x16
+#define TIMER_B_CLOCKSOURCE_DIVIDER_32                                     0x17
+#define TIMER_B_CLOCKSOURCE_DIVIDER_40                                     0x1C
+#define TIMER_B_CLOCKSOURCE_DIVIDER_48                                     0x1D
+#define TIMER_B_CLOCKSOURCE_DIVIDER_56                                     0x1E
+#define TIMER_B_CLOCKSOURCE_DIVIDER_64                                     0x1F
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the timerMode parameter for
+// functions: Timer_B_startCounter().
+//
+//*****************************************************************************
+#define TIMER_B_STOP_MODE                                                  MC_0
+#define TIMER_B_UP_MODE                                                    MC_1
+#define TIMER_B_CONTINUOUS_MODE                                            MC_2
+#define TIMER_B_UPDOWN_MODE                                                MC_3
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: Timer_B_initContinuousMode(), Timer_B_initUpMode(), and
+// Timer_B_initUpDownMode().
+//
+//*****************************************************************************
+#define TIMER_B_DO_CLEAR                                                  TBCLR
+#define TIMER_B_SKIP_CLEAR                                                 0x00
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: Timer_B_initContinuousMode(), Timer_B_initUpMode(),
+// Timer_B_initUpDownMode(), and Timer_B_outputPWM().
+//
+//*****************************************************************************
+#define TIMER_B_CLOCKSOURCE_EXTERNAL_TXCLK                        TBSSEL__TACLK
+#define TIMER_B_CLOCKSOURCE_ACLK                                   TBSSEL__ACLK
+#define TIMER_B_CLOCKSOURCE_SMCLK                                 TBSSEL__SMCLK
+#define TIMER_B_CLOCKSOURCE_INVERTED_EXTERNAL_TXCLK               TBSSEL__INCLK
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: Timer_B_initContinuousMode(), Timer_B_initUpMode(), and
+// Timer_B_initUpDownMode().
+//
+//*****************************************************************************
+#define TIMER_B_TBIE_INTERRUPT_ENABLE                                      TBIE
+#define TIMER_B_TBIE_INTERRUPT_DISABLE                                     0x00
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: Timer_B_initUpMode(), and Timer_B_initUpDownMode().
+//
+//*****************************************************************************
+#define TIMER_B_CCIE_CCR0_INTERRUPT_ENABLE                                 CCIE
+#define TIMER_B_CCIE_CCR0_INTERRUPT_DISABLE                                0x00
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: Timer_B_initCaptureMode(), and Timer_B_initCompareMode().
+//
+//*****************************************************************************
+#define TIMER_B_CAPTURECOMPARE_INTERRUPT_DISABLE                           0x00
+#define TIMER_B_CAPTURECOMPARE_INTERRUPT_ENABLE                            CCIE
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: Timer_B_initCaptureMode().
+//
+//*****************************************************************************
+#define TIMER_B_CAPTURE_INPUTSELECT_CCIxA                                CCIS_0
+#define TIMER_B_CAPTURE_INPUTSELECT_CCIxB                                CCIS_1
+#define TIMER_B_CAPTURE_INPUTSELECT_GND                                  CCIS_2
+#define TIMER_B_CAPTURE_INPUTSELECT_Vcc                                  CCIS_3
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the compareOutputMode
+// parameter for functions: Timer_B_setOutputMode(); the param parameter for
+// functions: Timer_B_initCaptureMode(), Timer_B_initCompareMode(), and
+// Timer_B_outputPWM().
+//
+//*****************************************************************************
+#define TIMER_B_OUTPUTMODE_OUTBITVALUE                                 OUTMOD_0
+#define TIMER_B_OUTPUTMODE_SET                                         OUTMOD_1
+#define TIMER_B_OUTPUTMODE_TOGGLE_RESET                                OUTMOD_2
+#define TIMER_B_OUTPUTMODE_SET_RESET                                   OUTMOD_3
+#define TIMER_B_OUTPUTMODE_TOGGLE                                      OUTMOD_4
+#define TIMER_B_OUTPUTMODE_RESET                                       OUTMOD_5
+#define TIMER_B_OUTPUTMODE_TOGGLE_SET                                  OUTMOD_6
+#define TIMER_B_OUTPUTMODE_RESET_SET                                   OUTMOD_7
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the compareRegister parameter
+// for functions: Timer_B_setCompareValue(),
+// Timer_B_initCompareLatchLoadEvent(), and Timer_B_setOutputMode(); the
+// captureCompareRegister parameter for functions:
+// Timer_B_enableCaptureCompareInterrupt(),
+// Timer_B_disableCaptureCompareInterrupt(),
+// Timer_B_getCaptureCompareInterruptStatus(),
+// Timer_B_getSynchronizedCaptureCompareInput(),
+// Timer_B_getOutputForOutputModeOutBitValue(),
+// Timer_B_getCaptureCompareCount(),
+// Timer_B_setOutputForOutputModeOutBitValue(), and
+// Timer_B_clearCaptureCompareInterrupt(); the param parameter for functions:
+// Timer_B_initCaptureMode(), Timer_B_initCompareMode(), and
+// Timer_B_outputPWM().
+//
+//*****************************************************************************
+#define TIMER_B_CAPTURECOMPARE_REGISTER_0                                  0x02
+#define TIMER_B_CAPTURECOMPARE_REGISTER_1                                  0x04
+#define TIMER_B_CAPTURECOMPARE_REGISTER_2                                  0x06
+#define TIMER_B_CAPTURECOMPARE_REGISTER_3                                  0x08
+#define TIMER_B_CAPTURECOMPARE_REGISTER_4                                  0x0A
+#define TIMER_B_CAPTURECOMPARE_REGISTER_5                                  0x0C
+#define TIMER_B_CAPTURECOMPARE_REGISTER_6                                  0x0E
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: Timer_B_initCaptureMode().
+//
+//*****************************************************************************
+#define TIMER_B_CAPTUREMODE_NO_CAPTURE                                     CM_0
+#define TIMER_B_CAPTUREMODE_RISING_EDGE                                    CM_1
+#define TIMER_B_CAPTUREMODE_FALLING_EDGE                                   CM_2
+#define TIMER_B_CAPTUREMODE_RISING_AND_FALLING_EDGE                        CM_3
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the param parameter for
+// functions: Timer_B_initCaptureMode().
+//
+//*****************************************************************************
+#define TIMER_B_CAPTURE_ASYNCHRONOUS                                       0x00
+#define TIMER_B_CAPTURE_SYNCHRONOUS                                         SCS
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the mask parameter for
+// functions: Timer_B_getCaptureCompareInterruptStatus() as well as returned by
+// the Timer_B_getCaptureCompareInterruptStatus() function.
+//
+//*****************************************************************************
+#define TIMER_B_CAPTURE_OVERFLOW                                            COV
+#define TIMER_B_CAPTURECOMPARE_INTERRUPT_FLAG                             CCIFG
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the synchronized parameter
+// for functions: Timer_B_getSynchronizedCaptureCompareInput().
+//
+//*****************************************************************************
+#define TIMER_B_READ_SYNCHRONIZED_CAPTURECOMPAREINPUT                      SCCI
+#define TIMER_B_READ_CAPTURE_COMPARE_INPUT                                  CCI
+
+//*****************************************************************************
+//
+// The following are values that can be passed toThe following are values that
+// can be returned by the Timer_B_getSynchronizedCaptureCompareInput()
+// function.
+//
+//*****************************************************************************
+#define TIMER_B_CAPTURECOMPARE_INPUT_HIGH                                  0x01
+#define TIMER_B_CAPTURECOMPARE_INPUT_LOW                                   0x00
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the outputModeOutBitValue
+// parameter for functions: Timer_B_setOutputForOutputModeOutBitValue() as well
+// as returned by the Timer_B_getOutputForOutputModeOutBitValue() function.
+//
+//*****************************************************************************
+#define TIMER_B_OUTPUTMODE_OUTBITVALUE_HIGH                                 OUT
+#define TIMER_B_OUTPUTMODE_OUTBITVALUE_LOW                                 0x00
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the counterLength parameter
+// for functions: Timer_B_selectCounterLength().
+//
+//*****************************************************************************
+#define TIMER_B_COUNTER_16BIT                                            CNTL_0
+#define TIMER_B_COUNTER_12BIT                                            CNTL_1
+#define TIMER_B_COUNTER_10BIT                                            CNTL_2
+#define TIMER_B_COUNTER_8BIT                                             CNTL_3
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the groupLatch parameter for
+// functions: Timer_B_selectLatchingGroup().
+//
+//*****************************************************************************
+#define TIMER_B_GROUP_NONE                                            TBCLGRP_0
+#define TIMER_B_GROUP_CL12_CL23_CL56                                  TBCLGRP_1
+#define TIMER_B_GROUP_CL123_CL456                                     TBCLGRP_2
+#define TIMER_B_GROUP_ALL                                             TBCLGRP_3
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the compareLatchLoadEvent
+// parameter for functions: Timer_B_initCompareLatchLoadEvent().
+//
+//*****************************************************************************
+#define TIMER_B_LATCH_ON_WRITE_TO_TBxCCRn_COMPARE_REGISTER               CLLD_0
+#define TIMER_B_LATCH_WHEN_COUNTER_COUNTS_TO_0_IN_UP_OR_CONT_MODE        CLLD_1
+#define TIMER_B_LATCH_WHEN_COUNTER_COUNTS_TO_0_IN_UPDOWN_MODE            CLLD_2
+#define TIMER_B_LATCH_WHEN_COUNTER_COUNTS_TO_CURRENT_COMPARE_LATCH_VALUE CLLD_3
+
+//*****************************************************************************
+//
+// The following are values that can be passed toThe following are values that
+// can be returned by the Timer_B_getInterruptStatus() function.
+//
+//*****************************************************************************
+#define TIMER_B_INTERRUPT_NOT_PENDING                                      0x00
+#define TIMER_B_INTERRUPT_PENDING                                          0x01
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Starts Timer_B counter
+//!
+//! This function assumes that the timer has been previously configured using
+//! Timer_B_initContinuousMode, Timer_B_initUpMode or Timer_B_initUpDownMode.
+//!
+//! \param baseAddress is the base address of the TIMER_B module.
+//! \param timerMode selects the mode of the timer
+//!        Valid values are:
+//!        - \b TIMER_B_STOP_MODE
+//!        - \b TIMER_B_UP_MODE
+//!        - \b TIMER_B_CONTINUOUS_MODE [Default]
+//!        - \b TIMER_B_UPDOWN_MODE
+//!
+//! Modified bits of \b TBxCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_B_startCounter(uint16_t baseAddress,
+                                 uint16_t timerMode);
+
+//*****************************************************************************
+//
+//! \brief Configures Timer_B in continuous mode.
+//!
+//! This API does not start the timer. Timer needs to be started when required
+//! using the Timer_B_startCounter API.
+//!
+//! \param baseAddress is the base address of the TIMER_B module.
+//! \param param is the pointer to struct for continuous mode initialization.
+//!
+//! Modified bits of \b TBxCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_B_initContinuousMode(uint16_t baseAddress,
+                                       Timer_B_initContinuousModeParam *param);
+
+//*****************************************************************************
+//
+//! \brief Configures Timer_B in up mode.
+//!
+//! This API does not start the timer. Timer needs to be started when required
+//! using the Timer_B_startCounter API.
+//!
+//! \param baseAddress is the base address of the TIMER_B module.
+//! \param param is the pointer to struct for up mode initialization.
+//!
+//! Modified bits of \b TBxCTL register, bits of \b TBxCCTL0 register and bits
+//! of \b TBxCCR0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_B_initUpMode(uint16_t baseAddress,
+                               Timer_B_initUpModeParam *param);
+
+//*****************************************************************************
+//
+//! \brief Configures Timer_B in up down mode.
+//!
+//! This API does not start the timer. Timer needs to be started when required
+//! using the Timer_B_startCounter API.
+//!
+//! \param baseAddress is the base address of the TIMER_B module.
+//! \param param is the pointer to struct for up-down mode initialization.
+//!
+//! Modified bits of \b TBxCTL register, bits of \b TBxCCTL0 register and bits
+//! of \b TBxCCR0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_B_initUpDownMode(uint16_t baseAddress,
+                                   Timer_B_initUpDownModeParam *param);
+
+//*****************************************************************************
+//
+//! \brief Initializes Capture Mode
+//!
+//! \param baseAddress is the base address of the TIMER_B module.
+//! \param param is the pointer to struct for capture mode initialization.
+//!
+//! Modified bits of \b TBxCCTLn register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_B_initCaptureMode(uint16_t baseAddress,
+                                    Timer_B_initCaptureModeParam *param);
+
+//*****************************************************************************
+//
+//! \brief Initializes Compare Mode
+//!
+//! \param baseAddress is the base address of the TIMER_B module.
+//! \param param is the pointer to struct for compare mode initialization.
+//!
+//! Modified bits of \b TBxCCTLn register and bits of \b TBxCCRn register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_B_initCompareMode(uint16_t baseAddress,
+                                    Timer_B_initCompareModeParam *param);
+
+//*****************************************************************************
+//
+//! \brief Enable Timer_B interrupt
+//!
+//! Enables Timer_B interrupt. Does not clear interrupt flags.
+//!
+//! \param baseAddress is the base address of the TIMER_B module.
+//!
+//! Modified bits of \b TBxCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_B_enableInterrupt(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Disable Timer_B interrupt
+//!
+//! \param baseAddress is the base address of the TIMER_B module.
+//!
+//! Modified bits of \b TBxCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_B_disableInterrupt(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Get Timer_B interrupt status
+//!
+//! \param baseAddress is the base address of the TIMER_B module.
+//!
+//! \return One of the following:
+//!         - \b TIMER_B_INTERRUPT_NOT_PENDING
+//!         - \b TIMER_B_INTERRUPT_PENDING
+//!         \n indicating the status of the Timer_B interrupt
+//
+//*****************************************************************************
+extern uint32_t Timer_B_getInterruptStatus(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Enable capture compare interrupt
+//!
+//! \param baseAddress is the base address of the TIMER_B module.
+//! \param captureCompareRegister selects the capture compare register being
+//!        used. Refer to datasheet to ensure the device has the capture
+//!        compare register being used.
+//!        Valid values are:
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_0
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_1
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_2
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_3
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_4
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_5
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_6
+//!
+//! Modified bits of \b TBxCCTLn register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_B_enableCaptureCompareInterrupt(uint16_t baseAddress,
+                                                  uint16_t captureCompareRegister);
+
+//*****************************************************************************
+//
+//! \brief Disable capture compare interrupt
+//!
+//! \param baseAddress is the base address of the TIMER_B module.
+//! \param captureCompareRegister selects the capture compare register being
+//!        used. Refer to datasheet to ensure the device has the capture
+//!        compare register being used.
+//!        Valid values are:
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_0
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_1
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_2
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_3
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_4
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_5
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_6
+//!
+//! Modified bits of \b TBxCCTLn register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_B_disableCaptureCompareInterrupt(uint16_t baseAddress,
+                                                   uint16_t captureCompareRegister);
+
+//*****************************************************************************
+//
+//! \brief Return capture compare interrupt status
+//!
+//! \param baseAddress is the base address of the TIMER_B module.
+//! \param captureCompareRegister selects the capture compare register being
+//!        used. Refer to datasheet to ensure the device has the capture
+//!        compare register being used.
+//!        Valid values are:
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_0
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_1
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_2
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_3
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_4
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_5
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_6
+//! \param mask is the mask for the interrupt status
+//!        Mask value is the logical OR of any of the following:
+//!        - \b TIMER_B_CAPTURE_OVERFLOW
+//!        - \b TIMER_B_CAPTURECOMPARE_INTERRUPT_FLAG
+//!
+//! \return Logical OR of any of the following:
+//!         - \b TIMER_B_CAPTURE_OVERFLOW
+//!         - \b TIMER_B_CAPTURECOMPARE_INTERRUPT_FLAG
+//!         \n indicating the status of the masked interrupts
+//
+//*****************************************************************************
+extern uint32_t Timer_B_getCaptureCompareInterruptStatus(uint16_t baseAddress,
+                                                         uint16_t captureCompareRegister,
+                                                         uint16_t mask);
+
+//*****************************************************************************
+//
+//! \brief Reset/Clear the Timer_B clock divider, count direction, count
+//!
+//! \param baseAddress is the base address of the TIMER_B module.
+//!
+//! Modified bits of \b TBxCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_B_clear(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Get synchronized capturecompare input
+//!
+//! \param baseAddress is the base address of the TIMER_B module.
+//! \param captureCompareRegister selects the capture compare register being
+//!        used. Refer to datasheet to ensure the device has the capture
+//!        compare register being used.
+//!        Valid values are:
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_0
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_1
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_2
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_3
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_4
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_5
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_6
+//! \param synchronized selects the type of capture compare input
+//!        Valid values are:
+//!        - \b TIMER_B_READ_SYNCHRONIZED_CAPTURECOMPAREINPUT
+//!        - \b TIMER_B_READ_CAPTURE_COMPARE_INPUT
+//!
+//! \return One of the following:
+//!         - \b TIMER_B_CAPTURECOMPARE_INPUT_HIGH
+//!         - \b TIMER_B_CAPTURECOMPARE_INPUT_LOW
+//
+//*****************************************************************************
+extern uint8_t Timer_B_getSynchronizedCaptureCompareInput(uint16_t baseAddress,
+                                                          uint16_t captureCompareRegister,
+                                                          uint16_t synchronized);
+
+//*****************************************************************************
+//
+//! \brief Get output bit for output mode
+//!
+//! \param baseAddress is the base address of the TIMER_B module.
+//! \param captureCompareRegister selects the capture compare register being
+//!        used. Refer to datasheet to ensure the device has the capture
+//!        compare register being used.
+//!        Valid values are:
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_0
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_1
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_2
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_3
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_4
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_5
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_6
+//!
+//! \return One of the following:
+//!         - \b TIMER_B_OUTPUTMODE_OUTBITVALUE_HIGH
+//!         - \b TIMER_B_OUTPUTMODE_OUTBITVALUE_LOW
+//
+//*****************************************************************************
+extern uint8_t Timer_B_getOutputForOutputModeOutBitValue(uint16_t baseAddress,
+                                                         uint16_t captureCompareRegister);
+
+//*****************************************************************************
+//
+//! \brief Get current capturecompare count
+//!
+//! \param baseAddress is the base address of the TIMER_B module.
+//! \param captureCompareRegister selects the capture compare register being
+//!        used. Refer to datasheet to ensure the device has the capture
+//!        compare register being used.
+//!        Valid values are:
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_0
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_1
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_2
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_3
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_4
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_5
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_6
+//!
+//! \return Current count as uint16_t
+//
+//*****************************************************************************
+extern uint16_t Timer_B_getCaptureCompareCount(uint16_t baseAddress,
+                                               uint16_t captureCompareRegister);
+
+//*****************************************************************************
+//
+//! \brief Set output bit for output mode
+//!
+//! \param baseAddress is the base address of the TIMER_B module.
+//! \param captureCompareRegister selects the capture compare register being
+//!        used. Refer to datasheet to ensure the device has the capture
+//!        compare register being used.
+//!        Valid values are:
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_0
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_1
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_2
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_3
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_4
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_5
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_6
+//! \param outputModeOutBitValue the value to be set for out bit
+//!        Valid values are:
+//!        - \b TIMER_B_OUTPUTMODE_OUTBITVALUE_HIGH
+//!        - \b TIMER_B_OUTPUTMODE_OUTBITVALUE_LOW
+//!
+//! Modified bits of \b TBxCCTLn register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_B_setOutputForOutputModeOutBitValue(uint16_t baseAddress,
+                                                      uint16_t captureCompareRegister,
+                                                      uint8_t outputModeOutBitValue);
+
+//*****************************************************************************
+//
+//! \brief Generate a PWM with Timer_B running in up mode
+//!
+//! \param baseAddress is the base address of the TIMER_B module.
+//! \param param is the pointer to struct for PWM configuration.
+//!
+//! Modified bits of \b TBxCCTLn register, bits of \b TBxCTL register, bits of
+//! \b TBxCCTL0 register and bits of \b TBxCCR0 register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_B_outputPWM(uint16_t baseAddress,
+                              Timer_B_outputPWMParam *param);
+
+//*****************************************************************************
+//
+//! \brief Stops the Timer_B
+//!
+//! \param baseAddress is the base address of the TIMER_B module.
+//!
+//! Modified bits of \b TBxCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_B_stop(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Sets the value of the capture-compare register
+//!
+//! \param baseAddress is the base address of the TIMER_B module.
+//! \param compareRegister selects the compare register being used. Refer to
+//!        datasheet to ensure the device has the compare register being used.
+//!        Valid values are:
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_0
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_1
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_2
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_3
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_4
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_5
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_6
+//! \param compareValue is the count to be compared with in compare mode
+//!
+//! Modified bits of \b TBxCCRn register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_B_setCompareValue(uint16_t baseAddress,
+                                    uint16_t compareRegister,
+                                    uint16_t compareValue);
+
+//*****************************************************************************
+//
+//! \brief Clears the Timer_B TBIFG interrupt flag
+//!
+//! \param baseAddress is the base address of the TIMER_B module.
+//!
+//! Modified bits are \b TBIFG of \b TBxCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_B_clearTimerInterrupt(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Clears the capture-compare interrupt flag
+//!
+//! \param baseAddress is the base address of the TIMER_B module.
+//! \param captureCompareRegister selects the capture compare register being
+//!        used. Refer to datasheet to ensure the device has the capture
+//!        compare register being used.
+//!        Valid values are:
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_0
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_1
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_2
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_3
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_4
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_5
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_6
+//!
+//! Modified bits are \b CCIFG of \b TBxCCTLn register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_B_clearCaptureCompareInterrupt(uint16_t baseAddress,
+                                                 uint16_t captureCompareRegister);
+
+//*****************************************************************************
+//
+//! \brief Selects Timer_B counter length
+//!
+//! \param baseAddress is the base address of the TIMER_B module.
+//! \param counterLength selects the value of counter length.
+//!        Valid values are:
+//!        - \b TIMER_B_COUNTER_16BIT [Default]
+//!        - \b TIMER_B_COUNTER_12BIT
+//!        - \b TIMER_B_COUNTER_10BIT
+//!        - \b TIMER_B_COUNTER_8BIT
+//!
+//! Modified bits are \b CNTL of \b TBxCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_B_selectCounterLength(uint16_t baseAddress,
+                                        uint16_t counterLength);
+
+//*****************************************************************************
+//
+//! \brief Selects Timer_B Latching Group
+//!
+//! \param baseAddress is the base address of the TIMER_B module.
+//! \param groupLatch selects the latching group.
+//!        Valid values are:
+//!        - \b TIMER_B_GROUP_NONE [Default]
+//!        - \b TIMER_B_GROUP_CL12_CL23_CL56
+//!        - \b TIMER_B_GROUP_CL123_CL456
+//!        - \b TIMER_B_GROUP_ALL
+//!
+//! Modified bits are \b TBCLGRP of \b TBxCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_B_selectLatchingGroup(uint16_t baseAddress,
+                                        uint16_t groupLatch);
+
+//*****************************************************************************
+//
+//! \brief Selects Compare Latch Load Event
+//!
+//! \param baseAddress is the base address of the TIMER_B module.
+//! \param compareRegister selects the compare register being used. Refer to
+//!        datasheet to ensure the device has the compare register being used.
+//!        Valid values are:
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_0
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_1
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_2
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_3
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_4
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_5
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_6
+//! \param compareLatchLoadEvent selects the latch load event
+//!        Valid values are:
+//!        - \b TIMER_B_LATCH_ON_WRITE_TO_TBxCCRn_COMPARE_REGISTER [Default]
+//!        - \b TIMER_B_LATCH_WHEN_COUNTER_COUNTS_TO_0_IN_UP_OR_CONT_MODE
+//!        - \b TIMER_B_LATCH_WHEN_COUNTER_COUNTS_TO_0_IN_UPDOWN_MODE
+//!        - \b
+//!           TIMER_B_LATCH_WHEN_COUNTER_COUNTS_TO_CURRENT_COMPARE_LATCH_VALUE
+//!
+//! Modified bits are \b CLLD of \b TBxCCTLn register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_B_initCompareLatchLoadEvent(uint16_t baseAddress,
+                                              uint16_t compareRegister,
+                                              uint16_t compareLatchLoadEvent);
+
+//*****************************************************************************
+//
+//! \brief Reads the current timer count value
+//!
+//! Reads the current count value of the timer. There is a majority vote system
+//! in place to confirm an accurate value is returned. The Timer_B_THRESHOLD
+//! #define in the associated header file can be modified so that the votes
+//! must be closer together for a consensus to occur.
+//!
+//! \param baseAddress is the base address of the Timer module.
+//!
+//! \return Majority vote of timer count value
+//
+//*****************************************************************************
+extern uint16_t Timer_B_getCounterValue(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Sets the output mode
+//!
+//! Sets the output mode for the timer even the timer is already running.
+//!
+//! \param baseAddress is the base address of the TIMER_B module.
+//! \param compareRegister selects the compare register being used.
+//!        Valid values are:
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_0
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_1
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_2
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_3
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_4
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_5
+//!        - \b TIMER_B_CAPTURECOMPARE_REGISTER_6
+//! \param compareOutputMode specifies the output mode.
+//!        Valid values are:
+//!        - \b TIMER_B_OUTPUTMODE_OUTBITVALUE [Default]
+//!        - \b TIMER_B_OUTPUTMODE_SET
+//!        - \b TIMER_B_OUTPUTMODE_TOGGLE_RESET
+//!        - \b TIMER_B_OUTPUTMODE_SET_RESET
+//!        - \b TIMER_B_OUTPUTMODE_TOGGLE
+//!        - \b TIMER_B_OUTPUTMODE_RESET
+//!        - \b TIMER_B_OUTPUTMODE_TOGGLE_SET
+//!        - \b TIMER_B_OUTPUTMODE_RESET_SET
+//!
+//! Modified bits are \b OUTMOD of \b TBxCCTLn register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void Timer_B_setOutputMode(uint16_t baseAddress,
+                                  uint16_t compareRegister,
+                                  uint16_t compareOutputMode);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_TIMER_B_H__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/tlv.c b/Apps/FlightSoftware/MotorControl/driverlib/tlv.c
new file mode 100644
index 000000000..83406efe8
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/tlv.c
@@ -0,0 +1,239 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// tlv.c - Driver for the tlv Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup tlv_api tlv
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_TLV__
+#include "tlv.h"
+
+#include <assert.h>
+
+void TLV_getInfo(uint8_t tag,
+                 uint8_t instance,
+                 uint8_t *length,
+                 uint16_t **data_address
+                 )
+{
+  // TLV Structure Start Address
+  char *TLV_address = (char *)TLV_START;
+
+  while((TLV_address < (char *)TLV_END)
+        && ((*TLV_address != tag) || instance)   // check for tag and instance
+        && (*TLV_address != TLV_TAGEND))         // do range check first
+  {
+    if (*TLV_address == tag)
+    {
+      // repeat till requested instance is reached
+      instance--;
+    }
+    // add (Current TAG address + LENGTH) + 2
+    TLV_address += *(TLV_address + 1) + 2;
+  }
+
+  // Check if Tag match happened..
+  if (*TLV_address == tag)
+  {
+    // Return length = Address + 1
+    *length = *(TLV_address + 1);
+    // Return address of first data/value info = Address + 2
+    *data_address = (uint16_t *)(TLV_address + 2);
+  }
+  // If there was no tag match and the end of TLV structure was reached..
+  else
+  {
+    // Return 0 for TAG not found
+    *length = 0;
+    // Return 0 for TAG not found
+    *data_address = 0;
+  }
+}
+
+uint16_t TLV_getDeviceType()
+{
+  uint16_t *pDeviceType = (uint16_t *)TLV_DEVICE_ID_0;
+  // Return Value from TLV Table
+  return pDeviceType[0];
+}
+
+uint16_t TLV_getMemory(uint8_t instance)
+{
+    uint8_t *pPDTAG;
+    uint8_t bPDTAG_bytes;
+    uint16_t count;
+
+    // set tag for word access comparison
+    instance *= 2;
+
+    // TLV access Function Call
+    // Get Peripheral data pointer
+    TLV_getInfo(TLV_PDTAG,
+                0,
+                &bPDTAG_bytes,
+                (uint16_t **)&pPDTAG
+                );
+
+    for (count = 0;count <= instance; count += 2)
+    {
+      if (pPDTAG[count] == 0)
+      {
+         // Return 0 if end reached
+        return 0;
+      }
+      if (count == instance)
+        return (pPDTAG[count] | pPDTAG[count+1]<<8);
+    }
+
+    // Return 0: not found
+    return 0;
+}
+
+uint16_t TLV_getPeripheral(uint8_t tag,
+                               uint8_t instance
+                              )
+{
+    uint8_t *pPDTAG;
+    uint8_t bPDTAG_bytes;
+    uint16_t count = 0;
+    uint16_t pcount = 0;
+
+    // Get Peripheral data pointer
+    TLV_getInfo(TLV_PDTAG,
+                0,
+                &bPDTAG_bytes,
+                (uint16_t **)&pPDTAG
+                );
+
+    // read memory configuration from TLV to get offset for Peripherals
+    while (TLV_getMemory(count))
+    {
+      count++;
+    }
+    // get number of Peripheral entries
+    pcount = pPDTAG[count * 2 + 1];
+    // inc count to first Periperal
+    count++;
+    // adjust point to first address of Peripheral
+    pPDTAG += count*2;
+    // set counter back to 0
+    count = 0;
+    // align pcount for work comparision
+    pcount *= 2;
+
+    // TLV access Function Call
+    for (count = 0; count <= pcount; count += 2)
+    {
+      if (pPDTAG[count+1] == tag)
+      {
+        // test if required Peripheral is found
+        if (instance > 0)
+        {
+          // test if required instance is found
+          instance--;
+        }
+        else
+        {
+          // Return found data
+          return (pPDTAG[count] | pPDTAG[count + 1] << 8);
+        }
+      }
+    }
+
+    // Return 0: not found
+    return 0;
+}
+
+uint8_t TLV_getInterrupt(uint8_t tag)
+{
+    uint8_t *pPDTAG;
+    uint8_t bPDTAG_bytes;
+    uint16_t count = 0;
+    uint16_t pcount = 0;
+
+    // Get Peripheral data pointer
+    TLV_getInfo(TLV_PDTAG,
+                0,
+                &bPDTAG_bytes,
+                (uint16_t **)&pPDTAG
+                );
+
+    // read memory configuration from TLV to get offset for Peripherals
+    while (TLV_getMemory(count))
+    {
+      count++;
+    }
+
+    pcount = pPDTAG[count * 2 + 1];
+    // inc count to first Periperal
+    count++;
+    // adjust point to first address of Peripheral
+    pPDTAG += (pcount + count) * 2;
+    // set counter back to 0
+    count = 0;
+
+    // TLV access Function Call
+    for (count = 0; count <= tag; count += 2)
+    {
+      if (pPDTAG[count] == 0)
+      {
+        // Return 0: not found/end of table
+        return 0;
+      }
+      if (count == tag)
+      {
+        // Return found data
+        return (pPDTAG[count]);
+      }
+    }
+
+    // Return 0: not found
+    return 0;
+}
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for tlv_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/tlv.h b/Apps/FlightSoftware/MotorControl/driverlib/tlv.h
new file mode 100644
index 000000000..bcfc1e994
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/tlv.h
@@ -0,0 +1,436 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// tlv.h - Driver for the TLV Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_TLV_H__
+#define __MSP430WARE_TLV_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_TLV__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "inc/hw_memmap.h"
+//******************************************************************************
+//
+// TLV Data Types
+//
+//******************************************************************************
+struct s_TLV_Die_Record {
+    uint32_t wafer_id;
+    uint16_t die_x_position;
+    uint16_t die_y_position;
+    uint16_t test_results;
+};
+
+struct s_TLV_ADC_Cal_Data {
+    uint16_t adc_gain_factor;
+    int16_t adc_offset;
+    uint16_t adc_ref15_30_temp;
+    uint16_t adc_ref15_85_temp;
+    uint16_t adc_ref20_30_temp;
+    uint16_t adc_ref20_85_temp;
+    uint16_t adc_ref25_30_temp;
+    uint16_t adc_ref25_85_temp;
+};
+
+struct s_TLV_Timer_D_Cal_Data {
+    uint16_t TDH0CTL1_64;
+    uint16_t TDH0CTL1_128;
+    uint16_t TDH0CTL1_200;
+    uint16_t TDH0CTL1_256;
+};
+
+struct s_TLV_REF_Cal_Data {
+    uint16_t ref_ref15;
+    uint16_t ref_ref20;
+    uint16_t ref_ref25;
+};
+
+struct s_Peripheral_Memory_Data {
+    uint16_t memory_1;
+    uint16_t memory_2;
+    uint16_t memory_3;
+    uint16_t memory_4;
+};
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the tag parameter for
+// functions: TLV_getInfo().
+//
+//*****************************************************************************
+#define TLV_TAG_LDTAG                                                 TLV_LDTAG
+#define TLV_TAG_PDTAG                                                 TLV_PDTAG
+#define TLV_TAG_Reserved3                                         TLV_Reserved3
+#define TLV_TAG_Reserved4                                         TLV_Reserved4
+#define TLV_TAG_BLANK                                                 TLV_BLANK
+#define TLV_TAG_Reserved6                                         TLV_Reserved6
+#define TLV_TAG_Reserved7                                         TLV_Reserved7
+#define TLV_TAG_TAGEND                                               TLV_TAGEND
+#define TLV_TAG_TAGEXT                                               TLV_TAGEXT
+#define TLV_TAG_TIMER_D_CAL                                       TLV_TIMERDCAL
+#define TLV_DEVICE_ID_0                                                  0x1A04
+#define TLV_DEVICE_ID_1                                                  0x1A05
+#define TLV_TAG_DIERECORD                                         TLV_DIERECORD
+#define TLV_TAG_ADCCAL                                               TLV_ADCCAL
+#define TLV_TAG_ADC12CAL                                           TLV_ADC12CAL
+#define TLV_TAG_ADC10CAL                                           TLV_ADC10CAL
+#define TLV_TAG_REFCAL                                               TLV_REFCAL
+#define TLV_TAG_CTSD16CAL                                                  0x1D
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the tag parameter for
+// functions: TLV_getPeripheral().
+//
+//*****************************************************************************
+#define TLV_PID_NO_MODULE                                                (0x00)
+#define TLV_PID_PORTMAPPING                                              (0x10)
+#define TLV_PID_MSP430CPUXV2                                             (0x23)
+#define TLV_PID_JTAG                                                     (0x09)
+#define TLV_PID_SBW                                                      (0x0F)
+#define TLV_PID_EEM_XS                                                   (0x02)
+#define TLV_PID_EEM_S                                                    (0x03)
+#define TLV_PID_EEM_M                                                    (0x04)
+#define TLV_PID_EEM_L                                                    (0x05)
+#define TLV_PID_PMM                                                      (0x30)
+#define TLV_PID_PMM_FR                                                   (0x32)
+#define TLV_PID_FCTL                                                     (0x39)
+#define TLV_PID_CRC16                                                    (0x3C)
+#define TLV_PID_CRC16_RB                                                 (0x3D)
+#define TLV_PID_WDT_A                                                    (0x40)
+#define TLV_PID_SFR                                                      (0x41)
+#define TLV_PID_SYS                                                      (0x42)
+#define TLV_PID_RAMCTL                                                   (0x44)
+#define TLV_PID_DMA_1                                                    (0x46)
+#define TLV_PID_DMA_3                                                    (0x47)
+#define TLV_PID_UCS                                                      (0x48)
+#define TLV_PID_DMA_6                                                    (0x4A)
+#define TLV_PID_DMA_2                                                    (0x4B)
+#define TLV_PID_PORT1_2                                                  (0x51)
+#define TLV_PID_PORT3_4                                                  (0x52)
+#define TLV_PID_PORT5_6                                                  (0x53)
+#define TLV_PID_PORT7_8                                                  (0x54)
+#define TLV_PID_PORT9_10                                                 (0x55)
+#define TLV_PID_PORT11_12                                                (0x56)
+#define TLV_PID_PORTU                                                    (0x5E)
+#define TLV_PID_PORTJ                                                    (0x5F)
+#define TLV_PID_TA2                                                      (0x60)
+#define TLV_PID_TA3                                                      (0x61)
+#define TLV_PID_TA5                                                      (0x62)
+#define TLV_PID_TA7                                                      (0x63)
+#define TLV_PID_TB3                                                      (0x65)
+#define TLV_PID_TB5                                                      (0x66)
+#define TLV_PID_TB7                                                      (0x67)
+#define TLV_PID_RTC                                                      (0x68)
+#define TLV_PID_BT_RTC                                                   (0x69)
+#define TLV_PID_BBS                                                      (0x6A)
+#define TLV_PID_RTC_B                                                    (0x6B)
+#define TLV_PID_TD2                                                      (0x6C)
+#define TLV_PID_TD3                                                      (0x6D)
+#define TLV_PID_TD5                                                      (0x6E)
+#define TLV_PID_TD7                                                      (0x6F)
+#define TLV_PID_TEC                                                      (0x70)
+#define TLV_PID_RTC_C                                                    (0x71)
+#define TLV_PID_AES                                                      (0x80)
+#define TLV_PID_MPY16                                                    (0x84)
+#define TLV_PID_MPY32                                                    (0x85)
+#define TLV_PID_MPU                                                      (0x86)
+#define TLV_PID_USCI_AB                                                  (0x90)
+#define TLV_PID_USCI_A                                                   (0x91)
+#define TLV_PID_USCI_B                                                   (0x92)
+#define TLV_PID_EUSCI_A                                                  (0x94)
+#define TLV_PID_EUSCI_B                                                  (0x95)
+#define TLV_PID_REF                                                      (0xA0)
+#define TLV_PID_COMP_B                                                   (0xA8)
+#define TLV_PID_COMP_D                                                   (0xA9)
+#define TLV_PID_USB                                                      (0x98)
+#define TLV_PID_LCD_B                                                    (0xB1)
+#define TLV_PID_LCD_C                                                    (0xB2)
+#define TLV_PID_DAC12_A                                                  (0xC0)
+#define TLV_PID_SD16_B_1                                                 (0xC8)
+#define TLV_PID_SD16_B_2                                                 (0xC9)
+#define TLV_PID_SD16_B_3                                                 (0xCA)
+#define TLV_PID_SD16_B_4                                                 (0xCB)
+#define TLV_PID_SD16_B_5                                                 (0xCC)
+#define TLV_PID_SD16_B_6                                                 (0xCD)
+#define TLV_PID_SD16_B_7                                                 (0xCE)
+#define TLV_PID_SD16_B_8                                                 (0xCF)
+#define TLV_PID_ADC12_A                                                  (0xD1)
+#define TLV_PID_ADC10_A                                                  (0xD3)
+#define TLV_PID_ADC10_B                                                  (0xD4)
+#define TLV_PID_SD16_A                                                   (0xD8)
+#define TLV_PID_TI_BSL                                                   (0xFC)
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Gets TLV Info
+//!
+//! The TLV structure uses a tag or base address to identify segments of the
+//! table where information is stored. Some examples of TLV tags are Peripheral
+//! Descriptor, Interrupts, Info Block and Die Record. This function retrieves
+//! the value of a tag and the length of the tag.
+//!
+//! \param tag represents the tag for which the information needs to be
+//!        retrieved.
+//!        Valid values are:
+//!        - \b TLV_TAG_LDTAG
+//!        - \b TLV_TAG_PDTAG
+//!        - \b TLV_TAG_Reserved3
+//!        - \b TLV_TAG_Reserved4
+//!        - \b TLV_TAG_BLANK
+//!        - \b TLV_TAG_Reserved6
+//!        - \b TLV_TAG_Reserved7
+//!        - \b TLV_TAG_TAGEND
+//!        - \b TLV_TAG_TAGEXT
+//!        - \b TLV_TAG_TIMER_D_CAL
+//!        - \b TLV_DEVICE_ID_0
+//!        - \b TLV_DEVICE_ID_1
+//!        - \b TLV_TAG_DIERECORD
+//!        - \b TLV_TAG_ADCCAL
+//!        - \b TLV_TAG_ADC12CAL
+//!        - \b TLV_TAG_ADC10CAL
+//!        - \b TLV_TAG_REFCAL
+//!        - \b TLV_TAG_CTSD16CAL
+//! \param instance In some cases a specific tag may have more than one
+//!        instance. For example there may be multiple instances of timer
+//!        calibration data present under a single Timer Cal tag. This variable
+//!        specifies the instance for which information is to be retrieved (0,
+//!        1, etc.). When only one instance exists; 0 is passed.
+//! \param length Acts as a return through indirect reference. The function
+//!        retrieves the value of the TLV tag length. This value is pointed to
+//!        by *length and can be used by the application level once the
+//!        function is called. If the specified tag is not found then the
+//!        pointer is null 0.
+//! \param data_address acts as a return through indirect reference. Once the
+//!        function is called data_address points to the pointer that holds the
+//!        value retrieved from the specified TLV tag. If the specified tag is
+//!        not found then the pointer is null 0.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void TLV_getInfo(uint8_t tag,
+                        uint8_t instance,
+                        uint8_t *length,
+                        uint16_t **data_address);
+
+//*****************************************************************************
+//
+//! \brief Retrieves the unique device ID from the TLV structure.
+//!
+//!
+//! \return The device ID is returned as type uint16_t.
+//
+//*****************************************************************************
+extern uint16_t TLV_getDeviceType(void);
+
+//*****************************************************************************
+//
+//! \brief Gets memory information
+//!
+//! The Peripheral Descriptor tag is split into two portions a list of the
+//! available flash memory blocks followed by a list of available peripherals.
+//! This function is used to parse through the first portion and calculate the
+//! total flash memory available in a device. The typical usage is to call the
+//! TLV_getMemory which returns a non-zero value until the entire memory list
+//! has been parsed. When a zero is returned, it indicates that all the memory
+//! blocks have been counted and the next address holds the beginning of the
+//! device peripheral list.
+//!
+//! \param instance In some cases a specific tag may have more than one
+//!        instance. This variable specifies the instance for which information
+//!        is to be retrieved (0, 1 etc). When only one instance exists; 0 is
+//!        passed.
+//!
+//! \return The returned value is zero if the end of the memory list is
+//!         reached.
+//
+//*****************************************************************************
+extern uint16_t TLV_getMemory(uint8_t instance);
+
+//*****************************************************************************
+//
+//! \brief Gets peripheral information from the TLV
+//!
+//! he Peripheral Descriptor tag is split into two portions a list of the
+//! available flash memory blocks followed by a list of available peripherals.
+//! This function is used to parse through the second portion and can be used
+//! to check if a specific peripheral is present in a device. The function
+//! calls TLV_getPeripheral() recursively until the end of the memory list and
+//! consequently the beginning of the peripheral list is reached. <
+//!
+//! \param tag represents represents the tag for a specific peripheral for
+//!        which the information needs to be retrieved. In the header file tlv.
+//!        h specific peripheral tags are pre-defined, for example USCIA_B and
+//!        TA0 are defined as TLV_PID_USCI_AB and TLV_PID_TA2 respectively.
+//!        Valid values are:
+//!        - \b TLV_PID_NO_MODULE - No Module
+//!        - \b TLV_PID_PORTMAPPING - Port Mapping
+//!        - \b TLV_PID_MSP430CPUXV2 - MSP430CPUXV2
+//!        - \b TLV_PID_JTAG - JTAG
+//!        - \b TLV_PID_SBW - SBW
+//!        - \b TLV_PID_EEM_XS - EEM X-Small
+//!        - \b TLV_PID_EEM_S - EEM Small
+//!        - \b TLV_PID_EEM_M - EEM Medium
+//!        - \b TLV_PID_EEM_L - EEM Large
+//!        - \b TLV_PID_PMM - PMM
+//!        - \b TLV_PID_PMM_FR - PMM FRAM
+//!        - \b TLV_PID_FCTL - Flash
+//!        - \b TLV_PID_CRC16 - CRC16
+//!        - \b TLV_PID_CRC16_RB - CRC16 Reverse
+//!        - \b TLV_PID_WDT_A - WDT_A
+//!        - \b TLV_PID_SFR - SFR
+//!        - \b TLV_PID_SYS - SYS
+//!        - \b TLV_PID_RAMCTL - RAMCTL
+//!        - \b TLV_PID_DMA_1 - DMA 1
+//!        - \b TLV_PID_DMA_3 - DMA 3
+//!        - \b TLV_PID_UCS - UCS
+//!        - \b TLV_PID_DMA_6 - DMA 6
+//!        - \b TLV_PID_DMA_2 - DMA 2
+//!        - \b TLV_PID_PORT1_2 - Port 1 + 2 / A
+//!        - \b TLV_PID_PORT3_4 - Port 3 + 4 / B
+//!        - \b TLV_PID_PORT5_6 - Port 5 + 6 / C
+//!        - \b TLV_PID_PORT7_8 - Port 7 + 8 / D
+//!        - \b TLV_PID_PORT9_10 - Port 9 + 10 / E
+//!        - \b TLV_PID_PORT11_12 - Port 11 + 12 / F
+//!        - \b TLV_PID_PORTU - Port U
+//!        - \b TLV_PID_PORTJ - Port J
+//!        - \b TLV_PID_TA2 - Timer A2
+//!        - \b TLV_PID_TA3 - Timer A1
+//!        - \b TLV_PID_TA5 - Timer A5
+//!        - \b TLV_PID_TA7 - Timer A7
+//!        - \b TLV_PID_TB3 - Timer B3
+//!        - \b TLV_PID_TB5 - Timer B5
+//!        - \b TLV_PID_TB7 - Timer B7
+//!        - \b TLV_PID_RTC - RTC
+//!        - \b TLV_PID_BT_RTC - BT + RTC
+//!        - \b TLV_PID_BBS - Battery Backup Switch
+//!        - \b TLV_PID_RTC_B - RTC_B
+//!        - \b TLV_PID_TD2 - Timer D2
+//!        - \b TLV_PID_TD3 - Timer D1
+//!        - \b TLV_PID_TD5 - Timer D5
+//!        - \b TLV_PID_TD7 - Timer D7
+//!        - \b TLV_PID_TEC - Timer Event Control
+//!        - \b TLV_PID_RTC_C - RTC_C
+//!        - \b TLV_PID_AES - AES
+//!        - \b TLV_PID_MPY16 - MPY16
+//!        - \b TLV_PID_MPY32 - MPY32
+//!        - \b TLV_PID_MPU - MPU
+//!        - \b TLV_PID_USCI_AB - USCI_AB
+//!        - \b TLV_PID_USCI_A - USCI_A
+//!        - \b TLV_PID_USCI_B - USCI_B
+//!        - \b TLV_PID_EUSCI_A - eUSCI_A
+//!        - \b TLV_PID_EUSCI_B - eUSCI_B
+//!        - \b TLV_PID_REF - Shared Reference
+//!        - \b TLV_PID_COMP_B - COMP_B
+//!        - \b TLV_PID_COMP_D - COMP_D
+//!        - \b TLV_PID_USB - USB
+//!        - \b TLV_PID_LCD_B - LCD_B
+//!        - \b TLV_PID_LCD_C - LCD_C
+//!        - \b TLV_PID_DAC12_A - DAC12_A
+//!        - \b TLV_PID_SD16_B_1 - SD16_B 1 Channel
+//!        - \b TLV_PID_SD16_B_2 - SD16_B 2 Channel
+//!        - \b TLV_PID_SD16_B_3 - SD16_B 3 Channel
+//!        - \b TLV_PID_SD16_B_4 - SD16_B 4 Channel
+//!        - \b TLV_PID_SD16_B_5 - SD16_B 5 Channel
+//!        - \b TLV_PID_SD16_B_6 - SD16_B 6 Channel
+//!        - \b TLV_PID_SD16_B_7 - SD16_B 7 Channel
+//!        - \b TLV_PID_SD16_B_8 - SD16_B 8 Channel
+//!        - \b TLV_PID_ADC12_A - ADC12_A
+//!        - \b TLV_PID_ADC10_A - ADC10_A
+//!        - \b TLV_PID_ADC10_B - ADC10_B
+//!        - \b TLV_PID_SD16_A - SD16_A
+//!        - \b TLV_PID_TI_BSL - BSL
+//! \param instance In some cases a specific tag may have more than one
+//!        instance. For example a device may have more than a single USCI
+//!        module, each of which is defined by an instance number 0, 1, 2, etc.
+//!        When only one instance exists; 0 is passed.
+//!
+//! \return The returned value is zero if the specified tag value (peripheral)
+//!         is not available in the device.
+//
+//*****************************************************************************
+extern uint16_t TLV_getPeripheral(uint8_t tag,
+                                  uint8_t instance);
+
+//*****************************************************************************
+//
+//! \brief Get interrupt information from the TLV
+//!
+//! This function is used to retrieve information on available interrupt
+//! vectors. It allows the user to check if a specific interrupt vector is
+//! defined in a given device.
+//!
+//! \param tag represents the tag for the interrupt vector. Interrupt vector
+//!        tags number from 0 to N depending on the number of available
+//!        interrupts. Refer to the device datasheet for a list of available
+//!        interrupts.
+//!
+//! \return The returned value is zero is the specified interrupt vector is not
+//!         defined.
+//
+//*****************************************************************************
+extern uint8_t TLV_getInterrupt(uint8_t tag);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_TLV_H__
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/uups.c b/Apps/FlightSoftware/MotorControl/driverlib/uups.c
new file mode 100644
index 000000000..85e007768
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/uups.c
@@ -0,0 +1,130 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// uups.c - Driver for the UUPS Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup uups_api uups
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_UUPS__
+#include "uups.h"
+
+#include <assert.h>
+
+void UUPS_clearInterrupt(uint16_t baseAddress, uint8_t mask)
+{
+    HWREG16(baseAddress + OFS_UUPSICR) |= mask;
+}
+
+void UUPS_enableInterrupt(uint16_t baseAddress, uint8_t mask)
+{
+    HWREG16(baseAddress + OFS_UUPSIMSC) |= mask;
+}
+
+void UUPS_disableInterrupt(uint16_t baseAddress, uint8_t mask)
+{
+    HWREG16(baseAddress + OFS_UUPSIMSC) &= ~mask;
+}
+
+uint8_t UUPS_getInterruptStatus(uint16_t baseAddress, uint16_t mask)
+{
+    return HWREG16(baseAddress + OFS_UUPSRIS) & mask;
+}
+
+void UUPS_stopMeasurement(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_UUPSCTL) |= USSSTOP;
+}
+
+void UUPS_turnOffPower(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_UUPSCTL) |= USSPWRDN;
+}
+
+void UUPS_turnOnPower(uint16_t baseAddress, uint16_t triggerSource)
+{
+    HWREG16(baseAddress + OFS_UUPSCTL) |= (triggerSource | USSPWRUP);
+}
+
+void UUPS_enableASQ(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_UUPSCTL) |= ASQEN;
+}
+
+uint8_t UUPS_getPowerModeStatus(uint16_t baseAddress)
+{
+    return HWREG16(baseAddress + OFS_UUPSCTL) & UPSTATE;
+}
+
+uint8_t UUPS_isBusy(uint16_t baseAddress)
+{
+    return HWREG16(baseAddress + OFS_UUPSCTL) & USS_BUSY;
+}
+
+uint8_t UUPS_isLDOReady(uint16_t baseAddress)
+{
+    return HWREG16(baseAddress + OFS_UUPSCTL) & LDORDY;
+}
+
+void UUPS_setLowPowerBiasHoldOffDelay(uint16_t baseAddress, uint16_t holdOffDelay)
+{
+    HWREG16(baseAddress + OFS_UUPSCTL) &= ~LBHDEL;
+    HWREG16(baseAddress + OFS_UUPSCTL) |= holdOffDelay;
+}
+
+void UUPS_holdUSSInResetState(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_UUPSCTL) |= USSSWRST;
+}
+
+void UUPS_releaseUSSFromResetState(uint16_t baseAddress)
+{
+    HWREG16(baseAddress + OFS_UUPSCTL) &= ~USSSWRST;
+}
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for uups_api
+//! @}
+//
+//*****************************************************************************
+
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/uups.h b/Apps/FlightSoftware/MotorControl/driverlib/uups.h
new file mode 100644
index 000000000..a71cb2161
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/uups.h
@@ -0,0 +1,381 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// uups.h - Driver for the UUPS Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_UUPS_H__
+#define __MSP430WARE_UUPS_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_UUPS__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the mask parameter for
+// functions: UUPS_clearInterrupt(), UUPS_enableInterrupt() and 
+// UUPS_disableInterrupt() well as returned by the UUPS_getInterruptStatus() 
+// function.
+//
+//*****************************************************************************
+#define UUPS_POWER_REQUEST_IGNORE_INTERRUPT                              PREQIG
+#define UUPS_POWER_UP_TIMEOUT_INTERRUPT                                  PTMOUT
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the powerMode parameter for
+// functions: UUPS_gotoPowerMode() as well as returned by the 
+// UUPS_getPowerModeStatus() function.
+//
+//*****************************************************************************
+#define UUPS_POWERMODE_OFF                                            UPSTATE_0
+#define UUPS_POWERMODE_STANDBY                                        UPSTATE_1
+#define UUPS_POWERMODE_TRANSITION                                     UPSTATE_2
+#define UUPS_POWERMODE_READY                                          UPSTATE_3
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the triggerSource parameter for
+// functions: UUPS_turnOnPower().
+//
+//*****************************************************************************
+#define UUPS_POWERUP_TRIGGER_SOURCE_USSPWRUP                      USSPWRUPSEL_0
+#define UUPS_POWERUP_TRIGGER_SOURCE_RTC                           USSPWRUPSEL_1
+#define UUPS_POWERUP_TRIGGER_SOURCE_TIMER                         USSPWRUPSEL_2
+#define UUPS_POWERUP_TRIGGER_SOURCE_EXTERNAL                      USSPWRUPSEL_3
+
+//*****************************************************************************
+//
+// The following are values that can be returned by the UUPS_isBusy() function.
+//
+//*****************************************************************************
+#define UUPS_BUSY                                                      USS_BUSY
+#define UUPS_NOT_BUSY                                                       0x0
+
+//*****************************************************************************
+//
+// The following are values that can be returned by the UUPS_isLDOReady() function.
+//
+//*****************************************************************************
+#define UUPS_LDO_READY                                                   LDORDY
+#define UUPS_LDO_NOT_READY                                                  0x0
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the holdOffDelay parameter for functions: UUPS_setLowPowerBiasHoldOffDelay().
+//
+//*****************************************************************************
+#define UUPS_HOLD_OFF_DELAY_ADDITIONAL_NONE                             LBHDEL_0
+#define UUPS_HOLD_OFF_DELAY_ADDITIONAL_512_REFCLKS                      LBHDEL_1
+#define UUPS_HOLD_OFF_DELAY_ADDITIONAL_1024_REFCLKS                     LBHDEL_2
+#define UUPS_HOLD_OFF_DELAY_ADDITIONAL_1536_REFCLKS                     LBHDEL_3
+#define UUPS_HOLD_OFF_DELAY_ADDITIONAL_100_US                           LBHDEL_1
+#define UUPS_HOLD_OFF_DELAY_ADDITIONAL_200_US                           LBHDEL_2
+#define UUPS_HOLD_OFF_DELAY_ADDITIONAL_300_US                           LBHDEL_3
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Clears UUPS interrupts.
+//!
+//! The UUPS interrupt source is cleared, so that it no longer asserts. If the
+//! interrupt is not enabled, the corresponding bit in the RIS register bit will
+//! be cleared. If the interrupt is enabled, the corresponding bit both MIS and 
+//! RIS registers will be both cleared.
+//!
+//! \param baseAddress is the base address of the UUPS module.
+//! \param mask is the logical OR of any of the following:
+//!        - \b UUPS_POWER_REQUEST_IGNORE_INTERRUPT - UUPS power request ignored interrupt
+//!        - \b UUPS_POWER_UP_TIMEOUT_INTERRUPT - UUPS power up time out interrupt
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void UUPS_clearInterrupt(uint16_t baseAddress, uint8_t mask);
+
+//*****************************************************************************
+//
+//! \brief Enables UUPS interrupts.
+//!
+//! Enables the indicated UUPS interrupt sources.  Only the sources that are
+//! enabled can be reflected to the processor interrupt; disabled sources have
+//! no effect on the processor. <b>Does not clear interrupt flags.</b>
+//!
+//! \param baseAddress is the base address of the UUPS module.
+//! \param mask is the logical OR of any of the following:
+//!        - \b UUPS_POWER_REQUEST_IGNORE_INTERRUPT - UUPS power request ignored interrupt
+//!        - \b UUPS_POWER_UP_TIMEOUT_INTERRUPT - UUPS power up time out interrupt
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void UUPS_enableInterrupt(uint16_t baseAddress, uint8_t mask);
+
+//*****************************************************************************
+//
+//! \brief Disables selected UUPS interrupt sources.
+//!
+//! Disables the indicated UUPS interrupt sources.  Only the sources that are
+//! enabled can be reflected to the processor interrupt; disabled sources have
+//! no effect on the processor.
+//!
+//! \param baseAddress is the base address of the UUPS module.
+//! \param mask is the logical OR of any of the following:
+//!        - \b UUPS_POWER_REQUEST_IGNORE_INTERRUPT - UUPS power request ignored interrupt
+//!        - \b UUPS_POWER_UP_TIMEOUT_INTERRUPT - UUPS power up time out interrupt
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void UUPS_disableInterrupt(uint16_t baseAddress, uint8_t mask);
+
+//*****************************************************************************
+//
+//! \brief Gets the current UUPS interrupt status.
+//!
+//! This returns the interrupt status for the UUPS module based on which flag
+//! is passed.
+//!
+//! \param baseAddress is the base address of the UUPS module.
+//! \param mask is the logical OR of any of the following:
+//!        - \b UUPS_POWER_REQUEST_IGNORE_INTERRUPT - UUPS power request ignored interrupt
+//!        - \b UUPS_POWER_UP_TIMEOUT_INTERRUPT - UUPS power up time out interrupt
+//!
+//! \return Logical OR of any of the following:
+//!        - \b UUPS_POWER_REQUEST_IGNORE_INTERRUPT - UUPS power request ignored interrupt
+//!        - \b UUPS_POWER_UP_TIMEOUT_INTERRUPT - UUPS power up time out interrupt
+//
+//*****************************************************************************
+extern uint8_t UUPS_getInterruptStatus(uint16_t baseAddress, uint16_t mask);
+
+//*****************************************************************************
+//
+//! \brief Stops USS measurement.
+//!
+//! This stops the USS current measurement.
+//!
+//! \param baseAddress is the base address of the UUPS module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void UUPS_stopMeasurement(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Turns down USS power.
+//!
+//! This stops the current measurement and turn off USS module.
+//!
+//! \param baseAddress is the base address of the UUPS module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void UUPS_turnOffPower(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Turns on USS power and PLL.
+//!
+//! This turns on USS power and PLL with specified power-up trigger source. When
+//! an external trigger source is selected, this function has no effect.
+//!
+//! \param baseAddress is the base address of the UUPS module.
+//! \param triggerSource is the specified power-up trigger source.
+//!        Valid values are:
+//!        - \b UUPS_POWERUP_TRIGGER_SOURCE_USSPWRUP
+//!        - \b UUPS_POWERUP_TRIGGER_SOURCE_RTC
+//!        - \b UUPS_POWERUP_TRIGGER_SOURCE_TIMER
+//!        - \b UUPS_POWERUP_TRIGGER_SOURCE_EXTERNAL
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void UUPS_turnOnPower(uint16_t baseAddress, uint16_t triggerSource);
+
+//*****************************************************************************
+//
+//! \brief Enables USS acquistion sequencer (ASQ).
+//!
+//! This enable the USS acquistion sequencer (ASQ). ASQ must be enabled before
+//! applying a USS_PWRREQ signal. 
+//!
+//! \param baseAddress is the base address of the UUPS module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void UUPS_enableASQ(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Goes to the specified power mode.
+//!
+//! This function makes USS go to the specified power mode.
+//!
+//! \param baseAddress is the base address of the UUPS module.
+//! \param powerMode is the desired power mode to go to.
+//!
+//! \return None
+//
+//*****************************************************************************
+//extern void UUPS_gotoPowerMode(uint8_t powerMode);
+
+//*****************************************************************************
+//
+//! \brief Gets current USS power mode status.
+//!
+//! This gets current USS power mode status.
+//!
+//! \param baseAddress is the base address of the UUPS module.
+//!
+//! \return Any of the following:
+//!        - \b UUPS_POWERMODE_OFF
+//!        - \b UUPS_POWERMODE_READY
+//!        - \b UUPS_POWERMODE_STANDBY
+//!        - \b UUPS_POWERMODE_TIMEOUT
+//
+//*****************************************************************************
+extern uint8_t UUPS_getPowerModeStatus(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Returns current USS busy status.
+//!
+//! This returns current USS busy status depending on whether USS is performing
+//! a measurement.
+//!
+//! \param baseAddress is the base address of the UUPS module.
+//!
+//! \return UUPS_BUSY or UUPS_NOT_BUSY
+//
+//*****************************************************************************
+extern uint8_t UUPS_isBusy(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Returns whether USS LDO is ready.
+//!
+//! This returns USS LDO ready status.
+//!
+//! \param baseAddress is the base address of the UUPS module.
+//!
+//! \return UUPS_LDO_READY or UUPS_LDO_NOT_READY
+//
+//*****************************************************************************
+extern uint8_t UUPS_isLDOReady(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Sets the low power bias hold off delay.
+//!
+//! Defines the duration of the hold off delay for low power bias mode. Low power bias mode can be enabled from SAPH module.
+//! The hold off delay is inserted from "OFF state" to "READY state" and from "STANDBY state" to "READY state".
+//! Affects extra delay in Register Mode and Auto Mode.
+//! Reset type: PUC
+//!
+//! \param baseAddress is the base address of the UUPS module.
+//! \param holdOffDelay is the desired amount of additional hold off delay. 512 REFCLKS = ~100us, 1024 REFCLKS = ~200us, 1536 REFCLKS = ~300us. They map to the same values.
+//!        Valid values are:
+//!        - \b UUPS_HOLD_OFF_DELAY_ADDITIONAL_NONE
+//!        - \b UUPS_HOLD_OFF_DELAY_ADDITIONAL_512_REFCLKS
+//!        - \b UUPS_HOLD_OFF_DELAY_ADDITIONAL_1024_REFCLKS
+//!        - \b UUPS_HOLD_OFF_DELAY_ADDITIONAL_1536_REFCLKS
+//!        - \b UUPS_HOLD_OFF_DELAY_ADDITIONAL_100_US
+//!        - \b UUPS_HOLD_OFF_DELAY_ADDITIONAL_200_US
+//!        - \b UUPS_HOLD_OFF_DELAY_ADDITIONAL_300_US
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void UUPS_setLowPowerBiasHoldOffDelay(uint16_t baseAddress, uint16_t holdOffDelay);
+
+//*****************************************************************************
+//
+//! \brief Hold USS (and sub modules) logic in reset state.
+//!
+//! Useful if HSPLL gets stuck. Cycle USS into reset state with this function, and then release from reset state with UUPS_releaseUSSFromResetState.
+//! USS is default released from reset, and ready for operation (still required to be powered up).
+//!
+//! \param baseAddress is the base address of the UUPS module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void UUPS_holdUSSInResetState(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Release USS (and sub modules) from reset state for operation.
+//!
+//! Useful if HSPLL gets stuck. Cycle USS into reset state with this UUPS_holdUSSInResetState, and then release from reset state with this function.
+//! USS is default released from reset, and ready for operation (still required to be powered up).
+//!
+//! \param baseAddress is the base address of the UUPS module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void UUPS_releaseUSSFromResetState(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_UUPS_H__
+
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/wdt_a.c b/Apps/FlightSoftware/MotorControl/driverlib/wdt_a.c
new file mode 100644
index 000000000..c15ae7b1e
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/wdt_a.c
@@ -0,0 +1,102 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// wdt_a.c - Driver for the wdt_a Module.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \addtogroup wdt_a_api wdt_a
+//! @{
+//
+//*****************************************************************************
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_WDT_A__
+#include "wdt_a.h"
+
+#include <assert.h>
+
+void WDT_A_hold (uint16_t baseAddress)
+{
+    // Set Hold bit
+    uint8_t newWDTStatus =
+        ((HWREG16(baseAddress + OFS_WDTCTL) & 0x00FF) | WDTHOLD);
+
+    HWREG16(baseAddress + OFS_WDTCTL) = WDTPW + newWDTStatus;
+}
+
+void WDT_A_start (uint16_t baseAddress)
+{
+    // Reset Hold bit
+    uint8_t newWDTStatus =
+        ((HWREG16(baseAddress + OFS_WDTCTL) & 0x00FF) & ~(WDTHOLD));
+
+    HWREG16(baseAddress + OFS_WDTCTL) = WDTPW + newWDTStatus;
+}
+
+void WDT_A_resetTimer (uint16_t baseAddress)
+{
+    // Set Counter Clear bit
+    uint8_t newWDTStatus =
+        ((HWREG16(baseAddress + OFS_WDTCTL) & 0x00FF) | WDTCNTCL);
+
+    HWREG16(baseAddress + OFS_WDTCTL) = WDTPW + newWDTStatus;
+}
+
+void WDT_A_initWatchdogTimer (uint16_t baseAddress,
+    uint8_t clockSelect,
+    uint8_t clockDivider)
+{
+    HWREG16(baseAddress + OFS_WDTCTL) =
+        WDTPW + WDTCNTCL + WDTHOLD + clockSelect + clockDivider;
+}
+
+void WDT_A_initIntervalTimer (uint16_t baseAddress,
+    uint8_t clockSelect,
+    uint8_t clockDivider)
+{
+    HWREG16(baseAddress + OFS_WDTCTL) =
+        WDTPW + WDTCNTCL + WDTHOLD + WDTTMSEL + clockSelect + clockDivider;
+}
+
+
+#endif
+//*****************************************************************************
+//
+//! Close the doxygen group for wdt_a_api
+//! @}
+//
+//*****************************************************************************
diff --git a/Apps/FlightSoftware/MotorControl/driverlib/wdt_a.h b/Apps/FlightSoftware/MotorControl/driverlib/wdt_a.h
new file mode 100644
index 000000000..58089f4b4
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/driverlib/wdt_a.h
@@ -0,0 +1,210 @@
+/* --COPYRIGHT--,BSD
+ * Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * 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.
+ * --/COPYRIGHT--*/
+//*****************************************************************************
+//
+// wdt_a.h - Driver for the WDT_A Module.
+//
+//*****************************************************************************
+
+#ifndef __MSP430WARE_WDT_A_H__
+#define __MSP430WARE_WDT_A_H__
+
+#include "inc/hw_memmap.h"
+
+#ifdef __MSP430_HAS_WDT_A__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the clockSelect parameter for
+// functions: WDT_A_initWatchdogTimer(), and WDT_A_initIntervalTimer().
+//
+//*****************************************************************************
+#define WDT_A_CLOCKSOURCE_SMCLK                                     (WDTSSEL_0)
+#define WDT_A_CLOCKSOURCE_ACLK                                      (WDTSSEL_1)
+#define WDT_A_CLOCKSOURCE_VLOCLK                                    (WDTSSEL_2)
+#define WDT_A_CLOCKSOURCE_XCLK                                      (WDTSSEL_3)
+
+//*****************************************************************************
+//
+// The following are values that can be passed to the clockDivider parameter
+// for functions: WDT_A_initWatchdogTimer(), and WDT_A_initIntervalTimer().
+//
+//*****************************************************************************
+#define WDT_A_CLOCKDIVIDER_2G                                         (WDTIS_0)
+#define WDT_A_CLOCKDIVIDER_128M                                       (WDTIS_1)
+#define WDT_A_CLOCKDIVIDER_8192K                                      (WDTIS_2)
+#define WDT_A_CLOCKDIVIDER_512K                                       (WDTIS_3)
+#define WDT_A_CLOCKDIVIDER_32K                                        (WDTIS_4)
+#define WDT_A_CLOCKDIVIDER_8192                                       (WDTIS_5)
+#define WDT_A_CLOCKDIVIDER_512                                        (WDTIS_6)
+#define WDT_A_CLOCKDIVIDER_64                                         (WDTIS_7)
+
+//*****************************************************************************
+//
+// Prototypes for the APIs.
+//
+//*****************************************************************************
+
+//*****************************************************************************
+//
+//! \brief Holds the Watchdog Timer.
+//!
+//! This function stops the watchdog timer from running, that way no interrupt
+//! or PUC is asserted.
+//!
+//! \param baseAddress is the base address of the WDT_A module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void WDT_A_hold(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Starts the Watchdog Timer.
+//!
+//! This function starts the watchdog timer functionality to start counting
+//! again.
+//!
+//! \param baseAddress is the base address of the WDT_A module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void WDT_A_start(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Resets the timer counter of the Watchdog Timer.
+//!
+//! This function resets the watchdog timer to 0x0000h.
+//!
+//! \param baseAddress is the base address of the WDT_A module.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void WDT_A_resetTimer(uint16_t baseAddress);
+
+//*****************************************************************************
+//
+//! \brief Sets the clock source for the Watchdog Timer in watchdog mode.
+//!
+//! This function sets the watchdog timer in watchdog mode, which will cause a
+//! PUC when the timer overflows. When in the mode, a PUC can be avoided with a
+//! call to WDT_A_resetTimer() before the timer runs out.
+//!
+//! \param baseAddress is the base address of the WDT_A module.
+//! \param clockSelect is the clock source that the watchdog timer will use.
+//!        Valid values are:
+//!        - \b WDT_A_CLOCKSOURCE_SMCLK [Default]
+//!        - \b WDT_A_CLOCKSOURCE_ACLK
+//!        - \b WDT_A_CLOCKSOURCE_VLOCLK
+//!        - \b WDT_A_CLOCKSOURCE_XCLK
+//!        \n Modified bits are \b WDTSSEL of \b WDTCTL register.
+//! \param clockDivider is the divider of the clock source, in turn setting the
+//!        watchdog timer interval.
+//!        Valid values are:
+//!        - \b WDT_A_CLOCKDIVIDER_2G
+//!        - \b WDT_A_CLOCKDIVIDER_128M
+//!        - \b WDT_A_CLOCKDIVIDER_8192K
+//!        - \b WDT_A_CLOCKDIVIDER_512K
+//!        - \b WDT_A_CLOCKDIVIDER_32K [Default]
+//!        - \b WDT_A_CLOCKDIVIDER_8192
+//!        - \b WDT_A_CLOCKDIVIDER_512
+//!        - \b WDT_A_CLOCKDIVIDER_64
+//!        \n Modified bits are \b WDTIS and \b WDTHOLD of \b WDTCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void WDT_A_initWatchdogTimer(uint16_t baseAddress,
+                                    uint8_t clockSelect,
+                                    uint8_t clockDivider);
+
+//*****************************************************************************
+//
+//! \brief Sets the clock source for the Watchdog Timer in timer interval mode.
+//!
+//! This function sets the watchdog timer as timer interval mode, which will
+//! assert an interrupt without causing a PUC.
+//!
+//! \param baseAddress is the base address of the WDT_A module.
+//! \param clockSelect is the clock source that the watchdog timer will use.
+//!        Valid values are:
+//!        - \b WDT_A_CLOCKSOURCE_SMCLK [Default]
+//!        - \b WDT_A_CLOCKSOURCE_ACLK
+//!        - \b WDT_A_CLOCKSOURCE_VLOCLK
+//!        - \b WDT_A_CLOCKSOURCE_XCLK
+//!        \n Modified bits are \b WDTSSEL of \b WDTCTL register.
+//! \param clockDivider is the divider of the clock source, in turn setting the
+//!        watchdog timer interval.
+//!        Valid values are:
+//!        - \b WDT_A_CLOCKDIVIDER_2G
+//!        - \b WDT_A_CLOCKDIVIDER_128M
+//!        - \b WDT_A_CLOCKDIVIDER_8192K
+//!        - \b WDT_A_CLOCKDIVIDER_512K
+//!        - \b WDT_A_CLOCKDIVIDER_32K [Default]
+//!        - \b WDT_A_CLOCKDIVIDER_8192
+//!        - \b WDT_A_CLOCKDIVIDER_512
+//!        - \b WDT_A_CLOCKDIVIDER_64
+//!        \n Modified bits are \b WDTIS and \b WDTHOLD of \b WDTCTL register.
+//!
+//! \return None
+//
+//*****************************************************************************
+extern void WDT_A_initIntervalTimer(uint16_t baseAddress,
+                                    uint8_t clockSelect,
+                                    uint8_t clockDivider);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+#endif // __MSP430WARE_WDT_A_H__
diff --git a/Apps/FlightSoftware/MotorControl/i2c.c b/Apps/FlightSoftware/MotorControl/i2c.c
index cf9f856bb..e05298a97 100644
--- a/Apps/FlightSoftware/MotorControl/i2c.c
+++ b/Apps/FlightSoftware/MotorControl/i2c.c
@@ -21,8 +21,13 @@ extern uint8_t g_statusRegister;
 extern uint8_t g_controlRegister;
 extern uint8_t g_faultRegister;
 
+int16_t g_transmitCurrentPosition;
+
 volatile uint8_t g_i2cCmdLength[MAX_NB_CMDS];
 
+extern CmdState g_cmdState;
+extern bool driveOpenLoop;
+
 
 /**
  * @brief      Disables i 2 c receive interrupt.
@@ -97,7 +102,16 @@ inline void i2cSlaveProcessCmd(const uint8_t cmd){
         g_slaveMode = TX_DATA_MODE;
         g_txByteCtr = g_i2cCmdLength[cmd];
         //Fill out the TransmitBuffer
-        copyArray((uint8_t*)&g_currentPosition, (uint8_t*)g_txBuffer, g_txByteCtr);
+        g_transmitCurrentPosition = (int16_t) g_currentPosition;
+        copyArray((uint8_t*)&g_transmitCurrentPosition, (uint8_t*)g_txBuffer, g_txByteCtr);
+        disableI2cRxInterrupt();
+        enableI2cTxInterrupt();
+        break;
+      case CURRENT_SPEED:
+        g_slaveMode = TX_DATA_MODE;
+        g_txByteCtr = g_i2cCmdLength[cmd];
+        //Fill out the TransmitBuffer
+        copyArray((uint8_t*)&g_currentSpeed, (uint8_t*)g_txBuffer, g_txByteCtr);
         disableI2cRxInterrupt();
         enableI2cTxInterrupt();
         break;
@@ -120,6 +134,9 @@ inline void i2cSlaveProcessCmd(const uint8_t cmd){
       case FAULT_REGISTER:
         g_slaveMode = TX_DATA_MODE;
         g_txByteCtr = g_i2cCmdLength[cmd];
+        //update g_faultRegister
+        g_faultRegister = read_driver_fault();
+
         //Fill out the TransmitBuffer
         copyArray((uint8_t*)&g_faultRegister, (uint8_t*)g_txBuffer, g_txByteCtr);
         disableI2cRxInterrupt();
@@ -199,8 +216,27 @@ inline void i2cSlaveTransactionDone(const uint8_t cmd){
         copyArray((uint8_t*)g_rxBuffer,
                   (uint8_t*)&g_controlRegister,
                    sizeof(g_controlRegister));
+
+        // clear motor fault if requested
+//        if(g_controlRegister == 0x01){
+//            clear_driver_fault();
+//        }
+        // update state machine if requested
+        if(g_controlRegister == 4){
+            g_cmdState = DISABLE;
+            updateStateMachine();
+        } else if (g_controlRegister == 5){
+            g_cmdState = RUN;
+            updateStateMachine();
+        } else if(g_controlRegister == 7){
+            driveOpenLoop = true;
+        } else if(g_controlRegister == 8){
+            driveOpenLoop = false;
+        }
+
+
         break;     
-      case ACC_RATE: // TODO : add support for these
+      case ACC_RATE:
       case DEC_RATE:
       default:
         break;  
@@ -214,13 +250,13 @@ inline void i2cSlaveTransactionDone(const uint8_t cmd){
 void initializeCmdLength(){
   g_i2cCmdLength[I2C_ADDRESS] = 1;
   g_i2cCmdLength[RELATIVE_TARGET_POSITION] = 4;
-  g_i2cCmdLength[TARGET_SPEED] = 2;
-  g_i2cCmdLength[CURRENT_POSITION] = 4;
-  g_i2cCmdLength[CURRENT_SPEED] = 2;
+  g_i2cCmdLength[TARGET_SPEED] = 1;
+  g_i2cCmdLength[CURRENT_POSITION] = 2;
+  g_i2cCmdLength[CURRENT_SPEED] = 4;
   g_i2cCmdLength[MOTOR_CURRENT] = 4;
-  g_i2cCmdLength[P_CURRENT] = 2;
+  g_i2cCmdLength[P_CURRENT] = 4;
   g_i2cCmdLength[I_CURRENT] = 2;
-  g_i2cCmdLength[P_SPEED] = 2;
+  g_i2cCmdLength[P_SPEED] = 4;
   g_i2cCmdLength[I_SPEED] = 2;
   g_i2cCmdLength[ACC_RATE] = 2;
   g_i2cCmdLength[DEC_RATE] = 2;
@@ -246,7 +282,7 @@ void initializeI2cModule(){
   param.slaveAddress = I2C_SLAVE_ADDRESS;
   param.slaveAddress |= (READ_ADDR1) ? 0x01 : 0x00;
   param.slaveAddress |= (READ_ADDR2) ? 0x02 : 0x00;
-  g_i2cSlaveAddress = param.slaveAddress;
+  g_i2cSlaveAddress = param.slaveAddress; // [DEBUG]
   param.slaveAddressOffset = EUSCI_B_I2C_OWN_ADDRESS_OFFSET0;
   param.slaveOwnAddressEnable = EUSCI_B_I2C_OWN_ADDRESS_ENABLE;
   EUSCI_B_I2C_initSlave(EUSCI_B0_BASE, &param);
diff --git a/Apps/FlightSoftware/MotorControl/i2c.h b/Apps/FlightSoftware/MotorControl/i2c.h
index a08ce76ea..421c7b753 100644
--- a/Apps/FlightSoftware/MotorControl/i2c.h
+++ b/Apps/FlightSoftware/MotorControl/i2c.h
@@ -13,6 +13,7 @@
 #define I2C_PACKET_HEADER               0xAA
 
 typedef enum I2cRegisterIds{
+
     I2C_ADDRESS = 0,
     RELATIVE_TARGET_POSITION = 1,
     TARGET_SPEED = 2,
@@ -28,6 +29,7 @@ typedef enum I2cRegisterIds{
     CONTROL_REGISTER = 12,
     STATUS_REGISTER = 13,
     FAULT_REGISTER = 14,
+    CLEAR_FAULT_REGISTER = 15,
     MAX_NB_CMDS = 15
 }I2cRegisterIds;
 
diff --git a/Apps/FlightSoftware/MotorControl/main.c b/Apps/FlightSoftware/MotorControl/main.c
index af395b1b4..9ea7e638c 100644
--- a/Apps/FlightSoftware/MotorControl/main.c
+++ b/Apps/FlightSoftware/MotorControl/main.c
@@ -1,3 +1,14 @@
+// [DEBUG] Switches
+//#define IRIS_ALL_OFF
+#define IRIS_CLEAR_FAULT
+//#define IRIS_SPIN_MOTOR
+//#define IRIS_SPIN_MOTOR_REVERSE
+//#define IRIS_SPIN_MOTOR_INDEF
+
+//#define IRIS_OVERRIDE_SPEED_TO_5cm_s
+//#define IRIS_OVERRIDE_CURRENT_MAX
+//#define IRIS_OVERRIDE_CURRENT_MAX_MULTIPLIER 4.00
+
 #include "main.h"
 
 _iq g_currentPhaseA;
@@ -37,7 +48,7 @@ volatile MOD6CNT g_mod6cnt;
 
 volatile bool g_closedLoop;
 volatile bool g_targetReached;
-volatile int16_t g_maxSpeed;
+volatile uint8_t g_maxSpeed;
 
 volatile StateMachine g_state;
 volatile CmdState g_cmdState;
@@ -49,6 +60,9 @@ uint8_t g_statusRegister;
 uint8_t g_controlRegister;
 uint8_t g_faultRegister;
 
+// backup plan for if we cannot get encoder readings
+volatile bool driveOpenLoop = false;
+
 
 /**
  * @brief      Initializes the pwm modules.
@@ -218,9 +232,10 @@ inline void disableGateDriver(){
  * @return     The speed.
  */
 inline _iq getSpeed(){
-  // Normalize speed to -128 ticks < diff < 128 to -1.0 < diff < +1.0
+  // Normalize speed to -128 ticks < diff < 127 to -1.0 < diff < +1.0
   // 255 ticks per (PI_SPD_CONTROL_PRESCALER * PWM_PERIOD_TICKS) represents 9.600 eRPM
-  g_currentSpeed = (g_currentPosition - g_oldPosition) << 8;
+  int32_t deltaPos = _IQsat(g_currentPosition - g_oldPosition, 256, -256);
+  g_currentSpeed = deltaPos << 7;
   g_oldPosition = g_currentPosition;
   return g_currentSpeed;
 }
@@ -464,10 +479,9 @@ inline void disable(){
  */
 inline void run(){
   if(g_state == RUNNING) return; // already in RUNNING, nothing to do
-
   __disable_interrupt();
   enableGateDriver();
-  //g_targetPosition = i2c;
+//  g_targetPosition = 20000; // [DEBUG]
   g_targetDirection = (g_targetPosition -  g_currentPosition>= 0) ? 1 : -1;
   g_currentPosition = 0;
   g_targetReached = false;
@@ -475,27 +489,14 @@ inline void run(){
   __enable_interrupt();
 }
 
-/**
- * @brief       Enter stop state
- */
-inline void stop(){
-  if(g_state == STOPPED) return; // already in STOPPED, nothing to do
-
-  __disable_interrupt();
-  g_targetPosition = g_targetPosition - g_currentPosition;
-  g_state = STOPPED;
-  __enable_interrupt();
-}
-
 
 /**
  * @brief      Update the drive state machine
  */
-inline void updateStateMachine(){
+void updateStateMachine(){
   switch(g_cmdState){
     case RUN:
       switch(g_state){
-          case STOPPED:
           case IDLE:
             run();
             break;
@@ -505,22 +506,9 @@ inline void updateStateMachine(){
           break;
       }
      break;
-     case STOP:
-       switch(g_state){
-         case RUNNING:
-           stop();
-           break;
-         case UNINITIALIZED:
-         case IDLE:
-         case STOPPED:
-         default:
-         break;
-       }
-       break;
      case DISABLE:
        switch(g_state){
          case RUNNING:
-         case STOPPED:
            disable();
            break;
          case UNINITIALIZED:
@@ -536,6 +524,35 @@ inline void updateStateMachine(){
   g_cmdState = NO_CMD;
 }
 
+/**
+ * @brief      Clears the DRV8304 Driver Fault Register.
+ */
+inline void clear_driver_fault_register(){
+    // Pull high first so you can then pull it low:
+    GPIO_setOutputHighOnPin(GPIO_PORT_PJ, GPIO_PIN0);
+    __delay_cycles(1600000);    // 100 ms
+    // Reset Fault Register by pulsing ENABLE for 5-32us (18.5us):
+    GPIO_setOutputLowOnPin(GPIO_PORT_PJ, GPIO_PIN0);
+    __delay_cycles(296);    // 18.5 us
+    GPIO_setOutputHighOnPin(GPIO_PORT_PJ, GPIO_PIN0);
+}
+
+inline void clear_driver_fault(){
+    // Pull high first so you can then pull it low:
+    GPIO_setOutputHighOnPin(GPIO_PORT_PJ, GPIO_PIN0);
+    __delay_cycles(1600000);    // 100 ms
+    // Reset Fault Register by pulsing ENABLE for 5-32us (18.5us):
+    GPIO_setOutputLowOnPin(GPIO_PORT_PJ, GPIO_PIN0);
+    __delay_cycles(296);    // 18.5 us
+    GPIO_setOutputHighOnPin(GPIO_PORT_PJ, GPIO_PIN0);
+}
+/**
+ * @brief      Reads the whether the DRV8304 driver is in a "fault condition" (and should be cleared). Active low.
+ */
+inline bool read_driver_fault(){
+    return !(PJIN & 0x02);
+}
+
 
 /**
  * @brief      main function
@@ -547,6 +564,13 @@ void main(void){
 
   initializeGpios();
 
+  // [DEBUG]
+#ifdef IRIS_CLEAR_FAULT
+  clear_driver_fault_register();
+#endif
+
+#ifndef IRIS_ALL_OFF
+
   //Set DCO frequency to 16MHz
   CS_setDCOFreq(CS_DCORSEL_1, CS_DCOFSEL_4);
 
@@ -563,13 +587,21 @@ void main(void){
   g_currentPosition = 0;
   g_oldPosition = g_currentPosition;
   g_targetPosition = 0;
+#ifdef IRIS_SPIN_MOTOR
+  g_targetPosition = 8500;//9750; // [DEBUG]
+#endif
+#ifdef IRIS_SPIN_MOTOR_REVERSE
+  g_targetPosition = -9750;
+#endif
+#ifdef IRIS_SPIN_MOTOR_INDEF
+  g_targetPosition = 1000000; //approx 100 revolutions
+#endif
   g_controlPrescaler = PI_SPD_CONTROL_PRESCALER;
   g_closedLoop = false;
-  g_state = UNINITIALIZED;
-  g_currentRefTest = _IQ(0.05);
-  g_speedRefTest = _IQ(0.0);
+  g_state = RUNNING;
+  g_cmdState = NO_CMD; //eventually should be initialized to: NO_CMD
+//  updateStateMachine(); // [DEBUG]
 
-  g_feedforwardFW = _IQ(0.07);
 
   g_maxSpeed = MAX_TARGET_SPEED;
 
@@ -585,8 +617,17 @@ void main(void){
   g_piCur.Kp = _IQ(KP_CUR);
   g_piCur.Ki = _IQ(KI_CUR);
 
-  //g_piSpd.Ref = _IQ(0.1);
+#ifdef IRIS_OVERRIDE_CURRENT_MAX
+  // [DEBUG]
+  g_piCur.Umax = _IQ(IRIS_OVERRIDE_CURRENT_MAX_MULTIPLIER);
+  g_piCur.Umin = _IQ(IRIS_OVERRIDE_CURRENT_MAX_MULTIPLIER);
+  g_piSpd.Umax = _IQ(IRIS_OVERRIDE_CURRENT_MAX_MULTIPLIER);
+  g_piSpd.Umin = _IQ(IRIS_OVERRIDE_CURRENT_MAX_MULTIPLIER);
+#endif
+
+
   g_closeLoopThreshold = _IQ(CLOSE_LOOP_THRESHOLD);
+  g_closedLoop = false;
 
   initializeI2cModule();
   initializePwmModules();
@@ -599,8 +640,20 @@ void main(void){
 
   enableGateDriver(); // TODO <<<< remove this line
 
+#else
+//    // [DEBUG]
+//    initializeGpios();
+//    long x = PJIN & 0x02;
+
+    disableGateDriver();
+    asm("  NOP");
+#endif
+
+
   while(1){
-   g_closedLoop = (_IQabs(g_currentSpeed) > g_closeLoopThreshold && !g_targetReached) ? true : false;
+#ifndef IRIS_ALL_OFF
+   asm("  NOP");
+  g_closedLoop = (_IQabs(g_currentSpeed) > g_closeLoopThreshold && !g_targetReached) ? true : false;
 
    if(g_piSpd.w1){
        __disable_interrupt();
@@ -619,6 +672,7 @@ void main(void){
    }
 
    //updateStateMachine();
+#endif
   }
 }
 
@@ -626,10 +680,12 @@ void main(void){
 /**
  * @brief      Main control loop
  */
+#ifndef IRIS_ALL_OFF
+
 #pragma CODE_SECTION(TIMER0_B0_ISR, ".TI.ramfunc")
 #pragma vector=TIMER0_B0_VECTOR
 __interrupt void TIMER0_B0_ISR (void){
-  // Prepare ADC conversion for next round
+    // Prepare ADC conversion for next round
   HWREG8(ADC12_B_BASE + OFS_ADC12CTL0_L) &= ~(ADC12ENC);
   HWREG8(ADC12_B_BASE + OFS_ADC12CTL0_L) |= ADC12ENC + ADC12SC;
 
@@ -642,83 +698,124 @@ __interrupt void TIMER0_B0_ISR (void){
 
   if(!g_calibrationDone) return;
 
-  readHallSensor();
-  //if(g_hallSensor.error) return;
+//  if(!driveOpenLoop){
+      // Driving in close loop
 
-  // Execute macro to generate ramp up
-  if(g_closedLoop == false && g_targetReached == false){
-    IMPULSE_MACRO(g_impulse);
-    if(g_impulse.Out){
-      MOD6CNT_MACRO(g_mod6cnt);
-      g_commState = (g_targetDirection > 0) ? g_mod6cnt.Counter : 5 - g_mod6cnt.Counter;
-    }
-  }
-  else{
-    g_commState = g_hallMap[g_hallSensor.Pattern];
-  }
+      readHallSensor();
 
-  if(g_hallSensor.Event){
-    if(g_hallMap[g_hallSensor.Pattern] == 5 && g_oldCommState == 0){
-      g_currentPosition--;
-    }
-    else if(g_hallMap[g_hallSensor.Pattern] == 0 && g_oldCommState == 5){
-      g_currentPosition++;
-    }
-    else if(g_hallMap[g_hallSensor.Pattern] > g_oldCommState){
-      g_currentPosition++;
-    }
-    else{
-      g_currentPosition--;
-    }
-    g_oldCommState = g_hallMap[g_hallSensor.Pattern];
-  }
+      // Execute macro to generate ramp up
+      if(g_closedLoop == false && g_targetReached == false){
+        IMPULSE_MACRO(g_impulse);
+        if(g_impulse.Out){
+          MOD6CNT_MACRO(g_mod6cnt);
+          g_commState = (g_targetDirection > 0) ? g_mod6cnt.Counter : 5 - g_mod6cnt.Counter;
+        }
+      }
+      else{
+        g_commState = g_hallMap[g_hallSensor.Pattern];
+      }
 
-  if(g_controlPrescaler == 0){
-    g_controlPrescaler = PI_SPD_CONTROL_PRESCALER;
+      if(g_hallSensor.Event){
+        if(g_hallMap[g_hallSensor.Pattern] == 5 && g_oldCommState == 0){
+          g_currentPosition--;
+        }
+        else if(g_hallMap[g_hallSensor.Pattern] == 0 && g_oldCommState == 5){
+          g_currentPosition++;
+        }
+        else if(g_hallMap[g_hallSensor.Pattern] > g_oldCommState){
+          g_currentPosition++;
+        }
+        else{
+          g_currentPosition--;
+        }
+        g_oldCommState = g_hallMap[g_hallSensor.Pattern];
+      }
 
-    // Normalize from -255 ~ + 255 to -1.0 ~ 1.0
-    g_targetReached =  (_IQabs(g_targetPosition - g_currentPosition) < 5) ? true : false;
-    if(g_targetReached == false){
-        g_piSpd.Ref = (_IQsat(g_targetPosition - g_currentPosition, g_maxSpeed, -g_maxSpeed)) << 8;
-    }
-    else{
-        g_piSpd.Ref = 0;
-    }
 
-    g_targetDirection = (g_targetPosition - g_currentPosition >= 0) ? 1 : -1;
+      if(g_controlPrescaler == 0){
+        g_controlPrescaler = PI_SPD_CONTROL_PRESCALER;
 
-    g_piSpd.Fbk = getSpeed();
+        // Normalize from -255 ~ + 255 to -1.0 ~ 1.0
+        g_targetReached =  (_IQabs(g_targetPosition - g_currentPosition) < 100) ? true : false;
+        g_targetDirection = (g_targetPosition - g_currentPosition >= 0) ? 1 : -1;
 
-    PI_MACRO(g_piSpd);
-  }
+        if(g_targetDirection > 0) g_piSpd.Ref = g_maxSpeed << 8;
+        else g_piSpd.Ref = -g_maxSpeed << 8;
 
-  g_controlPrescaler = g_controlPrescaler -1;
+        g_piSpd.Fbk = getSpeed();
 
-  // Remove offset
-  g_currentPhaseA = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_0)) - g_currentOffsetPhaseA;
-  g_currentPhaseB = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_1)) - g_currentOffsetPhaseB;
-  g_currentPhaseC = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_2)) - g_currentOffsetPhaseC;
+        PI_MACRO(g_piSpd);
+      }
 
-  // Normalize current values from  -2047 < adc < +2048 to iq15 --> -1.0 < adc < 1.0 and convert to iq format
-  g_piCur.Fbk = (g_currentPhaseA + g_currentPhaseB + g_currentPhaseC) << 4;
+      g_controlPrescaler = g_controlPrescaler -1;
 
-  // Compense motor direction.
-  if(g_targetDirection < 0){
-      g_piCur.Ref = g_piSpd.Out - _IQ15mpy_inline(g_feedforwardFW, g_piSpd.Fbk);
-  }
-  else{
+      // Remove offset
+      g_currentPhaseA = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_0)) - g_currentOffsetPhaseA;
+      g_currentPhaseB = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_1)) - g_currentOffsetPhaseB;
+      g_currentPhaseC = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_2)) - g_currentOffsetPhaseC;
+
+      // Normalize current values from  -2047 < adc < +2048 to iq15 --> -1.0 < adc < 1.0 and convert to iq format
+      g_piCur.Fbk = (g_currentPhaseA + g_currentPhaseB + g_currentPhaseC) << 4;
       g_piCur.Ref = g_piSpd.Out;
-  }
-  PI_MACRO(g_piCur);
-
-  if(g_closedLoop == false){
-    g_piCur.i1 = 0;
-    g_piCur.ui = 0;
-    g_piSpd.i1 = 0;
-    g_piSpd.ui = 0;
-    g_piCur.Out = g_openLoopTorque;
-  }
 
-  // If target is reached no need to move
+      PI_MACRO(g_piCur);
+
+      if(g_closedLoop == false && g_targetReached == false){
+        g_piCur.i1 = 0;
+        g_piCur.ui = 0;
+        g_piSpd.i1 = 0;
+        g_piSpd.ui = 0;
+        g_piCur.Out = g_openLoopTorque;
+        if(_IQabs(g_currentSpeed) > g_closeLoopThreshold){
+            g_closedLoop = true;
+        }
+      }
+
+      if(g_targetReached == true){
+          g_piCur.i1 = 0;
+          g_piCur.ui = 0;
+          g_piSpd.i1 = 0;
+          g_piSpd.ui = 0;
+          g_piCur.Out = 0;
+          g_closedLoop = false;
+      }
+
+//  }  else {
+//      //driving open loop
+//
+//      // target position sets direction motor drives in (will NOT converge though)
+//      g_targetDirection = (g_targetPosition - g_currentPosition >= 0) ? 1 : -1;
+//
+//      // Execute macro to generate ramp up if needed
+//        IMPULSE_MACRO(g_impulse);
+//        if(g_impulse.Out){
+//          MOD6CNT_MACRO(g_mod6cnt);
+//          g_commState = (g_targetDirection > 0) ? g_mod6cnt.Counter : 5 - g_mod6cnt.Counter;
+//        }
+//
+//
+//      _iq output = _IQ(0.2);
+//      if(g_controlPrescaler == 0){
+//          g_controlPrescaler = PI_SPD_CONTROL_PRESCALER;
+//      }
+//
+////      if(g_controlPrescaler % 25 == 0){
+////          output = _IQ(0.8);
+////      } else if(g_controlPrescaler % 3 == 0){
+////          output = _IQ(0.3);
+////      }
+//
+//
+//      if(g_targetDirection > 0) {
+//          g_piCur.Out = output;
+//      } else{
+//          g_piCur.Out = -output;
+//      }
+//
+//      g_controlPrescaler = g_controlPrescaler -1;
+//  }
+
   pwmGenerator(g_commState, g_piCur.Out);
 }
+
+#endif
diff --git a/Apps/FlightSoftware/MotorControl/main.h b/Apps/FlightSoftware/MotorControl/main.h
index d738b7a40..d59f537b5 100644
--- a/Apps/FlightSoftware/MotorControl/main.h
+++ b/Apps/FlightSoftware/MotorControl/main.h
@@ -1,5 +1,6 @@
 #ifndef MAIN_H_
 #define MAIN_H_
+//#define IRIS_SPIN_HALF_SPEED
 
 /* Include the IQmath header file. */
 #define GLOBAL_IQ                   15
@@ -17,10 +18,11 @@
 #define PWM_HALF_PERIOD_TICKS       256
 #define PI_SPD_CONTROL_PRESCALER    1000    // 15.6 Hz, speed control
 
-#define KP_SPD                  0.3
-#define KI_SPD                  0.001
+
+#define KP_SPD                  1.0
+#define KI_SPD                  0.0009
 #define KP_CUR                  0.95
-#define KI_CUR                  0.001
+#define KI_CUR                  0.002
 
 #define OPEN_LOOP_TORQUE        0.1       // Normalized to 1.0, 1.0 being maximum current system can produce
 #define PERIOD_IMPULSE          150
@@ -28,11 +30,23 @@
 
 #define ONE_OVER_4096           0.0002441
 
-#define MAX_TARGET_SPEED                   100
+#ifdef IRIS_OVERRIDE_SPEED_TO_5cm_s
+    #define MAX_TARGET_SPEED                   345
+#endif
+#ifdef IRIS_SPIN_HALF_SPEED
+    #define MAX_TARGET_SPEED                   50
+#else
+    #define MAX_TARGET_SPEED                   100
+#endif
+
 #define MIN_TARGET_SPEED                  -MAX_TARGET_SPEED
 
 inline _iq _IQ15mpy_inline(_iq,_iq);
 
+inline bool read_driver_fault();
+inline void clear_driver_fault();
+void updateStateMachine();
+
 typedef struct HallSensor{
     uint8_t Pattern;
     uint8_t OldPattern;
@@ -43,8 +57,7 @@ typedef struct HallSensor{
 typedef enum StateMachine{
     UNINITIALIZED,
     IDLE,
-    RUNNING,
-    STOPPED
+    RUNNING
 }StateMachine;
 
 typedef enum CmdState{
diff --git a/Apps/FlightSoftware/MotorControl/pi.h b/Apps/FlightSoftware/MotorControl/pi.h
index 4c98d0d79..f9bdefae8 100644
--- a/Apps/FlightSoftware/MotorControl/pi.h
+++ b/Apps/FlightSoftware/MotorControl/pi.h
@@ -23,14 +23,14 @@ typedef struct {  _iq  Ref;   			// Input: reference set-point
 #define PI_MACRO(v)												\
 																\
 	/* proportional term */ 									\
-	v.up = _IQ15mpy_inline(v.Kp, (v.Ref - v.Fbk));						\
+	v.up = v.Ref - v.Fbk;						\
 																\
 	/* integral term */ 										\
 	v.ui = (v.Out == v.v1)?(_IQ15mpy_inline(v.Ki, v.up)+ v.i1) : v.i1;	\
 	v.i1 = v.ui;												\
 																\
 	/* control output */ 										\
-	v.v1 = v.up + v.ui;											\
+	v.v1 = _IQ15mpy_inline(v.Kp, v.up) + v.ui;					\
     v.Out = _IQsat(v.v1, v.Umax, v.Umin);                       \
     v.w1 = (v.v1 != v.Out) ? 1 : 0;
 
diff --git a/Apps/FlightSoftware/MotorControl/targetConfigs/MSP430FR5994.ccxml b/Apps/FlightSoftware/MotorControl/targetConfigs/MSP430FR5994.ccxml
new file mode 100644
index 000000000..018dc74c9
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/targetConfigs/MSP430FR5994.ccxml
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<configurations XML_version="1.2" id="configurations_0">
+<configuration XML_version="1.2" id="TI MSP430 USB1_0">
+        <instance XML_version="1.2" desc="TI MSP430 USB1_0" href="connections/TIMSP430-USB.xml" id="TI MSP430 USB1_0" xml="TIMSP430-USB.xml" xmlpath="connections"/>
+        <connection XML_version="1.2" id="TI MSP430 USB1_0">
+            <instance XML_version="1.2" href="drivers/msp430_emu.xml" id="drivers" xml="msp430_emu.xml" xmlpath="drivers"/>
+            <platform XML_version="1.2" id="platform_0">
+                <instance XML_version="1.2" desc="MSP430FR5994_0" href="devices/MSP430FR5994.xml" id="MSP430FR5994_0" xml="MSP430FR5994.xml" xmlpath="devices"/>
+            </platform>
+        </connection>
+    </configuration>
+</configurations>
diff --git a/Apps/FlightSoftware/MotorControl/targetConfigs/readme.txt b/Apps/FlightSoftware/MotorControl/targetConfigs/readme.txt
new file mode 100644
index 000000000..d783fef4d
--- /dev/null
+++ b/Apps/FlightSoftware/MotorControl/targetConfigs/readme.txt
@@ -0,0 +1,9 @@
+The 'targetConfigs' folder contains target-configuration (.ccxml) files, automatically generated based
+on the device and connection settings specified in your project on the Properties > General page.
+
+Please note that in automatic target-configuration management, changes to the project's device and/or
+connection settings will either modify an existing or generate a new target-configuration file. Thus,
+if you manually edit these auto-generated files, you may need to re-apply your changes. Alternatively,
+you may create your own target-configuration file for this project and manage it manually. You can
+always switch back to automatic target-configuration management by checking the "Manage the project's
+target-configuration automatically" checkbox on the project's Properties > General page.
\ No newline at end of file

From 5fb79fae6b1e4ac35bf84fa27f8d7d4b5efb13da Mon Sep 17 00:00:00 2001
From: Justin Nguyen <justinnuwin@gmail.com>
Date: Sat, 10 Apr 2021 20:05:19 -0400
Subject: [PATCH 03/42] Substantial code cleanup and formatting and notes from
 code review also included in this commit (sorry it's messy)

---
 .../MotorControl/MotorControlComponent.cpp    | 1606 ++++++++---------
 .../MotorControl/MotorControlComponent.hpp    |  201 +--
 2 files changed, 900 insertions(+), 907 deletions(-)

diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp
index 750994aeb..0e342f1c9 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp
@@ -117,7 +117,7 @@ namespace CubeRover {
                                                            U8 Distance,
                                                            U8 Speed)
   {
-    MCError err;
+    MCError_t err;
     switch(command_type)
     {
       // We actively want to be moving
@@ -203,11 +203,11 @@ namespace CubeRover {
                                                               U8 Motor_ID,
                                                               U32 PI_Values)
   {
-    MCError err;
+    MCError_t err;
     uint16_t P_Value, I_Value;
     // TODO TEST THIS!
     P_Value = (uint16_t) PI_Values;
-    I_Value = (uint16_t) (PI_Values << 16);
+    I_Value = (uint16_t) (PI_Values << 16);         // FIXME: Justin: highly doubt this si correct
 
     switch(Motor_ID)
     {
@@ -215,7 +215,7 @@ namespace CubeRover {
       case 0:
         // TODO again, need to find out how to pass int8*
         err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        MotorControllerI2C::P_CURRENT,
+                                        REG_P_CURRENT,
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &P_Value);
         if(err != MC_NO_ERROR)
@@ -225,7 +225,7 @@ namespace CubeRover {
         }
 
         err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        MotorControllerI2C::I_CURRENT,
+                                        REG_I_CURRENT,
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &I_Value);
         if(err != MC_NO_ERROR)
@@ -239,7 +239,7 @@ namespace CubeRover {
       case 1:
         // TODO again, need to find out how to pass int8*
         err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        MotorControllerI2C::P_CURRENT,
+                                        REG_P_CURRENT,
                                         FRONT_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &P_Value);
         if(err != MC_NO_ERROR)
@@ -249,7 +249,7 @@ namespace CubeRover {
         }
 
         err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        MotorControllerI2C::I_CURRENT,
+                                        REG_I_CURRENT,
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &I_Value);
         if(err != MC_NO_ERROR)
@@ -263,7 +263,7 @@ namespace CubeRover {
       case 2:
         // TODO again, need to find out how to pass int8*
         err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        MotorControllerI2C::P_CURRENT,
+                                        REG_P_CURRENT,
                                         REAR_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &P_Value);
         if(err != MC_NO_ERROR)
@@ -273,7 +273,7 @@ namespace CubeRover {
         }
 
         err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        MotorControllerI2C::I_CURRENT,
+                                        REG_I_CURRENT,
                                         REAR_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &I_Value);
         if(err != MC_NO_ERROR)
@@ -287,7 +287,7 @@ namespace CubeRover {
       case 3:
         // TODO again, need to find out how to pass int8*
         err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        MotorControllerI2C::P_CURRENT,
+                                        REG_P_CURRENT,
                                         REAR_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &P_Value);
         if(err != MC_NO_ERROR)
@@ -297,7 +297,7 @@ namespace CubeRover {
         }
 
         err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        MotorControllerI2C::I_CURRENT,
+                                        REG_I_CURRENT,
                                         REAR_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &I_Value);
         if(err != MC_NO_ERROR)
@@ -310,7 +310,7 @@ namespace CubeRover {
       case 4:
         // TODO again, need to find out how to pass int8*
         err = sendAllMotorsData(MOTOR_CONTROL_I2CREG,
-                                MotorControllerI2C::P_CURRENT,
+                                REG_P_CURRENT,
                                 (uint8_t*) &P_Value);
         if(err != MC_NO_ERROR)
         {
@@ -319,7 +319,7 @@ namespace CubeRover {
         }
 
         err = sendAllMotorsData(MOTOR_CONTROL_I2CREG,
-                                MotorControllerI2C::I_CURRENT,
+                                REG_I_CURRENT,
                                 (uint8_t*) &I_Value);
         if(err != MC_NO_ERROR)
         {
@@ -350,7 +350,7 @@ namespace CubeRover {
                                                             U8 Motor_ID,
                                                             U64 PID_Values)
   {
-    MCError err;
+    MCError_t err;
     uint16_t P_Value, I_Value;
     // TODO TEST THIS!
     P_Value = (uint16_t) PID_Values;
@@ -363,7 +363,7 @@ namespace CubeRover {
       case 0:
         // TODO again, need to find out how to pass int8*
         err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        MotorControllerI2C::P_SPEED,
+                                        REG_P_SPEED,
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &P_Value);
         if(err != MC_NO_ERROR)
@@ -373,7 +373,7 @@ namespace CubeRover {
         }
 
         err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        MotorControllerI2C::I_SPEED,
+                                        REG_I_SPEED,
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &I_Value);
         if(err != MC_NO_ERROR)
@@ -387,7 +387,7 @@ namespace CubeRover {
       case 1:
         // TODO again, need to find out how to pass int8*
         err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        MotorControllerI2C::P_SPEED,
+                                        REG_P_SPEED,
                                         FRONT_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &P_Value);
         if(err != MC_NO_ERROR)
@@ -397,7 +397,7 @@ namespace CubeRover {
         }
 
         err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        MotorControllerI2C::I_SPEED,
+                                        REG_I_SPEED,
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &I_Value);
         if(err != MC_NO_ERROR)
@@ -411,7 +411,7 @@ namespace CubeRover {
       case 2:
         // TODO again, need to find out how to pass int8*
         err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        MotorControllerI2C::P_SPEED,
+                                        REG_P_SPEED,
                                         REAR_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &P_Value);
         if(err != MC_NO_ERROR)
@@ -421,7 +421,7 @@ namespace CubeRover {
         }
 
         err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        MotorControllerI2C::I_SPEED,
+                                        REG_I_SPEED,
                                         REAR_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &I_Value);
         if(err != MC_NO_ERROR)
@@ -435,7 +435,7 @@ namespace CubeRover {
       case 3:
         // TODO again, need to find out how to pass int8*
         err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        MotorControllerI2C::P_SPEED,
+                                        REG_P_SPEED,
                                         REAR_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &P_Value);
         if(err != MC_NO_ERROR)
@@ -445,7 +445,7 @@ namespace CubeRover {
         }
 
         err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        MotorControllerI2C::I_SPEED,
+                                        REG_I_SPEED,
                                         REAR_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &I_Value);
         if(err != MC_NO_ERROR)
@@ -458,7 +458,7 @@ namespace CubeRover {
       case 4:
         // TODO again, need to find out how to pass int8*
         err = sendAllMotorsData(MOTOR_CONTROL_I2CREG,
-                                MotorControllerI2C::P_SPEED,
+                                REG_P_SPEED,
                                 (uint8_t*) &P_Value);
         if(err != MC_NO_ERROR)
         {
@@ -467,7 +467,7 @@ namespace CubeRover {
         }
 
         err = sendAllMotorsData(MOTOR_CONTROL_I2CREG,
-                                MotorControllerI2C::I_SPEED,
+                                REG_I_SPEED,
                                 (uint8_t*) &I_Value);
         if(err != MC_NO_ERROR)
         {
@@ -628,7 +628,7 @@ namespace CubeRover {
                                                        U8 Motor_ID,
                                                        U8 Spin_Type)
   {
-    MCError err;
+    MCError_t err;
     switch(Spin_Type)
     {
       // Forward Spin
@@ -746,7 +746,7 @@ namespace CubeRover {
                                                             I64 Distance,
                                                             I8 MoveType)
   {
-    MCError err;
+    MCError_t err;
 
     switch(MoveType)
     {
@@ -797,822 +797,820 @@ namespace CubeRover {
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
-/**
-   * @brief      Gets the size data.
-   *
-   * @param[in]  id    The identifier
-   *
-   * @return     The size data.
-   */
-  uint32_t MotorControlComponentImpl :: getSizeData(const MotorControllerI2C::I2cRegisterId id)
-  {
-    switch(id)
+    /**
+     * @brief      Gets the size data.
+     *
+     * @param[in]  id    The identifier
+     *
+     * @return     The size data.
+     */
+    uint32_t MotorControlComponentImpl::getSizeData(const RegisterAddress_t id)
     {
-        case MotorControllerI2C::I2C_ADDRESS:
-        case MotorControllerI2C::ENABLE_DRIVER:
-        case MotorControllerI2C::DISABLE_DRIVER:
-        case MotorControllerI2C::RESET_CONTROLLER:
-        case MotorControllerI2C::FAULT_REGISTER:
-        case MotorControllerI2C::CLEAR_FAULT:
-        case MotorControllerI2C::STATUS_REGISTER:
-          return 1;
-        case MotorControllerI2C::MOTOR_CURRENT:
-        case MotorControllerI2C::P_CURRENT:
-        case MotorControllerI2C::I_CURRENT:
-        case MotorControllerI2C::P_SPEED:
-        case MotorControllerI2C::I_SPEED:
-        case MotorControllerI2C::ACC_RATE:
-        case MotorControllerI2C::DEC_RATE:
-        case MotorControllerI2C::CURRENT_POSITION:
-        case MotorControllerI2C::TARGET_SPEED:
-          return 2;
-        case MotorControllerI2C::RELATIVE_TARGET_POSITION:
-        case MotorControllerI2C::CURRENT_SPEED:
-          return 4;
-        case MotorControllerI2C::MAX_NB_CMDS:
-        default:
-          return 0;
-      }   
-  }
-
-  /**
-   * @brief      Sends the same data to every motor register, returning any errors found
-   *
-   * @param      i2c   I 2 c
-   * @param[in]  id    The identifier
-   * @param[in]  data  The data
-   *
-   * @return     Motor Controller error
-   */
-  uint8_t MotorControlComponentImpl :: setIDBuffer(const MotorControllerI2C::I2cRegisterId id)
-  {
-    return (uint8_t) id;
-  }
-
-  /**
-   * @brief      Sends the same data to every motor register, returning any errors found
-   *
-   * @param      i2c   I 2 c
-   * @param[in]  id    The identifier
-   * @param[in]  data  The data
-   *
-   * @return     Motor Controller error
-   */
-  MCError MotorControlComponentImpl :: sendAllMotorsData(i2cBASE_t *i2c,
-                                                         const MotorControllerI2C::I2cRegisterId id,
-                                                         uint8_t* data)
-  {
-    MCError err = MC_NO_ERROR;
-    // Send command to all motor controllers
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                    id,
-                                    FRONT_LEFT_MC_I2C_ADDR,
-                                    data);
-    if(err != MC_NO_ERROR)
-    {
-      return err;          
-    }
-
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                    id,
-                                    FRONT_RIGHT_MC_I2C_ADDR,
-                                    data);
-    if(err != MC_NO_ERROR)
-    {
-      return err;          
-    }  
-
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                    id,
-                                    REAR_LEFT_MC_I2C_ADDR,
-                                    data);
-    if(err != MC_NO_ERROR)
-    {
-      return err;          
-    }  
-
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                    id,
-                                    REAR_RIGHT_MC_I2C_ADDR,
-                                    data);
-    if(err != MC_NO_ERROR)
-    {
-      return err;          
+      switch(id)
+      {
+          case REG_I2C_ADDRESS:
+          case DEPRACATE_ENABLE_DRIVER:
+          case DEPRACATE_DISABLE_DRIVER:
+          case DEPRACATE_RESET_CONTROLLER:
+          case REG_FAULT:
+          case REG_CLR_FAULT:
+          case REG_STATUS:
+            return 1;
+          case REG_MOTOR_CURRENT:
+          case REG_P_CURRENT:
+          case REG_I_CURRENT:
+          case REG_P_SPEED:
+          case REG_I_SPEED:
+          case REG_ACC_RATE:
+          case REG_DEC_RATE:
+          case REG_CURRENT_POSITION:
+          case REG_TARGET_SPEED:
+            return 2;
+          case REG_RELATIVE_TARGET_POSITION:
+          case REG_CURRENT_SPEED:
+            return 4;
+          case NUM_REGS:
+          default:
+            return 0;
+        }   
     }
-
-    return MC_NO_ERROR;  
-  }
-
-  /**
-   * @brief      Helper function to move all motors simultaneously
-   *
-   * @param[in]  Distance       The distance to travel in motor ticks
-   * @param[in]  Speed          The speed to travel in normalized speed
-   */
-  MCError MotorControlComponentImpl :: moveAllMotorsStraight(int32_t distance, int16_t speed)
-  {
-    Motor_tick Right_Wheels_Relative_ticks, Left_Wheels_Relative_ticks, Relative_ticks;
-    // Error preset
-    MCError err;
-
-    Speed_percent motor_speed;
-
-    if (speed > 0)
-    {
-      motor_speed = groundSpeedToSpeedPrecent(speed);
-
-      // Send the speed to all the motors
-      err = sendAllMotorsData(MOTOR_CONTROL_I2CREG, 
-                              MotorControllerI2C::TARGET_SPEED,
-                              (uint8_t*) &motor_speed);
-      if(err != MC_NO_ERROR)
-        return err;
-    }      
-
-    // Convert from cm to motor ticks
-    Relative_ticks = groundCMToMotorTicks(distance);
-
-    // Ensure the sides are traveling the right direction
-    if (m_clockwise_is_positive)
+ 
+    /**
+     * @brief      Sends the same data to every motor register, returning any errors found
+     *
+     * @param      i2c   I 2 c
+     * @param[in]  id    The identifier
+     * @param[in]  data  The data
+     *
+     * @return     Motor Controller error
+     */
+    MotorControlComponentImpl::MCError_t
+    MotorControlComponentImpl::sendAllMotorsData(i2cBASE_t *i2c,
+                                                   const RegisterAddress_t id,
+                                                   uint8_t* data)
     {
-      Right_Wheels_Relative_ticks = Relative_ticks;
-      Left_Wheels_Relative_ticks = -1*Relative_ticks;
+        MCError_t err = MC_NO_ERROR;
+        // Send command to all motor controllers
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
+                                        id,
+                                        FRONT_LEFT_MC_I2C_ADDR,
+                                        data);
+        if(err != MC_NO_ERROR)
+          return err;          
+       
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
+                                        id,
+                                        FRONT_RIGHT_MC_I2C_ADDR,
+                                        data);
+        if(err != MC_NO_ERROR)
+          return err;          
+       
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
+                                        id,
+                                        REAR_LEFT_MC_I2C_ADDR,
+                                        data);
+        if(err != MC_NO_ERROR)
+          return err;          
+       
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
+                                        id,
+                                        REAR_RIGHT_MC_I2C_ADDR,
+                                        data);
+        if(err != MC_NO_ERROR)
+          return err;          
+       
+        return MC_NO_ERROR;  
     }
-
-    else
-    {
-      Right_Wheels_Relative_ticks = -1*Relative_ticks;
-      Left_Wheels_Relative_ticks = Relative_ticks;
-    }    
-
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                    MotorControllerI2C::RELATIVE_TARGET_POSITION,
-                                    FRONT_LEFT_MC_I2C_ADDR,
-                                    (uint8_t*) &Left_Wheels_Relative_ticks);
-    if(err != MC_NO_ERROR)
-      return err;  
-
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                    MotorControllerI2C::RELATIVE_TARGET_POSITION,
-                                    FRONT_RIGHT_MC_I2C_ADDR,
-                                    (uint8_t*) &Right_Wheels_Relative_ticks);
-    if(err != MC_NO_ERROR)
-      return err;  
-
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                    MotorControllerI2C::RELATIVE_TARGET_POSITION,
-                                    REAR_RIGHT_MC_I2C_ADDR,
-                                    (uint8_t*) &Right_Wheels_Relative_ticks);
-    if(err != MC_NO_ERROR)
-      return err;  
-
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                    MotorControllerI2C::RELATIVE_TARGET_POSITION,
-                                    REAR_LEFT_MC_I2C_ADDR,
-                                    (uint8_t*) &Left_Wheels_Relative_ticks);
-    return err;  
-  }
-
-  /**
-  * @brief      Helper function to rotate all motors simultaneously
-  *
-  * @param[in]  Distance       ???
-  * @param[in]  Speed          ???
-  */
-  MCError MotorControlComponentImpl :: rotateAllMotors(int16_t distance, int16_t speed)
-  {
-    // Error preset
-    MCError err;
-
-    if (speed > 0)
+ 
+    /**
+     * @brief      Helper function to move all motors simultaneously
+     *
+     * @param[in]  Distance       The distance to travel in motor ticks
+     * @param[in]  Speed          The speed to travel in normalized speed
+     */
+    MotorControlComponentImpl::MCError_t
+    MotorControlComponentImpl::moveAllMotorsStraight(int32_t distance, int16_t speed)
     {
-      // TODO: Need to correct the container to pass an int8_t
-      Speed_percent motor_speed = m_angularToLinear*groundSpeedToSpeedPrecent(speed);
-
-      // Send the speed to all the motors
-      err = sendAllMotorsData(MOTOR_CONTROL_I2CREG, 
-                              MotorControllerI2C::CURRENT_SPEED,
-                              (uint8_t*) &motor_speed);
-      if(err != MC_NO_ERROR)
+        MotorTick_t Right_Wheels_Relative_ticks, Left_Wheels_Relative_ticks, Relative_ticks;
+        // Error preset
+        MCError_t err;
+       
+        Throttle_t motor_speed;
+       
+        if (speed > 0)
+        {
+          motor_speed = groundSpeedToSpeedPrecent(speed);
+       
+          // Send the speed to all the motors
+          // Required to send this before the setpoint (or else the MC will start spinning before speed was set)
+          err = sendAllMotorsData(MOTOR_CONTROL_I2CREG, 
+                                  REG_TARGET_SPEED,
+                                  (uint8_t*) &motor_speed);
+          if(err != MC_NO_ERROR)
+            return err;
+        }      
+       
+        // Convert from cm to motor ticks
+        Relative_ticks = groundCMToMotorTicks(distance);
+       
+        // Ensure the sides are traveling the right direction
+        if (m_forward_is_positive)
+        {
+          Right_Wheels_Relative_ticks = Relative_ticks;
+          Left_Wheels_Relative_ticks = -1*Relative_ticks;
+        }
+       
+        else
+        {
+          Right_Wheels_Relative_ticks = -1*Relative_ticks;
+          Left_Wheels_Relative_ticks = Relative_ticks;
+        }    
+       
+        // FIXME: XXX: CRITICAL SECTION REQUIRED
+        
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
+                                        REG_RELATIVE_TARGET_POSITION,
+                                        FRONT_LEFT_MC_I2C_ADDR,
+                                        (uint8_t*) &Left_Wheels_Relative_ticks);
+        if(err != MC_NO_ERROR)
+          return err;  
+       
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
+                                        REG_RELATIVE_TARGET_POSITION,
+                                        FRONT_RIGHT_MC_I2C_ADDR,
+                                        (uint8_t*) &Right_Wheels_Relative_ticks);
+        if(err != MC_NO_ERROR)
+          return err;  
+       
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
+                                        REG_RELATIVE_TARGET_POSITION,
+                                        REAR_RIGHT_MC_I2C_ADDR,
+                                        (uint8_t*) &Right_Wheels_Relative_ticks);
+        if(err != MC_NO_ERROR)
+          return err;  
+       
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
+                                        REG_RELATIVE_TARGET_POSITION,
+                                        REAR_LEFT_MC_I2C_ADDR,
+                                        (uint8_t*) &Left_Wheels_Relative_ticks);
+        
+        // FIXME: XXX: CRITICAL SECTION REQUIRED
+        
         return err;  
     }
-
-    Motor_tick Relative_ticks = m_angularToLinear*groundCMToMotorTicks(distance);
-
-    // TODO: Need to correct the container to pass an int8_t
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                    MotorControllerI2C::CURRENT_POSITION, 
-                                    FRONT_LEFT_MC_I2C_ADDR,
-                                    (uint8_t*) &Relative_ticks);
-    if(err != MC_NO_ERROR)
-      return err;  
-
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                    MotorControllerI2C::CURRENT_POSITION, 
-                                    FRONT_RIGHT_MC_I2C_ADDR,
-                                    (uint8_t*) &Relative_ticks);
-    if(err != MC_NO_ERROR)
-      return err;  
-
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                    MotorControllerI2C::CURRENT_POSITION, 
-                                    REAR_RIGHT_MC_I2C_ADDR,
-                                    (uint8_t*) &Relative_ticks);
-    if(err != MC_NO_ERROR)
-      return err;  
-
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                    MotorControllerI2C::CURRENT_POSITION, 
-                                    REAR_LEFT_MC_I2C_ADDR,
-                                    (uint8_t*) &Relative_ticks);
-    return err;
-  }
-
-  MCError MotorControlComponentImpl :: spinMotors(bool forward)
-  {
-    Motor_tick Right_Wheels_Relative_ticks, Left_Wheels_Relative_ticks, Relative_ticks;
-    // Error preset
-    MCError err;
-
-    // Convert from cm to motor ticks
-    Relative_ticks = MAX_SPIN_DISTANCE;
-
-    // Ensure the sides are traveling the right direction
-    if (m_clockwise_is_positive)
+ 
+    /**
+    * @brief      Helper function to rotate all motors simultaneously
+    *
+    * @param[in]  Distance       ???
+    * @param[in]  Speed          ???
+    */
+    MotorControlComponentImpl::MCError_t
+    MotorControlComponentImpl::rotateAllMotors(int16_t distance, int16_t speed)
     {
-      Right_Wheels_Relative_ticks = Relative_ticks;
-      Left_Wheels_Relative_ticks = -1*Relative_ticks;
+        // Error preset
+        MCError_t err;
+       
+        if (speed > 0)
+        {
+          // TODO: Need to correct the container to pass an int8_t
+          Throttle_t motor_speed = m_angularToLinear*groundSpeedToSpeedPrecent(speed);
+       
+        // // FIXME: These need to be updated to use the correct register (TARGET)
+          // Send the speed to all the motors
+          err = sendAllMotorsData(MOTOR_CONTROL_I2CREG, 
+                                  REG_CURRENT_SPEED,
+                                  (uint8_t*) &motor_speed);
+          if(err != MC_NO_ERROR)
+            return err;  
+        }
+       
+        MotorTick_t Relative_ticks = m_angularToLinear*groundCMToMotorTicks(distance);
+       
+        // TODO: Need to correct the container to pass an int8_t
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
+                                        REG_CURRENT_POSITION, 
+                                        FRONT_LEFT_MC_I2C_ADDR,
+                                        (uint8_t*) &Relative_ticks);
+        if(err != MC_NO_ERROR)
+          return err;  
+       
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
+                                        REG_CURRENT_POSITION, 
+                                        FRONT_RIGHT_MC_I2C_ADDR,
+                                        (uint8_t*) &Relative_ticks);
+        if(err != MC_NO_ERROR)
+          return err;  
+       
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
+                                        REG_CURRENT_POSITION, 
+                                        REAR_RIGHT_MC_I2C_ADDR,
+                                        (uint8_t*) &Relative_ticks);
+        if(err != MC_NO_ERROR)
+          return err;  
+       
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
+                                        REG_CURRENT_POSITION, 
+                                        REAR_LEFT_MC_I2C_ADDR,
+                                        (uint8_t*) &Relative_ticks);
+        return err;
     }
-
-    else
+ 
+    MotorControlComponentImpl::MCError_t
+    MotorControlComponentImpl::spinMotors(bool forward)
     {
-      Right_Wheels_Relative_ticks = -1*Relative_ticks;
-      Left_Wheels_Relative_ticks = Relative_ticks;
-    } 
-
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                    MotorControllerI2C::CURRENT_POSITION, 
-                                    FRONT_LEFT_MC_I2C_ADDR,
-                                    (uint8_t*) &Left_Wheels_Relative_ticks);
-    if(err != MC_NO_ERROR)
-      return err;  
-
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                    MotorControllerI2C::CURRENT_POSITION, 
-                                    FRONT_RIGHT_MC_I2C_ADDR,
-                                    (uint8_t*) &Right_Wheels_Relative_ticks);
-    if(err != MC_NO_ERROR)
-      return err;  
-
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                    MotorControllerI2C::CURRENT_POSITION, 
-                                    REAR_RIGHT_MC_I2C_ADDR,
-                                    (uint8_t*) &Right_Wheels_Relative_ticks);
-    if(err != MC_NO_ERROR)
-      return err;  
-
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                    MotorControllerI2C::CURRENT_POSITION, 
-                                    REAR_LEFT_MC_I2C_ADDR,
-                                    (uint8_t*) &Left_Wheels_Relative_ticks);
-    return err;
-  }
-
-  /**
-   * @brief      Writes a register.
-   *
-   * @param      i2c   I 2 c
-   * @param[in]  id    The identifier
-   * @param[in]  add   The add
-   * @param[in]  data  The data
-   *
-   * @return     Motor Controller error
-   */
-  MCError MotorControlComponentImpl :: writeMotorControlRegister(i2cBASE_t *i2c,
-                                                                 const MotorControllerI2C::I2cRegisterId id,
-                                                                 const MotorControllerI2C::I2cSlaveAddress add,
-                                                                 uint8_t * data)
-  {
-      MCError ret = MC_NO_ERROR;
-      uint32_t dataLength = getSizeData(id);
-      uint8_t id_buffer[1];
-      id_buffer[0] = setIDBuffer(id);
-
-      if(dataLength <= 0) 
-        return MC_UNEXPECTED_ERROR;
-
-      if(i2c == NULL)
-        return MC_UNEXPECTED_ERROR;
-
-      // Inform the MSP of the desired register
-      if((ret = i2cMasterTransmit(i2c, add, 1, id_buffer)) != MC_NO_ERROR)
-        return ret;
-
-      // If we want something, receive
-      if(expectingReturnMessage(id))
-        ret = i2cMasterReceive(i2c, add, dataLength, data);
-
-      // Else, tell the data you have
-      else
-        ret = i2cMasterTransmit(i2c, add, dataLength, data);
-
-      return ret;
-  }
-
-  /**
-   * @brief      I2c master transmit
-   *
-   * @param      i2c     I 2 c
-   * @param[in]  sadd    The slave address
-   * @param[in]  length  The length
-   * @param[in]  data    The data
-   *
-   * @return     Motor Controller error
-   */
-  MCError MotorControlComponentImpl :: i2cMasterTransmit(i2cBASE_t *i2c,
-                                                         const MotorControllerI2C::I2cSlaveAddress sadd,
-                                                         const uint32_t length,
-                                                         uint8_t * data)
-  {
-    if(i2c == NULL)
-      return MC_UNEXPECTED_ERROR;
-
-    if(data == NULL)
-      return MC_UNEXPECTED_ERROR;
-
-    /* Configure address of Slave to talk to */
-    i2cSetSlaveAdd(i2c, sadd);
-
-    /* Set direction to Transmitter */
-    i2cSetDirection(i2c, I2C_TRANSMITTER);
-
-    /* Configure Data count */
-    i2cSetCount(i2c, length);
-
-    /* Set mode as Master */
-    i2cSetMode(i2c, I2C_MASTER);
-
-    /* Set Stop after programmed Count */
-    i2cSetStop(i2c);
-
-    /* Transmit Start Condition */
-    i2cSetStart(i2c);
-
-    /* Transmit DATA_COUNT number of data in Polling mode */
-    i2cSend(i2c, length, data);
-
-    /* Wait until Bus Busy is cleared */
-    uint16_t timeouter = 0;
-    while(i2cIsBusBusy(i2c) == true)
-    {
-      if(++timeouter > m_i2c_timeout_threshold)
-        return MC_I2C_TIMEOUT_ERROR;
-    }   
-
-    /* Wait until Stop is detected */
-    timeouter = 0;
-    while(i2cIsStopDetected(i2c) == 0)
-    {
-      if(++timeouter > m_i2c_timeout_threshold)
-        return MC_I2C_TIMEOUT_ERROR;
-    }   
-
-    /* Clear the Stop condition */
-    i2cClearSCD(i2c);
-
-    /* Delay long enough for the slave to be ready */
-    delayForI2C();
-
-    return MC_NO_ERROR;
-  }
-
-
-  /**
-   * @brief      I2C master receive
-   *
-   * @param      i2c     I 2 c
-   * @param[in]  sadd    The slave address
-   * @param[in]  length  The length
-   * @param[in]  data    The data
-   *
-   * @return     Motor controller error
-   */
-  MCError MotorControlComponentImpl :: i2cMasterReceive(i2cBASE_t *i2c,
-                                                        const MotorControllerI2C::I2cSlaveAddress sadd,
-                                                        const uint32_t length,
-                                                        uint8_t * data)
-  {
-    if(i2c == NULL)
-      return MC_UNEXPECTED_ERROR;
-
-    if(data == NULL)
-      return MC_UNEXPECTED_ERROR;
-
-    /* Configure address of Slave to talk to */
-    i2cSetSlaveAdd(i2c, sadd);
-
-    /* Set direction to receiver */
-    i2cSetDirection(i2c, I2C_RECEIVER);
-
-    /* Configure Data count */
-    i2cSetCount(i2c, length);
-
-    /* Set mode as Master */
-    i2cSetMode(i2c, I2C_MASTER);
-
-    /* Set Stop after programmed Count */
-    i2cSetStop(i2c);
-
-    /* Transmit Start Condition */
-    i2cSetStart(i2c);
-
-    /* Transmit DATA_COUNT number of data in Polling mode */
-    i2cReceive(i2c, length, data);
-
-    /* Wait until Bus Busy is cleared */
-    uint16_t timeouter = 0;
-    while(i2cIsBusBusy(i2c) == true)
-    {
-      if(++timeouter > m_i2c_timeout_threshold)
-        return MC_I2C_TIMEOUT_ERROR;
-    }   
-
-    /* Wait until Stop is detected */
-    timeouter = 0;
-    while(i2cIsStopDetected(i2c) == 0)
-    {
-      if(++timeouter > m_i2c_timeout_threshold)
-        return MC_I2C_TIMEOUT_ERROR;
+        MotorTick_t Right_Wheels_Relative_ticks, Left_Wheels_Relative_ticks, Relative_ticks;
+        // Error preset
+        MCError_t err;
+       
+        // Convert from cm to motor ticks
+        Relative_ticks = MAX_SPIN_DISTANCE;
+       
+        // Ensure the sides are traveling the right direction
+        if (m_forward_is_positive)
+        {
+          Right_Wheels_Relative_ticks = Relative_ticks;
+          Left_Wheels_Relative_ticks = -1*Relative_ticks;
+        }
+       
+        else
+        {
+          Right_Wheels_Relative_ticks = -1*Relative_ticks;
+          Left_Wheels_Relative_ticks = Relative_ticks;
+        } 
+       
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
+                                        REG_CURRENT_POSITION, 
+                                        FRONT_LEFT_MC_I2C_ADDR,
+                                        (uint8_t*) &Left_Wheels_Relative_ticks);
+        if(err != MC_NO_ERROR)
+          return err;  
+       
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
+                                        REG_CURRENT_POSITION, 
+                                        FRONT_RIGHT_MC_I2C_ADDR,
+                                        (uint8_t*) &Right_Wheels_Relative_ticks);
+        if(err != MC_NO_ERROR)
+          return err;  
+       
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
+                                        REG_CURRENT_POSITION, 
+                                        REAR_RIGHT_MC_I2C_ADDR,
+                                        (uint8_t*) &Right_Wheels_Relative_ticks);
+        if(err != MC_NO_ERROR)
+          return err;  
+       
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
+                                        REG_CURRENT_POSITION, 
+                                        REAR_LEFT_MC_I2C_ADDR,
+                                        (uint8_t*) &Left_Wheels_Relative_ticks);
+        return err;
     }
-
-    /* Clear the Stop condition */
-    i2cClearSCD(i2c);
-
-    /* Delay long enough for the slave to be ready */
-    delayForI2C();
-
-    return MC_NO_ERROR;
-  }
-
-  /**
-  * @brief      Enables all motors
-  *
-  * @return     Motor controller error
-  */
-  MCError MotorControlComponentImpl :: enableDrivers()
-  {
-    WatchdogCommandOut_out(0, CubeRoverPorts::motorsOn);
-    return MC_NO_ERROR;
-  }
-
-  /**
-  * @brief      Disable all motors
-  *
-  * @return     Motor controller error
-  */
-  MCError MotorControlComponentImpl :: disableDrivers()
-  {
-    WatchdogCommandOut_out(0, CubeRoverPorts::motorsOff);
-    return MC_NO_ERROR;
-  }
-
-  /**
-  * @brief      Resets all motors
-  *
-  * @return     None
-  */
-  void MotorControlComponentImpl :: resetMotorControllers()
-  {
-    WatchdogCommandOut_out(0, CubeRoverPorts::motorsReset);
-  }
-
-  /**
-  * @brief      Converts cm to motor ticks
-  *
-  * @param[in]  Distance the system wants to travel in cm    
-  *
-  * @return     Motor ticks to rotate
-  */
-  Motor_tick MotorControlComponentImpl :: groundCMToMotorTicks(int16_t dist)
-  {
-      // FIXME: Jonathan to develop this function
-    return 0;
-  }
-
-  /**
-  * @brief      Converts from ground speed to motor normalized speed
-  *
-  * @param[in]  The speed in ground version of cm/s (scaled from 0x00 - 0x0A)
-  *              meaning 0-10cm/s
-  *
-  * @return     Precentage of the speed in motor control terms
-  */
-  Speed_percent MotorControlComponentImpl :: groundSpeedToSpeedPrecent(int16_t speed)
-  {
-      // FIXME: Jonathan to develop this function
-    return 0;
-  }
-
-  /**
-  * @brief      Delays for 1050 ticks slow enough for slave sides
-  *
-  */
-  bool MotorControlComponentImpl :: updateTelemetry()
-  {
-    bool Update_Success = true;
-
-    // Update only a single type of data at a time
-    if (m_Round_Robin_Telemetry)
+ 
+    /**
+     * @brief      Writes a register.
+     *
+     * @param      i2c   I 2 c
+     * @param[in]  addr  Register address
+     * @param[in]  addr   Device address
+     * @param[in]  data  The data
+     *
+     * @return     Motor Controller error
+     */
+    MotorControlComponentImpl::MCError_t
+    MotorControlComponentImpl::writeMotorControlRegister(i2cBASE_t *i2c,
+                                                         const RegisterAddress_t reg,
+                                                         const I2cSlaveAddress_t addr,
+                                                         uint8_t * data)
     {
-      switch(++m_Robin_Number)
-      {
-        case 0:
-          Update_Success = updateSpeed();
-          break;
-
-        case 1:
-          Update_Success = updateCurrent();
-          break;
-
-        case 2:
-          Update_Success = updateEncoder();
-          m_Robin_Number = 0;
-          break;
-
-        default:
-          m_Robin_Number = 0;
-          break;
-      }
+        MCError_t ret = MC_NO_ERROR;
+        uint32_t dataLength = getSizeData(reg);
+        uint8_t reg_buffer[1];
+        reg_buffer[0] = (uint8_t)reg;
+ 
+        if(dataLength <= 0) 
+          return MC_UNEXPECTED_ERROR;
+ 
+        if(i2c == NULL)
+          return MC_UNEXPECTED_ERROR;
+ 
+        // Inform the MSP of the desired register
+        if((ret = i2cMasterTransmit(i2c, addr, 1, reg_buffer)) != MC_NO_ERROR)
+          return ret;
+ 
+        // If we want something, receive
+        if(expectingReturnMessage(reg))
+          ret = i2cMasterReceive(i2c, addr, dataLength, data);
+ 
+        // Else, tell the data you have
+        else
+          ret = i2cMasterTransmit(i2c, addr, dataLength, data);
+ 
+        return ret;
     }
-
-    // Update all of them
-    else
+ 
+    /**
+     * @brief      I2c master transmit
+     *
+     * @param      i2c     I 2 c
+     * @param[in]  sadd    The slave address
+     * @param[in]  length  The length
+     * @param[in]  data    The data
+     *
+     * @return     Motor Controller error
+     */
+    MotorControlComponentImpl::MCError_t
+    MotorControlComponentImpl::i2cMasterTransmit(i2cBASE_t *i2c,
+                                                 const I2cSlaveAddress_t sadd,
+                                                 const uint32_t length,
+                                                 uint8_t * data)
     {
-      if(!updateSpeed())
-        return false;
-      if(!updateCurrent()) 
-        return false;
-      if(updateEncoder())
-        return false;
+        if(i2c == NULL)
+          return MC_UNEXPECTED_ERROR;
+       
+        if(data == NULL)
+          return MC_UNEXPECTED_ERROR;
+       
+        /* Configure address of Slave to talk to */
+        i2cSetSlaveAdd(i2c, sadd);
+       
+        /* Set direction to Transmitter */
+        i2cSetDirection(i2c, I2C_TRANSMITTER);
+       
+        /* Configure Data count */
+        i2cSetCount(i2c, length);
+       
+        /* Set mode as Master */
+        i2cSetMode(i2c, I2C_MASTER);
+       
+        /* Set Stop after programmed Count */
+        i2cSetStop(i2c);
+       
+        /* Transmit Start Condition */
+        i2cSetStart(i2c);
+       
+        /* Transmit DATA_COUNT number of data in Polling mode */
+        i2cSend(i2c, length, data);
+       
+        /* Wait until Bus Busy is cleared */
+        uint16_t timeouter = 0;
+        while(i2cIsBusBusy(i2c) == true)
+        {
+          if(++timeouter > m_i2c_timeout_threshold)
+            return MC_I2C_TIMEOUT_ERROR;
+        }   
+       
+        /* Wait until Stop is detected */
+        timeouter = 0;
+        while(i2cIsStopDetected(i2c) == 0)
+        {
+          if(++timeouter > m_i2c_timeout_threshold)
+            return MC_I2C_TIMEOUT_ERROR;
+        }   
+       
+        /* Clear the Stop condition */
+        i2cClearSCD(i2c);
+       
+        /* Delay long enough for the slave to be ready */
+        delayForI2C();
+       
+        return MC_NO_ERROR;
     }
-
-    return Update_Success;
-  }
-
-  /**
-  * @brief      Delays for 1050 ticks slow enough for slave sides
-  *
-  */
-  bool MotorControlComponentImpl :: updateSpeed()
-  {
-    MCError err = MC_NO_ERROR;
-    uint8_t Speed_buffer[MC_BUFFER_MAX_SIZE];
-
-    // Get FL Current Speed
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                    MotorControllerI2C::CURRENT_SPEED,
-                                    FRONT_LEFT_MC_I2C_ADDR,
-                                    &Speed_buffer[0]);
-
-    // Make sure everything is going well
-    if (err != MC_NO_ERROR)
+ 
+ 
+    /**
+     * @brief      I2C master receive
+     *
+     * @param      i2c     I 2 c
+     * @param[in]  sadd    The slave address
+     * @param[in]  length  The length
+     * @param[in]  data    The data
+     *
+     * @return     Motor controller error
+     */
+    MotorControlComponentImpl::MCError_t
+    MotorControlComponentImpl::i2cMasterReceive(i2cBASE_t *i2c,
+                                                const I2cSlaveAddress_t sadd,
+                                                const uint32_t length,
+                                                uint8_t * data)
     {
-      resetMotorControllers();
-      log_WARNING_HI_MC_MSPNotResponding();
-      return false;
+        if(i2c == NULL)
+          return MC_UNEXPECTED_ERROR;
+       
+        if(data == NULL)
+          return MC_UNEXPECTED_ERROR;
+       
+        /* Configure address of Slave to talk to */
+        i2cSetSlaveAdd(i2c, sadd);
+       
+        /* Set direction to receiver */
+        i2cSetDirection(i2c, I2C_RECEIVER);
+       
+        /* Configure Data count */
+        i2cSetCount(i2c, length);
+       
+        /* Set mode as Master */
+        i2cSetMode(i2c, I2C_MASTER);
+       
+        /* Set Stop after programmed Count */
+        i2cSetStop(i2c);
+       
+        /* Transmit Start Condition */
+        i2cSetStart(i2c);
+       
+        /* Transmit DATA_COUNT number of data in Polling mode */
+        i2cReceive(i2c, length, data);
+       
+        /* Wait until Bus Busy is cleared */
+        uint16_t timeouter = 0;
+        while(i2cIsBusBusy(i2c) == true)
+        {
+          if(++timeouter > m_i2c_timeout_threshold)
+            return MC_I2C_TIMEOUT_ERROR;
+        }   
+       
+        /* Wait until Stop is detected */
+        timeouter = 0;
+        while(i2cIsStopDetected(i2c) == 0)
+        {
+          if(++timeouter > m_i2c_timeout_threshold)
+            return MC_I2C_TIMEOUT_ERROR;
+        }
+       
+        /* Clear the Stop condition */
+        i2cClearSCD(i2c);
+       
+        /* Delay long enough for the slave to be ready */
+        delayForI2C();
+       
+        return MC_NO_ERROR;
     }
-
-    // Get FR Current Speed
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                    MotorControllerI2C::CURRENT_SPEED,
-                                    FRONT_RIGHT_MC_I2C_ADDR,
-                                    &Speed_buffer[4]);
-
-    // Make sure everything is going well
-    if (err != MC_NO_ERROR)
+ 
+    /**
+    * @brief      Enables all motors
+    *
+    * @return     Motor controller error
+    */
+    MotorControlComponentImpl::MCError_t MotorControlComponentImpl::enableDrivers()
     {
-      resetMotorControllers();
-      log_WARNING_HI_MC_MSPNotResponding();
-      return false;
+        WatchdogCommandOut_out(0, CubeRoverPorts::motorsOn);
+        return MC_NO_ERROR;
     }
-
-    // Get RR Current Speed
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                    MotorControllerI2C::CURRENT_SPEED,
-                                    REAR_RIGHT_MC_I2C_ADDR,
-                                    &Speed_buffer[8]);
-
-    // Make sure everything is going well
-    if (err != MC_NO_ERROR)
+ 
+    /**
+    * @brief      Disable all motors
+    *
+    * @return     Motor controller error
+    */
+    MotorControlComponentImpl::MCError_t MotorControlComponentImpl::disableDrivers()
     {
-      resetMotorControllers();
-      log_WARNING_HI_MC_MSPNotResponding();
-      return false;
+        WatchdogCommandOut_out(0, CubeRoverPorts::motorsOff);
+        return MC_NO_ERROR;
     }
-
-    // Get RL Current Speed
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                    MotorControllerI2C::CURRENT_SPEED,
-                                    REAR_LEFT_MC_I2C_ADDR,
-                                    &Speed_buffer[12]);
-
-    // Make sure everything is going well
-    if (err != MC_NO_ERROR)
+ 
+    /**
+    * @brief      Resets all motors
+    *
+    * @return     None
+    */
+    void MotorControlComponentImpl::resetMotorControllers()
     {
-      resetMotorControllers();
-      log_WARNING_HI_MC_MSPNotResponding();
-      return false;
+      WatchdogCommandOut_out(0, CubeRoverPorts::motorsReset);
     }
-
-    // If we got all the values we need, then we can update telemetry
-    tlmWrite_MC_FL_Speed((uint32_t) Speed_buffer[0]);
-    tlmWrite_MC_FR_Speed((uint32_t) Speed_buffer[4]);
-    tlmWrite_MC_RR_Speed((uint32_t) Speed_buffer[8]);
-    tlmWrite_MC_RL_Speed((uint32_t) Speed_buffer[12]);
-    return true;
-  }
-
-  /**
-  * @brief      Delays for 1050 ticks slow enough for slave sides
-  *
-  */
-  bool MotorControlComponentImpl :: updateCurrent()
-  {
-    MCError err = MC_NO_ERROR;
-    uint8_t Current_buffer[MC_BUFFER_MAX_SIZE];
-
-    // Get FL Current 
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                    MotorControllerI2C::MOTOR_CURRENT,
-                                    FRONT_LEFT_MC_I2C_ADDR,
-                                    &Current_buffer[0]);
-
-    // Make sure everything is going well
-    if (err != MC_NO_ERROR)
+ 
+    /**
+    * @brief      Converts cm to motor ticks
+    *
+    * @param[in]  Distance the system wants to travel in cm    
+    *
+    * @return     Motor ticks to rotate
+    */
+    MotorControlComponentImpl::MotorTick_t
+    MotorControlComponentImpl::groundCMToMotorTicks(int16_t dist)
     {
-      resetMotorControllers();
-      log_WARNING_HI_MC_MSPNotResponding();
-      return false;
+        // FIXME: Jonathan to develop this function
+        return 0;
     }
-
-    // Get FR Current 
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                    MotorControllerI2C::MOTOR_CURRENT,
-                                    FRONT_RIGHT_MC_I2C_ADDR,
-                                    &Current_buffer[4]);
-
-    // Make sure everything is going well
-    if (err != MC_NO_ERROR)
+ 
+    /**
+    * @brief      Converts from ground speed to motor normalized speed
+    *
+    * @param[in]  The speed in ground version of cm/s (scaled from 0x00 - 0x0A)
+    *              meaning 0-10cm/s
+    *
+    * @return     Precentage of the speed in motor control terms
+    */
+    MotorControlComponentImpl::Throttle_t
+    MotorControlComponentImpl::groundSpeedToSpeedPrecent(int16_t speed)
     {
-      resetMotorControllers();
-      log_WARNING_HI_MC_MSPNotResponding();
-      return false;
+        // FIXME: Jonathan to develop this function
+        return 0;
     }
-
-    // Get RR Current 
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                    MotorControllerI2C::MOTOR_CURRENT,
-                                    REAR_RIGHT_MC_I2C_ADDR,
-                                    &Current_buffer[8]);
-
-    // Make sure everything is going well
-    if (err != MC_NO_ERROR)
+ 
+    /**
+    * @brief      Delays for 1050 ticks slow enough for slave sides
+    *
+    */
+    bool MotorControlComponentImpl :: updateTelemetry()
     {
-      resetMotorControllers();
-      log_WARNING_HI_MC_MSPNotResponding();
-      return false;
+        bool Update_Success = true;
+       
+        // Update only a single type of data at a time
+        if (m_Round_Robin_Telemetry)
+        {
+          switch(++m_Robin_Number)
+          {
+            case 0:
+              Update_Success = updateSpeed();
+              break;
+       
+            case 1:
+              Update_Success = updateCurrent();
+              break;
+       
+            case 2:
+              Update_Success = updateEncoder();
+              m_Robin_Number = 0;
+              break;
+       
+            default:
+              m_Robin_Number = 0;
+              break;
+          }
+        }
+       
+        // Update all of them
+        else
+        {
+          if(!updateSpeed())
+            return false;
+          if(!updateCurrent()) 
+            return false;
+          if(updateEncoder())
+            return false;
+        }
+       
+        return Update_Success;
     }
-
-    // Get RL Current
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                    MotorControllerI2C::MOTOR_CURRENT,
-                                    REAR_LEFT_MC_I2C_ADDR,
-                                    &Current_buffer[12]);
-
-    // Make sure everything is going well
-    if (err != MC_NO_ERROR)
+ 
+    /**
+    * @brief      Delays for 1050 ticks slow enough for slave sides
+    *
+    */
+    bool MotorControlComponentImpl::updateSpeed()
     {
-      resetMotorControllers();
-      log_WARNING_HI_MC_MSPNotResponding();
-      return false;
+        // FIXME: REG_CURRENT_SPEED reads (#ticks / #seconds) -> Fixed-point 17MSB . 15LSB 
+        // BUT JONATHAN WILL UPDATE 
+        
+        MCError_t err = MC_NO_ERROR;
+        uint8_t Speed_buffer[MC_BUFFER_MAX_SIZE];
+       
+        // Get FL Current Speed
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
+                                        REG_CURRENT_SPEED,
+                                        FRONT_LEFT_MC_I2C_ADDR,
+                                        &Speed_buffer[0]);
+       
+        // Make sure everything is going well
+        if (err != MC_NO_ERROR)
+        {
+          resetMotorControllers();
+          log_WARNING_HI_MC_MSPNotResponding();
+          return false;
+        }
+       
+        // Get FR Current Speed
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
+                                        REG_CURRENT_SPEED,
+                                        FRONT_RIGHT_MC_I2C_ADDR,
+                                        &Speed_buffer[4]);
+       
+        // Make sure everything is going well
+        if (err != MC_NO_ERROR)
+        {
+          resetMotorControllers();
+          log_WARNING_HI_MC_MSPNotResponding();
+          return false;
+        }
+       
+        // Get RR Current Speed
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
+                                        REG_CURRENT_SPEED,
+                                        REAR_RIGHT_MC_I2C_ADDR,
+                                        &Speed_buffer[8]);
+       
+        // Make sure everything is going well
+        if (err != MC_NO_ERROR)
+        {
+          resetMotorControllers();
+          log_WARNING_HI_MC_MSPNotResponding();
+          return false;
+        }
+       
+        // Get RL Current Speed
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
+                                        REG_CURRENT_SPEED,
+                                        REAR_LEFT_MC_I2C_ADDR,
+                                        &Speed_buffer[12]);
+       
+        // Make sure everything is going well
+        if (err != MC_NO_ERROR)
+        {
+          resetMotorControllers();
+          log_WARNING_HI_MC_MSPNotResponding();
+          return false;
+        }
+       
+        // If we got all the values we need, then we can update telemetry
+        tlmWrite_MC_FL_Speed((uint32_t) Speed_buffer[0]);
+        tlmWrite_MC_FR_Speed((uint32_t) Speed_buffer[4]);
+        tlmWrite_MC_RR_Speed((uint32_t) Speed_buffer[8]);
+        tlmWrite_MC_RL_Speed((uint32_t) Speed_buffer[12]);
+        return true;
     }
-
-    // If we got all the values we need, then we can update telemetry
-    tlmWrite_MC_FL_Current((uint32_t) Current_buffer[0]);
-    tlmWrite_MC_FR_Current((uint32_t) Current_buffer[4]);
-    tlmWrite_MC_RR_Current((uint32_t) Current_buffer[8]);
-    tlmWrite_MC_RL_Current((uint32_t) Current_buffer[12]);
-    return true;
-  }
-
-  /**
-  * @brief      Delays for 1050 ticks slow enough for slave sides
-  *
-  */
-  bool MotorControlComponentImpl :: updateEncoder()
-  {
-    MCError err = MC_NO_ERROR;
-    uint8_t Encoder_buffer[MC_BUFFER_MAX_SIZE];
-
-    // Get FL Current 
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                    MotorControllerI2C::MOTOR_CURRENT,
-                                    FRONT_LEFT_MC_I2C_ADDR,
-                                    &Encoder_buffer[0]);
-
-    // Make sure everything is going well
-    if (err != MC_NO_ERROR)
+ 
+    /**
+    * @brief      Delays for 1050 ticks slow enough for slave sides
+    *
+    */
+    bool MotorControlComponentImpl::updateCurrent()
     {
-      resetMotorControllers();
-      log_WARNING_HI_MC_MSPNotResponding();
-      return false;
+        MCError_t err = MC_NO_ERROR;
+        uint8_t Current_buffer[MC_BUFFER_MAX_SIZE];
+       
+        // Get FL Current 
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
+                                        REG_MOTOR_CURRENT,
+                                        FRONT_LEFT_MC_I2C_ADDR,
+                                        &Current_buffer[0]);
+       
+        // Make sure everything is going well
+        if (err != MC_NO_ERROR)
+        {
+          resetMotorControllers();
+          log_WARNING_HI_MC_MSPNotResponding();
+          return false;
+        }
+       
+        // Get FR Current 
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
+                                        REG_MOTOR_CURRENT,
+                                        FRONT_RIGHT_MC_I2C_ADDR,
+                                        &Current_buffer[4]);
+       
+        // Make sure everything is going well
+        if (err != MC_NO_ERROR)
+        {
+          resetMotorControllers();
+          log_WARNING_HI_MC_MSPNotResponding();
+          return false;
+        }
+       
+        // Get RR Current 
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
+                                        REG_MOTOR_CURRENT,
+                                        REAR_RIGHT_MC_I2C_ADDR,
+                                        &Current_buffer[8]);
+       
+        // Make sure everything is going well
+        if (err != MC_NO_ERROR)
+        {
+          resetMotorControllers();
+          log_WARNING_HI_MC_MSPNotResponding();
+          return false;
+        }
+       
+        // Get RL Current
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
+                                        REG_MOTOR_CURRENT,
+                                        REAR_LEFT_MC_I2C_ADDR,
+                                        &Current_buffer[12]);
+       
+        // Make sure everything is going well
+        if (err != MC_NO_ERROR)
+        {
+          resetMotorControllers();
+          log_WARNING_HI_MC_MSPNotResponding();
+          return false;
+        }
+       
+        // If we got all the values we need, then we can update telemetry
+        tlmWrite_MC_FL_Current((uint32_t) Current_buffer[0]);
+        tlmWrite_MC_FR_Current((uint32_t) Current_buffer[4]);
+        tlmWrite_MC_RR_Current((uint32_t) Current_buffer[8]);
+        tlmWrite_MC_RL_Current((uint32_t) Current_buffer[12]);
+        return true;
     }
-
-    // Get FR Current 
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                    MotorControllerI2C::MOTOR_CURRENT,
-                                    FRONT_RIGHT_MC_I2C_ADDR,
-                                    &Encoder_buffer[4]);
-
-    // Make sure everything is going well
-    if (err != MC_NO_ERROR)
+ 
+    /**
+    * @brief      Delays for 1050 ticks slow enough for slave sides
+    *
+    */
+    bool MotorControlComponentImpl::updateEncoder()
     {
-      resetMotorControllers();
-      log_WARNING_HI_MC_MSPNotResponding();
-      return false;
+        MCError_t err = MC_NO_ERROR;
+        uint8_t Encoder_buffer[MC_BUFFER_MAX_SIZE];
+       
+        // Get FL Current 
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
+                                        REG_MOTOR_CURRENT,
+                                        FRONT_LEFT_MC_I2C_ADDR,
+                                        &Encoder_buffer[0]);
+       
+        // Make sure everything is going well
+        if (err != MC_NO_ERROR)
+        {
+          resetMotorControllers();
+          log_WARNING_HI_MC_MSPNotResponding();
+          return false;
+        }
+       
+        // Get FR Current 
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
+                                        REG_MOTOR_CURRENT,
+                                        FRONT_RIGHT_MC_I2C_ADDR,
+                                        &Encoder_buffer[4]);
+       
+        // Make sure everything is going well
+        if (err != MC_NO_ERROR)
+        {
+          resetMotorControllers();
+          log_WARNING_HI_MC_MSPNotResponding();
+          return false;
+        }
+       
+        // Get RR Current 
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
+                                        REG_MOTOR_CURRENT,
+                                        REAR_RIGHT_MC_I2C_ADDR,
+                                        &Encoder_buffer[8]);
+       
+        // Make sure everything is going well
+        if (err != MC_NO_ERROR)
+        {
+          resetMotorControllers();
+          log_WARNING_HI_MC_MSPNotResponding();
+          return false;
+        }
+       
+        // Get RL Current Encoder value
+        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
+                                        REG_MOTOR_CURRENT,
+                                        REAR_LEFT_MC_I2C_ADDR,
+                                        &Encoder_buffer[12]);
+       
+        // Make sure everything is going well
+        if (err != MC_NO_ERROR)
+        {
+          resetMotorControllers();
+          log_WARNING_HI_MC_MSPNotResponding();
+          return false;
+        }
+       
+        // If we got all the values we need, then we can update telemetry
+        m_FL_Encoder_Count += (uint16_t) Encoder_buffer[0];
+        m_FR_Encoder_Count += (uint16_t) Encoder_buffer[4];
+        m_RR_Encoder_Count += (uint16_t) Encoder_buffer[8];
+        m_RL_Encoder_Count += (uint16_t) Encoder_buffer[12];
+        tlmWrite_MC_FL_Encoder_Dist(m_FL_Encoder_Count + m_FR_Encoder_Count_Offset);
+        tlmWrite_MC_FR_Encoder_Dist(m_FR_Encoder_Count + m_FL_Encoder_Count_Offset);
+        tlmWrite_MC_RR_Encoder_Dist(m_RR_Encoder_Count + m_RL_Encoder_Count_Offset);
+        tlmWrite_MC_RL_Encoder_Dist(m_RL_Encoder_Count + m_RR_Encoder_Count_Offset);
+        return true;
     }
-
-    // Get RR Current 
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                    MotorControllerI2C::MOTOR_CURRENT,
-                                    REAR_RIGHT_MC_I2C_ADDR,
-                                    &Encoder_buffer[8]);
-
-    // Make sure everything is going well
-    if (err != MC_NO_ERROR)
+ 
+    /**
+    * @brief      Delays for 1050 ticks slow enough for slave sides
+    *
+    */
+    void MotorControlComponentImpl::delayForI2C()
     {
-      resetMotorControllers();
-      log_WARNING_HI_MC_MSPNotResponding();
-      return false;
+        // FIXME: DONT USE POLLING LOOP FOR DELAY
+        // for (unsigned i = 180000000; i; --i); ~= 13.5s
+        for (unsigned i = 900; i; --i);
     }
-
-    // Get RL Current Encoder value
-    err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                    MotorControllerI2C::MOTOR_CURRENT,
-                                    REAR_LEFT_MC_I2C_ADDR,
-                                    &Encoder_buffer[12]);
-
-    // Make sure everything is going well
-    if (err != MC_NO_ERROR)
+ 
+    /**
+    * @brief      Converts from ground speed to motor normalized speed
+    *
+    * @param[in]  The speed in ground version of cm/s (scaled from 0x00 - 0x0A)
+    *              meaning 0-10cm/s
+    *
+    * @return     Precentage of the speed in motor control terms
+    */
+    bool MotorControlComponentImpl::expectingReturnMessage(const RegisterAddress_t id)
     {
-      resetMotorControllers();
-      log_WARNING_HI_MC_MSPNotResponding();
-      return false;
+        switch(id)
+        {
+          case REG_I2C_ADDRESS:
+          case REG_CURRENT_POSITION:
+          case REG_CURRENT_SPEED:
+          case REG_MOTOR_CURRENT:
+            return true;
+       
+          default:
+            return false;
+        } 
     }
 
-    // If we got all the values we need, then we can update telemetry
-    m_FL_Encoder_Count += (uint16_t) Encoder_buffer[0];
-    m_FR_Encoder_Count += (uint16_t) Encoder_buffer[4];
-    m_RR_Encoder_Count += (uint16_t) Encoder_buffer[8];
-    m_RL_Encoder_Count += (uint16_t) Encoder_buffer[12];
-    tlmWrite_MC_FL_Encoder_Dist(m_FL_Encoder_Count + m_FR_Encoder_Count_Offset);
-    tlmWrite_MC_FR_Encoder_Dist(m_FR_Encoder_Count + m_FL_Encoder_Count_Offset);
-    tlmWrite_MC_RR_Encoder_Dist(m_RR_Encoder_Count + m_RL_Encoder_Count_Offset);
-    tlmWrite_MC_RL_Encoder_Dist(m_RL_Encoder_Count + m_RR_Encoder_Count_Offset);
-    return true;
-  }
-
-  /**
-  * @brief      Delays for 1050 ticks slow enough for slave sides
-  *
-  */
-  void MotorControlComponentImpl :: delayForI2C()
-  {
-    // for (unsigned i = 180000000; i; --i); ~= 13.5s
-    for (unsigned i = 900; i; --i);
-  }
-
-  /**
-  * @brief      Converts from ground speed to motor normalized speed
-  *
-  * @param[in]  The speed in ground version of cm/s (scaled from 0x00 - 0x0A)
-  *              meaning 0-10cm/s
-  *
-  * @return     Precentage of the speed in motor control terms
-  */
-  bool MotorControlComponentImpl :: expectingReturnMessage(const MotorControllerI2C::I2cRegisterId id)
-  {
-    switch(id)
-    {
-      case MotorControllerI2C::I2C_ADDRESS:
-      case MotorControllerI2C::CURRENT_POSITION:
-      case MotorControllerI2C::CURRENT_SPEED:
-      case MotorControllerI2C::MOTOR_CURRENT:
-        return true;
-
-      default:
-        return false;
-    } 
-  }
-
 } // end namespace CubeRover
diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.hpp b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.hpp
index 8d89f0422..0cc870eca 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.hpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.hpp
@@ -22,50 +22,6 @@ namespace CubeRover {
   #define MC_BUFFER_MAX_SIZE      16 // Maximum size of I2C buffer
   #define PI                      3.14159265
 
-  namespace MotorControllerI2C
-  {
-    typedef uint8_t MotorControlI2cRegId_t;
-
-    typedef enum 
-    {
-      I2C_ADDRESS = 0,              // TESTED // Back address  / 1 Byte
-      RELATIVE_TARGET_POSITION = 1, // TESTED // In Motor Ticks (9750 ticks per rotation) / 4 Bytes
-      TARGET_SPEED = 2,             // TESTED // In Normalized speed of? // 2 Bytes
-      CURRENT_POSITION = 3,         // TESTED // In Motor Ticks (9750 ticks per rotation) // 2 Bytes
-      CURRENT_SPEED = 4,            // TESTED // Weird values. Normalized version of tick rate. See Spreadsheet labeled "Motor tests" // 4 Bytes
-      MOTOR_CURRENT = 5,            // TESTED // Returns Milliamps in IQ format // 4 Bytes
-      P_CURRENT = 6,                // TESTED Nominally 0.95 // 4 Bytes
-      I_CURRENT = 7,                // ASSUMED WORKING // By testing P_Current // 4 Bytes (Really 2 lower bytes)
-      P_SPEED = 8,                  // TESTED Nominally 1 // 4 Bytes
-      I_SPEED = 9,                  // ASSUMED WORKING // By testing P_Current // 4 Bytes (Really 2 lower bytes)
-      ACC_RATE = 10,                // WILL NOT WORK
-      DEC_RATE = 11,                // WILL NOT WORK
-      CONTROL_REGISTER = 12,        // NOT MEANINGFUL
-      STATUS_REGISTER = 13,         // NOT MEANINGFUL
-      FAULT_REGISTER = 14,          // NOT MEANINGFUL
-      EXECUTE_CMD = 15,             // NOT A THING
-      ENABLE_DRIVER = 16,           // NOT A THING
-      DISABLE_DRIVER = 17,          // NOT A THING
-      RESET_CONTROLLER = 18,        // NOT A THING
-      CLEAR_FAULT = 19,             // WILL NOT WORK
-      MAX_NB_CMDS = 20,             // Not a command
-      UNSET = 99                    // Not a command
-
-    }I2cRegisterId;
-
-    typedef uint8_t I2cSlaveAddress;
-  } // end of MotorControllerI2C namespace
-
-  typedef enum 
-  {
-      MC_NO_ERROR,
-      MC_I2C_TIMEOUT_ERROR,
-      MC_UNEXPECTED_ERROR
-  }MCError;
-
-  typedef int32_t Distance_cm;
-  typedef int32_t Motor_tick;
-  typedef uint8_t Speed_percent;
 
   class MotorControlComponentImpl :
     public MotorControlComponentBase
@@ -200,86 +156,125 @@ namespace CubeRover {
       void MC_SelfTest_cmdHandler(const FwOpcodeType opCode, /*!< The opcode*/
                                   const U32 cmdSeq /*!< The command sequence number*/);
       
+      
+    /* Implementation specific declarations */
     private:
-      uint8_t txData[MC_BUFFER_MAX_SIZE];
-      uint8_t rxData[MC_BUFFER_MAX_SIZE];
+        typedef enum  {
+            REG_I2C_ADDRESS = 0,              // DEVELOPMENT ONLY // READ-ONLY
+            REG_RELATIVE_TARGET_POSITION = 1, // Write-only
+            REG_TARGET_SPEED = 2,             // Write-only
+            REG_CURRENT_POSITION = 3,         // Read-only
+            REG_CURRENT_SPEED = 4,            // Read-only  TODO: Micheal's original comment, look into this "Weird values. Normalized version of tick rate. See Spreadsheet labeled "Motor tests""
+            REG_MOTOR_CURRENT = 5,            // Read-only
+            REG_P_CURRENT = 6,                // Write-only
+            REG_I_CURRENT = 7,                // Write-only
+            REG_P_SPEED = 8,                  // Write-only
+            REG_I_SPEED = 9,                  // Write-only
+            REG_ACC_RATE = 10,                // Write-only
+            REG_DEC_RATE = 11,                // Write-only
+            REG_CTRL = 12,                    // Write-only TODO: Check
+            REG_STATUS = 13,                  // Read-only  TODO: Check
+            REG_FAULT = 14,                   // Read-only
+            REG_CLR_FAULT = 15,               // Write-only  TODO:: Jonathan to hold over this test option to flight
+            NUM_REGS = 16,
+            // TODO: Everything past here is depracated
+            // EXECUTE_CMD = 16,             // NOT A THING
+            DEPRACATE_ENABLE_DRIVER = 17,           // NOT A THING  TODO: Watchdog???
+            DEPRACATE_DISABLE_DRIVER = 18,          // NOT A THING  TODO: Watchdog???
+            DEPRACATE_RESET_CONTROLLER = 19,        // NOT A THING  TODO: Watchdog to handle this???
+            // UNSET = 99                    // Not a command
+        } RegisterAddress_t;
+
+        typedef enum {
+            MC_NO_ERROR,
+            MC_I2C_TIMEOUT_ERROR,
+            MC_UNEXPECTED_ERROR
+        } MCError_t;
+        
+        typedef uint8_t I2cSlaveAddress_t;
+        typedef int32_t Distance_cm_t;
+        typedef int32_t MotorTick_t;
+        typedef uint8_t Throttle_t;
+      
+        uint8_t txData[MC_BUFFER_MAX_SIZE];
+        uint8_t rxData[MC_BUFFER_MAX_SIZE];
 
-      MCError sendAllMotorsData(i2cBASE_t *i2c,
-                                const MotorControllerI2C::I2cRegisterId id,
-                                uint8_t * data);
+        MCError_t sendAllMotorsData(i2cBASE_t *i2c,
+                                  const RegisterAddress_t id,
+                                  uint8_t * data);
 
-      MCError writeMotorControlRegister(i2cBASE_t *i2c,
-                                        const MotorControllerI2C::I2cRegisterId id,
-                                        const MotorControllerI2C::I2cSlaveAddress add,
-                                        uint8_t * data);
+        MCError_t writeMotorControlRegister(i2cBASE_t *i2c,
+                                          const RegisterAddress_t id,
+                                          const I2cSlaveAddress_t add,
+                                          uint8_t * data);
 
-      MCError i2cMasterTransmit(i2cBASE_t *i2c,
-                                const MotorControllerI2C::I2cSlaveAddress sadd,
-                                const uint32_t length,
-                                uint8_t * data);
+        MCError_t i2cMasterTransmit(i2cBASE_t *i2c,
+                                  const I2cSlaveAddress_t sadd,
+                                  const uint32_t length,
+                                  uint8_t * data);
 
-      MCError i2cMasterReceive(i2cBASE_t *i2c,
-                               const MotorControllerI2C :: I2cSlaveAddress sadd,
-                               const uint32_t length,
-                               uint8_t * data);
+        MCError_t i2cMasterReceive(i2cBASE_t *i2c,
+                                 const  I2cSlaveAddress_t sadd,
+                                 const uint32_t length,
+                                 uint8_t * data);
 
-      uint32_t getSizeData(const MotorControllerI2C::I2cRegisterId id);
-      uint8_t setIDBuffer(const MotorControllerI2C::I2cRegisterId id);
-      bool expectingReturnMessage(const MotorControllerI2C::I2cRegisterId id);
+        uint32_t getSizeData(const RegisterAddress_t id);
+        bool expectingReturnMessage(const RegisterAddress_t id);
 
-      MCError moveAllMotorsStraight(int32_t distance, int16_t speed);
-      MCError rotateAllMotors(int16_t angle, int16_t speed);
-      MCError spinMotors(bool forward);
+        MCError_t moveAllMotorsStraight(int32_t distance, int16_t speed);
+        MCError_t rotateAllMotors(int16_t angle, int16_t speed);
+        MCError_t spinMotors(bool forward);
 
-      MCError enableDrivers();
-      MCError disableDrivers();
-      void resetMotorControllers();
+        MCError_t enableDrivers();
+        MCError_t disableDrivers();
+        void resetMotorControllers();
 
-      Motor_tick groundCMToMotorTicks(int16_t dist);
-      Speed_percent groundSpeedToSpeedPrecent(int16_t speed);
+        MotorTick_t groundCMToMotorTicks(int16_t dist);
+        Throttle_t groundSpeedToSpeedPrecent(int16_t speed);
 
-      bool updateTelemetry();
-      bool updateSpeed();
-      bool updateCurrent();
-      bool updateEncoder();
+        bool updateTelemetry();
+        bool updateSpeed();
+        bool updateCurrent();
+        bool updateEncoder();
 
-      void delayForI2C();
+        void delayForI2C();
 
-      // Member items
-      uint32_t tick_count = 0;
+        // Member items
+        uint32_t tick_count = 0;
 
-      uint16_t m_ticksToRotation;
+        uint16_t m_ticksToRotation;
 
-      // Encoder Converting values
-      float m_encoderTickToCMRatio;
+        // Encoder Converting values
+        float m_encoderTickToCMRatio;
 
-      // Angular distance converting value
-      float m_angularToLinear;
+        // Angular distance converting value
+        float m_angularToLinear;
 
-      // Stall detection
-      bool m_stallDetectectionEnabled[4];
+        // Stall detection
+        bool m_stallDetectectionEnabled[4];
 
-      // Shortcut to rotate the wheels accordingly
-      bool m_clockwise_is_positive = true;
+        // Does a positive setpoint drive the rover forward or backwards
+        // Set this flag to rotate the wheels accordingly
+        bool m_forward_is_positive = true;
 
-      bool m_Round_Robin_Telemetry;
-      uint8_t m_Robin_Number = 0;
+        bool m_Round_Robin_Telemetry;
+        uint8_t m_Robin_Number = 0;
 
-      // Front left (FL), Front right (FR), Rear right (RR), Rear left (RL) tick counts
-      // Internal tick counter
-      int32_t m_FL_Encoder_Count;
-      int32_t m_FR_Encoder_Count;
-      int32_t m_RR_Encoder_Count;
-      int32_t m_RL_Encoder_Count;
+        // Front left (FL), Front right (FR), Rear right (RR), Rear left (RL) tick counts
+        // Internal tick counter
+        int32_t m_FL_Encoder_Count;
+        int32_t m_FR_Encoder_Count;
+        int32_t m_RR_Encoder_Count;
+        int32_t m_RL_Encoder_Count;
 
-      // Offset for resetting tick count
-      int32_t m_FR_Encoder_Count_Offset;
-      int32_t m_FL_Encoder_Count_Offset;
-      int32_t m_RL_Encoder_Count_Offset;
-      int32_t m_RR_Encoder_Count_Offset;
+        // Offset for resetting tick count
+        int32_t m_FR_Encoder_Count_Offset;
+        int32_t m_FL_Encoder_Count_Offset;
+        int32_t m_RL_Encoder_Count_Offset;
+        int32_t m_RR_Encoder_Count_Offset;
 
-      // Timeout for I2C communication
-      uint16_t m_i2c_timeout_threshold = 1350;
+        // Timeout for I2C communication
+        uint16_t m_i2c_timeout_threshold = 1350;
     };
 
 } // end namespace CubeRover

From c921abe3137983f38826cd0560641bb7a1ccccb9 Mon Sep 17 00:00:00 2001
From: Justin Nguyen <justinnuwin@gmail.com>
Date: Sat, 10 Apr 2021 20:39:47 -0400
Subject: [PATCH 04/42] Refactor I2C specific code out of fprime component into
 its own translation unit.

Remove repeated i2c memory mapped address arguments. Set once as a member attribute
---
 .../MotorControl/MotorControlComponent.cpp    | 323 ++++--------------
 .../MotorControl/MotorControlComponent.hpp    |  42 +--
 .../MotorControl/MotorController_i2c.c        | 139 ++++++++
 .../MotorControl/MotorController_i2c.h        |  30 ++
 .../fprime/CubeRover/MotorControl/mod.mk      |   6 +-
 5 files changed, 244 insertions(+), 296 deletions(-)
 create mode 100644 Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorController_i2c.c
 create mode 100644 Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorController_i2c.h

diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp
index 0e342f1c9..4755883f6 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp
@@ -16,7 +16,6 @@
 #include <string.h>
 
 #include "Fw/Types/BasicTypes.hpp"
-#include "i2c.h"
 #include "Include/CubeRoverConfig.hpp"
 
 namespace CubeRover {
@@ -40,6 +39,7 @@ namespace CubeRover {
     MotorControlComponentImpl(void)
 #endif
   {
+    m_i2c = i2cREG1;
     m_stallDetectectionEnabled[0] = true;
     m_stallDetectectionEnabled[1] = true;
     m_stallDetectectionEnabled[2] = true;
@@ -69,8 +69,6 @@ namespace CubeRover {
     // Initialize the encoder tick to cm ratio
     m_encoderTickToCMRatio = m_ticksToRotation / ( PI * CUBEROVER_WHEEL_DIAMETER_CM); //(PI * CUBEROVER_WHEEL_DIAMETER_CM) / (MOTOR_NB_PAIR_POLES * MOTOR_GEAR_BOX_REDUCTION * 6.0);
 
-    m_i2c_timeout_threshold = 1350; 
-
     // Initalize the converting values
     m_angularToLinear = CUBEROVER_COM_TO_WHEEL_CIRC_CM/360; 
            // This should be the circumference from the COM of the rover to the wheel.
@@ -214,8 +212,7 @@ namespace CubeRover {
       // FL Motor
       case 0:
         // TODO again, need to find out how to pass int8*
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_P_CURRENT,
+        err = writeMotorControlRegister(REG_P_CURRENT,
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &P_Value);
         if(err != MC_NO_ERROR)
@@ -224,8 +221,7 @@ namespace CubeRover {
           return;          
         }
 
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_I_CURRENT,
+        err = writeMotorControlRegister(REG_I_CURRENT,
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &I_Value);
         if(err != MC_NO_ERROR)
@@ -238,8 +234,7 @@ namespace CubeRover {
       // FR Motor
       case 1:
         // TODO again, need to find out how to pass int8*
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_P_CURRENT,
+        err = writeMotorControlRegister(REG_P_CURRENT,
                                         FRONT_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &P_Value);
         if(err != MC_NO_ERROR)
@@ -248,8 +243,7 @@ namespace CubeRover {
           return;          
         }
 
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_I_CURRENT,
+        err = writeMotorControlRegister(REG_I_CURRENT,
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &I_Value);
         if(err != MC_NO_ERROR)
@@ -262,8 +256,7 @@ namespace CubeRover {
       // RR Motor
       case 2:
         // TODO again, need to find out how to pass int8*
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_P_CURRENT,
+        err = writeMotorControlRegister(REG_P_CURRENT,
                                         REAR_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &P_Value);
         if(err != MC_NO_ERROR)
@@ -272,8 +265,7 @@ namespace CubeRover {
           return;          
         }
 
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_I_CURRENT,
+        err = writeMotorControlRegister(REG_I_CURRENT,
                                         REAR_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &I_Value);
         if(err != MC_NO_ERROR)
@@ -286,8 +278,7 @@ namespace CubeRover {
       // RL Motor
       case 3:
         // TODO again, need to find out how to pass int8*
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_P_CURRENT,
+        err = writeMotorControlRegister(REG_P_CURRENT,
                                         REAR_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &P_Value);
         if(err != MC_NO_ERROR)
@@ -296,8 +287,7 @@ namespace CubeRover {
           return;          
         }
 
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_I_CURRENT,
+        err = writeMotorControlRegister(REG_I_CURRENT,
                                         REAR_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &I_Value);
         if(err != MC_NO_ERROR)
@@ -309,8 +299,7 @@ namespace CubeRover {
 
       case 4:
         // TODO again, need to find out how to pass int8*
-        err = sendAllMotorsData(MOTOR_CONTROL_I2CREG,
-                                REG_P_CURRENT,
+        err = sendAllMotorsData(REG_P_CURRENT,
                                 (uint8_t*) &P_Value);
         if(err != MC_NO_ERROR)
         {
@@ -318,8 +307,7 @@ namespace CubeRover {
           return;          
         }
 
-        err = sendAllMotorsData(MOTOR_CONTROL_I2CREG,
-                                REG_I_CURRENT,
+        err = sendAllMotorsData(REG_I_CURRENT,
                                 (uint8_t*) &I_Value);
         if(err != MC_NO_ERROR)
         {
@@ -362,8 +350,7 @@ namespace CubeRover {
       // FL Motor
       case 0:
         // TODO again, need to find out how to pass int8*
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_P_SPEED,
+        err = writeMotorControlRegister(REG_P_SPEED,
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &P_Value);
         if(err != MC_NO_ERROR)
@@ -372,8 +359,7 @@ namespace CubeRover {
           return;          
         }
 
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_I_SPEED,
+        err = writeMotorControlRegister(REG_I_SPEED,
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &I_Value);
         if(err != MC_NO_ERROR)
@@ -386,8 +372,7 @@ namespace CubeRover {
       // FR Motor
       case 1:
         // TODO again, need to find out how to pass int8*
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_P_SPEED,
+        err = writeMotorControlRegister(REG_P_SPEED,
                                         FRONT_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &P_Value);
         if(err != MC_NO_ERROR)
@@ -396,8 +381,7 @@ namespace CubeRover {
           return;          
         }
 
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_I_SPEED,
+        err = writeMotorControlRegister(REG_I_SPEED,
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &I_Value);
         if(err != MC_NO_ERROR)
@@ -410,8 +394,7 @@ namespace CubeRover {
       // RR Motor
       case 2:
         // TODO again, need to find out how to pass int8*
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_P_SPEED,
+        err = writeMotorControlRegister(REG_P_SPEED,
                                         REAR_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &P_Value);
         if(err != MC_NO_ERROR)
@@ -420,8 +403,7 @@ namespace CubeRover {
           return;          
         }
 
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_I_SPEED,
+        err = writeMotorControlRegister(REG_I_SPEED,
                                         REAR_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &I_Value);
         if(err != MC_NO_ERROR)
@@ -434,8 +416,7 @@ namespace CubeRover {
       // RL Motor
       case 3:
         // TODO again, need to find out how to pass int8*
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_P_SPEED,
+        err = writeMotorControlRegister(REG_P_SPEED,
                                         REAR_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &P_Value);
         if(err != MC_NO_ERROR)
@@ -444,8 +425,7 @@ namespace CubeRover {
           return;          
         }
 
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_I_SPEED,
+        err = writeMotorControlRegister(REG_I_SPEED,
                                         REAR_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &I_Value);
         if(err != MC_NO_ERROR)
@@ -457,8 +437,7 @@ namespace CubeRover {
 
       case 4:
         // TODO again, need to find out how to pass int8*
-        err = sendAllMotorsData(MOTOR_CONTROL_I2CREG,
-                                REG_P_SPEED,
+        err = sendAllMotorsData(REG_P_SPEED,
                                 (uint8_t*) &P_Value);
         if(err != MC_NO_ERROR)
         {
@@ -466,8 +445,7 @@ namespace CubeRover {
           return;          
         }
 
-        err = sendAllMotorsData(MOTOR_CONTROL_I2CREG,
-                                REG_I_SPEED,
+        err = sendAllMotorsData(REG_I_SPEED,
                                 (uint8_t*) &I_Value);
         if(err != MC_NO_ERROR)
         {
@@ -839,41 +817,35 @@ namespace CubeRover {
      * @brief      Sends the same data to every motor register, returning any errors found
      *
      * @param      i2c   I 2 c
-     * @param[in]  id    The identifier
+     * @param[in]  reg    The slave register to write to
      * @param[in]  data  The data
      *
      * @return     Motor Controller error
      */
     MotorControlComponentImpl::MCError_t
-    MotorControlComponentImpl::sendAllMotorsData(i2cBASE_t *i2c,
-                                                   const RegisterAddress_t id,
-                                                   uint8_t* data)
+    MotorControlComponentImpl::sendAllMotorsData(const RegisterAddress_t reg, uint8_t* data)
     {
         MCError_t err = MC_NO_ERROR;
         // Send command to all motor controllers
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        id,
+        err = writeMotorControlRegister(reg,
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         data);
         if(err != MC_NO_ERROR)
           return err;          
        
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        id,
+        err = writeMotorControlRegister(reg,
                                         FRONT_RIGHT_MC_I2C_ADDR,
                                         data);
         if(err != MC_NO_ERROR)
           return err;          
        
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        id,
+        err = writeMotorControlRegister(reg,
                                         REAR_LEFT_MC_I2C_ADDR,
                                         data);
         if(err != MC_NO_ERROR)
           return err;          
        
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        id,
+        err = writeMotorControlRegister(reg,
                                         REAR_RIGHT_MC_I2C_ADDR,
                                         data);
         if(err != MC_NO_ERROR)
@@ -903,8 +875,7 @@ namespace CubeRover {
        
           // Send the speed to all the motors
           // Required to send this before the setpoint (or else the MC will start spinning before speed was set)
-          err = sendAllMotorsData(MOTOR_CONTROL_I2CREG, 
-                                  REG_TARGET_SPEED,
+          err = sendAllMotorsData(REG_TARGET_SPEED,
                                   (uint8_t*) &motor_speed);
           if(err != MC_NO_ERROR)
             return err;
@@ -928,29 +899,25 @@ namespace CubeRover {
        
         // FIXME: XXX: CRITICAL SECTION REQUIRED
         
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                        REG_RELATIVE_TARGET_POSITION,
+        err = writeMotorControlRegister(REG_RELATIVE_TARGET_POSITION,
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &Left_Wheels_Relative_ticks);
         if(err != MC_NO_ERROR)
           return err;  
        
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                        REG_RELATIVE_TARGET_POSITION,
+        err = writeMotorControlRegister(REG_RELATIVE_TARGET_POSITION,
                                         FRONT_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &Right_Wheels_Relative_ticks);
         if(err != MC_NO_ERROR)
           return err;  
        
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                        REG_RELATIVE_TARGET_POSITION,
+        err = writeMotorControlRegister(REG_RELATIVE_TARGET_POSITION,
                                         REAR_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &Right_Wheels_Relative_ticks);
         if(err != MC_NO_ERROR)
           return err;  
        
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                        REG_RELATIVE_TARGET_POSITION,
+        err = writeMotorControlRegister(REG_RELATIVE_TARGET_POSITION,
                                         REAR_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &Left_Wheels_Relative_ticks);
         
@@ -978,8 +945,7 @@ namespace CubeRover {
        
         // // FIXME: These need to be updated to use the correct register (TARGET)
           // Send the speed to all the motors
-          err = sendAllMotorsData(MOTOR_CONTROL_I2CREG, 
-                                  REG_CURRENT_SPEED,
+          err = sendAllMotorsData(REG_CURRENT_SPEED,
                                   (uint8_t*) &motor_speed);
           if(err != MC_NO_ERROR)
             return err;  
@@ -988,29 +954,25 @@ namespace CubeRover {
         MotorTick_t Relative_ticks = m_angularToLinear*groundCMToMotorTicks(distance);
        
         // TODO: Need to correct the container to pass an int8_t
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                        REG_CURRENT_POSITION, 
+        err = writeMotorControlRegister(REG_CURRENT_POSITION, 
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &Relative_ticks);
         if(err != MC_NO_ERROR)
           return err;  
        
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                        REG_CURRENT_POSITION, 
+        err = writeMotorControlRegister(REG_CURRENT_POSITION, 
                                         FRONT_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &Relative_ticks);
         if(err != MC_NO_ERROR)
           return err;  
        
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                        REG_CURRENT_POSITION, 
+        err = writeMotorControlRegister(REG_CURRENT_POSITION, 
                                         REAR_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &Relative_ticks);
         if(err != MC_NO_ERROR)
           return err;  
        
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                        REG_CURRENT_POSITION, 
+        err = writeMotorControlRegister(REG_CURRENT_POSITION, 
                                         REAR_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &Relative_ticks);
         return err;
@@ -1039,29 +1001,25 @@ namespace CubeRover {
           Left_Wheels_Relative_ticks = Relative_ticks;
         } 
        
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                        REG_CURRENT_POSITION, 
+        err = writeMotorControlRegister(REG_CURRENT_POSITION, 
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &Left_Wheels_Relative_ticks);
         if(err != MC_NO_ERROR)
           return err;  
        
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                        REG_CURRENT_POSITION, 
+        err = writeMotorControlRegister(REG_CURRENT_POSITION, 
                                         FRONT_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &Right_Wheels_Relative_ticks);
         if(err != MC_NO_ERROR)
           return err;  
        
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                        REG_CURRENT_POSITION, 
+        err = writeMotorControlRegister(REG_CURRENT_POSITION, 
                                         REAR_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &Right_Wheels_Relative_ticks);
         if(err != MC_NO_ERROR)
           return err;  
        
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG, 
-                                        REG_CURRENT_POSITION, 
+        err = writeMotorControlRegister(REG_CURRENT_POSITION, 
                                         REAR_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &Left_Wheels_Relative_ticks);
         return err;
@@ -1078,11 +1036,11 @@ namespace CubeRover {
      * @return     Motor Controller error
      */
     MotorControlComponentImpl::MCError_t
-    MotorControlComponentImpl::writeMotorControlRegister(i2cBASE_t *i2c,
-                                                         const RegisterAddress_t reg,
+    MotorControlComponentImpl::writeMotorControlRegister(const RegisterAddress_t reg,
                                                          const I2cSlaveAddress_t addr,
                                                          uint8_t * data)
     {
+        // TODO: Cleanup ret, what are we going to return from I2C functions
         MCError_t ret = MC_NO_ERROR;
         uint32_t dataLength = getSizeData(reg);
         uint8_t reg_buffer[1];
@@ -1091,161 +1049,21 @@ namespace CubeRover {
         if(dataLength <= 0) 
           return MC_UNEXPECTED_ERROR;
  
-        if(i2c == NULL)
-          return MC_UNEXPECTED_ERROR;
- 
         // Inform the MSP of the desired register
-        if((ret = i2cMasterTransmit(i2c, addr, 1, reg_buffer)) != MC_NO_ERROR)
-          return ret;
+        i2cMasterTransmit(m_i2c, addr, 1, reg_buffer);
+        // TODO: If error on above (currently returns void) return
  
         // If we want something, receive
         if(expectingReturnMessage(reg))
-          ret = i2cMasterReceive(i2c, addr, dataLength, data);
+          i2cMasterReceive(m_i2c, addr, dataLength, data);
  
         // Else, tell the data you have
         else
-          ret = i2cMasterTransmit(i2c, addr, dataLength, data);
+          i2cMasterTransmit(m_i2c, addr, dataLength, data);
  
         return ret;
     }
  
-    /**
-     * @brief      I2c master transmit
-     *
-     * @param      i2c     I 2 c
-     * @param[in]  sadd    The slave address
-     * @param[in]  length  The length
-     * @param[in]  data    The data
-     *
-     * @return     Motor Controller error
-     */
-    MotorControlComponentImpl::MCError_t
-    MotorControlComponentImpl::i2cMasterTransmit(i2cBASE_t *i2c,
-                                                 const I2cSlaveAddress_t sadd,
-                                                 const uint32_t length,
-                                                 uint8_t * data)
-    {
-        if(i2c == NULL)
-          return MC_UNEXPECTED_ERROR;
-       
-        if(data == NULL)
-          return MC_UNEXPECTED_ERROR;
-       
-        /* Configure address of Slave to talk to */
-        i2cSetSlaveAdd(i2c, sadd);
-       
-        /* Set direction to Transmitter */
-        i2cSetDirection(i2c, I2C_TRANSMITTER);
-       
-        /* Configure Data count */
-        i2cSetCount(i2c, length);
-       
-        /* Set mode as Master */
-        i2cSetMode(i2c, I2C_MASTER);
-       
-        /* Set Stop after programmed Count */
-        i2cSetStop(i2c);
-       
-        /* Transmit Start Condition */
-        i2cSetStart(i2c);
-       
-        /* Transmit DATA_COUNT number of data in Polling mode */
-        i2cSend(i2c, length, data);
-       
-        /* Wait until Bus Busy is cleared */
-        uint16_t timeouter = 0;
-        while(i2cIsBusBusy(i2c) == true)
-        {
-          if(++timeouter > m_i2c_timeout_threshold)
-            return MC_I2C_TIMEOUT_ERROR;
-        }   
-       
-        /* Wait until Stop is detected */
-        timeouter = 0;
-        while(i2cIsStopDetected(i2c) == 0)
-        {
-          if(++timeouter > m_i2c_timeout_threshold)
-            return MC_I2C_TIMEOUT_ERROR;
-        }   
-       
-        /* Clear the Stop condition */
-        i2cClearSCD(i2c);
-       
-        /* Delay long enough for the slave to be ready */
-        delayForI2C();
-       
-        return MC_NO_ERROR;
-    }
- 
- 
-    /**
-     * @brief      I2C master receive
-     *
-     * @param      i2c     I 2 c
-     * @param[in]  sadd    The slave address
-     * @param[in]  length  The length
-     * @param[in]  data    The data
-     *
-     * @return     Motor controller error
-     */
-    MotorControlComponentImpl::MCError_t
-    MotorControlComponentImpl::i2cMasterReceive(i2cBASE_t *i2c,
-                                                const I2cSlaveAddress_t sadd,
-                                                const uint32_t length,
-                                                uint8_t * data)
-    {
-        if(i2c == NULL)
-          return MC_UNEXPECTED_ERROR;
-       
-        if(data == NULL)
-          return MC_UNEXPECTED_ERROR;
-       
-        /* Configure address of Slave to talk to */
-        i2cSetSlaveAdd(i2c, sadd);
-       
-        /* Set direction to receiver */
-        i2cSetDirection(i2c, I2C_RECEIVER);
-       
-        /* Configure Data count */
-        i2cSetCount(i2c, length);
-       
-        /* Set mode as Master */
-        i2cSetMode(i2c, I2C_MASTER);
-       
-        /* Set Stop after programmed Count */
-        i2cSetStop(i2c);
-       
-        /* Transmit Start Condition */
-        i2cSetStart(i2c);
-       
-        /* Transmit DATA_COUNT number of data in Polling mode */
-        i2cReceive(i2c, length, data);
-       
-        /* Wait until Bus Busy is cleared */
-        uint16_t timeouter = 0;
-        while(i2cIsBusBusy(i2c) == true)
-        {
-          if(++timeouter > m_i2c_timeout_threshold)
-            return MC_I2C_TIMEOUT_ERROR;
-        }   
-       
-        /* Wait until Stop is detected */
-        timeouter = 0;
-        while(i2cIsStopDetected(i2c) == 0)
-        {
-          if(++timeouter > m_i2c_timeout_threshold)
-            return MC_I2C_TIMEOUT_ERROR;
-        }
-       
-        /* Clear the Stop condition */
-        i2cClearSCD(i2c);
-       
-        /* Delay long enough for the slave to be ready */
-        delayForI2C();
-       
-        return MC_NO_ERROR;
-    }
- 
     /**
     * @brief      Enables all motors
     *
@@ -1366,8 +1184,7 @@ namespace CubeRover {
         uint8_t Speed_buffer[MC_BUFFER_MAX_SIZE];
        
         // Get FL Current Speed
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_CURRENT_SPEED,
+        err = writeMotorControlRegister(REG_CURRENT_SPEED,
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         &Speed_buffer[0]);
        
@@ -1380,8 +1197,7 @@ namespace CubeRover {
         }
        
         // Get FR Current Speed
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_CURRENT_SPEED,
+        err = writeMotorControlRegister(REG_CURRENT_SPEED,
                                         FRONT_RIGHT_MC_I2C_ADDR,
                                         &Speed_buffer[4]);
        
@@ -1394,8 +1210,7 @@ namespace CubeRover {
         }
        
         // Get RR Current Speed
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_CURRENT_SPEED,
+        err = writeMotorControlRegister(REG_CURRENT_SPEED,
                                         REAR_RIGHT_MC_I2C_ADDR,
                                         &Speed_buffer[8]);
        
@@ -1408,8 +1223,7 @@ namespace CubeRover {
         }
        
         // Get RL Current Speed
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_CURRENT_SPEED,
+        err = writeMotorControlRegister(REG_CURRENT_SPEED,
                                         REAR_LEFT_MC_I2C_ADDR,
                                         &Speed_buffer[12]);
        
@@ -1439,8 +1253,7 @@ namespace CubeRover {
         uint8_t Current_buffer[MC_BUFFER_MAX_SIZE];
        
         // Get FL Current 
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_MOTOR_CURRENT,
+        err = writeMotorControlRegister(REG_MOTOR_CURRENT,
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         &Current_buffer[0]);
        
@@ -1453,8 +1266,7 @@ namespace CubeRover {
         }
        
         // Get FR Current 
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_MOTOR_CURRENT,
+        err = writeMotorControlRegister(REG_MOTOR_CURRENT,
                                         FRONT_RIGHT_MC_I2C_ADDR,
                                         &Current_buffer[4]);
        
@@ -1467,8 +1279,7 @@ namespace CubeRover {
         }
        
         // Get RR Current 
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_MOTOR_CURRENT,
+        err = writeMotorControlRegister(REG_MOTOR_CURRENT,
                                         REAR_RIGHT_MC_I2C_ADDR,
                                         &Current_buffer[8]);
        
@@ -1481,8 +1292,7 @@ namespace CubeRover {
         }
        
         // Get RL Current
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_MOTOR_CURRENT,
+        err = writeMotorControlRegister(REG_MOTOR_CURRENT,
                                         REAR_LEFT_MC_I2C_ADDR,
                                         &Current_buffer[12]);
        
@@ -1512,8 +1322,7 @@ namespace CubeRover {
         uint8_t Encoder_buffer[MC_BUFFER_MAX_SIZE];
        
         // Get FL Current 
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_MOTOR_CURRENT,
+        err = writeMotorControlRegister(REG_MOTOR_CURRENT,
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         &Encoder_buffer[0]);
        
@@ -1526,8 +1335,7 @@ namespace CubeRover {
         }
        
         // Get FR Current 
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_MOTOR_CURRENT,
+        err = writeMotorControlRegister(REG_MOTOR_CURRENT,
                                         FRONT_RIGHT_MC_I2C_ADDR,
                                         &Encoder_buffer[4]);
        
@@ -1540,8 +1348,7 @@ namespace CubeRover {
         }
        
         // Get RR Current 
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_MOTOR_CURRENT,
+        err = writeMotorControlRegister(REG_MOTOR_CURRENT,
                                         REAR_RIGHT_MC_I2C_ADDR,
                                         &Encoder_buffer[8]);
        
@@ -1554,8 +1361,7 @@ namespace CubeRover {
         }
        
         // Get RL Current Encoder value
-        err = writeMotorControlRegister(MOTOR_CONTROL_I2CREG,
-                                        REG_MOTOR_CURRENT,
+        err = writeMotorControlRegister(REG_MOTOR_CURRENT,
                                         REAR_LEFT_MC_I2C_ADDR,
                                         &Encoder_buffer[12]);
        
@@ -1579,17 +1385,6 @@ namespace CubeRover {
         return true;
     }
  
-    /**
-    * @brief      Delays for 1050 ticks slow enough for slave sides
-    *
-    */
-    void MotorControlComponentImpl::delayForI2C()
-    {
-        // FIXME: DONT USE POLLING LOOP FOR DELAY
-        // for (unsigned i = 180000000; i; --i); ~= 13.5s
-        for (unsigned i = 900; i; --i);
-    }
- 
     /**
     * @brief      Converts from ground speed to motor normalized speed
     *
diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.hpp b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.hpp
index 0cc870eca..8308a56c0 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.hpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.hpp
@@ -15,13 +15,14 @@
 #define MotorControl_HPP
 
 #include "CubeRover/MotorControl/MotorControlComponentAc.hpp"
-#include "i2c.h"
+#include "MotorController_i2c.h"
 
-namespace CubeRover {
 
-  #define MC_BUFFER_MAX_SIZE      16 // Maximum size of I2C buffer
-  #define PI                      3.14159265
+#define MC_BUFFER_MAX_SIZE      16 // Maximum size of I2C buffer
+#define PI                      3.14159265
+
 
+namespace CubeRover {
 
   class MotorControlComponentImpl :
     public MotorControlComponentBase
@@ -191,35 +192,23 @@ namespace CubeRover {
             MC_UNEXPECTED_ERROR
         } MCError_t;
         
-        typedef uint8_t I2cSlaveAddress_t;
         typedef int32_t Distance_cm_t;
         typedef int32_t MotorTick_t;
         typedef uint8_t Throttle_t;
       
         uint8_t txData[MC_BUFFER_MAX_SIZE];
         uint8_t rxData[MC_BUFFER_MAX_SIZE];
+        
+        i2cBASE_t *m_i2c;
 
-        MCError_t sendAllMotorsData(i2cBASE_t *i2c,
-                                  const RegisterAddress_t id,
-                                  uint8_t * data);
-
-        MCError_t writeMotorControlRegister(i2cBASE_t *i2c,
-                                          const RegisterAddress_t id,
-                                          const I2cSlaveAddress_t add,
-                                          uint8_t * data);
-
-        MCError_t i2cMasterTransmit(i2cBASE_t *i2c,
-                                  const I2cSlaveAddress_t sadd,
-                                  const uint32_t length,
-                                  uint8_t * data);
+        MCError_t sendAllMotorsData(const RegisterAddress_t id, uint8_t * data);
 
-        MCError_t i2cMasterReceive(i2cBASE_t *i2c,
-                                 const  I2cSlaveAddress_t sadd,
-                                 const uint32_t length,
-                                 uint8_t * data);
+        MCError_t writeMotorControlRegister(const RegisterAddress_t id,
+                                            const I2cSlaveAddress_t add,
+                                            uint8_t * data);
 
-        uint32_t getSizeData(const RegisterAddress_t id);
-        bool expectingReturnMessage(const RegisterAddress_t id);
+        uint32_t getSizeData(const RegisterAddress_t reg);
+        bool expectingReturnMessage(const RegisterAddress_t reg);
 
         MCError_t moveAllMotorsStraight(int32_t distance, int16_t speed);
         MCError_t rotateAllMotors(int16_t angle, int16_t speed);
@@ -237,8 +226,6 @@ namespace CubeRover {
         bool updateCurrent();
         bool updateEncoder();
 
-        void delayForI2C();
-
         // Member items
         uint32_t tick_count = 0;
 
@@ -272,9 +259,6 @@ namespace CubeRover {
         int32_t m_FL_Encoder_Count_Offset;
         int32_t m_RL_Encoder_Count_Offset;
         int32_t m_RR_Encoder_Count_Offset;
-
-        // Timeout for I2C communication
-        uint16_t m_i2c_timeout_threshold = 1350;
     };
 
 } // end namespace CubeRover
diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorController_i2c.c b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorController_i2c.c
new file mode 100644
index 000000000..1acad6928
--- /dev/null
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorController_i2c.c
@@ -0,0 +1,139 @@
+#include "MotorController_i2c.h"
+
+// Timeout for I2C communication
+uint16_t i2c_timeout = 1350;
+
+/**
+ * @brief      I2c master transmit
+ *
+ * @param      i2c     Pointer to i2c memory-mapped peripheral
+ * @param[in]  sadd    The slave address
+ * @param[in]  length  The length
+ * @param[in]  data    The data
+ *
+ * @return     Motor Controller error
+ */
+void i2cMasterTransmit(i2cBASE_t *i2c, I2cSlaveAddress_t sadd, uint32_t length, uint8_t *data)
+{
+    // ASSERT i2c not NULL
+    // ASSERT data not NULL
+
+    /* Configure address of Slave to talk to */
+    i2cSetSlaveAdd(i2c, sadd);
+   
+    /* Set direction to Transmitter */
+    i2cSetDirection(i2c, I2C_TRANSMITTER);
+   
+    /* Configure Data count */
+    i2cSetCount(i2c, length);
+   
+    /* Set mode as Master */
+    i2cSetMode(i2c, I2C_MASTER);
+   
+    /* Set Stop after programmed Count */
+    i2cSetStop(i2c);
+   
+    /* Transmit Start Condition */
+    i2cSetStart(i2c);
+   
+    /* Transmit DATA_COUNT number of data in Polling mode */
+    i2cSend(i2c, length, data);
+   
+    /* Wait until Bus Busy is cleared */
+    uint16_t timeouter = 0;
+    while (i2cIsBusBusy(i2c) == true)
+    {
+      if (++timeouter > i2c_timeout)
+        return; //MC_I2C_TIMEOUT_ERROR;
+    }   
+   
+    /* Wait until Stop is detected */
+    timeouter = 0;
+    while (i2cIsStopDetected(i2c) == 0)
+    {
+      if (++timeouter > i2c_timeout)
+        return; //MC_I2C_TIMEOUT_ERROR;
+    }   
+   
+    /* Clear the Stop condition */
+    i2cClearSCD(i2c);
+   
+    /* Delay long enough for the slave to be ready */
+    delayForI2C();
+   
+    // return MC_NO_ERROR;
+}
+
+/**
+ * @brief      I2C master receive
+ *
+ * @param      i2c     I 2 c
+ * @param[in]  sadd    The slave address
+ * @param[in]  length  The length
+ * @param[in]  data    The data
+ *
+ * @return     Motor controller error
+ */
+void i2cMasterReceive(i2cBASE_t *i2c, I2cSlaveAddress_t sadd, uint32_t length, uint8_t *data)
+{
+    // ASSERT i2c not NULL
+    // ASSERT data not NULL
+   
+    /* Configure address of Slave to talk to */
+    i2cSetSlaveAdd(i2c, sadd);
+   
+    /* Set direction to receiver */
+    i2cSetDirection(i2c, I2C_RECEIVER);
+   
+    /* Configure Data count */
+    i2cSetCount(i2c, length);
+   
+    /* Set mode as Master */
+    i2cSetMode(i2c, I2C_MASTER);
+   
+    /* Set Stop after programmed Count */
+    i2cSetStop(i2c);
+   
+    /* Transmit Start Condition */
+    i2cSetStart(i2c);
+   
+    /* Transmit DATA_COUNT number of data in Polling mode */
+    i2cReceive(i2c, length, data);
+   
+    /* Wait until Bus Busy is cleared */
+    uint16_t timeouter = 0;
+    while (i2cIsBusBusy(i2c) == true)
+    {
+      if (++timeouter > i2c_timeout)
+        return; // MC_I2C_TIMEOUT_ERROR;
+    }   
+   
+    /* Wait until Stop is detected */
+    timeouter = 0;
+    while (i2cIsStopDetected(i2c) == 0)
+    {
+      if (++timeouter > i2c_timeout)
+        return; //MC_I2C_TIMEOUT_ERROR;
+    }
+   
+    /* Clear the Stop condition */
+    i2cClearSCD(i2c);
+   
+    /* Delay long enough for the slave to be ready */
+    delayForI2C();
+   
+    // return MC_NO_ERROR;
+}
+
+/**
+* @brief      Delays for 1050 ticks slow enough for slave sides
+*
+*/
+void delayForI2C()
+{
+    // FIXME: DONT USE POLLING LOOP FOR DELAY
+    // for (unsigned i = 180000000; i; --i); ~= 13.5s
+    for (unsigned i = 900; i; --i);
+}
+
+
diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorController_i2c.h b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorController_i2c.h
new file mode 100644
index 000000000..67dca2f1e
--- /dev/null
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorController_i2c.h
@@ -0,0 +1,30 @@
+#ifndef I2C_H_
+#define I2C_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+
+#include "i2c.h"
+
+typedef uint8_t I2cSlaveAddress_t;
+
+void i2cMasterTransmit(i2cBASE_t *i2c,
+                       I2cSlaveAddress_t sadd,
+                       uint32_t length,
+                       uint8_t *data);
+
+void i2cMasterReceive(i2cBASE_t *i2c,
+                      I2cSlaveAddress_t sadd,
+                      uint32_t length,
+                      uint8_t *data);
+
+void delayForI2C();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // I2C_H_
diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/mod.mk b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/mod.mk
index 83942188e..f18416a95 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/mod.mk
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/mod.mk
@@ -2,8 +2,8 @@
 # mod.mk
 # ---------------------------------------------------------------------- 
 
-SRC = MotorControlComponentAi.xml MotorControlComponent.cpp
+SRC = MotorControlComponentAi.xml MotorControlComponent.cpp MotorController_i2c.c
 
-HDR = MotorControlComponent.hpp
+HDR = MotorControlComponent.hpp MotorController_i2c.h
 
-#SUBDIRS = test
\ No newline at end of file
+#SUBDIRS = test

From fe7baf6492a7aa619d3ca62d81e09a5679e6b32d Mon Sep 17 00:00:00 2001
From: Justin Nguyen <justinnuwin@gmail.com>
Date: Sat, 10 Apr 2021 20:40:38 -0400
Subject: [PATCH 05/42] Additional formatting

---
 .../MotorControl/MotorControlComponent.cpp    | 94 +++++++++----------
 1 file changed, 47 insertions(+), 47 deletions(-)

diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp
index 4755883f6..85bb41cce 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp
@@ -215,7 +215,7 @@ namespace CubeRover {
         err = writeMotorControlRegister(REG_P_CURRENT,
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &P_Value);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
         {
           this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
           return;          
@@ -224,7 +224,7 @@ namespace CubeRover {
         err = writeMotorControlRegister(REG_I_CURRENT,
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &I_Value);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
         {
           this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
           return;          
@@ -237,7 +237,7 @@ namespace CubeRover {
         err = writeMotorControlRegister(REG_P_CURRENT,
                                         FRONT_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &P_Value);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
         {
           this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
           return;          
@@ -246,7 +246,7 @@ namespace CubeRover {
         err = writeMotorControlRegister(REG_I_CURRENT,
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &I_Value);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
         {
           this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
           return;          
@@ -259,7 +259,7 @@ namespace CubeRover {
         err = writeMotorControlRegister(REG_P_CURRENT,
                                         REAR_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &P_Value);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
         {
           this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
           return;          
@@ -268,7 +268,7 @@ namespace CubeRover {
         err = writeMotorControlRegister(REG_I_CURRENT,
                                         REAR_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &I_Value);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
         {
           this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
           return;          
@@ -281,7 +281,7 @@ namespace CubeRover {
         err = writeMotorControlRegister(REG_P_CURRENT,
                                         REAR_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &P_Value);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
         {
           this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
           return;          
@@ -290,7 +290,7 @@ namespace CubeRover {
         err = writeMotorControlRegister(REG_I_CURRENT,
                                         REAR_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &I_Value);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
         {
           this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
           return;          
@@ -301,7 +301,7 @@ namespace CubeRover {
         // TODO again, need to find out how to pass int8*
         err = sendAllMotorsData(REG_P_CURRENT,
                                 (uint8_t*) &P_Value);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
         {
           this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
           return;          
@@ -309,7 +309,7 @@ namespace CubeRover {
 
         err = sendAllMotorsData(REG_I_CURRENT,
                                 (uint8_t*) &I_Value);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
         {
           this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
           return;          
@@ -353,7 +353,7 @@ namespace CubeRover {
         err = writeMotorControlRegister(REG_P_SPEED,
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &P_Value);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
         {
           this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
           return;          
@@ -362,7 +362,7 @@ namespace CubeRover {
         err = writeMotorControlRegister(REG_I_SPEED,
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &I_Value);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
         {
           this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
           return;          
@@ -375,7 +375,7 @@ namespace CubeRover {
         err = writeMotorControlRegister(REG_P_SPEED,
                                         FRONT_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &P_Value);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
         {
           this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
           return;          
@@ -384,7 +384,7 @@ namespace CubeRover {
         err = writeMotorControlRegister(REG_I_SPEED,
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &I_Value);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
         {
           this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
           return;          
@@ -397,7 +397,7 @@ namespace CubeRover {
         err = writeMotorControlRegister(REG_P_SPEED,
                                         REAR_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &P_Value);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
         {
           this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
           return;          
@@ -406,7 +406,7 @@ namespace CubeRover {
         err = writeMotorControlRegister(REG_I_SPEED,
                                         REAR_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &I_Value);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
         {
           this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
           return;          
@@ -419,7 +419,7 @@ namespace CubeRover {
         err = writeMotorControlRegister(REG_P_SPEED,
                                         REAR_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &P_Value);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
         {
           this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
           return;          
@@ -428,7 +428,7 @@ namespace CubeRover {
         err = writeMotorControlRegister(REG_I_SPEED,
                                         REAR_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &I_Value);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
         {
           this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
           return;          
@@ -439,7 +439,7 @@ namespace CubeRover {
         // TODO again, need to find out how to pass int8*
         err = sendAllMotorsData(REG_P_SPEED,
                                 (uint8_t*) &P_Value);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
         {
           this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
           return;          
@@ -447,7 +447,7 @@ namespace CubeRover {
 
         err = sendAllMotorsData(REG_I_SPEED,
                                 (uint8_t*) &I_Value);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
         {
           this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
           return;          
@@ -521,9 +521,9 @@ namespace CubeRover {
 
     if (Value == 4)
     {
-      for(int i = 0; i < 4; i++)
+      for (int i = 0; i < 4; i++)
       {
-        if(Value == 0xFF)
+        if (Value == 0xFF)
           m_stallDetectectionEnabled[i] = true;
         else
           m_stallDetectectionEnabled[i] = false;
@@ -532,7 +532,7 @@ namespace CubeRover {
 
     else
     {
-      if(Value == 0xFF)
+      if (Value == 0xFF)
         m_stallDetectectionEnabled[Motor_ID] = true;
       else
         m_stallDetectectionEnabled[Motor_ID] = false;
@@ -612,7 +612,7 @@ namespace CubeRover {
       // Forward Spin
       case 0:
         err = moveAllMotorsStraight(MAX_SPIN_DISTANCE, 0);
-        if(err != MC_NO_ERROR) 
+        if (err != MC_NO_ERROR) 
         {
           this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
           return;
@@ -622,7 +622,7 @@ namespace CubeRover {
       // Backwards Spin
       case 1:
         err = moveAllMotorsStraight(-1*MAX_SPIN_DISTANCE, 0);
-        if(err != MC_NO_ERROR) 
+        if (err != MC_NO_ERROR) 
         {
           this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
           return;
@@ -632,7 +632,7 @@ namespace CubeRover {
       // Stop
       case 2:
         err = moveAllMotorsStraight(0, 0);
-        if(err != MC_NO_ERROR) 
+        if (err != MC_NO_ERROR) 
         {
           this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
           return;
@@ -706,7 +706,7 @@ namespace CubeRover {
   void MotorControlComponentImpl :: MC_UpdateTelemetry_cmdHandler(const FwOpcodeType opCode,
                                                                   const U32 cmdSeq)
   {
-    if(updateTelemetry())
+    if (updateTelemetry())
       this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
 
     else
@@ -830,25 +830,25 @@ namespace CubeRover {
         err = writeMotorControlRegister(reg,
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         data);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
           return err;          
        
         err = writeMotorControlRegister(reg,
                                         FRONT_RIGHT_MC_I2C_ADDR,
                                         data);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
           return err;          
        
         err = writeMotorControlRegister(reg,
                                         REAR_LEFT_MC_I2C_ADDR,
                                         data);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
           return err;          
        
         err = writeMotorControlRegister(reg,
                                         REAR_RIGHT_MC_I2C_ADDR,
                                         data);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
           return err;          
        
         return MC_NO_ERROR;  
@@ -877,7 +877,7 @@ namespace CubeRover {
           // Required to send this before the setpoint (or else the MC will start spinning before speed was set)
           err = sendAllMotorsData(REG_TARGET_SPEED,
                                   (uint8_t*) &motor_speed);
-          if(err != MC_NO_ERROR)
+          if (err != MC_NO_ERROR)
             return err;
         }      
        
@@ -902,19 +902,19 @@ namespace CubeRover {
         err = writeMotorControlRegister(REG_RELATIVE_TARGET_POSITION,
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &Left_Wheels_Relative_ticks);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
           return err;  
        
         err = writeMotorControlRegister(REG_RELATIVE_TARGET_POSITION,
                                         FRONT_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &Right_Wheels_Relative_ticks);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
           return err;  
        
         err = writeMotorControlRegister(REG_RELATIVE_TARGET_POSITION,
                                         REAR_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &Right_Wheels_Relative_ticks);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
           return err;  
        
         err = writeMotorControlRegister(REG_RELATIVE_TARGET_POSITION,
@@ -947,7 +947,7 @@ namespace CubeRover {
           // Send the speed to all the motors
           err = sendAllMotorsData(REG_CURRENT_SPEED,
                                   (uint8_t*) &motor_speed);
-          if(err != MC_NO_ERROR)
+          if (err != MC_NO_ERROR)
             return err;  
         }
        
@@ -957,19 +957,19 @@ namespace CubeRover {
         err = writeMotorControlRegister(REG_CURRENT_POSITION, 
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &Relative_ticks);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
           return err;  
        
         err = writeMotorControlRegister(REG_CURRENT_POSITION, 
                                         FRONT_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &Relative_ticks);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
           return err;  
        
         err = writeMotorControlRegister(REG_CURRENT_POSITION, 
                                         REAR_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &Relative_ticks);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
           return err;  
        
         err = writeMotorControlRegister(REG_CURRENT_POSITION, 
@@ -1004,19 +1004,19 @@ namespace CubeRover {
         err = writeMotorControlRegister(REG_CURRENT_POSITION, 
                                         FRONT_LEFT_MC_I2C_ADDR,
                                         (uint8_t*) &Left_Wheels_Relative_ticks);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
           return err;  
        
         err = writeMotorControlRegister(REG_CURRENT_POSITION, 
                                         FRONT_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &Right_Wheels_Relative_ticks);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
           return err;  
        
         err = writeMotorControlRegister(REG_CURRENT_POSITION, 
                                         REAR_RIGHT_MC_I2C_ADDR,
                                         (uint8_t*) &Right_Wheels_Relative_ticks);
-        if(err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)
           return err;  
        
         err = writeMotorControlRegister(REG_CURRENT_POSITION, 
@@ -1046,7 +1046,7 @@ namespace CubeRover {
         uint8_t reg_buffer[1];
         reg_buffer[0] = (uint8_t)reg;
  
-        if(dataLength <= 0) 
+        if (dataLength <= 0) 
           return MC_UNEXPECTED_ERROR;
  
         // Inform the MSP of the desired register
@@ -1054,7 +1054,7 @@ namespace CubeRover {
         // TODO: If error on above (currently returns void) return
  
         // If we want something, receive
-        if(expectingReturnMessage(reg))
+        if (expectingReturnMessage(reg))
           i2cMasterReceive(m_i2c, addr, dataLength, data);
  
         // Else, tell the data you have
@@ -1160,11 +1160,11 @@ namespace CubeRover {
         // Update all of them
         else
         {
-          if(!updateSpeed())
+          if (!updateSpeed())
             return false;
-          if(!updateCurrent()) 
+          if (!updateCurrent()) 
             return false;
-          if(updateEncoder())
+          if (updateEncoder())
             return false;
         }
        

From b4ecff6273a551d027104f46e7ec4db773ae54dc Mon Sep 17 00:00:00 2001
From: Iris Watchdog Developers <watchdog-devs@irisrover.space>
Date: Sun, 11 Apr 2021 14:27:31 -0400
Subject: [PATCH 06/42] Ignoring build folders (release & debug)

---
 Apps/FlightSoftware/MotorControl/.gitignore | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Apps/FlightSoftware/MotorControl/.gitignore b/Apps/FlightSoftware/MotorControl/.gitignore
index 14c720338..000c45d34 100644
--- a/Apps/FlightSoftware/MotorControl/.gitignore
+++ b/Apps/FlightSoftware/MotorControl/.gitignore
@@ -1,2 +1,3 @@
 Readme
 /Debug/
+/Release/

From 9a75fa6f0a3c7454c90c53e932d12697e56702b1 Mon Sep 17 00:00:00 2001
From: Iris Watchdog Developers <watchdog-devs@irisrover.space>
Date: Sun, 11 Apr 2021 14:29:44 -0400
Subject: [PATCH 07/42] Integrated open loop control (that will actually drive
 rover) and connected it to i2c interface; can be toggled with first bit in
 controlRegister

---
 Apps/FlightSoftware/MotorControl/impulse.h | 11 ++++
 Apps/FlightSoftware/MotorControl/main.c    | 74 ++++++++++------------
 Apps/FlightSoftware/MotorControl/main.h    |  5 +-
 3 files changed, 49 insertions(+), 41 deletions(-)

diff --git a/Apps/FlightSoftware/MotorControl/impulse.h b/Apps/FlightSoftware/MotorControl/impulse.h
index aeed09c26..68a433a0a 100644
--- a/Apps/FlightSoftware/MotorControl/impulse.h
+++ b/Apps/FlightSoftware/MotorControl/impulse.h
@@ -21,4 +21,15 @@ typedef struct { uint16_t  Period;		// Input: Period of output impulse in a numb
      v.Counter = 0;        /* Reset counter*/					\
   } 
 
+#define OPEN_LOOP_IMPULSE_MACRO(v)                                        \
+                                                                \
+  v.Out = 0x00;      /* Always clear impulse output at entry*/ \
+  v.Counter+=2;    /* Increment the skip counter*/               \
+                                                                \
+  if (v.Counter >= v.Period)                                    \
+  {                                                             \
+     v.Out = 0xff;                                              \
+     v.Counter = 0;        /* Reset counter*/                   \
+  }
+
 #endif // __IMPULSE_H__
diff --git a/Apps/FlightSoftware/MotorControl/main.c b/Apps/FlightSoftware/MotorControl/main.c
index 9ea7e638c..32050444b 100644
--- a/Apps/FlightSoftware/MotorControl/main.c
+++ b/Apps/FlightSoftware/MotorControl/main.c
@@ -1,7 +1,7 @@
 // [DEBUG] Switches
 //#define IRIS_ALL_OFF
 #define IRIS_CLEAR_FAULT
-//#define IRIS_SPIN_MOTOR
+#define IRIS_SPIN_MOTOR
 //#define IRIS_SPIN_MOTOR_REVERSE
 //#define IRIS_SPIN_MOTOR_INDEF
 
@@ -57,7 +57,7 @@ volatile int8_t g_targetDirection;
 volatile int8_t g_oldTargetDirection;
 
 uint8_t g_statusRegister;
-uint8_t g_controlRegister;
+volatile uint8_t g_controlRegister;
 uint8_t g_faultRegister;
 
 // backup plan for if we cannot get encoder readings
@@ -70,7 +70,7 @@ volatile bool driveOpenLoop = false;
 void initializePwmModules(){
   //Start Timer
   Timer_B_initUpDownModeParam initUpDownParam = {0};
-  initUpDownParam.clockSource = TIMER_B_CLOCKSOURCE_SMCLK; // 16 MHz
+  initUpDownParam.clockSource = TIMER_B_CLOCKSOURCE_SMCLK; // 16 MHz, or maybe 8..
   initUpDownParam.clockSourceDivider = TIMER_B_CLOCKSOURCE_DIVIDER_1;
   initUpDownParam.timerPeriod = PWM_PERIOD_TICKS;
   initUpDownParam.timerInterruptEnable_TBIE = TIMER_B_TBIE_INTERRUPT_DISABLE;
@@ -599,8 +599,7 @@ void main(void){
   g_controlPrescaler = PI_SPD_CONTROL_PRESCALER;
   g_closedLoop = false;
   g_state = RUNNING;
-  g_cmdState = NO_CMD; //eventually should be initialized to: NO_CMD
-//  updateStateMachine(); // [DEBUG]
+  g_cmdState = NO_CMD;
 
 
   g_maxSpeed = MAX_TARGET_SPEED;
@@ -628,6 +627,7 @@ void main(void){
 
   g_closeLoopThreshold = _IQ(CLOSE_LOOP_THRESHOLD);
   g_closedLoop = false;
+  g_controlRegister = 0;
 
   initializeI2cModule();
   initializePwmModules();
@@ -698,7 +698,34 @@ __interrupt void TIMER0_B0_ISR (void){
 
   if(!g_calibrationDone) return;
 
-//  if(!driveOpenLoop){
+  if (g_controlRegister & DRIVE_OPEN_LOOP) {
+      //driving open loop
+
+      // target position sets direction motor drives in (will NOT converge though)
+      g_targetDirection = (g_targetPosition - g_currentPosition >= 0) ? 1 : -1;
+
+      // Execute macro to generate ramp up if needed
+        OPEN_LOOP_IMPULSE_MACRO(g_impulse);
+        if(g_impulse.Out){
+          MOD6CNT_MACRO(g_mod6cnt);
+          g_commState = (g_targetDirection > 0) ? g_mod6cnt.Counter : 5 - g_mod6cnt.Counter;
+        }
+
+
+      _iq output = _IQ(0.25);
+      if(g_controlPrescaler == 0){
+          g_controlPrescaler = PI_SPD_CONTROL_PRESCALER;
+      }
+
+
+      if(g_targetDirection > 0) {
+          g_piCur.Out = output;
+      } else{
+          g_piCur.Out = -output;
+      }
+
+      g_controlPrescaler = g_controlPrescaler -1;
+  } else {
       // Driving in close loop
 
       readHallSensor();
@@ -780,40 +807,7 @@ __interrupt void TIMER0_B0_ISR (void){
           g_closedLoop = false;
       }
 
-//  }  else {
-//      //driving open loop
-//
-//      // target position sets direction motor drives in (will NOT converge though)
-//      g_targetDirection = (g_targetPosition - g_currentPosition >= 0) ? 1 : -1;
-//
-//      // Execute macro to generate ramp up if needed
-//        IMPULSE_MACRO(g_impulse);
-//        if(g_impulse.Out){
-//          MOD6CNT_MACRO(g_mod6cnt);
-//          g_commState = (g_targetDirection > 0) ? g_mod6cnt.Counter : 5 - g_mod6cnt.Counter;
-//        }
-//
-//
-//      _iq output = _IQ(0.2);
-//      if(g_controlPrescaler == 0){
-//          g_controlPrescaler = PI_SPD_CONTROL_PRESCALER;
-//      }
-//
-////      if(g_controlPrescaler % 25 == 0){
-////          output = _IQ(0.8);
-////      } else if(g_controlPrescaler % 3 == 0){
-////          output = _IQ(0.3);
-////      }
-//
-//
-//      if(g_targetDirection > 0) {
-//          g_piCur.Out = output;
-//      } else{
-//          g_piCur.Out = -output;
-//      }
-//
-//      g_controlPrescaler = g_controlPrescaler -1;
-//  }
+  }
 
   pwmGenerator(g_commState, g_piCur.Out);
 }
diff --git a/Apps/FlightSoftware/MotorControl/main.h b/Apps/FlightSoftware/MotorControl/main.h
index d59f537b5..b86872883 100644
--- a/Apps/FlightSoftware/MotorControl/main.h
+++ b/Apps/FlightSoftware/MotorControl/main.h
@@ -14,10 +14,13 @@
 #include "mod6_cnt.h"
 #include "impulse.h"
 
-#define PWM_PERIOD_TICKS            512     // 15.6 KHz @ 16MHz
+#define PWM_PERIOD_TICKS            512     // 15.6 KHz @ 16MHz ... may be 7.8 KHz @ 8 MHz
 #define PWM_HALF_PERIOD_TICKS       256
 #define PI_SPD_CONTROL_PRESCALER    1000    // 15.6 Hz, speed control
 
+// bits of control register
+#define DRIVE_OPEN_LOOP         1           // first bit of control reg; drive only in open loop if set to 1
+
 
 #define KP_SPD                  1.0
 #define KI_SPD                  0.0009

From 3630a853049702e0b6e751d7f934263e57aea263 Mon Sep 17 00:00:00 2001
From: Iris Watchdog Developers <watchdog-devs@irisrover.space>
Date: Sun, 11 Apr 2021 14:59:44 -0400
Subject: [PATCH 08/42] Added flag for position converging in status register,
 also cleaned up how controlRegister works a bit

---
 .gitignore                              |  2 ++
 Apps/FlightSoftware/MotorControl/i2c.c  | 25 +++++++++++++++----------
 Apps/FlightSoftware/MotorControl/main.c |  9 ++++++++-
 Apps/FlightSoftware/MotorControl/main.h |  8 +++++++-
 4 files changed, 32 insertions(+), 12 deletions(-)
 create mode 100644 .gitignore

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 000000000..09da79fc4
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,2 @@
+Apps/FlightSoftware/MotorControl/Release/
+Apps/FlightSoftware/MotorControl/Debug/
diff --git a/Apps/FlightSoftware/MotorControl/i2c.c b/Apps/FlightSoftware/MotorControl/i2c.c
index e05298a97..e00c425a0 100644
--- a/Apps/FlightSoftware/MotorControl/i2c.c
+++ b/Apps/FlightSoftware/MotorControl/i2c.c
@@ -217,23 +217,28 @@ inline void i2cSlaveTransactionDone(const uint8_t cmd){
                   (uint8_t*)&g_controlRegister,
                    sizeof(g_controlRegister));
 
-        // clear motor fault if requested
-//        if(g_controlRegister == 0x01){
-//            clear_driver_fault();
-//        }
+        // update status register if told to drive in open loop
+        if(g_controlRegister & DRIVE_OPEN_LOOP){
+            g_statusRegister |= DRIVE_OPEN_LOOP;
+        }
+
+        if(g_controlRegister & CLEAR_DRIVER_FAULT){
+            clear_driver_fault();
+            g_statusRegister |= CLEAR_DRIVER_FAULT; // indicates an attempt to clear fault was made
+        }
         // update state machine if requested
-        if(g_controlRegister == 4){
+        if(g_controlRegister & STATE_MACHINE_DISABLE){
             g_cmdState = DISABLE;
             updateStateMachine();
-        } else if (g_controlRegister == 5){
+            g_statusRegister |= STATE_MACHINE_DISABLE; // status reg bit 3 - 1 if in disable state, 0 if not
+        } else if (g_controlRegister & STATE_MACHINE_RUN){
             g_cmdState = RUN;
             updateStateMachine();
-        } else if(g_controlRegister == 7){
-            driveOpenLoop = true;
-        } else if(g_controlRegister == 8){
-            driveOpenLoop = false;
+            g_statusRegister &= ~STATE_MACHINE_DISABLE;
         }
 
+        break;
+
 
         break;     
       case ACC_RATE:
diff --git a/Apps/FlightSoftware/MotorControl/main.c b/Apps/FlightSoftware/MotorControl/main.c
index 32050444b..0792edb20 100644
--- a/Apps/FlightSoftware/MotorControl/main.c
+++ b/Apps/FlightSoftware/MotorControl/main.c
@@ -763,7 +763,14 @@ __interrupt void TIMER0_B0_ISR (void){
         g_controlPrescaler = PI_SPD_CONTROL_PRESCALER;
 
         // Normalize from -255 ~ + 255 to -1.0 ~ 1.0
-        g_targetReached =  (_IQabs(g_targetPosition - g_currentPosition) < 100) ? true : false;
+        if  (_IQabs(g_targetPosition - g_currentPosition) < 100) {
+            g_targetReached = true;
+            g_statusRegister |= POSITION_CONVERGED;
+        } else {
+            g_targetReached = false;
+            g_statusRegister &= ~POSITION_CONVERGED;
+        }
+
         g_targetDirection = (g_targetPosition - g_currentPosition >= 0) ? 1 : -1;
 
         if(g_targetDirection > 0) g_piSpd.Ref = g_maxSpeed << 8;
diff --git a/Apps/FlightSoftware/MotorControl/main.h b/Apps/FlightSoftware/MotorControl/main.h
index b86872883..82930eb2c 100644
--- a/Apps/FlightSoftware/MotorControl/main.h
+++ b/Apps/FlightSoftware/MotorControl/main.h
@@ -14,12 +14,18 @@
 #include "mod6_cnt.h"
 #include "impulse.h"
 
-#define PWM_PERIOD_TICKS            512     // 15.6 KHz @ 16MHz ... may be 7.8 KHz @ 8 MHz
+#define PWM_PERIOD_TICKS            512     // 15.6 KHz @ 16MHz
 #define PWM_HALF_PERIOD_TICKS       256
 #define PI_SPD_CONTROL_PRESCALER    1000    // 15.6 Hz, speed control
 
 // bits of control register
 #define DRIVE_OPEN_LOOP         1           // first bit of control reg; drive only in open loop if set to 1
+#define CLEAR_DRIVER_FAULT      2           // second bit indicates request to try to clear fault in motor driver
+#define STATE_MACHINE_DISABLE   4
+#define STATE_MACHINE_RUN       8
+
+// bits of status register (shares 1,2,4 with control register)
+#define POSITION_CONVERGED      8
 
 
 #define KP_SPD                  1.0

From a1b108fa7ca2f5850f085e1f7e86654626e6dc5e Mon Sep 17 00:00:00 2001
From: Iris Watchdog Developers <watchdog-devs@irisrover.space>
Date: Sun, 11 Apr 2021 19:23:59 -0400
Subject: [PATCH 09/42] Fixed telemetry values to match C&TL document

---
 Apps/FlightSoftware/MotorControl/i2c.c  | 12 +++++++-----
 Apps/FlightSoftware/MotorControl/main.c |  2 +-
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/Apps/FlightSoftware/MotorControl/i2c.c b/Apps/FlightSoftware/MotorControl/i2c.c
index e00c425a0..1477e4620 100644
--- a/Apps/FlightSoftware/MotorControl/i2c.c
+++ b/Apps/FlightSoftware/MotorControl/i2c.c
@@ -110,8 +110,9 @@ inline void i2cSlaveProcessCmd(const uint8_t cmd){
       case CURRENT_SPEED:
         g_slaveMode = TX_DATA_MODE;
         g_txByteCtr = g_i2cCmdLength[cmd];
+        int16_t speed_info = (int16_t)(g_currentSpeed >> 7); // 7 LSBs are 0s, 16 MSBs are too
         //Fill out the TransmitBuffer
-        copyArray((uint8_t*)&g_currentSpeed, (uint8_t*)g_txBuffer, g_txByteCtr);
+        copyArray((uint8_t*)&speed_info, (uint8_t*)g_txBuffer, g_txByteCtr);
         disableI2cRxInterrupt();
         enableI2cTxInterrupt();
         break;
@@ -119,7 +120,8 @@ inline void i2cSlaveProcessCmd(const uint8_t cmd){
         g_slaveMode = TX_DATA_MODE;
         g_txByteCtr = g_i2cCmdLength[cmd];
         //Fill out the TransmitBuffer
-        copyArray((uint8_t*)&g_piCur.Fbk, (uint8_t*)g_txBuffer, g_txByteCtr);
+        int16_t current_info = (int16_t)g_piCur.Fbk; // top 16 MSBs empty
+        copyArray((uint8_t*)&current_info, (uint8_t*)g_txBuffer, g_txByteCtr);
         disableI2cRxInterrupt();
         enableI2cTxInterrupt();
         break;       
@@ -256,9 +258,9 @@ void initializeCmdLength(){
   g_i2cCmdLength[I2C_ADDRESS] = 1;
   g_i2cCmdLength[RELATIVE_TARGET_POSITION] = 4;
   g_i2cCmdLength[TARGET_SPEED] = 1;
-  g_i2cCmdLength[CURRENT_POSITION] = 2;
-  g_i2cCmdLength[CURRENT_SPEED] = 4;
-  g_i2cCmdLength[MOTOR_CURRENT] = 4;
+  g_i2cCmdLength[CURRENT_POSITION] = 4;
+  g_i2cCmdLength[CURRENT_SPEED] = 2;
+  g_i2cCmdLength[MOTOR_CURRENT] = 2;
   g_i2cCmdLength[P_CURRENT] = 4;
   g_i2cCmdLength[I_CURRENT] = 2;
   g_i2cCmdLength[P_SPEED] = 4;
diff --git a/Apps/FlightSoftware/MotorControl/main.c b/Apps/FlightSoftware/MotorControl/main.c
index 0792edb20..4e9a68ea6 100644
--- a/Apps/FlightSoftware/MotorControl/main.c
+++ b/Apps/FlightSoftware/MotorControl/main.c
@@ -1,7 +1,7 @@
 // [DEBUG] Switches
 //#define IRIS_ALL_OFF
 #define IRIS_CLEAR_FAULT
-#define IRIS_SPIN_MOTOR
+//#define IRIS_SPIN_MOTOR
 //#define IRIS_SPIN_MOTOR_REVERSE
 //#define IRIS_SPIN_MOTOR_INDEF
 

From 45610596efe3c83b4bed09fcfc8d66b8017868f0 Mon Sep 17 00:00:00 2001
From: Iris Watchdog Developers <watchdog-devs@irisrover.space>
Date: Sun, 11 Apr 2021 20:40:13 -0400
Subject: [PATCH 10/42] Added internal check that motor is opreating as
 expected; if it isn't for several time steps then a flag is added to
 status_register and controller stops trying to drive motor (until it is given
 a new setpoint)

---
 Apps/FlightSoftware/MotorControl/main.c | 25 +++++++++++++++++++++++--
 Apps/FlightSoftware/MotorControl/main.h |  2 ++
 2 files changed, 25 insertions(+), 2 deletions(-)

diff --git a/Apps/FlightSoftware/MotorControl/main.c b/Apps/FlightSoftware/MotorControl/main.c
index 4e9a68ea6..995806e65 100644
--- a/Apps/FlightSoftware/MotorControl/main.c
+++ b/Apps/FlightSoftware/MotorControl/main.c
@@ -1,7 +1,7 @@
 // [DEBUG] Switches
 //#define IRIS_ALL_OFF
 #define IRIS_CLEAR_FAULT
-//#define IRIS_SPIN_MOTOR
+#define IRIS_SPIN_MOTOR
 //#define IRIS_SPIN_MOTOR_REVERSE
 //#define IRIS_SPIN_MOTOR_INDEF
 
@@ -58,7 +58,9 @@ volatile int8_t g_oldTargetDirection;
 
 uint8_t g_statusRegister;
 volatile uint8_t g_controlRegister;
-uint8_t g_faultRegister;
+volatile uint8_t g_faultRegister;
+uint8_t g_errorCounter= 0; // incremented every time inner control loop is reached and motor is acting strange
+                           // if it exceeds ERROR_ITERATION_THRESHOLD then motor is stopped
 
 // backup plan for if we cannot get encoder readings
 volatile bool driveOpenLoop = false;
@@ -776,6 +778,25 @@ __interrupt void TIMER0_B0_ISR (void){
         if(g_targetDirection > 0) g_piSpd.Ref = g_maxSpeed << 8;
         else g_piSpd.Ref = -g_maxSpeed << 8;
 
+        // check for errors in controller operation
+        if (g_currentPosition == g_oldPosition && ~g_targetReached){
+            // position isn't updating; hall sensors likely not powered or broken
+            g_errorCounter++;
+        } else if ( (g_currentPosition - g_oldPosition)*g_targetDirection < 0 && ~g_targetReached){
+            // moving in wrong direction
+            g_errorCounter++;
+        } else {
+            // operating normally; no error
+            g_statusRegister &= ~CONTROLLER_ERROR;
+            g_errorCounter = 0; // reset error counter
+        }
+
+        // errors on last ERROR_ITERATION_THRESHOLD time steps; time to stop trying to drive motor
+        if(g_errorCounter >= ERROR_ITERATION_THRESHOLD){
+            g_targetPosition = g_currentPosition = 0; //stop controller
+            g_statusRegister |= CONTROLLER_ERROR; // add flag to status register
+        }
+
         g_piSpd.Fbk = getSpeed();
 
         PI_MACRO(g_piSpd);
diff --git a/Apps/FlightSoftware/MotorControl/main.h b/Apps/FlightSoftware/MotorControl/main.h
index 82930eb2c..b321b38e1 100644
--- a/Apps/FlightSoftware/MotorControl/main.h
+++ b/Apps/FlightSoftware/MotorControl/main.h
@@ -26,7 +26,9 @@
 
 // bits of status register (shares 1,2,4 with control register)
 #define POSITION_CONVERGED      8
+#define CONTROLLER_ERROR        16          // indicates something has gone awry with position controller; will not converge
 
+#define ERROR_ITERATION_THRESHOLD   10      // how many iterations motor performance must be funky before driving is stopped
 
 #define KP_SPD                  1.0
 #define KI_SPD                  0.0009

From 1c24bf0fb9885288d4bd352ed7638dd0954c5eb4 Mon Sep 17 00:00:00 2001
From: Iris Watchdog Developers <watchdog-devs@irisrover.space>
Date: Mon, 12 Apr 2021 11:36:00 -0400
Subject: [PATCH 11/42] Added ability to toggle controller stopping itself when
 a fault is encountered

---
 Apps/FlightSoftware/MotorControl/main.c | 3 ++-
 Apps/FlightSoftware/MotorControl/main.h | 9 +++++----
 2 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/Apps/FlightSoftware/MotorControl/main.c b/Apps/FlightSoftware/MotorControl/main.c
index 995806e65..21b3fe750 100644
--- a/Apps/FlightSoftware/MotorControl/main.c
+++ b/Apps/FlightSoftware/MotorControl/main.c
@@ -793,7 +793,8 @@ __interrupt void TIMER0_B0_ISR (void){
 
         // errors on last ERROR_ITERATION_THRESHOLD time steps; time to stop trying to drive motor
         if(g_errorCounter >= ERROR_ITERATION_THRESHOLD){
-            g_targetPosition = g_currentPosition = 0; //stop controller
+            if (g_controlRegister & OVERRIDE_FAULT_DETECTION == 0x00) //check if we should stop controller given fault
+                g_targetPosition = g_currentPosition = 0; //stop controller
             g_statusRegister |= CONTROLLER_ERROR; // add flag to status register
         }
 
diff --git a/Apps/FlightSoftware/MotorControl/main.h b/Apps/FlightSoftware/MotorControl/main.h
index b321b38e1..122ad3a40 100644
--- a/Apps/FlightSoftware/MotorControl/main.h
+++ b/Apps/FlightSoftware/MotorControl/main.h
@@ -19,10 +19,11 @@
 #define PI_SPD_CONTROL_PRESCALER    1000    // 15.6 Hz, speed control
 
 // bits of control register
-#define DRIVE_OPEN_LOOP         1           // first bit of control reg; drive only in open loop if set to 1
-#define CLEAR_DRIVER_FAULT      2           // second bit indicates request to try to clear fault in motor driver
-#define STATE_MACHINE_DISABLE   4
-#define STATE_MACHINE_RUN       8
+#define DRIVE_OPEN_LOOP             1       // first bit of control reg; drive only in open loop if set to 1
+#define CLEAR_DRIVER_FAULT          2       // second bit indicates request to try to clear fault in motor driver
+#define STATE_MACHINE_DISABLE       4
+#define STATE_MACHINE_RUN           8
+#define OVERRIDE_FAULT_DETECTION   16       // don't reset current & desired position if abnormal behavior detected
 
 // bits of status register (shares 1,2,4 with control register)
 #define POSITION_CONVERGED      8

From 666f1d6d334e879104c199465e0ceeb2f1924a5a Mon Sep 17 00:00:00 2001
From: Iris Watchdog Developers <watchdog-devs@irisrover.space>
Date: Mon, 12 Apr 2021 11:54:54 -0400
Subject: [PATCH 12/42] Made fault register useful (indicators for faults of
 position not changing or driving in the wrong direction)

---
 Apps/FlightSoftware/MotorControl/i2c.c  | 7 +++++--
 Apps/FlightSoftware/MotorControl/main.c | 5 ++++-
 Apps/FlightSoftware/MotorControl/main.h | 5 +++++
 3 files changed, 14 insertions(+), 3 deletions(-)

diff --git a/Apps/FlightSoftware/MotorControl/i2c.c b/Apps/FlightSoftware/MotorControl/i2c.c
index 1477e4620..874c0ac7b 100644
--- a/Apps/FlightSoftware/MotorControl/i2c.c
+++ b/Apps/FlightSoftware/MotorControl/i2c.c
@@ -137,7 +137,10 @@ inline void i2cSlaveProcessCmd(const uint8_t cmd){
         g_slaveMode = TX_DATA_MODE;
         g_txByteCtr = g_i2cCmdLength[cmd];
         //update g_faultRegister
-        g_faultRegister = read_driver_fault();
+        if(read_driver_fault())
+            g_faultRegister |= DRIVER_FAULT;
+        else
+            g_faultRegister &= ~DRIVER_FAULT;
 
         //Fill out the TransmitBuffer
         copyArray((uint8_t*)&g_faultRegister, (uint8_t*)g_txBuffer, g_txByteCtr);
@@ -232,7 +235,7 @@ inline void i2cSlaveTransactionDone(const uint8_t cmd){
         if(g_controlRegister & STATE_MACHINE_DISABLE){
             g_cmdState = DISABLE;
             updateStateMachine();
-            g_statusRegister |= STATE_MACHINE_DISABLE; // status reg bit 3 - 1 if in disable state, 0 if not
+            g_statusRegister |= STATE_MACHINE_DISABLE; // status reg bit 3: 1 if in disable state, 0 if not
         } else if (g_controlRegister & STATE_MACHINE_RUN){
             g_cmdState = RUN;
             updateStateMachine();
diff --git a/Apps/FlightSoftware/MotorControl/main.c b/Apps/FlightSoftware/MotorControl/main.c
index 21b3fe750..aa6b9eb60 100644
--- a/Apps/FlightSoftware/MotorControl/main.c
+++ b/Apps/FlightSoftware/MotorControl/main.c
@@ -600,7 +600,7 @@ void main(void){
 #endif
   g_controlPrescaler = PI_SPD_CONTROL_PRESCALER;
   g_closedLoop = false;
-  g_state = RUNNING;
+  g_state = RUNNING; // g_statusRegister bit 3 is 0 to reflect this state
   g_cmdState = NO_CMD;
 
 
@@ -782,13 +782,16 @@ __interrupt void TIMER0_B0_ISR (void){
         if (g_currentPosition == g_oldPosition && ~g_targetReached){
             // position isn't updating; hall sensors likely not powered or broken
             g_errorCounter++;
+            g_faultRegister |= POSITION_NO_CHANGE;
         } else if ( (g_currentPosition - g_oldPosition)*g_targetDirection < 0 && ~g_targetReached){
             // moving in wrong direction
             g_errorCounter++;
+            g_faultRegister |= DRIVING_WRONG_DIRECTION;
         } else {
             // operating normally; no error
             g_statusRegister &= ~CONTROLLER_ERROR;
             g_errorCounter = 0; // reset error counter
+            g_faultRegister &= ~(POSITION_NO_CHANGE & DRIVING_WRONG_DIRECTION); //clear faults in register
         }
 
         // errors on last ERROR_ITERATION_THRESHOLD time steps; time to stop trying to drive motor
diff --git a/Apps/FlightSoftware/MotorControl/main.h b/Apps/FlightSoftware/MotorControl/main.h
index 122ad3a40..24d16a5bc 100644
--- a/Apps/FlightSoftware/MotorControl/main.h
+++ b/Apps/FlightSoftware/MotorControl/main.h
@@ -29,6 +29,11 @@
 #define POSITION_CONVERGED      8
 #define CONTROLLER_ERROR        16          // indicates something has gone awry with position controller; will not converge
 
+// bits of fault register
+#define DRIVER_FAULT                1           // for if there is a fault in the DRV8304 motor drivers
+#define POSITION_NO_CHANGE          2           // for if position is not changing at all; could be dead hall sensors
+#define DRIVING_WRONG_DIRECTION     4           // for if motor is driving in wrong direction
+
 #define ERROR_ITERATION_THRESHOLD   10      // how many iterations motor performance must be funky before driving is stopped
 
 #define KP_SPD                  1.0

From 9c0c85bff4bed9dc7cc1d67f2dffc318848012bb Mon Sep 17 00:00:00 2001
From: Justin Nguyen <justinnuwin@gmail.com>
Date: Mon, 12 Apr 2021 18:16:39 -0400
Subject: [PATCH 13/42] Add support for switching the maximum MTU when
 switching from one network interface to another. Allocate separate downlink
 buffers for applications and selecting correct downlink buffer when each
 application needs to send a file. Add flushing telemetry buffer when
 switching interfaces so we don't overwhel the NIC if switching from a larger
 to smaller MTU Fix a bug with uplink where the checksum was 'not'-ed twice
 making correct commands fail

---
 .../FlightMCU/Include/FswPacket.hpp           | 14 ++---
 .../GroundInterface/GroundInterface.cpp       | 58 ++++++++++++-------
 .../GroundInterface/GroundInterface.hpp       |  8 ++-
 .../CubeRoverNetworkManager.hpp               |  2 +-
 .../NetworkManager/NetworkManager.cpp         |  2 +-
 .../NetworkManager/NetworkManager.hpp         |  2 +-
 .../CubeRover/UdpInterface/UdpInterface.cpp   |  4 ++
 .../WatchDogInterface/WatchDogInterface.cpp   |  3 +-
 .../fprime/CubeRover/Wf121/Wf121.hpp          |  2 +-
 9 files changed, 57 insertions(+), 38 deletions(-)

diff --git a/Apps/FlightSoftware/PrimaryFlightController/FlightMCU/Include/FswPacket.hpp b/Apps/FlightSoftware/PrimaryFlightController/FlightMCU/Include/FswPacket.hpp
index 31ec1ac10..67082c543 100644
--- a/Apps/FlightSoftware/PrimaryFlightController/FlightMCU/Include/FswPacket.hpp
+++ b/Apps/FlightSoftware/PrimaryFlightController/FlightMCU/Include/FswPacket.hpp
@@ -12,16 +12,16 @@
 #define LANDER_SSID             "Houston"
 #define LANDER_NETWORK_PASSWORD "redr0ver"
 
-// Wired (RS422 via WatchDog) Connection Parameters
-#define WIRED_UDP_PORT_ROVER    8080
-#define WIRED_UDP_PORT_LANDER   8080
-
 #define INITIAL_PRIMARY_NETWORK_INTERFACE  WF121    // Must be of type PrimaryInterface (see GroundInterfaceComponentAi.xml or GroundInterfaceComponentAc.hpp)
 
 // Packet sizes
-#define IPV4_MTU                1006    // IDD Section 5.2.3 (M-PE1-CS-0100G) Table 5 IETC RFC 791 **FRAGMENTATION *NOT* SUPPORTED**
-#define UDP_MAX_PAYLOAD         (IPV4_MTU-20-8)     // IDD Section 5.2.3 (M-PE1-CS-0100G) Table 5 IETC RFC 768
-// 1006byte - 20byte IPv4 header - 8byte UDP header = 978byte payload
+#define IPV4_MTU                1006                // IDD Section 5.2.3 (M-PE1-CS-0100G) Table 5 IETC RFC 791 **FRAGMENTATION *NOT* SUPPORTED**
+// Static buffer sizes (MAXIMUM ALLOCATION)
+#define WF121_UDP_MAX_PAYLOAD  (IPV4_MTU-20-8)      // IDD Section 5.2.3 (M-PE1-CS-0100G) Table 5 IETC RFC 768 (20byte IPv4 header, 8byte UDP Header)
+#define WATCHDOG_MAX_PAYLOAD    320                 // Watchdog UDP Buffer Size
+#define NUM_APPS_USE_FILE_DOWNLINK 2                // Sets the total number of of static downlink buffers (one per application)
+                                                    // Since buffers are statically allocated can't use get_appDownlink_Ports()
+                                                    // Camera: 0       UWB:1   <- Port Number indexes which application is sending data and which buffer to use
 
 // FSW Packet Magic (32bit)
 #define FSW_COMMAND_MAGIC           0x00bada55
diff --git a/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterface.cpp b/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterface.cpp
index 38673a8d4..6857c1936 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterface.cpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterface.cpp
@@ -15,8 +15,6 @@
 #include "Fw/Types/BasicTypes.hpp"
 #include <string.h>
 
-#define DOWNLINK_OBJECTS_SIZE UDP_MAX_PAYLOAD - sizeof(struct FswPacket::FswPacketHeader)
-
 namespace CubeRover {
 
 
@@ -50,8 +48,16 @@ static inline FswPacket::Checksum_t computeChecksum(const void *_data, FswPacket
       m_logsReceived = 0; m_logsDownlinked = 0;
       m_cmdsUplinked = 0; m_cmdsSent = 0; m_cmdErrs = 0;
       m_appBytesReceived = 0; m_appBytesDownlinked = 0;
-      m_downlinkBufferPos = m_downlinkBuffer + sizeof(struct FswPacket::FswPacketHeader);
-      m_downlinkBufferSpaceAvailable = DOWNLINK_OBJECTS_SIZE;
+      m_tlmDownlinkBufferPos = m_tlmDownlinkBuffer + sizeof(struct FswPacket::FswPacketHeader);
+      switch (INITIAL_PRIMARY_NETWORK_INTERFACE) {
+          case WF121:
+              m_downlink_objects_size = WF121_UDP_MAX_PAYLOAD - sizeof(struct FswPacket::FswPacketHeader);
+              break;
+          case WATCHDOG:                // Default to smallest buffer size for safety even if we were using WF121
+          default:
+              m_downlink_objects_size = WATCHDOG_MAX_PAYLOAD;
+      }
+      m_tlmDownlinkBufferSpaceAvailable = m_downlink_objects_size;
       m_interface_port_num = INITIAL_PRIMARY_NETWORK_INTERFACE;
   }
 
@@ -117,9 +123,8 @@ static inline FswPacket::Checksum_t computeChecksum(const void *_data, FswPacket
     // FW_ASSERT(_txStart.getTimeBase() != TB_NONE);   // Assert time port is connected
     uint32_t txStart = static_cast<uint32_t>(_txStart.get_time_ms());
     uint16_t hashedId = hashTime(txStart);
-    
-    if (singleFileObjectSize <= DOWNLINK_OBJECTS_SIZE) {
-        uint8_t downlinkBuffer[singleFileObjectSize];
+    uint8_t *downlinkBuffer = m_fileDownlinkBuffer[portNum];
+    if (singleFileObjectSize <= m_downlink_objects_size) {
         struct FswPacket::FswFile *obj = reinterpret_cast<struct FswPacket::FswFile *>(downlinkBuffer);
         obj->header.magic = FSW_FILE_MAGIC;
         obj->header.totalBlocks = 1;
@@ -131,13 +136,12 @@ static inline FswPacket::Checksum_t computeChecksum(const void *_data, FswPacket
         m_appBytesDownlinked += singleFileObjectSize;
     } else {    // Send file fragments
         // TESTING don't intersperse telemetry or logs with file!!! flushDownlinkBuffer();  // Flush first to get new seq
-        int numBlocks = static_cast<int>(dataSize) / (DOWNLINK_OBJECTS_SIZE - sizeof(struct FswPacket::FswFileHeader));
-        if (static_cast<int>(dataSize) % (DOWNLINK_OBJECTS_SIZE - sizeof(struct FswPacket::FswFileHeader)) > 0)
+        int numBlocks = static_cast<int>(dataSize) / (m_downlink_objects_size - sizeof(struct FswPacket::FswFileHeader));
+        if (static_cast<int>(dataSize) % (m_downlink_objects_size - sizeof(struct FswPacket::FswFileHeader)) > 0)
             numBlocks++;
         downlinkFileMetadata(hashedId, numBlocks, static_cast<uint16_t>(callbackId), static_cast<uint32_t>(createTime));
         flushDownlinkBuffer();   // TESTING!! DOWNLINK METADATA PRIOR TO FILE DOWNLINK
         int readStride = static_cast<int>(dataSize) / numBlocks;
-        uint8_t downlinkBuffer[UDP_MAX_PAYLOAD];
         struct FswPacket::FswPacket *packet = reinterpret_cast<struct FswPacket::FswPacket*>(downlinkBuffer);
         for (int blockNum = 1; blockNum <= numBlocks; ++blockNum) {
             packet->payload0.file.header.magic = FSW_FILE_MAGIC;
@@ -201,7 +205,7 @@ static inline FswPacket::Checksum_t computeChecksum(const void *_data, FswPacket
         return;
     }
     
-    if (!computeChecksum(packet, packet->header.length + sizeof(struct FswPacket::FswPacketHeader))) {
+    if (computeChecksum(packet, packet->header.length + sizeof(struct FswPacket::FswPacketHeader))) {       // computeChecksum returns 0 if correct
         m_cmdErrs++;
         log_WARNING_HI_GI_UplinkedPacketError(BAD_CHECKSUM, 0, static_cast<U16>(packet->header.checksum));
         return;
@@ -230,6 +234,16 @@ static inline FswPacket::Checksum_t computeChecksum(const void *_data, FswPacket
         PrimaryInterface primary_interface
     )
   {
+    flushDownlinkBuffer();
+    switch (primary_interface) {
+        case WF121:
+            m_downlink_objects_size = WF121_UDP_MAX_PAYLOAD - sizeof(struct FswPacket::FswPacketHeader);
+            break;
+        case WATCHDOG:                // Default to smallest buffer size for safety even if we were using WF121
+        default:
+            m_downlink_objects_size = WATCHDOG_MAX_PAYLOAD;
+    }
+    m_tlmDownlinkBufferSpaceAvailable = m_downlink_objects_size;
     m_interface_port_num = primary_interface;
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
@@ -250,18 +264,18 @@ static inline FswPacket::Checksum_t computeChecksum(const void *_data, FswPacket
      */
     void GroundInterfaceComponentImpl::downlinkBufferWrite(void *_data, FswPacket::Length_t size, downlinkPacketType from) {
         FW_ASSERT(_data);
-        FW_ASSERT(size <= DOWNLINK_OBJECTS_SIZE);
+        FW_ASSERT(size <= m_downlink_objects_size);
         uint8_t *data = reinterpret_cast<uint8_t *>(_data);
         bool flushOnWrite = false;
-        if (size > m_downlinkBufferSpaceAvailable) {
+        if (size > m_tlmDownlinkBufferSpaceAvailable) {
             flushDownlinkBuffer();
-        } else if (size == m_downlinkBufferSpaceAvailable) {
+        } else if (size == m_tlmDownlinkBufferSpaceAvailable) {
             flushOnWrite = true;
         }
         
-        memcpy(m_downlinkBufferPos, data, size);
-        m_downlinkBufferPos += size;
-        m_downlinkBufferSpaceAvailable -= size;
+        memcpy(m_tlmDownlinkBufferPos, data, size);
+        m_tlmDownlinkBufferPos += size;
+        m_tlmDownlinkBufferSpaceAvailable -= size;
         
         log_DIAGNOSTIC_GI_DownlinkedItem(m_downlinkSeq, from);
         
@@ -276,10 +290,10 @@ static inline FswPacket::Checksum_t computeChecksum(const void *_data, FswPacket
      */
     void GroundInterfaceComponentImpl::flushDownlinkBuffer() {
         // TODO: Check on mode manager wired MTU is 255B
-        FswPacket::Length_t length = static_cast<FswPacket::Length_t>(m_downlinkBufferPos - m_downlinkBuffer);
-        downlink(m_downlinkBuffer, length);
-        m_downlinkBufferPos = m_downlinkBuffer + sizeof(struct FswPacket::FswPacketHeader);
-        m_downlinkBufferSpaceAvailable = DOWNLINK_OBJECTS_SIZE;
+        FswPacket::Length_t length = static_cast<FswPacket::Length_t>(m_tlmDownlinkBufferPos - m_tlmDownlinkBuffer);
+        downlink(m_tlmDownlinkBuffer, length);
+        m_tlmDownlinkBufferPos = m_tlmDownlinkBuffer + sizeof(struct FswPacket::FswPacketHeader);
+        m_tlmDownlinkBufferSpaceAvailable = m_downlink_objects_size;
     }
 
     /*
@@ -294,7 +308,7 @@ static inline FswPacket::Checksum_t computeChecksum(const void *_data, FswPacket
      */
     void GroundInterfaceComponentImpl::downlink(void *_data, FswPacket::Length_t size) {
         FW_ASSERT(_data);
-        FW_ASSERT(size <= UDP_MAX_PAYLOAD);
+        FW_ASSERT(size <= WF121_UDP_MAX_PAYLOAD);
         uint8_t *data = reinterpret_cast<uint8_t *>(_data);     // Start of the ddatagram
         struct FswPacket::FswPacketHeader *packetHeader = reinterpret_cast<struct FswPacket::FswPacketHeader *>(data);
         packetHeader->seq = m_downlinkSeq;
diff --git a/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterface.hpp b/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterface.hpp
index 8a5d5f9dc..b386d394d 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterface.hpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterface.hpp
@@ -118,9 +118,11 @@ namespace CubeRover {
                  m_cmdsUplinked, m_cmdsSent, m_cmdErrs,     // TLM8, TLM9, TLM10
                  m_appBytesReceived, m_appBytesDownlinked;  // TLM11, TLM 12
         
-        uint8_t m_downlinkBuffer[UDP_MAX_PAYLOAD];
-        uint8_t *m_downlinkBufferPos;
-        uint16_t m_downlinkBufferSpaceAvailable;
+        uint8_t m_tlmDownlinkBuffer[WF121_UDP_MAX_PAYLOAD];
+        uint8_t m_fileDownlinkBuffer[NUM_APPS_USE_FILE_DOWNLINK][WF121_UDP_MAX_PAYLOAD];
+        uint8_t *m_tlmDownlinkBufferPos;
+        uint16_t m_downlink_objects_size;           // Maximum usable buffer space for the current network interface
+        uint16_t m_tlmDownlinkBufferSpaceAvailable;
         PrimaryInterface m_interface_port_num;
       
 
diff --git a/Apps/FlightSoftware/fprime/CubeRover/NetworkManager/CubeRoverNetworkManager.hpp b/Apps/FlightSoftware/fprime/CubeRover/NetworkManager/CubeRoverNetworkManager.hpp
index a049da2f7..a600b2b6c 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/NetworkManager/CubeRoverNetworkManager.hpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/NetworkManager/CubeRoverNetworkManager.hpp
@@ -12,7 +12,7 @@
 #define MAX_NUMBER_CHANNEL_PER_NETWORK  11
 #define MAX_SORTING_LIST_SIZE           5
 
-#define RX_RING_BUFFER_SIZE             UDP_MAX_PAYLOAD + sizeof(Wf121::DataSize16)
+#define RX_RING_BUFFER_SIZE             WF121_UDP_MAX_PAYLOAD + sizeof(Wf121::DataSize16)
 
 // On average it takes 50000 - 160000 Wf121-Hercules "no-op cycles in the state machine to conenct to the accesspoint
 // we provide 3x (and some extra) the time to connect before resetting the WF121 and trying to connect
diff --git a/Apps/FlightSoftware/fprime/CubeRover/NetworkManager/NetworkManager.cpp b/Apps/FlightSoftware/fprime/CubeRover/NetworkManager/NetworkManager.cpp
index 0358aa32e..4d6cd672c 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/NetworkManager/NetworkManager.cpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/NetworkManager/NetworkManager.cpp
@@ -129,7 +129,7 @@ namespace CubeRover {
         U16 bytesRead;
         Wf121::DataSize16 payloadSize;
 
-        memset(m_fileUplinkBuffer, 0, UDP_MAX_PAYLOAD);
+        memset(m_fileUplinkBuffer, 0, WF121_UDP_MAX_PAYLOAD);
 
         m_crnm.ReceiveUdpData(reinterpret_cast<uint8_t *>(&payloadSize), sizeof(Wf121::DataSize16), &bytesRead, CubeRoverNetworkManager::UdpReadMode::PEEK_READ, 10);        // Read size of UDP payload
         if (bytesRead == 0)
diff --git a/Apps/FlightSoftware/fprime/CubeRover/NetworkManager/NetworkManager.hpp b/Apps/FlightSoftware/fprime/CubeRover/NetworkManager/NetworkManager.hpp
index 1bfaeec77..c17fe0ac9 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/NetworkManager/NetworkManager.hpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/NetworkManager/NetworkManager.hpp
@@ -73,7 +73,7 @@ namespace CubeRover {
        
         CubeRoverNetworkManager::CubeRoverNetworkManager m_crnm;
         CubeRoverNetworkManager::CubeRoverNetworkStateMachine m_current_state;
-        U8 m_fileUplinkBuffer[UDP_MAX_PAYLOAD];
+        U8 m_fileUplinkBuffer[WF121_UDP_MAX_PAYLOAD];
         void update();    // Behavior of periodic status update
         void getUplinkDatagram();
 
diff --git a/Apps/FlightSoftware/fprime/CubeRover/UdpInterface/UdpInterface.cpp b/Apps/FlightSoftware/fprime/CubeRover/UdpInterface/UdpInterface.cpp
index fda72b673..c4875fa05 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/UdpInterface/UdpInterface.cpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/UdpInterface/UdpInterface.cpp
@@ -17,6 +17,10 @@
 #include "sci.h"
 #include <cstring>
 
+// Wired (RS422 via WatchDog) Connection Parameters
+#define WIRED_UDP_PORT_ROVER    8080
+#define WIRED_UDP_PORT_LANDER   8080
+
 namespace CubeRover {
 
   // ----------------------------------------------------------------------
diff --git a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.cpp b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.cpp
index a3f4bf0e6..9911425c8 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.cpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.cpp
@@ -578,9 +578,8 @@ namespace CubeRover {
             this->log_WARNING_HI_WatchDogTimedOut();
         }
     }
-    else if (0 < header->payload_length and header->payload_length < UDP_MAX_PAYLOAD)  // Received uplinked data
+    else if (0 < header->payload_length and header->payload_length < WATCHDOG_MAX_PAYLOAD)  // Received uplinked data
     {
-        // UDP_MAX_PAYLOAD defined in FlightMCU/Include/FswPacket.hpp
         // TODO: Verify that the MTU for wired connection is the same as Wifi
         Fw::Buffer uplinked_data;
         dmaReceive(reinterpret_cast<void *>(uplinked_data.getdata()), header->payload_length);
diff --git a/Apps/FlightSoftware/fprime/CubeRover/Wf121/Wf121.hpp b/Apps/FlightSoftware/fprime/CubeRover/Wf121/Wf121.hpp
index b03445d03..d0f26c74a 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/Wf121/Wf121.hpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/Wf121/Wf121.hpp
@@ -367,7 +367,7 @@ namespace Wf121{
 
   typedef uint8_t Endpoint;
 
-  static uint8_t g_payloadBuffer[UDP_MAX_PAYLOAD];
+  static uint8_t g_payloadBuffer[WF121_UDP_MAX_PAYLOAD];
 
   class Wf121Driver{
     public:

From df48d880ff2fb2a14a0c5d3e634f9bb286e3e9c9 Mon Sep 17 00:00:00 2001
From: Justin Nguyen <justinnuwin@gmail.com>
Date: Mon, 12 Apr 2021 18:19:15 -0400
Subject: [PATCH 14/42] Add TODO and rename flushDownlinkBuffer to
 flushTlmDownlinkBuffer to be more specific

---
 .../fprime/CubeRover/GroundInterface/GroundInterface.cpp       | 3 ++-
 .../fprime/CubeRover/GroundInterface/GroundInterface.hpp       | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterface.cpp b/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterface.cpp
index 6857c1936..e8ce9e05c 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterface.cpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterface.cpp
@@ -235,6 +235,7 @@ static inline FswPacket::Checksum_t computeChecksum(const void *_data, FswPacket
     )
   {
     flushDownlinkBuffer();
+    // TODO: Should probably flush file downlink buffers too
     switch (primary_interface) {
         case WF121:
             m_downlink_objects_size = WF121_UDP_MAX_PAYLOAD - sizeof(struct FswPacket::FswPacketHeader);
@@ -288,7 +289,7 @@ static inline FswPacket::Checksum_t computeChecksum(const void *_data, FswPacket
      * @brief Downlink contents of the downlink buffer
      * 
      */
-    void GroundInterfaceComponentImpl::flushDownlinkBuffer() {
+    void GroundInterfaceComponentImpl::flushTlmDownlinkBuffer() {
         // TODO: Check on mode manager wired MTU is 255B
         FswPacket::Length_t length = static_cast<FswPacket::Length_t>(m_tlmDownlinkBufferPos - m_tlmDownlinkBuffer);
         downlink(m_tlmDownlinkBuffer, length);
diff --git a/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterface.hpp b/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterface.hpp
index b386d394d..3a4e64277 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterface.hpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterface.hpp
@@ -107,7 +107,7 @@ namespace CubeRover {
         void downlinkFileMetadata(uint16_t hashedId, uint8_t totalBlocks, uint16_t callbackId, uint32_t timestamp_ms);
         uint16_t hashTime(uint32_t time);   // Used for files to get unique Id for parallel downlinks
         void downlinkBufferWrite(void *_data, uint16_t size, downlinkPacketType from);
-        void flushDownlinkBuffer();
+        void flushTlmDownlinkBuffer();
         void downlink(void *_data, uint16_t size);
         void updateTelemetry();
       

From 0961e06756895b3254ce98aad722b584b8e05d69 Mon Sep 17 00:00:00 2001
From: Justin Nguyen <justinnuwin@gmail.com>
Date: Mon, 12 Apr 2021 19:01:07 -0400
Subject: [PATCH 15/42] Finish renaming all instances of flushDownlinkBuffer
 with flushTlmDownlinkBuffer. Reorder when some tlm variables are updated to
 be more useful. Add command to set telemetry level of the GroundInterface
 component

---
 .../GroundInterface/GroundInterface.cpp       | 63 ++++++++++++-------
 .../GroundInterface/GroundInterface.hpp       | 11 +++-
 .../GroundInterfaceComponentAi.xml            | 14 +++++
 .../GroundInterface/docs/GroundInterface.md   |  2 +
 .../commands/groundInterface_commands.html    | 10 +++
 5 files changed, 76 insertions(+), 24 deletions(-)

diff --git a/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterface.cpp b/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterface.cpp
index e8ce9e05c..479f33473 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterface.cpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterface.cpp
@@ -59,6 +59,7 @@ static inline FswPacket::Checksum_t computeChecksum(const void *_data, FswPacket
       }
       m_tlmDownlinkBufferSpaceAvailable = m_downlink_objects_size;
       m_interface_port_num = INITIAL_PRIMARY_NETWORK_INTERFACE;
+      m_telemetry_level = CRITICAL;
   }
 
   void GroundInterfaceComponentImpl ::
@@ -135,12 +136,12 @@ static inline FswPacket::Checksum_t computeChecksum(const void *_data, FswPacket
         downlinkBufferWrite(downlinkBuffer, static_cast<FswPacket::Length_t>(singleFileObjectSize), DownlinkFile);
         m_appBytesDownlinked += singleFileObjectSize;
     } else {    // Send file fragments
-        // TESTING don't intersperse telemetry or logs with file!!! flushDownlinkBuffer();  // Flush first to get new seq
+        // TESTING don't intersperse telemetry or logs with file!!! flushTlmDownlinkBuffer();  // Flush first to get new seq
         int numBlocks = static_cast<int>(dataSize) / (m_downlink_objects_size - sizeof(struct FswPacket::FswFileHeader));
         if (static_cast<int>(dataSize) % (m_downlink_objects_size - sizeof(struct FswPacket::FswFileHeader)) > 0)
             numBlocks++;
         downlinkFileMetadata(hashedId, numBlocks, static_cast<uint16_t>(callbackId), static_cast<uint32_t>(createTime));
-        flushDownlinkBuffer();   // TESTING!! DOWNLINK METADATA PRIOR TO FILE DOWNLINK
+        flushTlmDownlinkBuffer();   // TESTING!! DOWNLINK METADATA PRIOR TO FILE DOWNLINK
         int readStride = static_cast<int>(dataSize) / numBlocks;
         struct FswPacket::FswPacket *packet = reinterpret_cast<struct FswPacket::FswPacket*>(downlinkBuffer);
         for (int blockNum = 1; blockNum <= numBlocks; ++blockNum) {
@@ -164,7 +165,7 @@ static inline FswPacket::Checksum_t computeChecksum(const void *_data, FswPacket
                 packet->payload0.file.header.length = blockLength;
                 memcpy(&packet->payload0.file.file.byte0, data, blockLength);
                 downlinkBufferWrite(&packet->payload0.file, sizeof(struct FswPacket::FswFileHeader) + blockLength, DownlinkFile);
-                flushDownlinkBuffer();   // TESTING!! DOWNLINK FINAL BLOCK WITHOUT INTERRUPTION
+                flushTlmDownlinkBuffer();   // TESTING!! DOWNLINK FINAL BLOCK WITHOUT INTERRUPTION
             }
             m_appBytesDownlinked += blockLength;
         }
@@ -212,13 +213,12 @@ static inline FswPacket::Checksum_t computeChecksum(const void *_data, FswPacket
     }
 
     m_uplinkSeq = packet->header.seq;
-
     m_cmdsUplinked++;
     log_ACTIVITY_HI_GI_CommandReceived(packet->header.seq, packet->header.length);
     Fw::ComBuffer command(reinterpret_cast<uint8_t *>(&packet->payload0.command), packet->header.length);
-    m_cmdsSent++;
     
     cmdDispatch_out(0, command, 0);        // TODO: Arg 3 Context?
+    m_cmdsSent++;
     
     updateTelemetry();
   }
@@ -234,7 +234,7 @@ static inline FswPacket::Checksum_t computeChecksum(const void *_data, FswPacket
         PrimaryInterface primary_interface
     )
   {
-    flushDownlinkBuffer();
+    flushTlmDownlinkBuffer();
     // TODO: Should probably flush file downlink buffers too
     switch (primary_interface) {
         case WF121:
@@ -249,6 +249,18 @@ static inline FswPacket::Checksum_t computeChecksum(const void *_data, FswPacket
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
+  void GroundInterfaceComponentImpl ::
+    Set_GroundInterface_Telemetry_Level_cmdHandler(
+        const FwOpcodeType opCode,
+        const U32 cmdSeq,
+        TelemetryLevel telemetry_level
+    )
+  {
+    m_telemetry_level = telemetry_level;
+    this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
+  }
+
+
   
     /*
      * @brief Write a packet to the downlink buffer.
@@ -269,7 +281,7 @@ static inline FswPacket::Checksum_t computeChecksum(const void *_data, FswPacket
         uint8_t *data = reinterpret_cast<uint8_t *>(_data);
         bool flushOnWrite = false;
         if (size > m_tlmDownlinkBufferSpaceAvailable) {
-            flushDownlinkBuffer();
+            flushTlmDownlinkBuffer();
         } else if (size == m_tlmDownlinkBufferSpaceAvailable) {
             flushOnWrite = true;
         }
@@ -281,7 +293,7 @@ static inline FswPacket::Checksum_t computeChecksum(const void *_data, FswPacket
         log_DIAGNOSTIC_GI_DownlinkedItem(m_downlinkSeq, from);
         
         if (flushOnWrite)
-            flushDownlinkBuffer();
+            flushTlmDownlinkBuffer();
         
     }
     
@@ -324,21 +336,26 @@ static inline FswPacket::Checksum_t computeChecksum(const void *_data, FswPacket
     }
   
     void GroundInterfaceComponentImpl::updateTelemetry() {
-        /* TODO: THESE SHOULD ONLY UPDATE ONCE PER TELEMETRY DOWNLINK NOT ON THE RATE GROUP ITS TOO MUCH
-        tlmWrite_GI_UplinkSeqNum(m_uplinkSeq);
-        tlmWrite_GI_DownlinkSeqNum(m_downlinkSeq);
-        tlmWrite_GI_PacketsReceived(m_packetsRx);
-        tlmWrite_GI_PacketsTransmitted(m_packetsTx);
-        tlmWrite_GI_TlmItemsReceived(m_tlmItemsReceived);
-        tlmWrite_GI_TlmItemsDownlinked(m_tlmItemsDownlinked);
-        tlmWrite_GI_LogsReceived(m_logsReceived);
-        tlmWrite_GI_LogsDownlinked(m_logsDownlinked);
-        tlmWrite_GI_CmdsUplinked(m_cmdsUplinked);
-        tlmWrite_GI_CmdsSent(m_cmdsSent);
-        tlmWrite_GI_UplinkPktErrs(m_cmdErrs);
-        tlmWrite_GI_AppBytesReceived(m_appBytesReceived);
-        tlmWrite_GI_AppBytesDownlinked(m_appBytesDownlinked);
-        */
+        switch (m_telemetry_level) {
+            case ALL:
+                /* TODO: THESE SHOULD ONLY UPDATE ONCE PER TELEMETRY DOWNLINK NOT ON THE RATE GROUP ITS TOO MUCH */
+                tlmWrite_GI_DownlinkSeqNum(m_downlinkSeq);
+                tlmWrite_GI_TlmItemsDownlinked(m_tlmItemsDownlinked);
+                tlmWrite_GI_LogsDownlinked(m_logsDownlinked);
+                tlmWrite_GI_AppBytesDownlinked(m_appBytesDownlinked);
+                tlmWrite_GI_CmdsUplinked(m_cmdsUplinked);
+                tlmWrite_GI_UplinkPktErrs(m_cmdErrs);
+            case IMPORTANT:
+                tlmWrite_GI_TlmItemsReceived(m_tlmItemsReceived);
+                tlmWrite_GI_LogsReceived(m_logsReceived);
+                tlmWrite_GI_AppBytesReceived(m_appBytesReceived);
+                tlmWrite_GI_CmdsSent(m_cmdsSent);
+            case CRITICAL:
+            default:
+                tlmWrite_GI_UplinkSeqNum(m_uplinkSeq);
+                tlmWrite_GI_PacketsReceived(m_packetsRx);
+                tlmWrite_GI_PacketsTransmitted(m_packetsTx);
+        }
     }
     
     /*
diff --git a/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterface.hpp b/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterface.hpp
index 3a4e64277..8d41b003f 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterface.hpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterface.hpp
@@ -102,6 +102,15 @@ namespace CubeRover {
           PrimaryInterface primary_interface 
       );
 
+      //! Implementation for Set_GroundInterface_Telemetry_Level command handler
+      //! Sets the telemetry level to emit for this component.
+      void Set_GroundInterface_Telemetry_Level_cmdHandler(
+          const FwOpcodeType opCode, /*!< The opcode*/
+          const U32 cmdSeq, /*!< The command sequence number*/
+          TelemetryLevel telemetry_level 
+      );
+
+
         // User defined methods, members, and structs
             
         void downlinkFileMetadata(uint16_t hashedId, uint8_t totalBlocks, uint16_t callbackId, uint32_t timestamp_ms);
@@ -124,7 +133,7 @@ namespace CubeRover {
         uint16_t m_downlink_objects_size;           // Maximum usable buffer space for the current network interface
         uint16_t m_tlmDownlinkBufferSpaceAvailable;
         PrimaryInterface m_interface_port_num;
-      
+        TelemetryLevel m_telemetry_level;
 
     };
 
diff --git a/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterfaceComponentAi.xml b/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterfaceComponentAi.xml
index 227a46821..01b1a8cc2 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterfaceComponentAi.xml
+++ b/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/GroundInterfaceComponentAi.xml
@@ -179,6 +179,20 @@
                 </arg>
             </args>
         </command>
+        <command kind="sync" opcode="0x1" mnemonic="Set_GroundInterface_Telemetry_Level">
+            <comment>
+                Sets the telemetry level of this component
+            </comment>
+            <args>
+                <arg name="telemetry_level" type="ENUM">
+                    <enum name="TelemetryLevel">
+                        <item name="CRITICAL" comment="Emit critical telemetry items only." />
+                        <item name="IMPORTANT" comment="Emit CRITICAL and important telemetry items only." />
+                        <item name="ALL" comment="Emit all telemetry items." />
+                    </enum>
+                </arg>
+            </args>
+        </command>
     </commands>
             
 </component>
diff --git a/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/docs/GroundInterface.md b/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/docs/GroundInterface.md
index 7c0ea161c..0a70a87d0 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/docs/GroundInterface.md
+++ b/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/docs/GroundInterface.md
@@ -8,6 +8,8 @@
 |---|---|---|---|---|---|
 |Set_Primary_Interface|0 (0x0)|Sets the primary interface.| | |
 | | | |primary_interface|PrimaryInterface||
+|Set_GroundInterface_Telemetry_Level|1 (0x1)|Sets the telemetry level of this component| | |
+| | | |telemetry_level|TelemetryLevel||
 
 ## Telemetry Channel List
 
diff --git a/Apps/FlightSoftware/fprime/CubeRover/Top/commands/groundInterface_commands.html b/Apps/FlightSoftware/fprime/CubeRover/Top/commands/groundInterface_commands.html
index 2ea92ec60..cf49b78ad 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/Top/commands/groundInterface_commands.html
+++ b/Apps/FlightSoftware/fprime/CubeRover/Top/commands/groundInterface_commands.html
@@ -53,6 +53,16 @@ <h1><b>Command: groundInterface:GroundInterface</b></h1>
 						<td></td>
 					</tr>
 		</tr>
+		<tr style = "border: 2px solid black;">
+			<td rowspan="2">Set_GroundInterface_Telemetry_Level</td>
+			<td rowspan="2">2305 (0x901)</td>
+			<td rowspan="2">Sets the telemetry level of this component</td>
+					<tr style = "border-right: 2px solid black;border-top: 2px solid black;border-bottom: 2px solid black;">
+						<td>telemetry_level</td>
+						<td>TelemetryLevel</td>
+						<td></td>
+					</tr>
+		</tr>
 	</tbody>
 </table>
 

From 45a4b3094a354d36407aacf8605d28bac32549ae Mon Sep 17 00:00:00 2001
From: Jonathan Schwartz <>
Date: Tue, 13 Apr 2021 03:36:03 -0400
Subject: [PATCH 16/42] Changed relative_target_position to just
 target_position; new commands are added to position instead of resetting it

---
 Apps/FlightSoftware/MotorControl/i2c.c | 25 +++++++++++++------------
 Apps/FlightSoftware/MotorControl/i2c.h |  2 +-
 2 files changed, 14 insertions(+), 13 deletions(-)

diff --git a/Apps/FlightSoftware/MotorControl/i2c.c b/Apps/FlightSoftware/MotorControl/i2c.c
index 874c0ac7b..8f5ee9f0b 100644
--- a/Apps/FlightSoftware/MotorControl/i2c.c
+++ b/Apps/FlightSoftware/MotorControl/i2c.c
@@ -120,7 +120,7 @@ inline void i2cSlaveProcessCmd(const uint8_t cmd){
         g_slaveMode = TX_DATA_MODE;
         g_txByteCtr = g_i2cCmdLength[cmd];
         //Fill out the TransmitBuffer
-        int16_t current_info = (int16_t)g_piCur.Fbk; // top 16 MSBs empty
+//        int16_t current_info = (int16_t)g_piCur.Fbk; // top 16 MSBs empty
         copyArray((uint8_t*)&current_info, (uint8_t*)g_txBuffer, g_txByteCtr);
         disableI2cRxInterrupt();
         enableI2cTxInterrupt();
@@ -136,7 +136,8 @@ inline void i2cSlaveProcessCmd(const uint8_t cmd){
       case FAULT_REGISTER:
         g_slaveMode = TX_DATA_MODE;
         g_txByteCtr = g_i2cCmdLength[cmd];
-        //update g_faultRegister
+
+        //update g_faultRegister with if there is fault in motor driver
         if(read_driver_fault())
             g_faultRegister |= DRIVER_FAULT;
         else
@@ -150,7 +151,7 @@ inline void i2cSlaveProcessCmd(const uint8_t cmd){
       //-----------------------------------------------------------------
       // Commands requesting to process some more data from master
       //-----------------------------------------------------------------
-      case RELATIVE_TARGET_POSITION:
+      case TARGET_POSITION:
       case TARGET_SPEED:
       case P_CURRENT:
       case I_CURRENT:
@@ -185,12 +186,15 @@ inline void i2cSlaveTransactionDone(const uint8_t cmd){
       case STATUS_REGISTER:
       case FAULT_REGISTER:
         break;
-      case RELATIVE_TARGET_POSITION:
+      case TARGET_POSITION:
+      {
+        int32_t additional_target_pos;
         copyArray((uint8_t*)g_rxBuffer,
-                  (uint8_t*)&g_targetPosition,
-                  sizeof(g_targetPosition));
-        g_currentPosition = 0; // reset current position
+                  (uint8_t*)&additional_target_pos,
+                  sizeof(additional_target_pos));
+        g_targetPosition += additional_target_pos;
         break;
+      }
       case TARGET_SPEED:
         copyArray((uint8_t*)g_rxBuffer,
                   (uint8_t*)&g_maxSpeed,
@@ -242,9 +246,6 @@ inline void i2cSlaveTransactionDone(const uint8_t cmd){
             g_statusRegister &= ~STATE_MACHINE_DISABLE;
         }
 
-        break;
-
-
         break;     
       case ACC_RATE:
       case DEC_RATE:
@@ -259,11 +260,11 @@ inline void i2cSlaveTransactionDone(const uint8_t cmd){
  */
 void initializeCmdLength(){
   g_i2cCmdLength[I2C_ADDRESS] = 1;
-  g_i2cCmdLength[RELATIVE_TARGET_POSITION] = 4;
+  g_i2cCmdLength[TARGET_POSITION] = 4;
   g_i2cCmdLength[TARGET_SPEED] = 1;
   g_i2cCmdLength[CURRENT_POSITION] = 4;
   g_i2cCmdLength[CURRENT_SPEED] = 2;
-  g_i2cCmdLength[MOTOR_CURRENT] = 2;
+  g_i2cCmdLength[MOTOR_CURRENT] = 4;
   g_i2cCmdLength[P_CURRENT] = 4;
   g_i2cCmdLength[I_CURRENT] = 2;
   g_i2cCmdLength[P_SPEED] = 4;
diff --git a/Apps/FlightSoftware/MotorControl/i2c.h b/Apps/FlightSoftware/MotorControl/i2c.h
index 421c7b753..674a3e793 100644
--- a/Apps/FlightSoftware/MotorControl/i2c.h
+++ b/Apps/FlightSoftware/MotorControl/i2c.h
@@ -15,7 +15,7 @@
 typedef enum I2cRegisterIds{
 
     I2C_ADDRESS = 0,
-    RELATIVE_TARGET_POSITION = 1,
+    TARGET_POSITION = 1,
     TARGET_SPEED = 2,
     CURRENT_POSITION = 3,
     CURRENT_SPEED = 4,

From 8406ac914ad88769590baaa2fbd4ca27ea15d48c Mon Sep 17 00:00:00 2001
From: cedriccorpa <cedric.corpadelafuente@astrobotic.com>
Date: Tue, 13 Apr 2021 17:02:46 -0400
Subject: [PATCH 17/42] Slight bugs resolved for t-vac testing

---
 Apps/FlightSoftware/MotorControl/i2c.c  | 2 +-
 Apps/FlightSoftware/MotorControl/main.c | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/Apps/FlightSoftware/MotorControl/i2c.c b/Apps/FlightSoftware/MotorControl/i2c.c
index 8f5ee9f0b..16e3777b5 100644
--- a/Apps/FlightSoftware/MotorControl/i2c.c
+++ b/Apps/FlightSoftware/MotorControl/i2c.c
@@ -121,7 +121,7 @@ inline void i2cSlaveProcessCmd(const uint8_t cmd){
         g_txByteCtr = g_i2cCmdLength[cmd];
         //Fill out the TransmitBuffer
 //        int16_t current_info = (int16_t)g_piCur.Fbk; // top 16 MSBs empty
-        copyArray((uint8_t*)&current_info, (uint8_t*)g_txBuffer, g_txByteCtr);
+        copyArray((uint8_t*)&g_piCur.Fbk, (uint8_t*)g_txBuffer, g_txByteCtr);
         disableI2cRxInterrupt();
         enableI2cTxInterrupt();
         break;       
diff --git a/Apps/FlightSoftware/MotorControl/main.c b/Apps/FlightSoftware/MotorControl/main.c
index aa6b9eb60..4654447f3 100644
--- a/Apps/FlightSoftware/MotorControl/main.c
+++ b/Apps/FlightSoftware/MotorControl/main.c
@@ -1,7 +1,7 @@
 // [DEBUG] Switches
 //#define IRIS_ALL_OFF
 #define IRIS_CLEAR_FAULT
-#define IRIS_SPIN_MOTOR
+//#define IRIS_SPIN_MOTOR
 //#define IRIS_SPIN_MOTOR_REVERSE
 //#define IRIS_SPIN_MOTOR_INDEF
 

From 47029dcb662c2e90cccc9386039af6613e309687 Mon Sep 17 00:00:00 2001
From: Alec <alecjprobst@gmail.com>
Date: Wed, 14 Apr 2021 00:41:13 -0400
Subject: [PATCH 18/42] Modified Watchdoginterface reset commands to be
 enumerations to prevent impossible reset commands

---
 .../WatchDogInterface/WatchDogInterface.cpp   | 27 ++++++++++-------
 .../WatchDogInterface/WatchDogInterface.hpp   | 30 +++++++++++++++++++
 2 files changed, 46 insertions(+), 11 deletions(-)

diff --git a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.cpp b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.cpp
index a3f4bf0e6..98f40958d 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.cpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.cpp
@@ -94,10 +94,9 @@ namespace CubeRover {
 
     // Sends payload and reset value to MSP430
     U16 payload_length = 0x0000;
-    U16 reset_value = 0x0000;
 
     // Send frame to watchdog. If returns false, communication with MSP430 is bad and should not send anymore data. Errors logged in Send_Frame()
-    if(!Send_Frame(payload_length, reset_value))
+    if(!Send_Frame(payload_length, No_Reset))
       return;
      
     // Receive frame back from MSP430
@@ -112,7 +111,13 @@ namespace CubeRover {
         CubeRoverPorts::ResetValue reset
     )
   {
-    // TODO
+    if(Reset_Specific_Handler(reset))
+    	return;
+    else
+    {
+    	// TODO: report error
+    	return;
+    }
   }
 
   void WatchDogInterfaceComponentImpl ::
@@ -123,10 +128,9 @@ namespace CubeRover {
   {
     // Sends payload and reset value to MSP430
     U16 payload_length = fwBuffer.getsize();
-    U16 reset_value = 0x0000;
 
     // Send frame to watchdog. If returns false, communication with MSP430 is bad and should not send anymore data. Errors logged in Send_Frame()
-    if(!Send_Frame(payload_length, reset_value))
+    if(!Send_Frame(payload_length, No_Reset))
       return;
      
     dmaSend(reinterpret_cast<void *>(fwBuffer.getdata()), payload_length);  // FIXME: What is DMA send failed? *TUrn blocking off when we use Mutexes **DO the same for other DMA sends and receives
@@ -175,10 +179,11 @@ namespace CubeRover {
     // Sends a command to watchdog to reset specified devices. Can be hardware through watchdog or component
 
     // If reset_value is greater than 0x1B, we are resetting a software component
-    if(reset_value > 0x1B)
+    if(reset_value <= No_Reset && reset_value >= FPGA_Cam_2)
     {
-      // Reset Components in software
+      // return error
       // TODO
+      return;
     }
     // If reset_value less than or equal to 0x1B, we are resetting hardware
     else
@@ -260,11 +265,11 @@ namespace CubeRover {
     // Sends a command to watchdog to reset specified devices. Can be hardware through watchdog or component
 
     // If reset_value is greater than 0x1B, we are resetting a software component
-    if(reset_value > 0x1B)
+    if(reset_value <= No_Reset && reset_value >= FPGA_Cam_2)
     {
-      // Reset Components in software
+      // report error
       // TODO
-      return true;
+      return false;
     }
     // If reset_value less than or equal to 0x1B, we are resetting hardware
     else
@@ -548,7 +553,7 @@ namespace CubeRover {
     }
 
     int payload_read = 0;
-    if (header->payload_length == 0) // Received a WD echo  // TODO: Are we expecting telemetry ALWAYS??
+    if (header->payload_length == 0) // Received a WD echo, always expect telemtry
     {
         struct WatchdogTelemetry buff;
         dmaReceive(&buff, sizeof(buff));
diff --git a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.hpp b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.hpp
index 1e0b94f4a..aa95d2c44 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.hpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.hpp
@@ -247,6 +247,36 @@ namespace CubeRover {
          not_enough_bytes = 5
      };
 
+     enum send_values : U16
+     {
+        No_Reset = 0x00,
+        Reset_Hercules = 0x01,
+        Hercules_Power_On = 0x02,
+        Hercules_Power_Off = 0x03,
+        Reset_Radio = 0x04,
+        Radio_Power_On = 0x05,
+        Radio_Power_Off = 0x06,
+        Reset_FPGA = 0x07,
+        FPGA_Power_On = 0x08,
+        FPGA_Power_Off = 0x09,
+        Reset_Motor1 = 0x0A,
+        Reset_Motor2 = 0x0B,
+        Reset_Motor3 = 0x0C,
+        Reset_Motor4 = 0x0D,
+        Reset_All_Motors = 0x0E,
+        All_Motors_On = 0x0F,
+        All_Motors_Off = 0x10,
+        Reset_EN_3_3 = 0x11,
+        EN_3_3_Power_On = 0x12,
+        EN_3_3_Power_Off = 0x13,
+        Reset_24_EN = 0x14,
+        EN_24_On = 0x15,
+        EN_24_Off = 0x16,
+        HDRM_On = 0x17,
+        HDRM_Off = 0x18,
+        FPGA_Cam_1 = 0x19,
+        FPGA_Cam_2 = 0x20,
+     };
 
      int Receive_Frame(uint32_t *comm_error, WatchdogFrameHeader *header);
 

From a99cb69cdb6932225f8b8ce4ddbc6bcae1a4dbbe Mon Sep 17 00:00:00 2001
From: Iris Watchdog Developers <watchdog-devs@irisrover.space>
Date: Thu, 15 Apr 2021 01:40:04 -0400
Subject: [PATCH 19/42] Debugging motor control i2c (thanks justin :D)

---
 Apps/FlightSoftware/MotorControl/i2c.c  | 10 +++++++---
 Apps/FlightSoftware/MotorControl/main.c | 16 +++++++++++++++-
 Apps/FlightSoftware/MotorControl/main.h |  2 +-
 3 files changed, 23 insertions(+), 5 deletions(-)

diff --git a/Apps/FlightSoftware/MotorControl/i2c.c b/Apps/FlightSoftware/MotorControl/i2c.c
index 16e3777b5..43362873a 100644
--- a/Apps/FlightSoftware/MotorControl/i2c.c
+++ b/Apps/FlightSoftware/MotorControl/i2c.c
@@ -68,8 +68,8 @@ inline void enableI2cTxInterrupt(void){
  * @param      dest    The destination
  * @param[in]  size    The size
  */
-inline void copyArray(uint8_t *source, uint8_t *dest, uint8_t size){
-    uint8_t copyIndex = 0;
+void copyArray(uint8_t *source, uint8_t *dest, int size){
+    volatile int copyIndex = 0;
     for (copyIndex = 0; copyIndex < size; copyIndex++){
         dest[copyIndex] = source[copyIndex];
     }
@@ -196,11 +196,15 @@ inline void i2cSlaveTransactionDone(const uint8_t cmd){
         break;
       }
       case TARGET_SPEED:
+      {
         copyArray((uint8_t*)g_rxBuffer,
                   (uint8_t*)&g_maxSpeed,
                   sizeof(g_maxSpeed));
-        if(g_maxSpeed > MAX_TARGET_SPEED) g_maxSpeed = MAX_TARGET_SPEED;
+//        if(g_maxSpeed > MAX_TARGET_SPEED){
+//            g_maxSpeed = MAX_TARGET_SPEED;
+//        }
         break;
+      }
       case P_CURRENT:
         copyArray((uint8_t*)g_rxBuffer,
                   (uint8_t*)&g_piCur.Kp,
diff --git a/Apps/FlightSoftware/MotorControl/main.c b/Apps/FlightSoftware/MotorControl/main.c
index 4654447f3..90bdf8477 100644
--- a/Apps/FlightSoftware/MotorControl/main.c
+++ b/Apps/FlightSoftware/MotorControl/main.c
@@ -1,6 +1,6 @@
 // [DEBUG] Switches
 //#define IRIS_ALL_OFF
-#define IRIS_CLEAR_FAULT
+//#define IRIS_CLEAR_FAULT
 //#define IRIS_SPIN_MOTOR
 //#define IRIS_SPIN_MOTOR_REVERSE
 //#define IRIS_SPIN_MOTOR_INDEF
@@ -65,6 +65,9 @@ uint8_t g_errorCounter= 0; // incremented every time inner control loop is reach
 // backup plan for if we cannot get encoder readings
 volatile bool driveOpenLoop = false;
 
+int g_testeroni = 0;
+volatile uint8_t g_rxBuffer_tmp[I2C_RX_BUFFER_MAX_SIZE];
+
 
 /**
  * @brief      Initializes the pwm modules.
@@ -564,9 +567,12 @@ void main(void){
   // Turn off the watchdog
   WDT_A_hold(WDT_A_BASE);
 
+
   initializeGpios();
 
   // [DEBUG]
+  g_rxBuffer_tmp[0] = 75;
+
 #ifdef IRIS_CLEAR_FAULT
   clear_driver_fault_register();
 #endif
@@ -603,6 +609,7 @@ void main(void){
   g_state = RUNNING; // g_statusRegister bit 3 is 0 to reflect this state
   g_cmdState = NO_CMD;
 
+//  copyArray((uint8_t*)g_rxBuffer_tmp, (uint8_t*)&g_maxSpeed,sizeof(g_maxSpeed));
 
   g_maxSpeed = MAX_TARGET_SPEED;
 
@@ -638,6 +645,9 @@ void main(void){
 
   __bis_SR_register(GIE);
 
+
+
+
   currentOffsetCalibration();
 
   enableGateDriver(); // TODO <<<< remove this line
@@ -673,6 +683,10 @@ void main(void){
        __enable_interrupt();
    }
 
+//   copyArray((uint8_t*)g_rxBuffer_tmp,
+//                     (uint8_t*)&g_maxSpeed,
+//                     sizeof(g_maxSpeed));
+
    //updateStateMachine();
 #endif
   }
diff --git a/Apps/FlightSoftware/MotorControl/main.h b/Apps/FlightSoftware/MotorControl/main.h
index 24d16a5bc..7cd0787af 100644
--- a/Apps/FlightSoftware/MotorControl/main.h
+++ b/Apps/FlightSoftware/MotorControl/main.h
@@ -53,7 +53,7 @@
 #ifdef IRIS_SPIN_HALF_SPEED
     #define MAX_TARGET_SPEED                   50
 #else
-    #define MAX_TARGET_SPEED                   100
+    #define MAX_TARGET_SPEED                   100U
 #endif
 
 #define MIN_TARGET_SPEED                  -MAX_TARGET_SPEED

From 1d323151a7082785eab23180baa30361159af93f Mon Sep 17 00:00:00 2001
From: Justin Nguyen <justinnuwin@gmail.com>
Date: Thu, 15 Apr 2021 03:43:04 -0400
Subject: [PATCH 20/42] Checkin motor control component changes and clean up
 for EM4 checkout

---
 .../MotorControl/MotorControlComponent.cpp    | 119 ++++--------------
 .../MotorControl/MotorControlComponent.hpp    |  42 ++++++-
 .../MotorControl/MotorControlComponentAi.xml  |  24 ++--
 .../MotorControl/MotorController_i2c.c        |   3 +-
 .../MotorControl/docs/MotorControl.md         |  12 +-
 .../Top/channels/motorControl_channels.html   |  32 +----
 6 files changed, 83 insertions(+), 149 deletions(-)

diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp
index 85bb41cce..53197d50c 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp
@@ -104,10 +104,10 @@ namespace CubeRover {
    * @brief      Handler implementation for motorCommand port (move command from Nav)
    *
    * @param[in]  portNum        The port number
-   * @param[in]  command_type   ???
-   * @param[in]  movement_type  The port number
-   * @param[in]  Distance       ???
-   * @param[in]  Speed          ???
+   * @param[in]  command_type   Movement or telemetry
+   * @param[in]  movement_type  Type of movement
+   * @param[in]  Distance       Distance
+   * @param[in]  Speed          Speed
    */
   void MotorControlComponentImpl :: motorCommandIn_handler(const NATIVE_INT_TYPE portNum,
                                                            CubeRoverPorts::MC_CommandType command_type,
@@ -791,8 +791,7 @@ namespace CubeRover {
           case DEPRACATE_DISABLE_DRIVER:
           case DEPRACATE_RESET_CONTROLLER:
           case REG_FAULT:
-          case REG_CLR_FAULT:
-          case REG_STATUS:
+          case e_REG_STATUS:
             return 1;
           case REG_MOTOR_CURRENT:
           case REG_P_CURRENT:
@@ -802,11 +801,13 @@ namespace CubeRover {
           case REG_ACC_RATE:
           case REG_DEC_RATE:
           case REG_CURRENT_POSITION:
+              return 2;
           case REG_TARGET_SPEED:
-            return 2;
+            return 1;
           case REG_RELATIVE_TARGET_POSITION:
-          case REG_CURRENT_SPEED:
-            return 4;
+              return 4;
+          /*case REG_CURRENT_SPEED:
+            return 4;*/
           case NUM_REGS:
           default:
             return 0;
@@ -943,9 +944,8 @@ namespace CubeRover {
           // TODO: Need to correct the container to pass an int8_t
           Throttle_t motor_speed = m_angularToLinear*groundSpeedToSpeedPrecent(speed);
        
-        // // FIXME: These need to be updated to use the correct register (TARGET)
           // Send the speed to all the motors
-          err = sendAllMotorsData(REG_CURRENT_SPEED,
+          err = sendAllMotorsData(REG_TARGET_SPEED,
                                   (uint8_t*) &motor_speed);
           if (err != MC_NO_ERROR)
             return err;  
@@ -1106,15 +1106,15 @@ namespace CubeRover {
     MotorControlComponentImpl::MotorTick_t
     MotorControlComponentImpl::groundCMToMotorTicks(int16_t dist)
     {
-        // FIXME: Jonathan to develop this function
-        return 0;
+        // TODO: Make this constant editable
+        return (int)(158.343f * (float(dist)));
     }
  
     /**
     * @brief      Converts from ground speed to motor normalized speed
     *
-    * @param[in]  The speed in ground version of cm/s (scaled from 0x00 - 0x0A)
-    *              meaning 0-10cm/s
+    * @param[in]  The speed in ground version of cm/s (scaled from 0x00 - 0x7f)
+    *              meaning 0-12.61cm/s (1996tick/s)
     *
     * @return     Precentage of the speed in motor control terms
     */
@@ -1122,7 +1122,7 @@ namespace CubeRover {
     MotorControlComponentImpl::groundSpeedToSpeedPrecent(int16_t speed)
     {
         // FIXME: Jonathan to develop this function
-        return 0;
+        return speed;
     }
  
     /**
@@ -1139,7 +1139,7 @@ namespace CubeRover {
           switch(++m_Robin_Number)
           {
             case 0:
-              Update_Success = updateSpeed();
+              // Update_Success = updateSpeed();  // JUSTIN: READING SPEED DEPRACATED IN FAVOR OF DOWNLIKMING RAW ENCODER READINGS
               break;
        
             case 1:
@@ -1160,8 +1160,8 @@ namespace CubeRover {
         // Update all of them
         else
         {
-          if (!updateSpeed())
-            return false;
+          //if (!updateSpeed())
+          //  return false;
           if (!updateCurrent()) 
             return false;
           if (updateEncoder())
@@ -1171,78 +1171,6 @@ namespace CubeRover {
         return Update_Success;
     }
  
-    /**
-    * @brief      Delays for 1050 ticks slow enough for slave sides
-    *
-    */
-    bool MotorControlComponentImpl::updateSpeed()
-    {
-        // FIXME: REG_CURRENT_SPEED reads (#ticks / #seconds) -> Fixed-point 17MSB . 15LSB 
-        // BUT JONATHAN WILL UPDATE 
-        
-        MCError_t err = MC_NO_ERROR;
-        uint8_t Speed_buffer[MC_BUFFER_MAX_SIZE];
-       
-        // Get FL Current Speed
-        err = writeMotorControlRegister(REG_CURRENT_SPEED,
-                                        FRONT_LEFT_MC_I2C_ADDR,
-                                        &Speed_buffer[0]);
-       
-        // Make sure everything is going well
-        if (err != MC_NO_ERROR)
-        {
-          resetMotorControllers();
-          log_WARNING_HI_MC_MSPNotResponding();
-          return false;
-        }
-       
-        // Get FR Current Speed
-        err = writeMotorControlRegister(REG_CURRENT_SPEED,
-                                        FRONT_RIGHT_MC_I2C_ADDR,
-                                        &Speed_buffer[4]);
-       
-        // Make sure everything is going well
-        if (err != MC_NO_ERROR)
-        {
-          resetMotorControllers();
-          log_WARNING_HI_MC_MSPNotResponding();
-          return false;
-        }
-       
-        // Get RR Current Speed
-        err = writeMotorControlRegister(REG_CURRENT_SPEED,
-                                        REAR_RIGHT_MC_I2C_ADDR,
-                                        &Speed_buffer[8]);
-       
-        // Make sure everything is going well
-        if (err != MC_NO_ERROR)
-        {
-          resetMotorControllers();
-          log_WARNING_HI_MC_MSPNotResponding();
-          return false;
-        }
-       
-        // Get RL Current Speed
-        err = writeMotorControlRegister(REG_CURRENT_SPEED,
-                                        REAR_LEFT_MC_I2C_ADDR,
-                                        &Speed_buffer[12]);
-       
-        // Make sure everything is going well
-        if (err != MC_NO_ERROR)
-        {
-          resetMotorControllers();
-          log_WARNING_HI_MC_MSPNotResponding();
-          return false;
-        }
-       
-        // If we got all the values we need, then we can update telemetry
-        tlmWrite_MC_FL_Speed((uint32_t) Speed_buffer[0]);
-        tlmWrite_MC_FR_Speed((uint32_t) Speed_buffer[4]);
-        tlmWrite_MC_RR_Speed((uint32_t) Speed_buffer[8]);
-        tlmWrite_MC_RL_Speed((uint32_t) Speed_buffer[12]);
-        return true;
-    }
- 
     /**
     * @brief      Delays for 1050 ticks slow enough for slave sides
     *
@@ -1378,10 +1306,10 @@ namespace CubeRover {
         m_FR_Encoder_Count += (uint16_t) Encoder_buffer[4];
         m_RR_Encoder_Count += (uint16_t) Encoder_buffer[8];
         m_RL_Encoder_Count += (uint16_t) Encoder_buffer[12];
-        tlmWrite_MC_FL_Encoder_Dist(m_FL_Encoder_Count + m_FR_Encoder_Count_Offset);
-        tlmWrite_MC_FR_Encoder_Dist(m_FR_Encoder_Count + m_FL_Encoder_Count_Offset);
-        tlmWrite_MC_RR_Encoder_Dist(m_RR_Encoder_Count + m_RL_Encoder_Count_Offset);
-        tlmWrite_MC_RL_Encoder_Dist(m_RL_Encoder_Count + m_RR_Encoder_Count_Offset);
+        tlmWrite_MC_FL_Encoder_Ticks(m_FL_Encoder_Count + m_FR_Encoder_Count_Offset);
+        tlmWrite_MC_FR_Encoder_Ticks(m_FR_Encoder_Count + m_FL_Encoder_Count_Offset);
+        tlmWrite_MC_RR_Encoder_Ticks(m_RR_Encoder_Count + m_RL_Encoder_Count_Offset);
+        tlmWrite_MC_RL_Encoder_Ticks(m_RL_Encoder_Count + m_RR_Encoder_Count_Offset);
         return true;
     }
  
@@ -1399,7 +1327,6 @@ namespace CubeRover {
         {
           case REG_I2C_ADDRESS:
           case REG_CURRENT_POSITION:
-          case REG_CURRENT_SPEED:
           case REG_MOTOR_CURRENT:
             return true;
        
diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.hpp b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.hpp
index 8308a56c0..f134b2e49 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.hpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.hpp
@@ -165,7 +165,7 @@ namespace CubeRover {
             REG_RELATIVE_TARGET_POSITION = 1, // Write-only
             REG_TARGET_SPEED = 2,             // Write-only
             REG_CURRENT_POSITION = 3,         // Read-only
-            REG_CURRENT_SPEED = 4,            // Read-only  TODO: Micheal's original comment, look into this "Weird values. Normalized version of tick rate. See Spreadsheet labeled "Motor tests""
+            // REG_CURRENT_SPEED = 4,            // Read-only  TODO: Micheal's original comment, look into this "Weird values. Normalized version of tick rate. See Spreadsheet labeled "Motor tests""
             REG_MOTOR_CURRENT = 5,            // Read-only
             REG_P_CURRENT = 6,                // Write-only
             REG_I_CURRENT = 7,                // Write-only
@@ -173,10 +173,9 @@ namespace CubeRover {
             REG_I_SPEED = 9,                  // Write-only
             REG_ACC_RATE = 10,                // Write-only
             REG_DEC_RATE = 11,                // Write-only
-            REG_CTRL = 12,                    // Write-only TODO: Check
-            REG_STATUS = 13,                  // Read-only  TODO: Check
+            REG_CTRL = 12,                    // Write-only
+            e_REG_STATUS = 13,                // Read-only
             REG_FAULT = 14,                   // Read-only
-            REG_CLR_FAULT = 15,               // Write-only  TODO:: Jonathan to hold over this test option to flight
             NUM_REGS = 16,
             // TODO: Everything past here is depracated
             // EXECUTE_CMD = 16,             // NOT A THING
@@ -185,6 +184,41 @@ namespace CubeRover {
             DEPRACATE_RESET_CONTROLLER = 19,        // NOT A THING  TODO: Watchdog to handle this???
             // UNSET = 99                    // Not a command
         } RegisterAddress_t;
+        
+        /* Motor Control Interface w.r.t. PR #51 & PR#52 */
+        typedef union {
+            uint8_t value;
+            struct {
+                uint8_t open_loop   : 1;
+                uint8_t clear_fault : 1;
+                uint8_t fsm_disable : 1;
+                uint8_t fsm_run     : 1;
+                uint8_t override_fault_detection : 1;
+                uint8_t unused      : 3;
+            } bits;
+        } ControlRegister_t;
+        
+        typedef union {
+            uint8_t value;
+            struct {
+                uint8_t open_loop   : 1;
+                uint8_t clear_fault : 1;
+                uint8_t fsm_disable : 1;
+                uint8_t position_converged : 1;
+                uint8_t controller_error   : 1;
+                uint8_t unused             : 3;
+            } bits;
+        } StatusRegister_t;
+        
+        typedef union {
+            uint8_t value;
+            struct {
+                uint8_t driver_fault        : 1;
+                uint8_t position_no_change  : 1;
+                uint8_t driving_wrong_direction : 1;
+                uint8_t unused              : 5;
+            } bits;
+        } FaultRegister_t;
 
         typedef enum {
             MC_NO_ERROR,
diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponentAi.xml b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponentAi.xml
index e4ce95855..a2cfc2133 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponentAi.xml
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponentAi.xml
@@ -202,7 +202,7 @@
   <!-- TELEMETRY -->
   <telemetry>
     <!-- Motor 0 | Front left motor -->
-    <channel id="0" name="MC_FL_Encoder_Dist" data_type="I32" update = "on_change">
+    <channel id="0" name="MC_FL_Encoder_Ticks" data_type="I32" update = "on_change">
       <comment>Front Left motor encoder displacement in encoder ticks</comment>
     </channel>
 
@@ -210,12 +210,12 @@
       <comment>Front Left motor current in milliAmps</comment>
     </channel>
 
-    <channel id="2" name="MC_FL_Speed" data_type="I16" update = "on_change">
+    <!--<channel id="2" name="MC_FL_Speed" data_type="I16" update = "on_change">
       <comment>Front Left motor speed in centimeters per second (positive rotation is counter clockwise</comment>
-    </channel>
+    </channel>-->
 
     <!-- Motor 1 | Front right motor -->
-    <channel id="3" name="MC_FR_Encoder_Dist" data_type="I32" update = "on_change">
+    <channel id="3" name="MC_FR_Encoder_Ticks" data_type="I32" update = "on_change">
       <comment>Front Right motor encoder displacement in encoder ticks</comment>
     </channel>
 
@@ -223,12 +223,12 @@
       <comment>Front Right motor current in milliAmps</comment>
     </channel>
 
-    <channel id="5" name="MC_FR_Speed" data_type="I16" update = "on_change">
+    <!--<channel id="5" name="MC_FR_Speed" data_type="I16" update = "on_change">
       <comment>Front Right motor speed in centimeters per second</comment>
-    </channel>
+    </channel>-->
 
     <!-- Motor 2 | Rear right motor -->
-    <channel id="6" name="MC_RR_Encoder_Dist" data_type="I32" update = "on_change">
+    <channel id="6" name="MC_RR_Encoder_Ticks" data_type="I32" update = "on_change">
       <comment>Rear Right motor encoder displacement in encoder ticks</comment>
     </channel>
 
@@ -236,12 +236,12 @@
       <comment>Rear Right motor current in milliAmps</comment>
     </channel>
 
-    <channel id="8" name="MC_RR_Speed" data_type="I16" update = "on_change">
+    <!--<channel id="8" name="MC_RR_Speed" data_type="I16" update = "on_change">
       <comment>Rear Right motor speed in centimeters per second</comment>
-    </channel>
+    </channel>-->
 
     <!-- Motor 3 | Read right motor -->
-    <channel id="9" name="MC_RL_Encoder_Dist" data_type="I32" update = "on_change">
+    <channel id="9" name="MC_RL_Encoder_Ticks" data_type="I32" update = "on_change">
       <comment>Rear Left motor encoder displacement in encoder ticks</comment>
     </channel>
 
@@ -249,9 +249,9 @@
       <comment>Rear Left motor current in milliAmps</comment>
     </channel>
 
-    <channel id="11" name="MC_RL_Speed" data_type="I16" update = "on_change">
+    <!--<channel id="11" name="MC_RL_Speed" data_type="I16" update = "on_change">
       <comment>Rear Left motor speed in centimeters per second</comment>
-    </channel>
+    </channel>-->
   </telemetry>
 
 </component>
diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorController_i2c.c b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorController_i2c.c
index 1acad6928..bedba9847 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorController_i2c.c
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorController_i2c.c
@@ -133,7 +133,8 @@ void delayForI2C()
 {
     // FIXME: DONT USE POLLING LOOP FOR DELAY
     // for (unsigned i = 180000000; i; --i); ~= 13.5s
-    for (unsigned i = 900; i; --i);
+    unsigned i;
+    for (i = 900; i; --i);
 }
 
 
diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/docs/MotorControl.md b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/docs/MotorControl.md
index 7665ee2b0..aadadc95b 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/docs/MotorControl.md
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/docs/MotorControl.md
@@ -43,18 +43,14 @@
 
 |Channel Name|ID|Type|Description|
 |---|---|---|---|
-|MC_FL_Encoder_Dist|0 (0x0)|I32|Front Left motor encoder displacement in encoder ticks|
+|MC_FL_Encoder_Ticks|0 (0x0)|I32|Front Left motor encoder displacement in encoder ticks|
 |MC_FL_Current|1 (0x1)|U16|Front Left motor current in milliAmps|
-|MC_FL_Speed|2 (0x2)|I16|Front Left motor speed in centimeters per second (positive rotation is counter clockwise|
-|MC_FR_Encoder_Dist|3 (0x3)|I32|Front Right motor encoder displacement in encoder ticks|
+|MC_FR_Encoder_Ticks|3 (0x3)|I32|Front Right motor encoder displacement in encoder ticks|
 |MC_FR_Current|4 (0x4)|U16|Front Right motor current in milliAmps|
-|MC_FR_Speed|5 (0x5)|I16|Front Right motor speed in centimeters per second|
-|MC_RR_Encoder_Dist|6 (0x6)|I32|Rear Right motor encoder displacement in encoder ticks|
+|MC_RR_Encoder_Ticks|6 (0x6)|I32|Rear Right motor encoder displacement in encoder ticks|
 |MC_RR_Current|7 (0x7)|U16|Rear Right motor current in milliAmps|
-|MC_RR_Speed|8 (0x8)|I16|Rear Right motor speed in centimeters per second|
-|MC_RL_Encoder_Dist|9 (0x9)|I32|Rear Left motor encoder displacement in encoder ticks|
+|MC_RL_Encoder_Ticks|9 (0x9)|I32|Rear Left motor encoder displacement in encoder ticks|
 |MC_RL_Current|10 (0xa)|U16|Rear Left motor current in milliAmps|
-|MC_RL_Speed|11 (0xb)|I16|Rear Left motor speed in centimeters per second|
 
 ## Event List
 
diff --git a/Apps/FlightSoftware/fprime/CubeRover/Top/channels/motorControl_channels.html b/Apps/FlightSoftware/fprime/CubeRover/Top/channels/motorControl_channels.html
index 120c53df3..0741e6c45 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/Top/channels/motorControl_channels.html
+++ b/Apps/FlightSoftware/fprime/CubeRover/Top/channels/motorControl_channels.html
@@ -33,7 +33,7 @@ <h1><b>Telemetry Channels: motorControl:MotorControl</b></h1>
  </tr>
 
  <tr>
-    <td>MC_FL_Encoder_Dist</td>
+    <td>MC_FL_Encoder_Ticks</td>
     <td>3584 (0xe00)</td>
     <td>I32</td>
     <td>Front Left motor encoder displacement in encoder ticks</td>
@@ -45,13 +45,7 @@ <h1><b>Telemetry Channels: motorControl:MotorControl</b></h1>
     <td>Front Left motor current in milliAmps</td>
  </tr>
  <tr>
-    <td>MC_FL_Speed</td>
-    <td>3586 (0xe02)</td>
-    <td>I16</td>
-    <td>Front Left motor speed in centimeters per second (positive rotation is counter clockwise</td>
- </tr>
- <tr>
-    <td>MC_FR_Encoder_Dist</td>
+    <td>MC_FR_Encoder_Ticks</td>
     <td>3587 (0xe03)</td>
     <td>I32</td>
     <td>Front Right motor encoder displacement in encoder ticks</td>
@@ -63,13 +57,7 @@ <h1><b>Telemetry Channels: motorControl:MotorControl</b></h1>
     <td>Front Right motor current in milliAmps</td>
  </tr>
  <tr>
-    <td>MC_FR_Speed</td>
-    <td>3589 (0xe05)</td>
-    <td>I16</td>
-    <td>Front Right motor speed in centimeters per second</td>
- </tr>
- <tr>
-    <td>MC_RR_Encoder_Dist</td>
+    <td>MC_RR_Encoder_Ticks</td>
     <td>3590 (0xe06)</td>
     <td>I32</td>
     <td>Rear Right motor encoder displacement in encoder ticks</td>
@@ -81,13 +69,7 @@ <h1><b>Telemetry Channels: motorControl:MotorControl</b></h1>
     <td>Rear Right motor current in milliAmps</td>
  </tr>
  <tr>
-    <td>MC_RR_Speed</td>
-    <td>3592 (0xe08)</td>
-    <td>I16</td>
-    <td>Rear Right motor speed in centimeters per second</td>
- </tr>
- <tr>
-    <td>MC_RL_Encoder_Dist</td>
+    <td>MC_RL_Encoder_Ticks</td>
     <td>3593 (0xe09)</td>
     <td>I32</td>
     <td>Rear Left motor encoder displacement in encoder ticks</td>
@@ -98,12 +80,6 @@ <h1><b>Telemetry Channels: motorControl:MotorControl</b></h1>
     <td>U16</td>
     <td>Rear Left motor current in milliAmps</td>
  </tr>
- <tr>
-    <td>MC_RL_Speed</td>
-    <td>3595 (0xe0b)</td>
-    <td>I16</td>
-    <td>Rear Left motor speed in centimeters per second</td>
- </tr>
 </table>
 </body>
 </html>

From 553607c17b4b466213cc44ae5bb0ca88f0106379 Mon Sep 17 00:00:00 2001
From: Justin Nguyen <justinnuwin@gmail.com>
Date: Thu, 15 Apr 2021 05:51:49 -0400
Subject: [PATCH 21/42] Major code cleanup, simplification, annotation, and
 conformance modificaitons to MotorControlComponent. Needs testinggit status

---
 .../FlightMCU/Include/CubeRoverConfig.hpp     |   15 -
 .../MotorControl/MotorControlComponent.cpp    | 1336 +++++------------
 .../MotorControl/MotorControlComponent.hpp    |   95 +-
 .../MotorControl/MotorControlComponentAi.xml  |   44 +-
 .../MotorControl/docs/MotorControl.md         |   26 +-
 5 files changed, 421 insertions(+), 1095 deletions(-)

diff --git a/Apps/FlightSoftware/PrimaryFlightController/FlightMCU/Include/CubeRoverConfig.hpp b/Apps/FlightSoftware/PrimaryFlightController/FlightMCU/Include/CubeRoverConfig.hpp
index 1a534d652..178b03dd7 100644
--- a/Apps/FlightSoftware/PrimaryFlightController/FlightMCU/Include/CubeRoverConfig.hpp
+++ b/Apps/FlightSoftware/PrimaryFlightController/FlightMCU/Include/CubeRoverConfig.hpp
@@ -58,21 +58,6 @@
 
 #define MIN_STACK_SIZE_WORDS        1024
 
-// Configuration of I2C interfaces address and ports
-// For the motor controllers
-#define ALL_MOTOR_ADDR			        0x00
-#define FRONT_LEFT_MC_I2C_ADDR      0x48
-#define FRONT_RIGHT_MC_I2C_ADDR     0x49
-#define REAR_LEFT_MC_I2C_ADDR       0x4A
-#define REAR_RIGHT_MC_I2C_ADDR      0x4B
-#define MOTOR_CONTROL_I2CREG     	i2cREG1
-
-#define CUBEROVER_WHEEL_DIAMETER_CM			20.0f
-#define CUBEROVER_COM_TO_WHEEL_CIRC_CM	78.54f
-#define MOTOR_NB_PAIR_POLES							1.0f
-#define MOTOR_GEAR_BOX_REDUCTION				5.0f
-#define MAX_SPIN_DISTANCE								0x7FFFFFFF
-
 // Navigation Configs
 #define NAV_MOVE_BUFFER_LIMIT           5
 #define NAV_LOW_RES_SIZE                5
diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp
index 53197d50c..341e1726f 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp
@@ -19,6 +19,11 @@
 #include "Include/CubeRoverConfig.hpp"
 
 namespace CubeRover {
+    
+   const uint8_t MotorControlComponentImpl::motorIdAddressMap[NUM_MOTORS] = {
+       FRONT_LEFT_MC_I2C_ADDR, FRONT_RIGHT_MC_I2C_ADDR,
+       REAR_LEFT_MC_I2C_ADDR, REAR_RIGHT_MC_I2C_ADDR
+   };
 
   // ----------------------------------------------------------------------
   // Construction, initialization, and destruction
@@ -39,7 +44,7 @@ namespace CubeRover {
     MotorControlComponentImpl(void)
 #endif
   {
-    m_i2c = i2cREG1;
+    m_i2c = MOTOR_CONTROL_I2CREG;
     m_stallDetectectionEnabled[0] = true;
     m_stallDetectectionEnabled[1] = true;
     m_stallDetectectionEnabled[2] = true;
@@ -72,9 +77,6 @@ namespace CubeRover {
     // Initalize the converting values
     m_angularToLinear = CUBEROVER_COM_TO_WHEEL_CIRC_CM/360; 
            // This should be the circumference from the COM of the rover to the wheel.
-
-    // Should only 1 of current/encoder/speed be updated at any one time?
-    m_Round_Robin_Telemetry = false;
   }
 
   /**
@@ -116,71 +118,35 @@ namespace CubeRover {
                                                            U8 Speed)
   {
     MCError_t err;
-    switch(command_type)
-    {
-      // We actively want to be moving
-      case CubeRoverPorts::MC_DrivingConfiguration:
-        switch(movement_type)
-        {
+    if (command_type == CubeRoverPorts::MC_DrivingConfiguration) {
+        switch (movement_type) {
           case CubeRoverPorts::MC_Forward:
-            err = moveAllMotorsStraight(Distance, Speed);
-            if (err != MC_NO_ERROR)
-            {
-              log_WARNING_HI_MC_MSPNotResponding();
-            }
-            log_COMMAND_MC_moveStarted();
-            break;
-
+              err = moveAllMotorsStraight(Distance, Speed);
+              log_COMMAND_MC_moveStarted();
+              break;
           case CubeRoverPorts::MC_Backward:
-            err = moveAllMotorsStraight(-Distance, Speed);
-            if (err != MC_NO_ERROR)
-            {
-              log_WARNING_HI_MC_MSPNotResponding();
-            }
-            log_COMMAND_MC_moveStarted();
-            break;
-
+              err = moveAllMotorsStraight(-Distance, Speed);
+              log_COMMAND_MC_moveStarted();
+              break;
           case CubeRoverPorts::MC_Left:
-            err = rotateAllMotors(Distance, Speed);
-            if (err != MC_NO_ERROR)
-            {
-              log_WARNING_HI_MC_MSPNotResponding();
-            }
-            log_COMMAND_MC_moveStarted();
-            break;
-
+              err = rotateAllMotors(Distance, Speed);
+              log_COMMAND_MC_moveStarted();
+              break;
           case CubeRoverPorts::MC_Right:
-            err = rotateAllMotors(-Distance, Speed);
-            if (err != MC_NO_ERROR)
-            {
-              log_WARNING_HI_MC_MSPNotResponding();
-            }
-            log_COMMAND_MC_moveStarted();
-            break;
-
-          // Stopping the system
+              err = rotateAllMotors(-Distance, Speed);
+              log_COMMAND_MC_moveStarted();
+              break;
           case CubeRoverPorts::MC_Stop:
-            err = moveAllMotorsStraight(0, 0);
-            if (err != MC_NO_ERROR)
-            {
-              log_WARNING_HI_MC_MSPNotResponding();
-            }
-            break;
-
-          // Not a valid option, just leave
+              err = moveAllMotorsStraight(0, 0);
+              break;
           default:
-            return;
+              return;
         }
-        break;
-
-      // Constant heartbeat to keep updating ground telemetry
-      case CubeRoverPorts::MC_UpdateTelemetry:
+        if (err != MC_NO_ERROR)
+            log_WARNING_HI_MC_MSPNotResponding();
+    }
+    else if (command_type == CubeRoverPorts::MC_UpdateTelemetry) {
         updateTelemetry();
-        break;
-
-      // Not a valid option, just leave
-      default:
-        return;
     }
   }
 
@@ -202,126 +168,35 @@ namespace CubeRover {
                                                               U32 PI_Values)
   {
     MCError_t err;
-    uint16_t P_Value, I_Value;
-    // TODO TEST THIS!
-    P_Value = (uint16_t) PI_Values;
-    I_Value = (uint16_t) (PI_Values << 16);         // FIXME: Justin: highly doubt this si correct
+    uint16_t P_Value = (uint16_t)((PI_Values & (uint32_t)0x00ff) >> 0 );
+    uint16_t I_Value = (uint16_t)((PI_Values & (uint32_t)0xff00) >> 16);
 
-    switch(Motor_ID)
-    {
-      // FL Motor
-      case 0:
-        // TODO again, need to find out how to pass int8*
-        err = writeMotorControlRegister(REG_P_CURRENT,
-                                        FRONT_LEFT_MC_I2C_ADDR,
-                                        (uint8_t*) &P_Value);
-        if (err != MC_NO_ERROR)
-        {
-          this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-          return;          
-        }
-
-        err = writeMotorControlRegister(REG_I_CURRENT,
-                                        FRONT_LEFT_MC_I2C_ADDR,
-                                        (uint8_t*) &I_Value);
-        if (err != MC_NO_ERROR)
-        {
-          this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-          return;          
-        }
-        break;
-
-      // FR Motor
-      case 1:
-        // TODO again, need to find out how to pass int8*
-        err = writeMotorControlRegister(REG_P_CURRENT,
-                                        FRONT_RIGHT_MC_I2C_ADDR,
-                                        (uint8_t*) &P_Value);
-        if (err != MC_NO_ERROR)
-        {
-          this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-          return;          
-        }
-
-        err = writeMotorControlRegister(REG_I_CURRENT,
-                                        FRONT_LEFT_MC_I2C_ADDR,
-                                        (uint8_t*) &I_Value);
-        if (err != MC_NO_ERROR)
-        {
-          this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-          return;          
-        }
-        break;
-
-      // RR Motor
-      case 2:
-        // TODO again, need to find out how to pass int8*
-        err = writeMotorControlRegister(REG_P_CURRENT,
-                                        REAR_RIGHT_MC_I2C_ADDR,
-                                        (uint8_t*) &P_Value);
-        if (err != MC_NO_ERROR)
-        {
-          this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-          return;          
-        }
-
-        err = writeMotorControlRegister(REG_I_CURRENT,
-                                        REAR_RIGHT_MC_I2C_ADDR,
-                                        (uint8_t*) &I_Value);
-        if (err != MC_NO_ERROR)
-        {
-          this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-          return;          
-        }
-        break;
-
-      // RL Motor
-      case 3:
-        // TODO again, need to find out how to pass int8*
-        err = writeMotorControlRegister(REG_P_CURRENT,
-                                        REAR_LEFT_MC_I2C_ADDR,
-                                        (uint8_t*) &P_Value);
-        if (err != MC_NO_ERROR)
-        {
-          this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-          return;          
+    if (Motor_ID == ALL_MOTOR_ID) {
+        err = sendAllMotorsData(REG_P_CURRENT, &P_Value);
+        if (err != MC_NO_ERROR) {
+            this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
+            return;
         }
 
-        err = writeMotorControlRegister(REG_I_CURRENT,
-                                        REAR_LEFT_MC_I2C_ADDR,
-                                        (uint8_t*) &I_Value);
-        if (err != MC_NO_ERROR)
-        {
-          this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-          return;          
+        err = sendAllMotorsData(REG_I_CURRENT, &I_Value);
+        if (err != MC_NO_ERROR) {
+            this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
+            return;
         }
-        break;
-
-      case 4:
-        // TODO again, need to find out how to pass int8*
-        err = sendAllMotorsData(REG_P_CURRENT,
-                                (uint8_t*) &P_Value);
-        if (err != MC_NO_ERROR)
-        {
-          this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-          return;          
+    }
+    else {
+        err = motorControlTransfer(motorIdAddressMap[Motor_ID], REG_P_CURRENT, &P_Value);
+        if (err != MC_NO_ERROR) {
+            this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
+            return;          
         }
 
-        err = sendAllMotorsData(REG_I_CURRENT,
-                                (uint8_t*) &I_Value);
-        if (err != MC_NO_ERROR)
-        {
-          this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-          return;          
+        err = motorControlTransfer(motorIdAddressMap[Motor_ID], REG_I_CURRENT, &I_Value);
+        if (err != MC_NO_ERROR) {
+            this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
+            return;          
         }
-        break;
-
-      default:
-        this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-        return;
-     }
-
-    // If all else goes well, we succeeded
+    }
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
@@ -336,150 +211,41 @@ namespace CubeRover {
   void MotorControlComponentImpl :: MC_Speed_PID_cmdHandler(const FwOpcodeType opCode,
                                                             const U32 cmdSeq,
                                                             U8 Motor_ID,
-                                                            U64 PID_Values)
+                                                            U32 PID_Values)
   {
     MCError_t err;
-    uint16_t P_Value, I_Value;
-    // TODO TEST THIS!
-    P_Value = (uint16_t) PID_Values;
-    I_Value = (uint16_t) (PID_Values << 16);
-    // D's don't exist
-
-    switch(Motor_ID)
-    {
-      // FL Motor
-      case 0:
-        // TODO again, need to find out how to pass int8*
-        err = writeMotorControlRegister(REG_P_SPEED,
-                                        FRONT_LEFT_MC_I2C_ADDR,
-                                        (uint8_t*) &P_Value);
-        if (err != MC_NO_ERROR)
-        {
-          this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-          return;          
-        }
-
-        err = writeMotorControlRegister(REG_I_SPEED,
-                                        FRONT_LEFT_MC_I2C_ADDR,
-                                        (uint8_t*) &I_Value);
-        if (err != MC_NO_ERROR)
-        {
-          this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-          return;          
-        }
-        break;
-
-      // FR Motor
-      case 1:
-        // TODO again, need to find out how to pass int8*
-        err = writeMotorControlRegister(REG_P_SPEED,
-                                        FRONT_RIGHT_MC_I2C_ADDR,
-                                        (uint8_t*) &P_Value);
-        if (err != MC_NO_ERROR)
-        {
-          this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-          return;          
-        }
-
-        err = writeMotorControlRegister(REG_I_SPEED,
-                                        FRONT_LEFT_MC_I2C_ADDR,
-                                        (uint8_t*) &I_Value);
-        if (err != MC_NO_ERROR)
-        {
-          this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-          return;          
-        }
-        break;
-
-      // RR Motor
-      case 2:
-        // TODO again, need to find out how to pass int8*
-        err = writeMotorControlRegister(REG_P_SPEED,
-                                        REAR_RIGHT_MC_I2C_ADDR,
-                                        (uint8_t*) &P_Value);
-        if (err != MC_NO_ERROR)
-        {
-          this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-          return;          
-        }
-
-        err = writeMotorControlRegister(REG_I_SPEED,
-                                        REAR_RIGHT_MC_I2C_ADDR,
-                                        (uint8_t*) &I_Value);
-        if (err != MC_NO_ERROR)
-        {
-          this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-          return;          
-        }
-        break;
-
-      // RL Motor
-      case 3:
-        // TODO again, need to find out how to pass int8*
-        err = writeMotorControlRegister(REG_P_SPEED,
-                                        REAR_LEFT_MC_I2C_ADDR,
-                                        (uint8_t*) &P_Value);
-        if (err != MC_NO_ERROR)
-        {
-          this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-          return;          
+    uint16_t P_Value = (uint16_t)((PID_Values & (uint32_t)0x00ff) >> 0 );
+    uint16_t I_Value = (uint16_t)((PID_Values & (uint32_t)0xff00) >> 16);
+    
+    if (Motor_ID == ALL_MOTOR_ID) {
+        err = sendAllMotorsData(REG_P_SPEED, &P_Value);
+        if (err != MC_NO_ERROR) {
+            this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
+            return;
         }
 
-        err = writeMotorControlRegister(REG_I_SPEED,
-                                        REAR_LEFT_MC_I2C_ADDR,
-                                        (uint8_t*) &I_Value);
-        if (err != MC_NO_ERROR)
-        {
-          this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-          return;          
+        err = sendAllMotorsData(REG_I_SPEED, &I_Value);
+        if (err != MC_NO_ERROR) {
+            this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
+            return;
         }
-        break;
-
-      case 4:
-        // TODO again, need to find out how to pass int8*
-        err = sendAllMotorsData(REG_P_SPEED,
-                                (uint8_t*) &P_Value);
-        if (err != MC_NO_ERROR)
-        {
-          this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-          return;          
+    }
+    else {
+        err = motorControlTransfer(motorIdAddressMap[Motor_ID], REG_P_SPEED, &P_Value);
+        if (err != MC_NO_ERROR) {
+            this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
+            return;          
         }
 
-        err = sendAllMotorsData(REG_I_SPEED,
-                                (uint8_t*) &I_Value);
-        if (err != MC_NO_ERROR)
-        {
-          this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-          return;          
+        err = motorControlTransfer(motorIdAddressMap[Motor_ID], REG_I_SPEED, &I_Value);
+        if (err != MC_NO_ERROR) {
+            this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
+            return;          
         }
-        break;
-
-      default:
-        this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-        return;
-     }
-
-    // If all else goes well, we succeeded
+    }
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
-  /**
-   * @brief      Command handler implementation to change PID values
-   *
-   * @param[in]  opCode          The operation code
-   * @param[in]  cmdSeq          The command sequence
-   * @param[in]  Motor_ID        The motor(s) ID
-   * @param[in]  PID_Values      The new PID values 
-   */
-  void MotorControlComponentImpl :: MC_Position_PID_cmdHandler(const FwOpcodeType opCode,
-                                                               const U32 cmdSeq,
-                                                               U8 Motor_ID,
-                                                               U64 PID_Values)
-  {
-    // This function doesn't do anything. Position is not a PID factor we have control over
-    this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-  }
-
   /**
    * @brief      Command handler implementation to change accel/deceleration
    *                  This function does nothing since the MC doesn't have
@@ -488,15 +254,44 @@ namespace CubeRover {
    * @param[in]  opCode          The operation code
    * @param[in]  cmdSeq          The command sequence
    * @param[in]  Motor_ID        The motor(s) ID
-   * @param[in]  Rate_Values     A value to enable or disable powerbost
+   * @param[in]  Rate_Values     Acceleration and Decelleration rates
    */
   void MotorControlComponentImpl :: MC_Acceleration_cmdHandler(const FwOpcodeType opCode,
                                                                const U32 cmdSeq,
                                                                U8 Motor_ID,
                                                                U32 Rate_Values)
   {
-    // This function doesn't do anything. Acceleration is not something we have control over
-    this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
+    MCError_t err;
+    uint16_t accel = (uint16_t)((Rate_Values & (uint32_t)0x00ff) >> 0 );
+    uint16_t decel = (uint16_t)((Rate_Values & (uint32_t)0xff00) >> 16);
+    
+    if (Motor_ID == ALL_MOTOR_ID) {
+        err = sendAllMotorsData(REG_ACC_RATE, &accel);
+        if (err != MC_NO_ERROR) {
+            this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
+            return;
+        }
+
+        err = sendAllMotorsData(REG_DEC_RATE, &decel);
+        if (err != MC_NO_ERROR) {
+            this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
+            return;
+        }
+    }
+    else {
+        err = motorControlTransfer(motorIdAddressMap[Motor_ID], REG_ACC_RATE, &accel);
+        if (err != MC_NO_ERROR) {
+            this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
+            return;          
+        }
+
+        err = motorControlTransfer(motorIdAddressMap[Motor_ID], REG_DEC_RATE, &decel);
+        if (err != MC_NO_ERROR) {
+            this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
+            return;          
+        }
+    }
+    this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
   /**
@@ -512,6 +307,7 @@ namespace CubeRover {
                                                                  U8 Motor_ID,
                                                                  U8 Value)
   {
+    // TODO: KEEP OR DEPRACATE? What does this do
     if ((Value != 0x00 && Value != 0xFF ) | Motor_ID > 4)
     {
       // Not a valid option
@@ -538,7 +334,6 @@ namespace CubeRover {
         m_stallDetectectionEnabled[Motor_ID] = false;
     }
 
-    // If all else goes well, we succeeded
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
@@ -553,7 +348,8 @@ namespace CubeRover {
                                                                 const U32 cmdSeq,
                                                                 U8 Motor_ID)
   {
-    switch(Motor_ID)
+    // TODO: DEPRACATE THIS? What does this actually do?
+    switch (Motor_ID)
     {
       // Motor 0 (FL)
       case 0:
@@ -594,59 +390,50 @@ namespace CubeRover {
   }
 
   /**
-   * @brief      Command handler implementation to manually spin (or stop)
+   * @brief      Command handler implementation to manually spin the motors at full speed
+   * 
+   * @note       This skips any conversion from ground units to Motor Control units. The received
+   *             value is directly forwarded to the requested motor controller.
    *
    * @param[in]  opCode          The operation code
    * @param[in]  cmdSeq          The command sequence
    * @param[in]  Motor_ID        The motor(s) ID
-   * @param[in]  Spin_Type       A value to enable or disable powerbost
+   * @param[in]  Raw_Ticks       Raw ticks to send to the motor controllers
    */
   void MotorControlComponentImpl :: MC_Spin_cmdHandler(const FwOpcodeType opCode,
                                                        const U32 cmdSeq,
                                                        U8 Motor_ID,
-                                                       U8 Spin_Type)
+                                                       U32 Raw_Ticks)
   {
+    // TODO: Should this force open loop control as well?
     MCError_t err;
-    switch(Spin_Type)
-    {
-      // Forward Spin
-      case 0:
-        err = moveAllMotorsStraight(MAX_SPIN_DISTANCE, 0);
-        if (err != MC_NO_ERROR) 
-        {
-          this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-          return;
+    uint8_t speed = MAX_SPEED;
+    if (Motor_ID == ALL_MOTOR_ID) {
+        err = sendAllMotorsData(REG_TARGET_SPEED, &speed);
+        if (err != MC_NO_ERROR) {
+            this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
+            return;
         }
-        break;
 
-      // Backwards Spin
-      case 1:
-        err = moveAllMotorsStraight(-1*MAX_SPIN_DISTANCE, 0);
-        if (err != MC_NO_ERROR) 
-        {
-          this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-          return;
+        err = sendAllMotorsData(REG_RELATIVE_TARGET_POSITION, &Raw_Ticks);
+        if (err != MC_NO_ERROR) {
+            this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
+            return;
         }
-        break;
-
-      // Stop
-      case 2:
-        err = moveAllMotorsStraight(0, 0);
-        if (err != MC_NO_ERROR) 
-        {
-          this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-          return;
+    }
+    else {
+        err = motorControlTransfer(motorIdAddressMap[Motor_ID], REG_TARGET_SPEED, &speed);
+        if (err != MC_NO_ERROR) {
+            this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
+            return;          
         }
-        break;
-
-      // Not a valid option
-      default:
-        this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-        return;
 
+        err = motorControlTransfer(motorIdAddressMap[Motor_ID], REG_RELATIVE_TARGET_POSITION, &Raw_Ticks);
+        if (err != MC_NO_ERROR) {
+            this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
+            return;          
+        }
     }
-
-    // If all else goes well, we succeeded 
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
@@ -681,19 +468,10 @@ namespace CubeRover {
                                                                U32 New_Value)
   {
     // TODO
-    this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
-  }
-
-  /**
-   * @brief      Command handler implementation to retrieve all parameters
-   *
-   * @param[in]  opCode          The operation code
-   * @param[in]  cmdSeq          The command sequence
-   */
-  void MotorControlComponentImpl :: MC_GetParameters_cmdHandler(const FwOpcodeType opCode,
-                                                               const U32 cmdSeq)
-  {
-    // TODO
+    // m_forward_is_positive
+    // consts to convert ground units to motor controller units
+    // angular to linear conversion
+    // status registers
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
@@ -707,632 +485,242 @@ namespace CubeRover {
                                                                   const U32 cmdSeq)
   {
     if (updateTelemetry())
-      this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
-
+        this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
     else
-      this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-  }
-
-  /**
-   * @brief      Command handler implementation to force update telemetry
-   *
-   * @param[in]  opCode          The operation code
-   * @param[in]  cmdSeq          The command sequence
-   */
-  void MotorControlComponentImpl :: MC_DriveTest_cmdHandler(const FwOpcodeType opCode,
-                                                            const U32 cmdSeq,
-                                                            I64 Distance,
-                                                            I8 MoveType)
-  {
-    MCError_t err;
-
-    switch(MoveType)
-    {
-      // Forward or backwards
-      case 0:
-        err = moveAllMotorsStraight(Distance,0);
-        if (err != MC_NO_ERROR)
-        {
-          this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-          return;
-        }
-        break;
-
-      // Rotating clockwise, or counter clockwise
-      case 1:
-        err = rotateAllMotors(Distance,0);
-        if (err != MC_NO_ERROR)
-        {
-          this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-          return;
-        }
-
-      // Stop
-      case 2:
-        err = moveAllMotorsStraight(0,0);
-        if (err != MC_NO_ERROR)
-        {
-          this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
-          return;
-        }
-        break;
-    }
-
-    // All else succeeds, then I guess we did too.
-    this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
-  }
-
-  /**
-   * @brief      Command handler implementation to force update telemetry
-   *
-   * @param[in]  opCode          The operation code
-   * @param[in]  cmdSeq          The command sequence
-   */
-  void MotorControlComponentImpl :: MC_SelfTest_cmdHandler(const FwOpcodeType opCode,
-                                                           const U32 cmdSeq)
-  {
-    // TODO IMPLEMENT SELF TEST!
-    this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
+        this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
   }
-
-    /**
-     * @brief      Gets the size data.
-     *
-     * @param[in]  id    The identifier
-     *
-     * @return     The size data.
-     */
-    uint32_t MotorControlComponentImpl::getSizeData(const RegisterAddress_t id)
-    {
-      switch(id)
-      {
-          case REG_I2C_ADDRESS:
-          case DEPRACATE_ENABLE_DRIVER:
-          case DEPRACATE_DISABLE_DRIVER:
-          case DEPRACATE_RESET_CONTROLLER:
-          case REG_FAULT:
-          case e_REG_STATUS:
+  
+
+uint32_t MotorControlComponentImpl::regSizeMap(RegisterAddress_t reg) {
+    switch (reg) {
+        case REG_I2C_ADDRESS:
+        case REG_FAULT:
+        case e_REG_STATUS:
+        case REG_TARGET_SPEED:
             return 1;
-          case REG_MOTOR_CURRENT:
-          case REG_P_CURRENT:
-          case REG_I_CURRENT:
-          case REG_P_SPEED:
-          case REG_I_SPEED:
-          case REG_ACC_RATE:
-          case REG_DEC_RATE:
-          case REG_CURRENT_POSITION:
-              return 2;
-          case REG_TARGET_SPEED:
-            return 1;
-          case REG_RELATIVE_TARGET_POSITION:
-              return 4;
-          /*case REG_CURRENT_SPEED:
-            return 4;*/
-          case NUM_REGS:
-          default:
+        case REG_P_CURRENT:
+        case REG_I_CURRENT:
+        case REG_P_SPEED:
+        case REG_I_SPEED:
+        case REG_ACC_RATE:
+        case REG_DEC_RATE:
+        case REG_CURRENT_POSITION:
+            return 2;
+        case REG_MOTOR_CURRENT:  // TODO: CHeck if this retuns 2 byts or 4!? 2 from thismethod 4 from micheal's update current tlm code
+        case REG_RELATIVE_TARGET_POSITION:
+            return 4;
+        default:
             return 0;
-        }   
-    }
+    }   
+}
  
-    /**
-     * @brief      Sends the same data to every motor register, returning any errors found
-     *
-     * @param      i2c   I 2 c
-     * @param[in]  reg    The slave register to write to
-     * @param[in]  data  The data
-     *
-     * @return     Motor Controller error
-     */
-    MotorControlComponentImpl::MCError_t
-    MotorControlComponentImpl::sendAllMotorsData(const RegisterAddress_t reg, uint8_t* data)
-    {
-        MCError_t err = MC_NO_ERROR;
-        // Send command to all motor controllers
-        err = writeMotorControlRegister(reg,
-                                        FRONT_LEFT_MC_I2C_ADDR,
-                                        data);
-        if (err != MC_NO_ERROR)
-          return err;          
-       
-        err = writeMotorControlRegister(reg,
-                                        FRONT_RIGHT_MC_I2C_ADDR,
-                                        data);
-        if (err != MC_NO_ERROR)
-          return err;          
-       
-        err = writeMotorControlRegister(reg,
-                                        REAR_LEFT_MC_I2C_ADDR,
-                                        data);
-        if (err != MC_NO_ERROR)
-          return err;          
-       
-        err = writeMotorControlRegister(reg,
-                                        REAR_RIGHT_MC_I2C_ADDR,
-                                        data);
-        if (err != MC_NO_ERROR)
-          return err;          
-       
-        return MC_NO_ERROR;  
+MotorControlComponentImpl::MCError_t
+MotorControlComponentImpl::sendAllMotorsData(const RegisterAddress_t reg, void *_data) {
+    uint8_t *data = static_cast<uint8_t *>(_data);
+    MCError_t err = MC_NO_ERROR;
+    
+    //TODO: This sends command to motors round robin. What if one fails???
+    // Talked to Connor. STOP and go to service mode
+    
+    for (int i = 0; i < NUM_MOTORS; ++i) { 
+        // TODO: MotorControlTransfer kind of dangerous since data isnt garunteed const
+        err = motorControlTransfer(motorIdAddressMap[i], reg, data);
+        if (err != MC_NO_ERROR)
+            return err;          
     }
- 
-    /**
-     * @brief      Helper function to move all motors simultaneously
-     *
-     * @param[in]  Distance       The distance to travel in motor ticks
-     * @param[in]  Speed          The speed to travel in normalized speed
-     */
-    MotorControlComponentImpl::MCError_t
-    MotorControlComponentImpl::moveAllMotorsStraight(int32_t distance, int16_t speed)
-    {
-        MotorTick_t Right_Wheels_Relative_ticks, Left_Wheels_Relative_ticks, Relative_ticks;
-        // Error preset
-        MCError_t err;
-       
-        Throttle_t motor_speed;
-       
-        if (speed > 0)
-        {
-          motor_speed = groundSpeedToSpeedPrecent(speed);
-       
-          // Send the speed to all the motors
-          // Required to send this before the setpoint (or else the MC will start spinning before speed was set)
-          err = sendAllMotorsData(REG_TARGET_SPEED,
-                                  (uint8_t*) &motor_speed);
-          if (err != MC_NO_ERROR)
-            return err;
-        }      
-       
-        // Convert from cm to motor ticks
-        Relative_ticks = groundCMToMotorTicks(distance);
-       
-        // Ensure the sides are traveling the right direction
-        if (m_forward_is_positive)
-        {
-          Right_Wheels_Relative_ticks = Relative_ticks;
-          Left_Wheels_Relative_ticks = -1*Relative_ticks;
-        }
-       
-        else
-        {
-          Right_Wheels_Relative_ticks = -1*Relative_ticks;
-          Left_Wheels_Relative_ticks = Relative_ticks;
-        }    
-       
-        // FIXME: XXX: CRITICAL SECTION REQUIRED
-        
-        err = writeMotorControlRegister(REG_RELATIVE_TARGET_POSITION,
-                                        FRONT_LEFT_MC_I2C_ADDR,
-                                        (uint8_t*) &Left_Wheels_Relative_ticks);
-        if (err != MC_NO_ERROR)
-          return err;  
-       
-        err = writeMotorControlRegister(REG_RELATIVE_TARGET_POSITION,
-                                        FRONT_RIGHT_MC_I2C_ADDR,
-                                        (uint8_t*) &Right_Wheels_Relative_ticks);
-        if (err != MC_NO_ERROR)
-          return err;  
-       
-        err = writeMotorControlRegister(REG_RELATIVE_TARGET_POSITION,
-                                        REAR_RIGHT_MC_I2C_ADDR,
-                                        (uint8_t*) &Right_Wheels_Relative_ticks);
-        if (err != MC_NO_ERROR)
-          return err;  
-       
-        err = writeMotorControlRegister(REG_RELATIVE_TARGET_POSITION,
-                                        REAR_LEFT_MC_I2C_ADDR,
-                                        (uint8_t*) &Left_Wheels_Relative_ticks);
-        
-        // FIXME: XXX: CRITICAL SECTION REQUIRED
-        
-        return err;  
-    }
- 
-    /**
-    * @brief      Helper function to rotate all motors simultaneously
-    *
-    * @param[in]  Distance       ???
-    * @param[in]  Speed          ???
-    */
-    MotorControlComponentImpl::MCError_t
-    MotorControlComponentImpl::rotateAllMotors(int16_t distance, int16_t speed)
-    {
-        // Error preset
-        MCError_t err;
-       
-        if (speed > 0)
-        {
-          // TODO: Need to correct the container to pass an int8_t
-          Throttle_t motor_speed = m_angularToLinear*groundSpeedToSpeedPrecent(speed);
-       
-          // Send the speed to all the motors
-          err = sendAllMotorsData(REG_TARGET_SPEED,
-                                  (uint8_t*) &motor_speed);
-          if (err != MC_NO_ERROR)
-            return err;  
-        }
-       
-        MotorTick_t Relative_ticks = m_angularToLinear*groundCMToMotorTicks(distance);
-       
-        // TODO: Need to correct the container to pass an int8_t
-        err = writeMotorControlRegister(REG_CURRENT_POSITION, 
-                                        FRONT_LEFT_MC_I2C_ADDR,
-                                        (uint8_t*) &Relative_ticks);
-        if (err != MC_NO_ERROR)
-          return err;  
-       
-        err = writeMotorControlRegister(REG_CURRENT_POSITION, 
-                                        FRONT_RIGHT_MC_I2C_ADDR,
-                                        (uint8_t*) &Relative_ticks);
-        if (err != MC_NO_ERROR)
-          return err;  
+    return MC_NO_ERROR;  
+}
+
+/**
+ * @brief      Helper function to move all motors simultaneously
+ *
+ * @param[in]  Distance       The distance to travel in motor ticks
+ * @param[in]  Speed          The speed to travel in normalized speed
+ */
+MotorControlComponentImpl::MCError_t
+MotorControlComponentImpl::moveAllMotorsStraight(int32_t distance, int16_t speed) {
+    MotorTick_t Right_Wheels_Relative_ticks, Left_Wheels_Relative_ticks, Relative_ticks;
+    MCError_t err;
+   
+    Throttle_t motor_speed;
+   
+    // Enforce speed always positive. Direction set by distance
+    if (speed > 0) {
+        motor_speed = groundSpeedToSpeedPrecent(speed);
        
-        err = writeMotorControlRegister(REG_CURRENT_POSITION, 
-                                        REAR_RIGHT_MC_I2C_ADDR,
-                                        (uint8_t*) &Relative_ticks);
+        // Send the speed to all the motors
+        // Required to send this before the setpoint (or else the MC will start spinning before speed was set)
+        err = sendAllMotorsData(REG_TARGET_SPEED, &motor_speed);
         if (err != MC_NO_ERROR)
-          return err;  
-       
-        err = writeMotorControlRegister(REG_CURRENT_POSITION, 
-                                        REAR_LEFT_MC_I2C_ADDR,
-                                        (uint8_t*) &Relative_ticks);
-        return err;
+            return err;
     }
- 
-    MotorControlComponentImpl::MCError_t
-    MotorControlComponentImpl::spinMotors(bool forward)
-    {
-        MotorTick_t Right_Wheels_Relative_ticks, Left_Wheels_Relative_ticks, Relative_ticks;
-        // Error preset
-        MCError_t err;
-       
-        // Convert from cm to motor ticks
-        Relative_ticks = MAX_SPIN_DISTANCE;
-       
-        // Ensure the sides are traveling the right direction
-        if (m_forward_is_positive)
-        {
-          Right_Wheels_Relative_ticks = Relative_ticks;
-          Left_Wheels_Relative_ticks = -1*Relative_ticks;
-        }
-       
-        else
-        {
-          Right_Wheels_Relative_ticks = -1*Relative_ticks;
-          Left_Wheels_Relative_ticks = Relative_ticks;
-        } 
-       
-        err = writeMotorControlRegister(REG_CURRENT_POSITION, 
-                                        FRONT_LEFT_MC_I2C_ADDR,
-                                        (uint8_t*) &Left_Wheels_Relative_ticks);
-        if (err != MC_NO_ERROR)
-          return err;  
-       
-        err = writeMotorControlRegister(REG_CURRENT_POSITION, 
-                                        FRONT_RIGHT_MC_I2C_ADDR,
-                                        (uint8_t*) &Right_Wheels_Relative_ticks);
-        if (err != MC_NO_ERROR)
-          return err;  
+   
+    Relative_ticks = groundCMToMotorTicks(distance);
+   
+    // Ensure the sides are traveling the right direction
+    if (m_forward_is_positive) {
+        Right_Wheels_Relative_ticks = Relative_ticks;
+        Left_Wheels_Relative_ticks = -1*Relative_ticks;
+    } else {
+        Right_Wheels_Relative_ticks = -1*Relative_ticks;
+        Left_Wheels_Relative_ticks = Relative_ticks;
+    }    
+   
+    // FIXME: XXX: CRITICAL SECTION REQUIRED
+    
+    err = motorControlTransfer(FRONT_LEFT_MC_I2C_ADDR, REG_RELATIVE_TARGET_POSITION, &Left_Wheels_Relative_ticks);
+    if (err != MC_NO_ERROR)
+        return err;  
+   
+    err = motorControlTransfer(FRONT_RIGHT_MC_I2C_ADDR, REG_RELATIVE_TARGET_POSITION, &Right_Wheels_Relative_ticks);
+    if (err != MC_NO_ERROR)
+        return err;  
+   
+    err = motorControlTransfer(REAR_RIGHT_MC_I2C_ADDR, REG_RELATIVE_TARGET_POSITION, &Right_Wheels_Relative_ticks);
+    if (err != MC_NO_ERROR)
+        return err;  
+   
+    err = motorControlTransfer(REAR_LEFT_MC_I2C_ADDR, REG_RELATIVE_TARGET_POSITION, &Left_Wheels_Relative_ticks);
+    
+    // FIXME: XXX: CRITICAL SECTION REQUIRED
+    
+    return err;  
+}
+
+/**
+* @brief      Helper function to rotate all motors simultaneously
+*
+* @param[in]  Distance       ???
+* @param[in]  Speed          ???
+*/
+MotorControlComponentImpl::MCError_t
+MotorControlComponentImpl::rotateAllMotors(int16_t distance, int16_t speed) {
+    MCError_t err;
+   
+    // Enforce speed always positive. Direction set by distance
+    if (speed > 0) {
+        Throttle_t motor_speed = m_angularToLinear*groundSpeedToSpeedPrecent(speed);
        
-        err = writeMotorControlRegister(REG_CURRENT_POSITION, 
-                                        REAR_RIGHT_MC_I2C_ADDR,
-                                        (uint8_t*) &Right_Wheels_Relative_ticks);
+        // Send the speed to all the motors
+        // Required to send this before the setpoint (or else the MC will start spinning before speed was set)
+        err = sendAllMotorsData(REG_TARGET_SPEED, &motor_speed);
         if (err != MC_NO_ERROR)
-          return err;  
-       
-        err = writeMotorControlRegister(REG_CURRENT_POSITION, 
-                                        REAR_LEFT_MC_I2C_ADDR,
-                                        (uint8_t*) &Left_Wheels_Relative_ticks);
-        return err;
-    }
- 
-    /**
-     * @brief      Writes a register.
-     *
-     * @param      i2c   I 2 c
-     * @param[in]  addr  Register address
-     * @param[in]  addr   Device address
-     * @param[in]  data  The data
-     *
-     * @return     Motor Controller error
-     */
-    MotorControlComponentImpl::MCError_t
-    MotorControlComponentImpl::writeMotorControlRegister(const RegisterAddress_t reg,
-                                                         const I2cSlaveAddress_t addr,
-                                                         uint8_t * data)
-    {
-        // TODO: Cleanup ret, what are we going to return from I2C functions
-        MCError_t ret = MC_NO_ERROR;
-        uint32_t dataLength = getSizeData(reg);
-        uint8_t reg_buffer[1];
-        reg_buffer[0] = (uint8_t)reg;
- 
-        if (dataLength <= 0) 
-          return MC_UNEXPECTED_ERROR;
- 
-        // Inform the MSP of the desired register
-        i2cMasterTransmit(m_i2c, addr, 1, reg_buffer);
-        // TODO: If error on above (currently returns void) return
- 
-        // If we want something, receive
-        if (expectingReturnMessage(reg))
-          i2cMasterReceive(m_i2c, addr, dataLength, data);
- 
-        // Else, tell the data you have
-        else
-          i2cMasterTransmit(m_i2c, addr, dataLength, data);
- 
-        return ret;
-    }
- 
-    /**
-    * @brief      Enables all motors
-    *
-    * @return     Motor controller error
-    */
-    MotorControlComponentImpl::MCError_t MotorControlComponentImpl::enableDrivers()
-    {
-        WatchdogCommandOut_out(0, CubeRoverPorts::motorsOn);
-        return MC_NO_ERROR;
-    }
- 
-    /**
-    * @brief      Disable all motors
-    *
-    * @return     Motor controller error
-    */
-    MotorControlComponentImpl::MCError_t MotorControlComponentImpl::disableDrivers()
-    {
-        WatchdogCommandOut_out(0, CubeRoverPorts::motorsOff);
-        return MC_NO_ERROR;
-    }
- 
-    /**
-    * @brief      Resets all motors
-    *
-    * @return     None
-    */
-    void MotorControlComponentImpl::resetMotorControllers()
-    {
-      WatchdogCommandOut_out(0, CubeRoverPorts::motorsReset);
-    }
- 
-    /**
-    * @brief      Converts cm to motor ticks
-    *
-    * @param[in]  Distance the system wants to travel in cm    
-    *
-    * @return     Motor ticks to rotate
-    */
-    MotorControlComponentImpl::MotorTick_t
-    MotorControlComponentImpl::groundCMToMotorTicks(int16_t dist)
-    {
-        // TODO: Make this constant editable
-        return (int)(158.343f * (float(dist)));
-    }
- 
-    /**
-    * @brief      Converts from ground speed to motor normalized speed
-    *
-    * @param[in]  The speed in ground version of cm/s (scaled from 0x00 - 0x7f)
-    *              meaning 0-12.61cm/s (1996tick/s)
-    *
-    * @return     Precentage of the speed in motor control terms
-    */
-    MotorControlComponentImpl::Throttle_t
-    MotorControlComponentImpl::groundSpeedToSpeedPrecent(int16_t speed)
-    {
-        // FIXME: Jonathan to develop this function
-        return speed;
-    }
- 
-    /**
-    * @brief      Delays for 1050 ticks slow enough for slave sides
-    *
-    */
-    bool MotorControlComponentImpl :: updateTelemetry()
-    {
-        bool Update_Success = true;
-       
-        // Update only a single type of data at a time
-        if (m_Round_Robin_Telemetry)
-        {
-          switch(++m_Robin_Number)
-          {
-            case 0:
-              // Update_Success = updateSpeed();  // JUSTIN: READING SPEED DEPRACATED IN FAVOR OF DOWNLIKMING RAW ENCODER READINGS
-              break;
-       
-            case 1:
-              Update_Success = updateCurrent();
-              break;
-       
-            case 2:
-              Update_Success = updateEncoder();
-              m_Robin_Number = 0;
-              break;
-       
-            default:
-              m_Robin_Number = 0;
-              break;
-          }
-        }
-       
-        // Update all of them
-        else
-        {
-          //if (!updateSpeed())
-          //  return false;
-          if (!updateCurrent()) 
-            return false;
-          if (updateEncoder())
-            return false;
-        }
-       
-        return Update_Success;
+            return err;  
     }
- 
-    /**
-    * @brief      Delays for 1050 ticks slow enough for slave sides
-    *
-    */
-    bool MotorControlComponentImpl::updateCurrent()
-    {
-        MCError_t err = MC_NO_ERROR;
-        uint8_t Current_buffer[MC_BUFFER_MAX_SIZE];
-       
-        // Get FL Current 
-        err = writeMotorControlRegister(REG_MOTOR_CURRENT,
-                                        FRONT_LEFT_MC_I2C_ADDR,
-                                        &Current_buffer[0]);
-       
-        // Make sure everything is going well
-        if (err != MC_NO_ERROR)
-        {
-          resetMotorControllers();
-          log_WARNING_HI_MC_MSPNotResponding();
-          return false;
-        }
-       
-        // Get FR Current 
-        err = writeMotorControlRegister(REG_MOTOR_CURRENT,
-                                        FRONT_RIGHT_MC_I2C_ADDR,
-                                        &Current_buffer[4]);
-       
-        // Make sure everything is going well
-        if (err != MC_NO_ERROR)
-        {
-          resetMotorControllers();
-          log_WARNING_HI_MC_MSPNotResponding();
-          return false;
-        }
-       
-        // Get RR Current 
-        err = writeMotorControlRegister(REG_MOTOR_CURRENT,
-                                        REAR_RIGHT_MC_I2C_ADDR,
-                                        &Current_buffer[8]);
-       
-        // Make sure everything is going well
-        if (err != MC_NO_ERROR)
-        {
-          resetMotorControllers();
-          log_WARNING_HI_MC_MSPNotResponding();
-          return false;
-        }
-       
-        // Get RL Current
-        err = writeMotorControlRegister(REG_MOTOR_CURRENT,
-                                        REAR_LEFT_MC_I2C_ADDR,
-                                        &Current_buffer[12]);
-       
-        // Make sure everything is going well
-        if (err != MC_NO_ERROR)
-        {
-          resetMotorControllers();
-          log_WARNING_HI_MC_MSPNotResponding();
-          return false;
+   
+    MotorTick_t Relative_ticks = m_angularToLinear*groundCMToMotorTicks(distance);
+    
+    // FIXME: XXX: CRITICAL SECTION REQUIRED
+   
+    err = motorControlTransfer(FRONT_LEFT_MC_I2C_ADDR, REG_RELATIVE_TARGET_POSITION, &Relative_ticks);
+    if (err != MC_NO_ERROR)
+        return err;  
+   
+    err = motorControlTransfer(FRONT_RIGHT_MC_I2C_ADDR, REG_RELATIVE_TARGET_POSITION, &Relative_ticks);
+    if (err != MC_NO_ERROR)
+        return err;  
+   
+    err = motorControlTransfer(REAR_RIGHT_MC_I2C_ADDR, REG_RELATIVE_TARGET_POSITION, &Relative_ticks);
+    if (err != MC_NO_ERROR)
+        return err;  
+   
+    err = motorControlTransfer(REAR_LEFT_MC_I2C_ADDR, REG_RELATIVE_TARGET_POSITION, &Relative_ticks);
+
+    // FIXME: XXX: CRITICAL SECTION REQUIRED
+    
+    return err;
+}
+
+MotorControlComponentImpl::MCError_t
+MotorControlComponentImpl::motorControlTransfer(I2cSlaveAddress_t addr,
+                                                     RegisterAddress_t reg,
+                                                     void *_data)
+{
+    uint8_t *data = static_cast<uint8_t *>(_data);
+    // TODO: Cleanup ret, what are we going to return from I2C functions
+    MCError_t ret = MC_NO_ERROR;
+    uint32_t dataLength = regSizeMap(reg);
+
+    if (dataLength <= 0) 
+      return MC_UNEXPECTED_ERROR;
+
+    uint8_t reg_buffer = static_cast<uint8_t>(reg);
+    i2cMasterTransmit(m_i2c, addr, 1, &reg_buffer);
+    // TODO: If error on above (currently returns void) return
+
+    if (reg == REG_I2C_ADDRESS      ||
+        reg == REG_CURRENT_POSITION ||
+        reg == REG_CURRENT_POSITION ||
+        reg == REG_MOTOR_CURRENT    ||
+        reg == e_REG_STATUS         ||
+        reg == REG_FAULT)
+            i2cMasterReceive(m_i2c, addr, dataLength, data);
+    else
+            i2cMasterTransmit(m_i2c, addr, dataLength, data);
+
+    return ret;
+}
+
+// Convert ground units to motor control native units
+MotorControlComponentImpl::MotorTick_t
+MotorControlComponentImpl::groundCMToMotorTicks(int16_t dist) {
+    // TODO: Make this constant editable
+    return (int)(158.343f * (float(dist)));
+}
+
+// Convert ground units to motor control native units
+MotorControlComponentImpl::Throttle_t
+MotorControlComponentImpl::groundSpeedToSpeedPrecent(int16_t speed) {
+    // FIXME: Jonathan to develop this function
+    // TODO: If no constant multiple by operator editable 1
+    return speed;
+}
+
+bool MotorControlComponentImpl :: updateTelemetry() {
+    MCError_t err = MC_NO_ERROR;
+    uint32_t buffer[NUM_MOTORS];
+   
+    for (int i = 0; i < NUM_MOTORS; ++i) { 
+        err = motorControlTransfer(motorIdAddressMap[i], REG_MOTOR_CURRENT, &buffer[i]);
+        if (err != MC_NO_ERROR) {
+            // resetMotorControllers();
+            // TODO: THIS LOG REALLY SHOULD INDICATE WHICH FAILED??
+            log_WARNING_HI_MC_MSPNotResponding();
         }
-       
-        // If we got all the values we need, then we can update telemetry
-        tlmWrite_MC_FL_Current((uint32_t) Current_buffer[0]);
-        tlmWrite_MC_FR_Current((uint32_t) Current_buffer[4]);
-        tlmWrite_MC_RR_Current((uint32_t) Current_buffer[8]);
-        tlmWrite_MC_RL_Current((uint32_t) Current_buffer[12]);
-        return true;
     }
- 
-    /**
-    * @brief      Delays for 1050 ticks slow enough for slave sides
-    *
-    */
-    bool MotorControlComponentImpl::updateEncoder()
-    {
-        MCError_t err = MC_NO_ERROR;
-        uint8_t Encoder_buffer[MC_BUFFER_MAX_SIZE];
-       
-        // Get FL Current 
-        err = writeMotorControlRegister(REG_MOTOR_CURRENT,
-                                        FRONT_LEFT_MC_I2C_ADDR,
-                                        &Encoder_buffer[0]);
-       
-        // Make sure everything is going well
-        if (err != MC_NO_ERROR)
-        {
-          resetMotorControllers();
-          log_WARNING_HI_MC_MSPNotResponding();
-          return false;
-        }
-       
-        // Get FR Current 
-        err = writeMotorControlRegister(REG_MOTOR_CURRENT,
-                                        FRONT_RIGHT_MC_I2C_ADDR,
-                                        &Encoder_buffer[4]);
-       
-        // Make sure everything is going well
-        if (err != MC_NO_ERROR)
-        {
-          resetMotorControllers();
-          log_WARNING_HI_MC_MSPNotResponding();
-          return false;
-        }
-       
-        // Get RR Current 
-        err = writeMotorControlRegister(REG_MOTOR_CURRENT,
-                                        REAR_RIGHT_MC_I2C_ADDR,
-                                        &Encoder_buffer[8]);
-       
-        // Make sure everything is going well
-        if (err != MC_NO_ERROR)
-        {
-          resetMotorControllers();
-          log_WARNING_HI_MC_MSPNotResponding();
-          return false;
+    
+    tlmWrite_MC_FL_Current((uint32_t) buffer[0]);
+    tlmWrite_MC_FR_Current((uint32_t) buffer[1]);
+    tlmWrite_MC_RR_Current((uint32_t) buffer[2]);
+    tlmWrite_MC_RL_Current((uint32_t) buffer[3]);
+    
+    if (err != MC_NO_ERROR)
+        asm (" nop");
+        // resetMotorControllers();
+   
+    for (int i = 0; i < NUM_MOTORS; ++i) { 
+        err = motorControlTransfer(motorIdAddressMap[i], REG_CURRENT_POSITION, &buffer[i]);
+        if (err != MC_NO_ERROR) {
+            // resetMotorControllers();
+            // TODO: THIS LOG REALLY SHOULD INDICATE WHICH FAILED??
+            log_WARNING_HI_MC_MSPNotResponding();
         }
-       
-        // Get RL Current Encoder value
-        err = writeMotorControlRegister(REG_MOTOR_CURRENT,
-                                        REAR_LEFT_MC_I2C_ADDR,
-                                        &Encoder_buffer[12]);
-       
-        // Make sure everything is going well
-        if (err != MC_NO_ERROR)
-        {
-          resetMotorControllers();
-          log_WARNING_HI_MC_MSPNotResponding();
-          return false;
-        }
-       
-        // If we got all the values we need, then we can update telemetry
-        m_FL_Encoder_Count += (uint16_t) Encoder_buffer[0];
-        m_FR_Encoder_Count += (uint16_t) Encoder_buffer[4];
-        m_RR_Encoder_Count += (uint16_t) Encoder_buffer[8];
-        m_RL_Encoder_Count += (uint16_t) Encoder_buffer[12];
-        tlmWrite_MC_FL_Encoder_Ticks(m_FL_Encoder_Count + m_FR_Encoder_Count_Offset);
-        tlmWrite_MC_FR_Encoder_Ticks(m_FR_Encoder_Count + m_FL_Encoder_Count_Offset);
-        tlmWrite_MC_RR_Encoder_Ticks(m_RR_Encoder_Count + m_RL_Encoder_Count_Offset);
-        tlmWrite_MC_RL_Encoder_Ticks(m_RL_Encoder_Count + m_RR_Encoder_Count_Offset);
-        return true;
     }
- 
-    /**
-    * @brief      Converts from ground speed to motor normalized speed
-    *
-    * @param[in]  The speed in ground version of cm/s (scaled from 0x00 - 0x0A)
-    *              meaning 0-10cm/s
-    *
-    * @return     Precentage of the speed in motor control terms
-    */
-    bool MotorControlComponentImpl::expectingReturnMessage(const RegisterAddress_t id)
-    {
-        switch(id)
-        {
-          case REG_I2C_ADDRESS:
-          case REG_CURRENT_POSITION:
-          case REG_MOTOR_CURRENT:
-            return true;
-       
-          default:
-            return false;
-        } 
-    }
-
+   
+    // If we got all the values we need, then we can update telemetry
+    m_FL_Encoder_Count += (uint16_t) buffer[0];
+    m_FR_Encoder_Count += (uint16_t) buffer[1];
+    m_RR_Encoder_Count += (uint16_t) buffer[2];
+    m_RL_Encoder_Count += (uint16_t) buffer[3];
+    tlmWrite_MC_FL_Encoder_Ticks(m_FL_Encoder_Count + m_FR_Encoder_Count_Offset);
+    tlmWrite_MC_FR_Encoder_Ticks(m_FR_Encoder_Count + m_FL_Encoder_Count_Offset);
+    tlmWrite_MC_RR_Encoder_Ticks(m_RR_Encoder_Count + m_RL_Encoder_Count_Offset);
+    tlmWrite_MC_RL_Encoder_Ticks(m_RL_Encoder_Count + m_RR_Encoder_Count_Offset);
+    
+    if (err != MC_NO_ERROR)
+        asm (" nop");
+        // resetMotorControllers();
+    
+    return true;
+}
 } // end namespace CubeRover
diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.hpp b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.hpp
index f134b2e49..b3ea38cee 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.hpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.hpp
@@ -18,6 +18,25 @@
 #include "MotorController_i2c.h"
 
 
+#define MOTOR_CONTROL_I2CREG     	i2cREG1
+#define ALL_MOTOR_ADDR			    0x00
+#define ALL_MOTOR_ID			    0x00
+// TODO: MAKE MOTOR IDS ENUMS IN FPRIME XML
+#define FRONT_LEFT_MC_I2C_ADDR      0x48
+#define FRONT_LEFT_MC_I2C_ID        0x01
+#define FRONT_RIGHT_MC_I2C_ADDR     0x49
+#define FRONT_RIGHT_MC_I2C_ID       0x02
+#define REAR_LEFT_MC_I2C_ADDR       0x4A
+#define REAR_LEFT_MC_I2C_ID         0x03
+#define REAR_RIGHT_MC_I2C_ADDR      0x4B
+#define REAR_RIGHT_MC_I2C_ID        0x04
+#define NUM_MOTORS                  4
+
+#define MAX_SPEED                   100
+#define CUBEROVER_WHEEL_DIAMETER_CM			20.0f
+#define CUBEROVER_COM_TO_WHEEL_CIRC_CM	78.54f
+#define MOTOR_NB_PAIR_POLES							1.0f
+#define MOTOR_GEAR_BOX_REDUCTION				5.0f
 #define MC_BUFFER_MAX_SIZE      16 // Maximum size of I2C buffer
 #define PI                      3.14159265
 
@@ -77,55 +96,48 @@ namespace CubeRover {
       //! 
       void MC_Current_PID_cmdHandler(const FwOpcodeType opCode, /*!< The opcode*/
                                      const U32 cmdSeq, /*!< The command sequence number*/
-                                     U8 Motor_ID, /*!< The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors */
+                                     U8 Motor_ID, /*!< The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR */
                                      U32 PI_Values);
 
       //! Implementation for MC_Speed_PID command handler
       //! 
       void MC_Speed_PID_cmdHandler(const FwOpcodeType opCode, /*!< The opcode*/
                                    const U32 cmdSeq, /*!< The command sequence number*/
-                                   U8 Motor_ID, /*!< The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors */
-                                   U64 PID_Values);
-
-      //! Implementation for MC_Position_PID command handler
-      //! 
-      void MC_Position_PID_cmdHandler(const FwOpcodeType opCode, /*!< The opcode*/
-                                      const U32 cmdSeq, /*!< The command sequence number*/
-                                      U8 Motor_ID, /*!< The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors */
-                                      U64 PID_Values);
+                                   U8 Motor_ID, /*!< The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR */
+                                   U32 PID_Values);
 
       //! Implementation for MC_Acceleration command handler
       //! 
       void MC_Acceleration_cmdHandler(const FwOpcodeType opCode, /*!< The opcode*/
                                       const U32 cmdSeq, /*!< The command sequence number*/
-                                      U8 Motor_ID, /*!< The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors */
+                                      U8 Motor_ID, /*!< The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR */
                                       U32 Rate_Values);
 
       //! Implementation for MC_StallDetection command handler
       //! 
       void MC_StallDetection_cmdHandler(const FwOpcodeType opCode, /*!< The opcode*/
                                         const U32 cmdSeq, /*!< The command sequence number*/
-                                        U8 Motor_ID, /*!< The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors */
+                                        U8 Motor_ID, /*!< The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR */
                                         U8 Value /*!< 0x00 is disabled, 0xFF is enabled */);
 
       //! Implementation for MC_ResetPosition command handler
       //! 
       void MC_ResetPosition_cmdHandler(const FwOpcodeType opCode, /*!< The opcode*/
                                        const U32 cmdSeq, /*!< The command sequence number*/
-                                       U8 Motor_ID /*!< The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors */);
+                                       U8 Motor_ID /*!< The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR */);
 
       //! Implementation for MC_Spin command handler
       //! 
       void MC_Spin_cmdHandler(const FwOpcodeType opCode, /*!< The opcode*/
                               const U32 cmdSeq, /*!< The command sequence number*/
-                              U8 Motor_ID, /*!< The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors */
-                              U8 Spin_Type);
+                              U8 Motor_ID, /*!< The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR */
+                              U32 Raw_Ticks);
 
       //! Implementation for MC_PowerBoost command handler
       //! 
       void MC_PowerBoost_cmdHandler(const FwOpcodeType opCode, /*!< The opcode*/
                                     const U32 cmdSeq, /*!< The command sequence number*/
-                                    U8 Motor_ID, /*!< The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors */
+                                    U8 Motor_ID, /*!< The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR */
                                     U8 Value /*!< 0x00 is On, 0xFF is Off */);
 
       //! Implementation for MC_SetParameter command handler
@@ -135,28 +147,11 @@ namespace CubeRover {
                                       MC_ParameterSelection Value, /*!<  Change internal parameters of the module */
                                       U32 New_Value /*!<  The new value to be used in place */);
 
-      //! Implementation for MC_GetParameter command handler
-      //! Returns all current parameters of the module
-      void MC_GetParameters_cmdHandler(const FwOpcodeType opCode, /*!< The opcode*/
-                                      const U32 cmdSeq /*!< The command sequence number*/);
-
       //! Implementation for MC_UpdateTelemetry command handler
       //! Requests an update from each of the motor controllers
       void MC_UpdateTelemetry_cmdHandler(const FwOpcodeType opCode, /*!< The opcode*/
                                          const U32 cmdSeq /*!< The command sequence number*/);
 
-      //! Implementation for MC_DriveTest command handler
-      //! Allows the direct commanding of moves bypassing Nav if things are incorrect
-      void MC_DriveTest_cmdHandler(const FwOpcodeType opCode, /*!< The opcode*/
-                                   const U32 cmdSeq, /*!< The command sequence number*/
-                                   I64 Distance, 
-                                   I8 MoveType);
-
-      //! Implementation for MC_SelfTest command handler
-      //! Runs through a routine to confirms the MSP are functioning properly
-      void MC_SelfTest_cmdHandler(const FwOpcodeType opCode, /*!< The opcode*/
-                                  const U32 cmdSeq /*!< The command sequence number*/);
-      
       
     /* Implementation specific declarations */
     private:
@@ -165,7 +160,6 @@ namespace CubeRover {
             REG_RELATIVE_TARGET_POSITION = 1, // Write-only
             REG_TARGET_SPEED = 2,             // Write-only
             REG_CURRENT_POSITION = 3,         // Read-only
-            // REG_CURRENT_SPEED = 4,            // Read-only  TODO: Micheal's original comment, look into this "Weird values. Normalized version of tick rate. See Spreadsheet labeled "Motor tests""
             REG_MOTOR_CURRENT = 5,            // Read-only
             REG_P_CURRENT = 6,                // Write-only
             REG_I_CURRENT = 7,                // Write-only
@@ -177,12 +171,6 @@ namespace CubeRover {
             e_REG_STATUS = 13,                // Read-only
             REG_FAULT = 14,                   // Read-only
             NUM_REGS = 16,
-            // TODO: Everything past here is depracated
-            // EXECUTE_CMD = 16,             // NOT A THING
-            DEPRACATE_ENABLE_DRIVER = 17,           // NOT A THING  TODO: Watchdog???
-            DEPRACATE_DISABLE_DRIVER = 18,          // NOT A THING  TODO: Watchdog???
-            DEPRACATE_RESET_CONTROLLER = 19,        // NOT A THING  TODO: Watchdog to handle this???
-            // UNSET = 99                    // Not a command
         } RegisterAddress_t;
         
         /* Motor Control Interface w.r.t. PR #51 & PR#52 */
@@ -229,36 +217,28 @@ namespace CubeRover {
         typedef int32_t Distance_cm_t;
         typedef int32_t MotorTick_t;
         typedef uint8_t Throttle_t;
-      
-        uint8_t txData[MC_BUFFER_MAX_SIZE];
-        uint8_t rxData[MC_BUFFER_MAX_SIZE];
         
+        // Tightly coupled to *_ADDR and *_ID defines
+        static const uint8_t motorIdAddressMap[NUM_MOTORS];
+      
         i2cBASE_t *m_i2c;
 
-        MCError_t sendAllMotorsData(const RegisterAddress_t id, uint8_t * data);
+        MCError_t sendAllMotorsData(const RegisterAddress_t id, void *_data);
 
-        MCError_t writeMotorControlRegister(const RegisterAddress_t id,
-                                            const I2cSlaveAddress_t add,
-                                            uint8_t * data);
+        MCError_t motorControlTransfer(I2cSlaveAddress_t add,
+                                       RegisterAddress_t reg,
+                                       void *_data);
 
-        uint32_t getSizeData(const RegisterAddress_t reg);
-        bool expectingReturnMessage(const RegisterAddress_t reg);
+        uint32_t regSizeMap(RegisterAddress_t reg);
 
         MCError_t moveAllMotorsStraight(int32_t distance, int16_t speed);
         MCError_t rotateAllMotors(int16_t angle, int16_t speed);
         MCError_t spinMotors(bool forward);
 
-        MCError_t enableDrivers();
-        MCError_t disableDrivers();
-        void resetMotorControllers();
-
         MotorTick_t groundCMToMotorTicks(int16_t dist);
         Throttle_t groundSpeedToSpeedPrecent(int16_t speed);
 
         bool updateTelemetry();
-        bool updateSpeed();
-        bool updateCurrent();
-        bool updateEncoder();
 
         // Member items
         uint32_t tick_count = 0;
@@ -278,9 +258,6 @@ namespace CubeRover {
         // Set this flag to rotate the wheels accordingly
         bool m_forward_is_positive = true;
 
-        bool m_Round_Robin_Telemetry;
-        uint8_t m_Robin_Number = 0;
-
         // Front left (FL), Front right (FR), Rear right (RR), Rear left (RL) tick counts
         // Internal tick counter
         int32_t m_FL_Encoder_Count;
diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponentAi.xml b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponentAi.xml
index a2cfc2133..a6fd237fb 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponentAi.xml
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponentAi.xml
@@ -50,7 +50,7 @@
     <port name="motorCommandIn" data_type="CubeRoverPorts::MotorCommand" kind="sync_input" max_number="1"></port>
 
     <!-- Watchdog Reset port -->
-    <port name="WatchdogCommandOut" data_type="CubeRoverPorts::WatchdogResetRequest" kind="output" max_number="1"></port>
+    <!--<port name="WatchdogCommandOut" data_type="CubeRoverPorts::WatchdogResetRequest" kind="output" max_number="1"></port>-->
 
   </ports>
 
@@ -59,7 +59,7 @@
     <command kind="guarded" opcode="0x00" mnemonic="MC_Current_PID">
       <args>
         <arg name="Motor_ID" type="U8">
-          <comment>The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors </comment>
+          <comment>The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR </comment>
         </arg>
         <arg name="PI_Values" type="U32"/>
       </args>
@@ -68,25 +68,25 @@
     <command kind="guarded" opcode="0x01" mnemonic="MC_Speed_PID">
       <args>
         <arg name="Motor_ID" type="U8">
-          <comment>The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors </comment>
+          <comment>The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR </comment>
         </arg>
-        <arg name="PID_Values" type="U64"/>
+        <arg name="PID_Values" type="U32"/>
       </args>
     </command>
 
-    <command kind="guarded" opcode="0x02" mnemonic="MC_Position_PID">
+    <!--<command kind="guarded" opcode="0x02" mnemonic="MC_Position_PID">
       <args>
         <arg name="Motor_ID" type="U8">
-          <comment>The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors </comment>
+          <comment>The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR </comment>
         </arg>
-        <arg name="PID_Values" type="U64"/>
+        <arg name="PID_Values" type="U32"/>
       </args>
-    </command>
+    </command>-->
 
     <command kind="guarded" opcode="0x03" mnemonic="MC_Acceleration">
       <args>
         <arg name="Motor_ID" type="U8">
-          <comment>The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors </comment>
+          <comment>The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR </comment>
         </arg>
         <arg name="Rate_Values" type="U32"/>
       </args>
@@ -95,7 +95,7 @@
     <command kind="guarded" opcode="0x04" mnemonic="MC_StallDetection">
       <args>
         <arg name="Motor_ID" type="U8">
-          <comment>The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors </comment>
+          <comment>The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR </comment>
         </arg>
         <arg name="Value" type="U8">
         	<comment>0x00 is disabled, 0xFF is enabled </comment>
@@ -106,7 +106,7 @@
     <command kind="guarded" opcode="0x05" mnemonic="MC_ResetPosition">
       <args>
         <arg name="Motor_ID" type="U8">
-          <comment>The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors </comment>
+          <comment>The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR </comment>
         </arg>
       </args>
     </command>
@@ -114,16 +114,16 @@
     <command kind="guarded" opcode="0x06" mnemonic="MC_Spin">
       <args>
         <arg name="Motor_ID" type="U8">
-          <comment>The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors </comment>
+          <comment>The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR </comment>
         </arg>
-        <arg name="Spin_Type" type="U8"/>
+        <arg name="Raw_Ticks" type="U32"/>
       </args>
     </command>
 
     <command kind="guarded" opcode="0x07" mnemonic="MC_PowerBoost">
       <args>
         <arg name="Motor_ID" type="U8">
-          <comment>The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors </comment>
+          <comment>The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR </comment>
         </arg>
         <arg name="Value" type="U8">
         	<comment>0x00 is On, 0xFF is Off </comment>
@@ -146,26 +146,10 @@
       </args>
     </command>
 
-    <command kind="guarded" opcode="0x09" mnemonic="MC_GetParameters">
-       <comment> Returns all current parameters of the module </comment>
-    </command>
-
     <command kind="guarded" opcode="0x10" mnemonic="MC_UpdateTelemetry">
        <comment> Forces a telemetry update from the motors </comment>
     </command>
 
-    <command kind="guarded" opcode="0x98" mnemonic="MC_DriveTest">
-       <comment> Allows the direct commanding of moves bypassing Nav if things are incorrect </comment>
-       <args>
-	       <arg name="Distance" type="I64" />
-	       <arg name="MoveType" type="I8" />
-	     </args>
-    </command>
-
-    <command kind="guarded" opcode="0x99" mnemonic="MC_SelfTest">
-       <comment> Runs through a routine to confirms the MSP are functioning properly </comment>
-    </command>
-
   </commands> 
 
   <!-- EVENTS -->
diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/docs/MotorControl.md b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/docs/MotorControl.md
index aadadc95b..cfd43e4ea 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/docs/MotorControl.md
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/docs/MotorControl.md
@@ -7,37 +7,29 @@
 |Mnemonic|ID|Description|Arg Name|Arg Type|Comment
 |---|---|---|---|---|---|
 |MC_Current_PID|0 (0x0)|| | |
-| | | |Motor_ID|U8|The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors |
+| | | |Motor_ID|U8|The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR |
 | | | |PI_Values|U32||
 |MC_Speed_PID|1 (0x1)|| | |
-| | | |Motor_ID|U8|The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors |
-| | | |PID_Values|U64||
-|MC_Position_PID|2 (0x2)|| | |
-| | | |Motor_ID|U8|The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors |
-| | | |PID_Values|U64||
+| | | |Motor_ID|U8|The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR |
+| | | |PID_Values|U32||
 |MC_Acceleration|3 (0x3)|| | |
-| | | |Motor_ID|U8|The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors |
+| | | |Motor_ID|U8|The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR |
 | | | |Rate_Values|U32||
 |MC_StallDetection|4 (0x4)|| | |
-| | | |Motor_ID|U8|The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors |
+| | | |Motor_ID|U8|The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR |
 | | | |Value|U8|0x00 is disabled, 0xFF is enabled |
 |MC_ResetPosition|5 (0x5)|| | |
-| | | |Motor_ID|U8|The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors |
+| | | |Motor_ID|U8|The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR |
 |MC_Spin|6 (0x6)|| | |
-| | | |Motor_ID|U8|The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors |
-| | | |Spin_Type|U8||
+| | | |Motor_ID|U8|The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR |
+| | | |Raw_Ticks|U32||
 |MC_PowerBoost|7 (0x7)|| | |
-| | | |Motor_ID|U8|The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors |
+| | | |Motor_ID|U8|The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR |
 | | | |Value|U8|0x00 is On, 0xFF is Off |
 |MC_SetParameter|8 (0x8)|| | |
 | | | |ParamSelect|MC_ParameterSelection| Change internal parameters of the module |
 | | | |New_Value|U32| The new value to be used in place |
-|MC_GetParameters|9 (0x9)|Returns all current parameters of the module| | |
 |MC_UpdateTelemetry|16 (0x10)|Forces a telemetry update from the motors| | |
-|MC_DriveTest|152 (0x98)|Allows the direct commanding of moves bypassing Nav if things are incorrect| | |
-| | | |Distance|I64||
-| | | |MoveType|I8||
-|MC_SelfTest|153 (0x99)|Runs through a routine to confirms the MSP are functioning properly| | |
 
 ## Telemetry Channel List
 

From 967745af220065cdf053d0c5440764feb86cdf9b Mon Sep 17 00:00:00 2001
From: Iris Watchdog Developers <watchdog-devs@irisrover.space>
Date: Thu, 15 Apr 2021 20:31:04 -0400
Subject: [PATCH 22/42] spotty i2c issues resolved! Don't put all of your code
 in an interrupt :S ... controller is a bit wacky now, probably due to timing
 being different now that it isn't in interrupt. Will investigate

---
 Apps/FlightSoftware/MotorControl/i2c.c  |  18 +-
 Apps/FlightSoftware/MotorControl/i2c.h  |   3 +
 Apps/FlightSoftware/MotorControl/main.c | 356 +++++++++++++-----------
 Apps/FlightSoftware/MotorControl/main.h |   6 +-
 4 files changed, 211 insertions(+), 172 deletions(-)

diff --git a/Apps/FlightSoftware/MotorControl/i2c.c b/Apps/FlightSoftware/MotorControl/i2c.c
index 43362873a..870c1f088 100644
--- a/Apps/FlightSoftware/MotorControl/i2c.c
+++ b/Apps/FlightSoftware/MotorControl/i2c.c
@@ -28,12 +28,15 @@ volatile uint8_t g_i2cCmdLength[MAX_NB_CMDS];
 extern CmdState g_cmdState;
 extern bool driveOpenLoop;
 
+extern bool g_i2cSend;
+
 
 /**
  * @brief      Disables i 2 c receive interrupt.
  */
 inline void disableI2cRxInterrupt(void){
   UCB0IE &= ~UCRXIE;
+//    return;
 }
 
 
@@ -50,6 +53,7 @@ inline void enableI2cRxInterrupt(void){
  */
 inline void disableI2cTxInterrupt(void){
   UCB0IE &= ~UCTXIE;
+//    return;
 }
 
 
@@ -178,7 +182,7 @@ inline void i2cSlaveProcessCmd(const uint8_t cmd){
  *
  * @param[in]  cmd   The command
  */
-inline void i2cSlaveTransactionDone(const uint8_t cmd){
+void i2cSlaveTransactionDone(const uint8_t cmd){
     switch(cmd){
       case I2C_ADDRESS:
       case CURRENT_POSITION:
@@ -187,14 +191,11 @@ inline void i2cSlaveTransactionDone(const uint8_t cmd){
       case FAULT_REGISTER:
         break;
       case TARGET_POSITION:
-      {
-        int32_t additional_target_pos;
         copyArray((uint8_t*)g_rxBuffer,
-                  (uint8_t*)&additional_target_pos,
-                  sizeof(additional_target_pos));
-        g_targetPosition += additional_target_pos;
+                  (uint8_t*)&g_targetPosition,
+                  sizeof(g_targetPosition));
+        g_currentPosition = 0;
         break;
-      }
       case TARGET_SPEED:
       {
         copyArray((uint8_t*)g_rxBuffer,
@@ -338,6 +339,7 @@ __interrupt void USCI_B0_ISR(void){
     case USCI_I2C_UCRXIFG1:  break;         // Vector 18: RXIFG1
     case USCI_I2C_UCTXIFG1:  break;         // Vector 20: TXIFG1
     case USCI_I2C_UCRXIFG0:                 // Vector 22: RXIFG0
+    {
       rxBuf = UCB0RXBUF;
       switch(g_slaveMode){
         case RX_REG_ADDRESS_MODE:
@@ -359,7 +361,9 @@ __interrupt void USCI_B0_ISR(void){
           break;
       }
       break;  
+    }
     case USCI_I2C_UCTXIFG0:                 // Vector 24: TXIFG0
+        g_i2cSend = 1;
       switch(g_slaveMode){
         case TX_DATA_MODE:
           UCB0TXBUF = g_txBuffer[g_txBufferIdx++];
diff --git a/Apps/FlightSoftware/MotorControl/i2c.h b/Apps/FlightSoftware/MotorControl/i2c.h
index 674a3e793..b65301891 100644
--- a/Apps/FlightSoftware/MotorControl/i2c.h
+++ b/Apps/FlightSoftware/MotorControl/i2c.h
@@ -56,5 +56,8 @@ typedef struct I2cPacket{
 
 bool readI2cData(I2cPacket *pckt);
 void initializeI2cModule();
+//void disableI2cTxInterrupt();
+//void enableI2cRxInterrupt();
+void i2cSlaveTransactionDone(const uint8_t cmd);
 
 #endif /* I2C_H_ */
diff --git a/Apps/FlightSoftware/MotorControl/main.c b/Apps/FlightSoftware/MotorControl/main.c
index 90bdf8477..b90a2e20b 100644
--- a/Apps/FlightSoftware/MotorControl/main.c
+++ b/Apps/FlightSoftware/MotorControl/main.c
@@ -1,7 +1,7 @@
 // [DEBUG] Switches
 //#define IRIS_ALL_OFF
 //#define IRIS_CLEAR_FAULT
-//#define IRIS_SPIN_MOTOR
+#define IRIS_SPIN_MOTOR
 //#define IRIS_SPIN_MOTOR_REVERSE
 //#define IRIS_SPIN_MOTOR_INDEF
 
@@ -68,6 +68,18 @@ volatile bool driveOpenLoop = false;
 int g_testeroni = 0;
 volatile uint8_t g_rxBuffer_tmp[I2C_RX_BUFFER_MAX_SIZE];
 
+// i2c debugging
+volatile bool g_i2cSend = 0;
+extern uint8_t g_readRegAddr;
+extern I2cMode g_slaveMode;
+extern uint8_t g_txBuffer[I2C_TX_BUFFER_MAX_SIZE];
+extern uint8_t g_txBufferIdx;
+extern uint8_t g_txByteCtr;
+
+// timing debug
+bool g_updateReadings = false;
+int g_timerTicks = 0;
+
 
 /**
  * @brief      Initializes the pwm modules.
@@ -322,7 +334,7 @@ void currentOffsetCalibration(){
  * @param[in]  commutation  The commutation
  * @param[in]  dutyCycle    The duty cycle
  */
-inline void pwmGenerator(const uint8_t commutation, _iq dutyCycle){
+void pwmGenerator(const uint8_t commutation, _iq dutyCycle){
   uint16_t dc; //duty cycle
   uint16_t dcCmpl; //complement
 
@@ -567,11 +579,10 @@ void main(void){
   // Turn off the watchdog
   WDT_A_hold(WDT_A_BASE);
 
-
   initializeGpios();
 
   // [DEBUG]
-  g_rxBuffer_tmp[0] = 75;
+//  g_rxBuffer_tmp[0] = 75;
 
 #ifdef IRIS_CLEAR_FAULT
   clear_driver_fault_register();
@@ -645,9 +656,6 @@ void main(void){
 
   __bis_SR_register(GIE);
 
-
-
-
   currentOffsetCalibration();
 
   enableGateDriver(); // TODO <<<< remove this line
@@ -663,10 +671,161 @@ void main(void){
 
 
   while(1){
+
+      // check if driving in open or closed loop, act accordingly
+      if (g_controlRegister & DRIVE_OPEN_LOOP) {
+            //driving open loop
+
+            // target position sets direction motor drives in (will NOT converge though)
+            g_targetDirection = (g_targetPosition - g_currentPosition >= 0) ? 1 : -1;
+
+            // Execute macro to generate ramp up if needed
+              OPEN_LOOP_IMPULSE_MACRO(g_impulse);
+              if(g_impulse.Out){
+                MOD6CNT_MACRO(g_mod6cnt);
+                g_commState = (g_targetDirection > 0) ? g_mod6cnt.Counter : 5 - g_mod6cnt.Counter;
+              }
+
+            // apply constant output
+            _iq output = _IQ(g_maxSpeed / MAX_TARGET_SPEED);
+
+            if(g_targetDirection > 0) {
+                pwmGenerator(g_commState, output);
+            } else{
+                pwmGenerator(g_commState, -output);
+            }
+        } else {
+            // driving closed loop
+        // update sensor (Hall & current) readings
+        if(g_updateReadings){
+            g_updateReadings = false;
+
+            // measure hall sensors
+            readHallSensor();
+
+            // Execute macro to generate ramp up
+            if(g_closedLoop == false && g_targetReached == false){
+                IMPULSE_MACRO(g_impulse);
+                if(g_impulse.Out){
+                    MOD6CNT_MACRO(g_mod6cnt);
+                    g_commState = (g_targetDirection > 0) ? g_mod6cnt.Counter : 5 - g_mod6cnt.Counter;
+                }
+            }
+            else{
+                g_commState = g_hallMap[g_hallSensor.Pattern];
+            }
+
+            // update current position based on hall sensor readings
+            if(g_hallSensor.Event){
+                if(g_hallMap[g_hallSensor.Pattern] == 5 && g_oldCommState == 0){
+                    g_currentPosition--;
+                }
+                else if(g_hallMap[g_hallSensor.Pattern] == 0 && g_oldCommState == 5){
+                    g_currentPosition++;
+                }
+                else if(g_hallMap[g_hallSensor.Pattern] > g_oldCommState){
+                    g_currentPosition++;
+                }
+                else{
+                    g_currentPosition--;
+                }
+                g_oldCommState = g_hallMap[g_hallSensor.Pattern];
+            }
+
+            // update current readings
+            // Prepare ADC conversion for next round
+            HWREG8(ADC12_B_BASE + OFS_ADC12CTL0_L) &= ~(ADC12ENC);
+            HWREG8(ADC12_B_BASE + OFS_ADC12CTL0_L) |= ADC12ENC + ADC12SC;
+            // Remove offset
+            g_currentPhaseA = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_0)) - g_currentOffsetPhaseA;
+            g_currentPhaseB = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_1)) - g_currentOffsetPhaseB;
+            g_currentPhaseC = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_2)) - g_currentOffsetPhaseC;
+        }
+
+          // inner control loop (current), apply output as PWM duty cycle
+          if(g_controlPrescaler % 1 == 0){
+              // Normalize current values from  -2047 < adc < +2048 to iq15 --> -1.0 < adc < 1.0 and convert to iq format
+              g_piCur.Fbk = (g_currentPhaseA + g_currentPhaseB + g_currentPhaseC) << 4;
+              g_piCur.Ref = g_piSpd.Out;
+
+              PI_MACRO(g_piCur);
+
+              if(g_closedLoop == false && g_targetReached == false){
+                g_piCur.i1 = 0;
+                g_piCur.ui = 0;
+                g_piSpd.i1 = 0;
+                g_piSpd.ui = 0;
+                g_piCur.Out = g_openLoopTorque;
+                if(_IQabs(g_currentSpeed) > g_closeLoopThreshold){
+                    g_closedLoop = true;
+                }
+              }
+
+              if(g_targetReached == true){
+                  g_piCur.i1 = 0;
+                  g_piCur.ui = 0;
+                  g_piSpd.i1 = 0;
+                  g_piSpd.ui = 0;
+                  g_piCur.Out = 0;
+                  g_closedLoop = false;
+              }
+
+              pwmGenerator(g_commState, g_piCur.Out);
+          }
+
+          // outer control loop (speed)
+          if(g_controlPrescaler <= 0){
+
+              // Normalize from -255 ~ + 255 to -1.0 ~ 1.0
+              if  (_IQabs(g_targetPosition - g_currentPosition) < 100) {
+                  g_targetReached = true;
+                  g_statusRegister |= POSITION_CONVERGED;
+              } else {
+                  g_targetReached = false;
+                  g_statusRegister &= ~POSITION_CONVERGED;
+              }
+
+              g_targetDirection = (g_targetPosition - g_currentPosition >= 0) ? 1 : -1;
+
+              if(g_targetDirection > 0) g_piSpd.Ref = g_maxSpeed << 8;
+              else g_piSpd.Ref = -g_maxSpeed << 8;
+
+              // check for errors in controller operation
+              if (g_currentPosition == g_oldPosition && ~g_targetReached){
+                  // position isn't updating; hall sensors likely not powered or broken
+                  g_errorCounter++;
+                  g_faultRegister |= POSITION_NO_CHANGE;
+              } else if ( (g_currentPosition - g_oldPosition)*g_targetDirection < 0 && ~g_targetReached){
+                  // moving in wrong direction
+                  g_errorCounter++;
+                  g_faultRegister |= DRIVING_WRONG_DIRECTION;
+              } else {
+                  // operating normally; no error
+                  g_statusRegister &= ~CONTROLLER_ERROR;
+                  g_errorCounter = 0; // reset error counter
+                  g_faultRegister &= ~(POSITION_NO_CHANGE & DRIVING_WRONG_DIRECTION); //clear faults in register
+              }
+
+              // errors on last ERROR_ITERATION_THRESHOLD time steps; time to stop trying to drive motor
+              if(g_errorCounter >= ERROR_ITERATION_THRESHOLD){
+                  if (g_controlRegister & OVERRIDE_FAULT_DETECTION == 0x00) //check if we should stop controller given fault
+                      g_targetPosition = g_currentPosition = 0; //stop controller
+                  g_statusRegister |= CONTROLLER_ERROR; // add flag to status register
+              }
+
+              g_piSpd.Fbk = getSpeed();
+
+              PI_MACRO(g_piSpd);
+
+              g_controlPrescaler = PI_SPD_CONTROL_PRESCALER;
+            }
+        }
+
 #ifndef IRIS_ALL_OFF
    asm("  NOP");
   g_closedLoop = (_IQabs(g_currentSpeed) > g_closeLoopThreshold && !g_targetReached) ? true : false;
 
+   // if controllers are saturated, reset its integrator & output
    if(g_piSpd.w1){
        __disable_interrupt();
       g_piSpd.i1 = 0;
@@ -683,11 +842,6 @@ void main(void){
        __enable_interrupt();
    }
 
-//   copyArray((uint8_t*)g_rxBuffer_tmp,
-//                     (uint8_t*)&g_maxSpeed,
-//                     sizeof(g_maxSpeed));
-
-   //updateStateMachine();
 #endif
   }
 }
@@ -701,161 +855,39 @@ void main(void){
 #pragma CODE_SECTION(TIMER0_B0_ISR, ".TI.ramfunc")
 #pragma vector=TIMER0_B0_VECTOR
 __interrupt void TIMER0_B0_ISR (void){
-    // Prepare ADC conversion for next round
-  HWREG8(ADC12_B_BASE + OFS_ADC12CTL0_L) &= ~(ADC12ENC);
-  HWREG8(ADC12_B_BASE + OFS_ADC12CTL0_L) |= ADC12ENC + ADC12SC;
-
-  if(g_calibrating){
-    g_currentOffsetPhaseA = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_0));
-    g_currentOffsetPhaseB = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_1));
-    g_currentOffsetPhaseC = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_2));
-    g_calibrationDone = true;
-  }
-
-  if(!g_calibrationDone) return;
-
-  if (g_controlRegister & DRIVE_OPEN_LOOP) {
-      //driving open loop
-
-      // target position sets direction motor drives in (will NOT converge though)
-      g_targetDirection = (g_targetPosition - g_currentPosition >= 0) ? 1 : -1;
-
-      // Execute macro to generate ramp up if needed
-        OPEN_LOOP_IMPULSE_MACRO(g_impulse);
-        if(g_impulse.Out){
-          MOD6CNT_MACRO(g_mod6cnt);
-          g_commState = (g_targetDirection > 0) ? g_mod6cnt.Counter : 5 - g_mod6cnt.Counter;
-        }
-
 
-      _iq output = _IQ(0.25);
-      if(g_controlPrescaler == 0){
-          g_controlPrescaler = PI_SPD_CONTROL_PRESCALER;
-      }
-
-
-      if(g_targetDirection > 0) {
-          g_piCur.Out = output;
-      } else{
-          g_piCur.Out = -output;
-      }
+    if(g_calibrating){
+      // Prepare ADC conversion for next round
+      HWREG8(ADC12_B_BASE + OFS_ADC12CTL0_L) &= ~(ADC12ENC);
+      HWREG8(ADC12_B_BASE + OFS_ADC12CTL0_L) |= ADC12ENC + ADC12SC;
 
-      g_controlPrescaler = g_controlPrescaler -1;
-  } else {
-      // Driving in close loop
+      g_currentOffsetPhaseA = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_0));
+      g_currentOffsetPhaseB = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_1));
+      g_currentOffsetPhaseC = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_2));
+      g_calibrationDone = true;
+    }
 
-      readHallSensor();
-
-      // Execute macro to generate ramp up
-      if(g_closedLoop == false && g_targetReached == false){
-        IMPULSE_MACRO(g_impulse);
-        if(g_impulse.Out){
-          MOD6CNT_MACRO(g_mod6cnt);
-          g_commState = (g_targetDirection > 0) ? g_mod6cnt.Counter : 5 - g_mod6cnt.Counter;
-        }
-      }
-      else{
-        g_commState = g_hallMap[g_hallSensor.Pattern];
-      }
-
-      if(g_hallSensor.Event){
-        if(g_hallMap[g_hallSensor.Pattern] == 5 && g_oldCommState == 0){
-          g_currentPosition--;
-        }
-        else if(g_hallMap[g_hallSensor.Pattern] == 0 && g_oldCommState == 5){
-          g_currentPosition++;
-        }
-        else if(g_hallMap[g_hallSensor.Pattern] > g_oldCommState){
-          g_currentPosition++;
-        }
-        else{
-          g_currentPosition--;
-        }
-        g_oldCommState = g_hallMap[g_hallSensor.Pattern];
-      }
-
-
-      if(g_controlPrescaler == 0){
-        g_controlPrescaler = PI_SPD_CONTROL_PRESCALER;
-
-        // Normalize from -255 ~ + 255 to -1.0 ~ 1.0
-        if  (_IQabs(g_targetPosition - g_currentPosition) < 100) {
-            g_targetReached = true;
-            g_statusRegister |= POSITION_CONVERGED;
-        } else {
-            g_targetReached = false;
-            g_statusRegister &= ~POSITION_CONVERGED;
-        }
-
-        g_targetDirection = (g_targetPosition - g_currentPosition >= 0) ? 1 : -1;
-
-        if(g_targetDirection > 0) g_piSpd.Ref = g_maxSpeed << 8;
-        else g_piSpd.Ref = -g_maxSpeed << 8;
-
-        // check for errors in controller operation
-        if (g_currentPosition == g_oldPosition && ~g_targetReached){
-            // position isn't updating; hall sensors likely not powered or broken
-            g_errorCounter++;
-            g_faultRegister |= POSITION_NO_CHANGE;
-        } else if ( (g_currentPosition - g_oldPosition)*g_targetDirection < 0 && ~g_targetReached){
-            // moving in wrong direction
-            g_errorCounter++;
-            g_faultRegister |= DRIVING_WRONG_DIRECTION;
-        } else {
-            // operating normally; no error
-            g_statusRegister &= ~CONTROLLER_ERROR;
-            g_errorCounter = 0; // reset error counter
-            g_faultRegister &= ~(POSITION_NO_CHANGE & DRIVING_WRONG_DIRECTION); //clear faults in register
-        }
-
-        // errors on last ERROR_ITERATION_THRESHOLD time steps; time to stop trying to drive motor
-        if(g_errorCounter >= ERROR_ITERATION_THRESHOLD){
-            if (g_controlRegister & OVERRIDE_FAULT_DETECTION == 0x00) //check if we should stop controller given fault
-                g_targetPosition = g_currentPosition = 0; //stop controller
-            g_statusRegister |= CONTROLLER_ERROR; // add flag to status register
-        }
-
-        g_piSpd.Fbk = getSpeed();
-
-        PI_MACRO(g_piSpd);
-      }
-
-      g_controlPrescaler = g_controlPrescaler -1;
-
-      // Remove offset
-      g_currentPhaseA = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_0)) - g_currentOffsetPhaseA;
-      g_currentPhaseB = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_1)) - g_currentOffsetPhaseB;
-      g_currentPhaseC = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_2)) - g_currentOffsetPhaseC;
-
-      // Normalize current values from  -2047 < adc < +2048 to iq15 --> -1.0 < adc < 1.0 and convert to iq format
-      g_piCur.Fbk = (g_currentPhaseA + g_currentPhaseB + g_currentPhaseC) << 4;
-      g_piCur.Ref = g_piSpd.Out;
-
-      PI_MACRO(g_piCur);
-
-      if(g_closedLoop == false && g_targetReached == false){
-        g_piCur.i1 = 0;
-        g_piCur.ui = 0;
-        g_piSpd.i1 = 0;
-        g_piSpd.ui = 0;
-        g_piCur.Out = g_openLoopTorque;
-        if(_IQabs(g_currentSpeed) > g_closeLoopThreshold){
-            g_closedLoop = true;
-        }
-      }
-
-      if(g_targetReached == true){
-          g_piCur.i1 = 0;
-          g_piCur.ui = 0;
-          g_piSpd.i1 = 0;
-          g_piSpd.ui = 0;
-          g_piCur.Out = 0;
-          g_closedLoop = false;
-      }
+  if(!g_calibrationDone) return;
 
-  }
+    g_updateReadings=true; //TODO: rename g_readSensors
+
+  // transmit i2c data if asked to & ready
+//  if(g_i2cSend && g_slaveMode == TX_DATA_MODE){
+//        UCB0TXBUF = g_txBuffer[g_txBufferIdx++];
+//        g_txByteCtr--;
+//        if(g_txByteCtr == 0){
+//          g_slaveMode = RX_REG_ADDRESS_MODE;
+//          UCB0IE &= ~UCTXIE;
+//          UCB0IE |= UCRXIE;
+//          i2cSlaveTransactionDone(g_readRegAddr);
+//          g_i2cSend = 0;
+//        }
+//  }
+   if(g_controlPrescaler>0)
+       g_controlPrescaler = g_controlPrescaler -1;
+
+  return;
 
-  pwmGenerator(g_commState, g_piCur.Out);
 }
 
 #endif
diff --git a/Apps/FlightSoftware/MotorControl/main.h b/Apps/FlightSoftware/MotorControl/main.h
index 7cd0787af..f205d0c75 100644
--- a/Apps/FlightSoftware/MotorControl/main.h
+++ b/Apps/FlightSoftware/MotorControl/main.h
@@ -14,9 +14,9 @@
 #include "mod6_cnt.h"
 #include "impulse.h"
 
-#define PWM_PERIOD_TICKS            512     // 15.6 KHz @ 16MHz
-#define PWM_HALF_PERIOD_TICKS       256
-#define PI_SPD_CONTROL_PRESCALER    1000    // 15.6 Hz, speed control
+#define PWM_PERIOD_TICKS            512 //2048 //512     // 15.6 KHz @ 16MHz
+#define PWM_HALF_PERIOD_TICKS       256 //1024 //256
+#define PI_SPD_CONTROL_PRESCALER    1000 //250    // 15.6 Hz, speed control
 
 // bits of control register
 #define DRIVE_OPEN_LOOP             1       // first bit of control reg; drive only in open loop if set to 1

From d2ac18d3b461fe7050f8e7fb9d28070c730bb2e0 Mon Sep 17 00:00:00 2001
From: Alec <alecjprobst@gmail.com>
Date: Fri, 16 Apr 2021 00:35:47 -0400
Subject: [PATCH 23/42] Modified WatchdogInterface to add new commands and
 updated with comments

---
 .../WatchDogInterface/WatchDogInterface.cpp   | 198 ++++++++----------
 .../WatchDogInterface/WatchDogInterface.hpp   | 105 ++++------
 .../WatchDogInterfaceComponentAi.xml          |  80 ++++---
 3 files changed, 177 insertions(+), 206 deletions(-)

diff --git a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.cpp b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.cpp
index 98f40958d..b216a05cc 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.cpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.cpp
@@ -67,7 +67,7 @@ namespace CubeRover {
 
     Read_Temp();
 
-    Reset_Specific_Handler(0x04);           // Reset WF121
+    Reset_Specific_Handler(Reset_Radio);           // Reset WF121
     // There would normally be a 400000000 cycle delay for WF121 to finish resetting.. but that actualyl breaks things... weird
     m_finished_initializing = true;
   }
@@ -75,13 +75,14 @@ namespace CubeRover {
   WatchDogInterfaceComponentImpl ::
     ~WatchDogInterfaceComponentImpl(void)
   {
-
+      // Do Not Use
   }
 
   // ----------------------------------------------------------------------
   // Handler implementations for user-defined typed input ports
   // ----------------------------------------------------------------------
 
+  // Timed function that runs every 1Hz
   void WatchDogInterfaceComponentImpl ::
     Run_handler(
         const NATIVE_INT_TYPE portNum,
@@ -92,11 +93,8 @@ namespace CubeRover {
     // Update Thermistor Telemetry
     Read_Temp();
 
-    // Sends payload and reset value to MSP430
-    U16 payload_length = 0x0000;
-
     // Send frame to watchdog. If returns false, communication with MSP430 is bad and should not send anymore data. Errors logged in Send_Frame()
-    if(!Send_Frame(payload_length, No_Reset))
+    if(!Send_Frame(zero_size, No_Reset))
       return;
      
     // Receive frame back from MSP430
@@ -104,20 +102,14 @@ namespace CubeRover {
     WatchdogFrameHeader frame;
     Receive_Frame(&comm_error, &frame);
   }
-  
+
   void WatchDogInterfaceComponentImpl ::
     CompResetRequest_handler(
         const NATIVE_INT_TYPE portNum,
         CubeRoverPorts::ResetValue reset
     )
   {
-    if(Reset_Specific_Handler(reset))
-    	return;
-    else
-    {
-    	// TODO: report error
-    	return;
-    }
+    // Depricated, not needed
   }
 
   void WatchDogInterfaceComponentImpl ::
@@ -151,19 +143,18 @@ namespace CubeRover {
         U32 code
     )
   {
-    // TODO
-    // Happens everytime Health sends a watchdog code to Watchdog interface
-    // Watchdog code will have info on what components status is (MUST FIGURE OUT HOW CODE WORKS)
+    // Depricated, not used currently
   }
   
   // ----------------------------------------------------------------------
   // Command handler implementations
   // ----------------------------------------------------------------------
 
+  // Function called by cmd handler to send a reset to watchdog
   void WatchDogInterfaceComponentImpl :: Reset_Specific_cmdHandler(
         const FwOpcodeType opCode,
         const U32 cmdSeq,
-        U8 reset_value
+        reset_values_possible reset_value
     )
   {
   	// Send Activity Log/tlm to know watchdog recieved command
@@ -176,24 +167,17 @@ namespace CubeRover {
   	this->log_ACTIVITY_HI_WatchDogCmdReceived(command_type_log);
   	//this->tlmWrite_LAST_COMMAND(command_type_tlm);
 
-    // Sends a command to watchdog to reset specified devices. Can be hardware through watchdog or component
+    // Sends a command to watchdog to reset specified devices
 
-    // If reset_value is greater than 0x1B, we are resetting a software component
-    if(reset_value <= No_Reset && reset_value >= FPGA_Cam_2)
-    {
-      // return error
-      // TODO
-      return;
-    }
-    // If reset_value less than or equal to 0x1B, we are resetting hardware
-    else
-    {
-      // Sends payload and reset value to MSP430
-      U16 payload_length = 0x0000;
-      U16 wd_reset_value = reset_value;
+      // Check that reset_value is correct
+      if(reset_value >= No_Reset && reset_value <= max_reset_value)
+      {
+        this->log_WARNING_LO_WatchDogIncorrectResetValue();
+        return;
+      }
 
       // Send frame to watchdog. If returns false, communication with MSP430 is bad and should not send anymore data. Errors logged in Send_Frame()
-      if(!Send_Frame(payload_length, wd_reset_value))
+      if(!Send_Frame(zero_size, reset_value))
         return;
 	    
       // Receive frame back from MSP430
@@ -201,12 +185,12 @@ namespace CubeRover {
       WatchdogFrameHeader frame;
       int32_t size_read = Receive_Frame(&comm_error, &frame);
 
-      if(size_read < 8)
+      if(size_read < min_receive_size)
       {
           this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
           return;
       }
-    }
+
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
@@ -221,12 +205,8 @@ namespace CubeRover {
 	  Fw::LogStringArg command_type_log = command_type;
 	  this->log_ACTIVITY_HI_WatchDogCmdReceived(command_type_log);
 
-      // Sends payload and reset value to MSP430
-      U16 payload_length = 0x0000;
-      U16 reset_value = 0x00EE;
-
       // Send frame to watchdog. If returns false, communication with MSP430 is bad and should not send anymore data. Errors logged in Send_Frame()
-	  if(!Send_Frame(payload_length, reset_value))
+	  if(!Send_Frame(zero_size, Disengage))
 	      return;
 	     
       // Receive frame back from MSP430
@@ -234,7 +214,7 @@ namespace CubeRover {
       WatchdogFrameHeader frame;
       int32_t size_read = Receive_Frame(&comm_error, &frame);
 
-      if(size_read < 8)
+      if(size_read < min_receive_size)
       {
           this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
           return;
@@ -243,15 +223,48 @@ namespace CubeRover {
       // Set Deployment Bit High
       // Deployment2 signal is on MIBSPI3NCS_4 which is setup as a GPIO pin with default 0 and no pull up/down resistor.
       // Use Bit 5 as MIBSPI3NCS_4 is the 5th (start at 0) pin from the start of SPI3 Port 
-      gioSetBit(spiPORT3, 5, 1);
+      gioSetBit(spiPORT3, deploy_bit, 1);
 
 	this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
+  void WatchDogInterfaceComponentImpl ::
+    Engage_From_Lander_cmdHandler(
+        const FwOpcodeType opCode,
+        const U32 cmdSeq
+    )
+  {
+        // Send Activity Log/tlm to know watchdog recieved command
+    char command_type[24] = "Engage From Rover";
+    Fw::LogStringArg command_type_log = command_type;
+    this->log_ACTIVITY_HI_WatchDogCmdReceived(command_type_log);
+
+      // Send frame to watchdog. If returns false, communication with MSP430 is bad and should not send anymore data. Errors logged in Send_Frame()
+    if(!Send_Frame(zero_size, HDRM_Off))
+        return;
+       
+      // Receive frame back from MSP430
+      U32 comm_error;
+      WatchdogFrameHeader frame;
+      int32_t size_read = Receive_Frame(&comm_error, &frame);
+
+      if(size_read < min_receive_size)
+      {
+          this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
+          return;
+      }
+
+      // Set Deployment Bit High
+      // Deployment2 signal is on MIBSPI3NCS_4 which is setup as a GPIO pin with default 0 and no pull up/down resistor.
+      // Use Bit 5 as MIBSPI3NCS_4 is the 5th (start at 0) pin from the start of SPI3 Port 
+      gioSetBit(spiPORT3, deploy_bit, 0);
+
+    this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
+  }
 
   bool WatchDogInterfaceComponentImpl ::
     Reset_Specific_Handler(
-        U8 reset_value
+        reset_values_possible reset_value
     )
   {
     // Send Activity Log/tlm to know watchdog recieved command
@@ -262,24 +275,17 @@ namespace CubeRover {
     Fw::LogStringArg command_type_log = command_type;
     this->log_ACTIVITY_HI_WatchDogCmdReceived(command_type_log);
 
-    // Sends a command to watchdog to reset specified devices. Can be hardware through watchdog or component
+    // Sends a command to watchdog to reset specified devices
 
-    // If reset_value is greater than 0x1B, we are resetting a software component
-    if(reset_value <= No_Reset && reset_value >= FPGA_Cam_2)
-    {
-      // report error
-      // TODO
-      return false;
-    }
-    // If reset_value less than or equal to 0x1B, we are resetting hardware
-    else
-    {
-      // Sends payload and reset value to MSP430
-      U16 payload_length = 0x0000;
-      U16 wd_reset_value = reset_value;
+      // Check that reset_value is correct
+      if(reset_value >= No_Reset && reset_value <= max_reset_value)
+      {
+        this->log_WARNING_LO_WatchDogIncorrectResetValue();
+        return;
+      }
       
       // Send frame to watchdog. If returns false, communication with MSP430 is bad and should not send anymore data. Errors logged in Send_Frame()
-      if(!Send_Frame(payload_length, wd_reset_value))
+      if(!Send_Frame(zero_size, reset_value))
         return false;
 
       // Receive frame back from MSP430
@@ -287,11 +293,10 @@ namespace CubeRover {
       WatchdogFrameHeader frame = {0};
       int32_t size_read = Receive_Frame(&comm_error, &frame);
 
-      if(size_read < 8)
+      if(size_read < min_receive_size)
           return false;
 
       return true;
-    }
   }
 
   /* Commands that Only Watchdog Processes */
@@ -301,7 +306,7 @@ namespace CubeRover {
         const U32 cmdSeq
     )
   {
-    Reset_Specific_Handler(0x00);
+    Reset_Specific_Handler(No_Reset);
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
@@ -311,27 +316,7 @@ namespace CubeRover {
         const U32 cmdSeq
     )
   {
-    Reset_Specific_Handler(0x00);
-    this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
-  }
-
-  void WatchDogInterfaceComponentImpl ::
-    Set_Kp_Most_cmdHandler(
-        const FwOpcodeType opCode,
-        const U32 cmdSeq
-    )
-  {
-    Reset_Specific_Handler(0x00);
-    this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
-  }
-
-  void WatchDogInterfaceComponentImpl ::
-    Set_Kp_Least_cmdHandler(
-        const FwOpcodeType opCode,
-        const U32 cmdSeq
-    )
-  {
-    Reset_Specific_Handler(0x00);
+    Reset_Specific_Handler(No_Reset);
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
@@ -341,57 +326,47 @@ namespace CubeRover {
         const U32 cmdSeq
     )
   {
-    Reset_Specific_Handler(0x00);
+    Reset_Specific_Handler(No_Reset);
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
   void WatchDogInterfaceComponentImpl ::
-    Set_Ki_Most_cmdHandler(
+    Set_Heater_On_value_cmdHandler(
         const FwOpcodeType opCode,
         const U32 cmdSeq
     )
   {
-    Reset_Specific_Handler(0x00);
+    Reset_Specific_Handler(No_Reset);
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
   void WatchDogInterfaceComponentImpl ::
-    Set_Ki_Least_cmdHandler(
+    Set_Heater_Off_value_cmdHandler(
         const FwOpcodeType opCode,
         const U32 cmdSeq
     )
   {
-    Reset_Specific_Handler(0x00);
+    Reset_Specific_Handler(No_Reset);
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
   void WatchDogInterfaceComponentImpl ::
-    Set_Ki_Specific_cmdHandler(
+    Set_Heater_Duty_Cycle_Max_cmdHandler(
         const FwOpcodeType opCode,
         const U32 cmdSeq
     )
   {
-    Reset_Specific_Handler(0x00);
+    Reset_Specific_Handler(No_Reset);
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
   void WatchDogInterfaceComponentImpl ::
-    Set_Kd_Most_cmdHandler(
+    Set_Heater_Duty_Cycle_Period_cmdHandler(
         const FwOpcodeType opCode,
         const U32 cmdSeq
     )
   {
-    Reset_Specific_Handler(0x00);
-    this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
-  }
-
-  void WatchDogInterfaceComponentImpl ::
-    Set_Kd_Least_cmdHandler(
-        const FwOpcodeType opCode,
-        const U32 cmdSeq
-    )
-  {
-    Reset_Specific_Handler(0x00);
+    Reset_Specific_Handler(No_Reset);
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
@@ -401,7 +376,7 @@ namespace CubeRover {
         const U32 cmdSeq
     )
   {
-    Reset_Specific_Handler(0x00);
+    Reset_Specific_Handler(No_Reset);
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
@@ -411,7 +386,7 @@ namespace CubeRover {
         const U32 cmdSeq
     )
   {
-    Reset_Specific_Handler(0x00);
+    Reset_Specific_Handler(No_Reset);
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
@@ -421,7 +396,7 @@ namespace CubeRover {
         const U32 cmdSeq
     )
   {
-    Reset_Specific_Handler(0x00);
+    Reset_Specific_Handler(No_Reset);
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
@@ -431,7 +406,7 @@ namespace CubeRover {
         const U32 cmdSeq
     )
   {
-    Reset_Specific_Handler(0x00);
+    Reset_Specific_Handler(No_Reset);
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
@@ -442,8 +417,8 @@ namespace CubeRover {
       struct WatchdogFrameHeader frame;
       frame.magic_value = 0x21B00B;
       frame.parity = 0;
-      frame.payload_length = payload_length;
-      frame.reset_val = reset_value;
+      frame.payload_length = static_cast<U16>(payload_length);
+      frame.reset_val = static_cast<U16>(reset_value);
 
       uint64_t frame_bin = *((uint64_t *)&frame);
       frame.parity = ~(((frame_bin & 0x00000000000000FFL) >> 0)  +
@@ -455,7 +430,7 @@ namespace CubeRover {
                        ((frame_bin & 0x00FF000000000000L) >> 48) +
                        ((frame_bin & 0xFF00000000000000L) >> 56));
       dmaSend(&frame, sizeof(frame));
-
+      
       return true;
   }
 
@@ -481,7 +456,7 @@ namespace CubeRover {
       // Conversion SHOULD end automatically once all ADC values have been converted but this should end it otherwise
       adcStopConversion(adcREG1, adcGROUP1);
       U32 num_conversions = adcGetData(adcREG1, adcGROUP1, m_thermistor_buffer);
-      if(num_conversions >= 6)
+      if(num_conversions >= number_thermistors)
       {
         this->tlmWrite_THERM_0(m_thermistor_buffer[0].value);
         this->tlmWrite_THERM_1(m_thermistor_buffer[1].value);
@@ -547,11 +522,6 @@ namespace CubeRover {
         return size_read;
     }
 
-    if(header->reset_val > 0x0020 && header->reset_val != 0x00EE)
-    {
-        this->log_WARNING_HI_WatchDogIncorrectResp(bad_reset_value);
-    }
-
     int payload_read = 0;
     if (header->payload_length == 0) // Received a WD echo, always expect telemtry
     {
diff --git a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.hpp b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.hpp
index aa95d2c44..c947cb58e 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.hpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.hpp
@@ -19,6 +19,14 @@
 #include "adc.h"
 #include "sci.h"
 
+const U8 deploy_bit = 5;
+const U8 number_thermistors = 6;
+
+const U16 zero_size = 0x0000;
+const U8 min_receive_size = 8;
+
+#define max_reset_value Disable_Heater_Control
+
 namespace CubeRover {
 
   class WatchDogInterfaceComponentImpl :
@@ -104,8 +112,8 @@ namespace CubeRover {
       void Reset_Specific_cmdHandler(
           const FwOpcodeType opCode, /*!< The opcode*/
           const U32 cmdSeq, /*!< The command sequence number*/
-          U8 reset_value /*!< 
-                    	U8 Value that represents which things need to be reset
+          reset_values_possible reset_value /*!< 
+                    	Value that represents which things need to be reset
                     */
       );
 
@@ -116,6 +124,13 @@ namespace CubeRover {
           const U32 cmdSeq /*!< The command sequence number*/
       );
 
+      //! Implementation for Engage_From_Lander command handler
+      //! Command to send signal to MSP430 that it should send a signal to lander to engage, sets disengage pin low
+      void Engage_From_Lander_cmdHandler(
+          const FwOpcodeType opCode, /*!< The opcode*/
+          const U32 cmdSeq /*!< The command sequence number*/
+      );
+
       /* Commands that Only Watchdog Processes */
 
       //! Implementation for Prepare_For_Deployment command handler
@@ -132,20 +147,6 @@ namespace CubeRover {
           const U32 cmdSeq /*!< The command sequence number*/
       );
 
-      //! Implementation for Set_Kp_Most command handler
-      //! Command to send signal to MSP430 that it should set Kp to most significant parameter
-      void Set_Kp_Most_cmdHandler(
-          const FwOpcodeType opCode, /*!< The opcode*/
-          const U32 cmdSeq /*!< The command sequence number*/
-      );
-
-      //! Implementation for Set_Kp_Least command handler
-      //! Command to send signal to MSP430 that it should set Kp to least significant parameter
-      void Set_Kp_Least_cmdHandler(
-          const FwOpcodeType opCode, /*!< The opcode*/
-          const U32 cmdSeq /*!< The command sequence number*/
-      );
-
       //! Implementation for Set_Kp_Specific command handler
       //! Command to send signal to MSP430 that it should set Kp to a specific value
       void Set_Kp_Specific_cmdHandler(
@@ -153,37 +154,30 @@ namespace CubeRover {
           const U32 cmdSeq /*!< The command sequence number*/
       );
 
-      //! Implementation for Set_Ki_Most command handler
-      //! Command to send signal to MSP430 that it should set Ki to most significant parameter
-      void Set_Ki_Most_cmdHandler(
-          const FwOpcodeType opCode, /*!< The opcode*/
-          const U32 cmdSeq /*!< The command sequence number*/
-      );
-
-      //! Implementation for Set_Ki_Least command handler
-      //! Command to send signal to MSP430 that it should set Ki to least significant parameter
-      void Set_Ki_Least_cmdHandler(
+      //! Implementation for Set_Heater_On_value command handler
+      //! Command to send signal to MSP430 that it should set the value which the heater automatically turns on
+      void Set_Heater_On_value_cmdHandler(
           const FwOpcodeType opCode, /*!< The opcode*/
           const U32 cmdSeq /*!< The command sequence number*/
       );
 
-      //! Implementation for Set_Ki_Specific command handler
-      //! Command to send signal to MSP430 that it should set Ki to a specific value
-      void Set_Ki_Specific_cmdHandler(
+      //! Implementation for Set_Heater_Off_value command handler
+      //! Command to send signal to MSP430 that it should set the value which the heater automatically turns off
+      void Set_Heater_Off_value_cmdHandler(
           const FwOpcodeType opCode, /*!< The opcode*/
           const U32 cmdSeq /*!< The command sequence number*/
       );
 
-      //! Implementation for Set_Kd_Most command handler
-      //! Command to send signal to MSP430 that it should set Kd to most significant parameter
-      void Set_Kd_Most_cmdHandler(
+      //! Implementation for Set_Heater_Duty_Cycle_Max command handler
+      //! Command to send signal to MSP430 that it should set the max possible Duty Cycle value for the heater
+      void Set_Heater_Duty_Cycle_Max_cmdHandler(
           const FwOpcodeType opCode, /*!< The opcode*/
           const U32 cmdSeq /*!< The command sequence number*/
       );
 
-      //! Implementation for Set_Kd_Least command handler
-      //! Command to send signal to MSP430 that it should set Kd to least significant parameter
-      void Set_Kd_Least_cmdHandler(
+      //! Implementation for Set_Heater_Duty_Cycle_Period command handler
+      //! Command to send signal to MSP430 that it should set the period the Duty Cycle for the heater is at
+      void Set_Heater_Duty_Cycle_Period_cmdHandler(
           const FwOpcodeType opCode, /*!< The opcode*/
           const U32 cmdSeq /*!< The command sequence number*/
       );
@@ -247,40 +241,17 @@ namespace CubeRover {
          not_enough_bytes = 5
      };
 
-     enum send_values : U16
+     enum disengage_command : U16
      {
-        No_Reset = 0x00,
-        Reset_Hercules = 0x01,
-        Hercules_Power_On = 0x02,
-        Hercules_Power_Off = 0x03,
-        Reset_Radio = 0x04,
-        Radio_Power_On = 0x05,
-        Radio_Power_Off = 0x06,
-        Reset_FPGA = 0x07,
-        FPGA_Power_On = 0x08,
-        FPGA_Power_Off = 0x09,
-        Reset_Motor1 = 0x0A,
-        Reset_Motor2 = 0x0B,
-        Reset_Motor3 = 0x0C,
-        Reset_Motor4 = 0x0D,
-        Reset_All_Motors = 0x0E,
-        All_Motors_On = 0x0F,
-        All_Motors_Off = 0x10,
-        Reset_EN_3_3 = 0x11,
-        EN_3_3_Power_On = 0x12,
-        EN_3_3_Power_Off = 0x13,
-        Reset_24_EN = 0x14,
-        EN_24_On = 0x15,
-        EN_24_Off = 0x16,
-        HDRM_On = 0x17,
-        HDRM_Off = 0x18,
-        FPGA_Cam_1 = 0x19,
-        FPGA_Cam_2 = 0x20,
+        Disengage = 0x00EE
      };
 
-     int Receive_Frame(uint32_t *comm_error, WatchdogFrameHeader *header);
+     // Receives a Frame start everytime data is sent from watchdog to hercules
+     int Receive_Frame(uint32_t *comm_error, // Error returned from receiving frame
+                      WatchdogFrameHeader *header  // Location to save data into
+                      );
 
-     // Sends a Frame start everytime data is sent from cuberover to watchdog
+     // Sends a Frame start everytime data is sent from hercules to watchdog
      bool Send_Frame(
          U16 payload_length,    // stroke if 0x0000 or UDP data size if larger than
          U16 reset_value        // reset value for watchdog
@@ -295,11 +266,11 @@ namespace CubeRover {
 
       // Usage during FSW initialization
       // Only difference between this is function and Reset_Specific_cmdHandler is lack of cmd response
-      bool Reset_Specific_Handler(U8 reset_value);
+      bool Reset_Specific_Handler(reset_values_possible reset_value);
 
 
       sciBASE_t *m_sci;
-      adcData_t m_thermistor_buffer[6];
+      adcData_t m_thermistor_buffer[number_thermistors];  // Location to store current data for thermistors
       bool m_finished_initializing;     // Flag set when this component is fully initialized and interrupt DMA can be used (otherwise polling DMA)
 
     };
diff --git a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterfaceComponentAi.xml b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterfaceComponentAi.xml
index ba6dd5260..5ee9b7f8e 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterfaceComponentAi.xml
+++ b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterfaceComponentAi.xml
@@ -80,9 +80,43 @@
             Command to reset the specific parts of rover
             </comment>
             <args>
-                <arg name="reset_value" type="U8">
-                    <comment>
-                    	U8 Value that specifies which components or hardware need to be reset
+                <arg name="reset_value" type="ENUM">
+                    <enum name="reset_values_possible">
+                        <item name="No_Reset" value = "0"/>
+					    <item name="Reset_Hercules" value = "1"/>
+					    <item name="Hercules_Power_On" value = "2"/>
+					    <item name="Hercules_Power_Off" value = "3"/>
+					    <item name="Reset_Radio" value = "4"/>
+					    <item name="Radio_Power_On" value = "5"/>
+					    <item name="Radio_Power_Off" value = "6"/>
+					    <item name="Reset_FPGA" value = "7"/>
+					    <item name="FPGA_Power_On" value = "8"/>
+					    <item name="FPGA_Power_Off" value = "9"/>
+					    <item name="Reset_Motor1" value = "10"/>
+					    <item name="Reset_Motor2" value = "11"/>
+					    <item name="Reset_Motor3" value = "12"/>
+					    <item name="Reset_Motor4" value = "13"/>
+					    <item name="Reset_All_Motors" value = "14"/>
+					    <item name="All_Motors_On" value = "15"/>
+					    <item name="All_Motors_Off" value = "16"/>
+					    <item name="Reset_EN_3_3" value = "17"/>
+					    <item name="EN_3_3_Power_On" value = "18"/>
+					    <item name="EN_3_3_Power_Off" value = "19"/>
+					    <item name="Reset_24_EN" value = "20"/>
+					    <item name="EN_24_On" value = "21"/>
+					    <item name="EN_24_Off" value = "22"/>
+					    <item name="HDRM_Off" value = "24"/>
+					    <item name="FPGA_Cam_0" value = "25"/>
+					    <item name="FPGA_Cam_1" value = "26"/>
+					    <item name="Battery_Start_Charge" value = "27"/>
+					    <item name="Battery_Stop_Charge" value = "28"/>
+					    <item name="Enable_RS422_UART" value = "29"/>
+					    <item name="Disable_RS422_UART" value = "30"/>
+					    <item name="Enable_Heater_Control" value = "31"/>
+					    <item name="Disable_Heater_Control" value = "32"/>
+					</enum>
+					<comment>
+                    	ENUM Value that specifies which components or hardware need to be reset
                     </comment>
                 </arg>
              </args>
@@ -94,7 +128,7 @@
         </command>
         <command kind="async" opcode="0x02" mnemonic="Disengage_From_Lander">
             <comment>
-            Command to send signal to MSP430 that it should send a signal to lander to disengage
+            Command to send signal to MSP430 that it should send a signal to lander to disengage, sets disengage pin high
             </comment>
         </command>
         <command kind="async" opcode="0x03" mnemonic="Switch_Connection_Mode">
@@ -102,44 +136,34 @@
             Command to send signal to MSP430 that we switch the current connection mode
             </comment>
         </command>
-        <command kind="async" opcode="0xAA" mnemonic="Set_Kp_Most">
+        <command kind="async" opcode="0x04" mnemonic="Engage_From_Lander">
             <comment>
-            Command to send signal to MSP430 that it should set Kp to most significant parameter
+            Command to send signal to MSP430 that it should send a signal to lander to engage, sets disengage pin low
             </comment>
         </command>
-        <command kind="async" opcode="0xAB" mnemonic="Set_Kp_Least">
-            <comment>
-            Command to send signal to MSP430 that it should set Kp to least significant parameter
-            </comment>
-        </command>
-        <command kind="async" opcode="0xAC" mnemonic="Set_Kp_Specific">
+        <command kind="async" opcode="0xAA" mnemonic="Set_Kp_Specific">
             <comment>
             Command to send signal to MSP430 that it should set Kp to a specific value
             </comment>
         </command>
-        <command kind="async" opcode="0xBA" mnemonic="Set_Ki_Most">
-            <comment>
-            Command to send signal to MSP430 that it should set Ki to most significant parameter
-            </comment>
-        </command>
-        <command kind="async" opcode="0xBB" mnemonic="Set_Ki_Least">
+        <command kind="async" opcode="0xAB" mnemonic="Set_Heater_On_value">
             <comment>
-            Command to send signal to MSP430 that it should set Ki to least significant parameter
+            Command to send signal to MSP430 that it should set the value which the heater automatically turns on
             </comment>
         </command>
-        <command kind="async" opcode="0xBC" mnemonic="Set_Ki_Specific">
+        <command kind="async" opcode="0xAC" mnemonic="Set_Heater_Off_value">
             <comment>
-            Command to send signal to MSP430 that it should set Ki to a specific value
+            Command to send signal to MSP430 that it should set the value which the heater automatically turns off
             </comment>
         </command>
-        <command kind="async" opcode="0xCA" mnemonic="Set_Kd_Most">
+        <command kind="async" opcode="0xAD" mnemonic="Set_Heater_Duty_Cycle_Max">
             <comment>
-            Command to send signal to MSP430 that it should set Kd to most significant parameter
+            Command to send signal to MSP430 that it should set the max possible Duty Cycle value for the heater
             </comment>
         </command>
-        <command kind="async" opcode="0xCB" mnemonic="Set_Kd_Least">
+        <command kind="async" opcode="0xAE" mnemonic="Set_Heater_Duty_Cycle_Period">
             <comment>
-            Command to send signal to MSP430 that it should set Kd to least significant parameter
+            Command to send signal to MSP430 that it should set the period the Duty Cycle for the heater is at
             </comment>
         </command>
         <command kind="async" opcode="0xDA" mnemonic="Set_V_Setpoint">
@@ -209,6 +233,12 @@
             Warning that less than 16 thermistors had conversions or conversion never completed meaning no new tempurature values are being generated
             </comment>
         </event>
+
+        <event id="0x5" name="WatchDogIncorrectResetValue" severity="WARNING_LO" format_string = "Incorrect Reset Value Sent" >
+            <comment>
+            Warning that an incorrect reset value has been sent from ground
+            </comment>
+        </event>
     </events>
 
     <telemetry>

From b44b5bd5472428c2abc4216f3d2794628cf0d9e3 Mon Sep 17 00:00:00 2001
From: Iris Watchdog Developers <watchdog-devs@irisrover.space>
Date: Fri, 16 Apr 2021 01:06:05 -0400
Subject: [PATCH 24/42] i2c interrupts now turn off timer interrupt while they
 are running, seems to have resolved last remaining funkiness

---
 Apps/FlightSoftware/MotorControl/i2c.c  |  9 ++-
 Apps/FlightSoftware/MotorControl/i2c.h  |  2 +-
 Apps/FlightSoftware/MotorControl/main.c | 75 ++++++++++---------------
 Apps/FlightSoftware/MotorControl/main.h |  1 +
 4 files changed, 38 insertions(+), 49 deletions(-)

diff --git a/Apps/FlightSoftware/MotorControl/i2c.c b/Apps/FlightSoftware/MotorControl/i2c.c
index 870c1f088..919f3ba48 100644
--- a/Apps/FlightSoftware/MotorControl/i2c.c
+++ b/Apps/FlightSoftware/MotorControl/i2c.c
@@ -182,7 +182,7 @@ inline void i2cSlaveProcessCmd(const uint8_t cmd){
  *
  * @param[in]  cmd   The command
  */
-void i2cSlaveTransactionDone(const uint8_t cmd){
+inline void i2cSlaveTransactionDone(const uint8_t cmd){
     switch(cmd){
       case I2C_ADDRESS:
       case CURRENT_POSITION:
@@ -343,6 +343,7 @@ __interrupt void USCI_B0_ISR(void){
       rxBuf = UCB0RXBUF;
       switch(g_slaveMode){
         case RX_REG_ADDRESS_MODE:
+          TB0CCTL0 = 0x0000; // Turn off timer interrupt
           g_readRegAddr = rxBuf;
           i2cSlaveProcessCmd(g_readRegAddr);
           break;
@@ -355,6 +356,7 @@ __interrupt void USCI_B0_ISR(void){
             disableI2cTxInterrupt();
             enableI2cRxInterrupt();
             i2cSlaveTransactionDone(g_readRegAddr);
+            TB0CCTL0 = CCIE; // turn timer interrupt back on
           }
           break;
       default:
@@ -363,7 +365,6 @@ __interrupt void USCI_B0_ISR(void){
       break;  
     }
     case USCI_I2C_UCTXIFG0:                 // Vector 24: TXIFG0
-        g_i2cSend = 1;
       switch(g_slaveMode){
         case TX_DATA_MODE:
           UCB0TXBUF = g_txBuffer[g_txBufferIdx++];
@@ -373,12 +374,14 @@ __interrupt void USCI_B0_ISR(void){
             disableI2cTxInterrupt();
             enableI2cRxInterrupt();
             i2cSlaveTransactionDone(g_readRegAddr);
+            TB0CCTL0 = CCIE; // turn timer interrupt back on
           }
           break;
         default:
           break;
       }
       break;         
-    default: break;
+    default:
+        break;
   }
 }
diff --git a/Apps/FlightSoftware/MotorControl/i2c.h b/Apps/FlightSoftware/MotorControl/i2c.h
index b65301891..d31ccab89 100644
--- a/Apps/FlightSoftware/MotorControl/i2c.h
+++ b/Apps/FlightSoftware/MotorControl/i2c.h
@@ -58,6 +58,6 @@ bool readI2cData(I2cPacket *pckt);
 void initializeI2cModule();
 //void disableI2cTxInterrupt();
 //void enableI2cRxInterrupt();
-void i2cSlaveTransactionDone(const uint8_t cmd);
+//void i2cSlaveTransactionDone(const uint8_t cmd);
 
 #endif /* I2C_H_ */
diff --git a/Apps/FlightSoftware/MotorControl/main.c b/Apps/FlightSoftware/MotorControl/main.c
index b90a2e20b..b18588231 100644
--- a/Apps/FlightSoftware/MotorControl/main.c
+++ b/Apps/FlightSoftware/MotorControl/main.c
@@ -1,7 +1,7 @@
 // [DEBUG] Switches
 //#define IRIS_ALL_OFF
 //#define IRIS_CLEAR_FAULT
-#define IRIS_SPIN_MOTOR
+//#define IRIS_SPIN_MOTOR
 //#define IRIS_SPIN_MOTOR_REVERSE
 //#define IRIS_SPIN_MOTOR_INDEF
 
@@ -671,7 +671,6 @@ void main(void){
 
 
   while(1){
-
       // check if driving in open or closed loop, act accordingly
       if (g_controlRegister & DRIVE_OPEN_LOOP) {
             //driving open loop
@@ -743,39 +742,36 @@ void main(void){
         }
 
           // inner control loop (current), apply output as PWM duty cycle
-          if(g_controlPrescaler % 1 == 0){
-              // Normalize current values from  -2047 < adc < +2048 to iq15 --> -1.0 < adc < 1.0 and convert to iq format
-              g_piCur.Fbk = (g_currentPhaseA + g_currentPhaseB + g_currentPhaseC) << 4;
-              g_piCur.Ref = g_piSpd.Out;
-
-              PI_MACRO(g_piCur);
-
-              if(g_closedLoop == false && g_targetReached == false){
-                g_piCur.i1 = 0;
-                g_piCur.ui = 0;
-                g_piSpd.i1 = 0;
-                g_piSpd.ui = 0;
-                g_piCur.Out = g_openLoopTorque;
-                if(_IQabs(g_currentSpeed) > g_closeLoopThreshold){
-                    g_closedLoop = true;
-                }
-              }
-
-              if(g_targetReached == true){
-                  g_piCur.i1 = 0;
-                  g_piCur.ui = 0;
-                  g_piSpd.i1 = 0;
-                  g_piSpd.ui = 0;
-                  g_piCur.Out = 0;
-                  g_closedLoop = false;
-              }
+          // Normalize current values from  -2047 < adc < +2048 to iq15 --> -1.0 < adc < 1.0 and convert to iq format
+          g_piCur.Fbk = (g_currentPhaseA + g_currentPhaseB + g_currentPhaseC) << 4;
+          g_piCur.Ref = g_piSpd.Out;
+
+          PI_MACRO(g_piCur);
+
+          if(g_closedLoop == false && g_targetReached == false){
+            g_piCur.i1 = 0;
+            g_piCur.ui = 0;
+            g_piSpd.i1 = 0;
+            g_piSpd.ui = 0;
+            g_piCur.Out = g_openLoopTorque;
+            if(_IQabs(g_currentSpeed) > g_closeLoopThreshold){
+                g_closedLoop = true;
+            }
+          }
 
-              pwmGenerator(g_commState, g_piCur.Out);
+          if(g_targetReached == true){
+              g_piCur.i1 = 0;
+              g_piCur.ui = 0;
+              g_piSpd.i1 = 0;
+              g_piSpd.ui = 0;
+              g_piCur.Out = 0;
+              g_closedLoop = false;
           }
 
+          pwmGenerator(g_commState, g_piCur.Out);
+
           // outer control loop (speed)
           if(g_controlPrescaler <= 0){
-
               // Normalize from -255 ~ + 255 to -1.0 ~ 1.0
               if  (_IQabs(g_targetPosition - g_currentPosition) < 100) {
                   g_targetReached = true;
@@ -791,11 +787,11 @@ void main(void){
               else g_piSpd.Ref = -g_maxSpeed << 8;
 
               // check for errors in controller operation
-              if (g_currentPosition == g_oldPosition && ~g_targetReached){
+              if (g_currentPosition == g_oldPosition && !g_targetReached){
                   // position isn't updating; hall sensors likely not powered or broken
                   g_errorCounter++;
                   g_faultRegister |= POSITION_NO_CHANGE;
-              } else if ( (g_currentPosition - g_oldPosition)*g_targetDirection < 0 && ~g_targetReached){
+              } else if ( (g_currentPosition - g_oldPosition)*g_targetDirection < 0 && !g_targetReached){
                   // moving in wrong direction
                   g_errorCounter++;
                   g_faultRegister |= DRIVING_WRONG_DIRECTION;
@@ -867,22 +863,11 @@ __interrupt void TIMER0_B0_ISR (void){
       g_calibrationDone = true;
     }
 
-  if(!g_calibrationDone) return;
+    if(!g_calibrationDone) return;
 
     g_updateReadings=true; //TODO: rename g_readSensors
 
-  // transmit i2c data if asked to & ready
-//  if(g_i2cSend && g_slaveMode == TX_DATA_MODE){
-//        UCB0TXBUF = g_txBuffer[g_txBufferIdx++];
-//        g_txByteCtr--;
-//        if(g_txByteCtr == 0){
-//          g_slaveMode = RX_REG_ADDRESS_MODE;
-//          UCB0IE &= ~UCTXIE;
-//          UCB0IE |= UCRXIE;
-//          i2cSlaveTransactionDone(g_readRegAddr);
-//          g_i2cSend = 0;
-//        }
-//  }
+    // without conditional can get huge and negative
    if(g_controlPrescaler>0)
        g_controlPrescaler = g_controlPrescaler -1;
 
diff --git a/Apps/FlightSoftware/MotorControl/main.h b/Apps/FlightSoftware/MotorControl/main.h
index f205d0c75..b868b8d6d 100644
--- a/Apps/FlightSoftware/MotorControl/main.h
+++ b/Apps/FlightSoftware/MotorControl/main.h
@@ -24,6 +24,7 @@
 #define STATE_MACHINE_DISABLE       4
 #define STATE_MACHINE_RUN           8
 #define OVERRIDE_FAULT_DETECTION   16       // don't reset current & desired position if abnormal behavior detected
+#define EXECUTE_COMMAND            32       // actually drive to command
 
 // bits of status register (shares 1,2,4 with control register)
 #define POSITION_CONVERGED      8

From fdd82d3a8b6536c26b9b4e04e018b27afd563546 Mon Sep 17 00:00:00 2001
From: Alec <alecjprobst@gmail.com>
Date: Fri, 16 Apr 2021 01:19:58 -0400
Subject: [PATCH 25/42] Added more comments to cpp and hpp files

---
 .../WatchDogInterface/WatchDogInterface.cpp   |  6 +++---
 .../WatchDogInterface/WatchDogInterface.hpp   | 20 ++++++++++++-------
 2 files changed, 16 insertions(+), 10 deletions(-)

diff --git a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.cpp b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.cpp
index b216a05cc..6a7febdad 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.cpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.cpp
@@ -415,7 +415,7 @@ namespace CubeRover {
   bool WatchDogInterfaceComponentImpl :: Send_Frame(U16 payload_length, U16 reset_value)
   {
       struct WatchdogFrameHeader frame;
-      frame.magic_value = 0x21B00B;
+      frame.magic_value = 0x0021B00B;
       frame.parity = 0;
       frame.payload_length = static_cast<U16>(payload_length);
       frame.reset_val = static_cast<U16>(reset_value);
@@ -430,7 +430,7 @@ namespace CubeRover {
                        ((frame_bin & 0x00FF000000000000L) >> 48) +
                        ((frame_bin & 0xFF00000000000000L) >> 56));
       dmaSend(&frame, sizeof(frame));
-      
+
       return true;
   }
 
@@ -499,7 +499,7 @@ namespace CubeRover {
     }
 
     // Check that a magic value, parity and reset_value of frame was sent back
-    if(header->magic_value != 0x21B00B)
+    if(header->magic_value != header_magic)
     {
         this->log_WARNING_HI_WatchDogIncorrectResp(bad_magic_value);
         return size_read;
diff --git a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.hpp b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.hpp
index c947cb58e..d63a7aff3 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.hpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.hpp
@@ -8,6 +8,7 @@
 // ALL RIGHTS RESERVED.  United States Government Sponsorship
 // acknowledged.
 //
+// This file outlines all functions implemented in WatchDogInterface
 // ======================================================================
 
 #ifndef WatchDogInterface_HPP
@@ -19,12 +20,17 @@
 #include "adc.h"
 #include "sci.h"
 
+// The pin number for the deploment pin 2
 const U8 deploy_bit = 5;
+// The number of thermistors on the SBC
 const U8 number_thermistors = 6;
-
+// Default size of zero sent to watchdog
 const U16 zero_size = 0x0000;
+// Minimum size that should be received back from watchdog when receiving
 const U8 min_receive_size = 8;
-
+// Magic Value first sent in the header between watchdog and hercules communication
+const U32 header_magic = 0x21B00B;
+// The maximum enumerated value possible in the reset_value enumeration
 #define max_reset_value Disable_Heater_Control
 
 namespace CubeRover {
@@ -212,12 +218,12 @@ namespace CubeRover {
 
       /* End of Commands that Only Watchdog Processes*/
 
-      // frame struct
+      // The Header Frame structure sent and received between Hercules and Watchdog
       struct WatchdogFrameHeader {
-        uint32_t magic_value    :24;
-        uint32_t parity         :8;
-        uint16_t payload_length;
-        uint16_t reset_val;
+        uint32_t magic_value    :24;  // 24 bit magic value that is constant and sent at the begining of every send
+        uint32_t parity         :8;   // 8 bit partity of whole header, initially calculated with parity equal to 0
+        uint16_t payload_length;      // The length of the payload being sent
+        uint16_t reset_val;           // The reset value being sent to watchdog
       } __attribute__((packed, aligned(8)));
 
      struct WatchdogTelemetry {

From 663ed9bbe73a990fe5960f881a8d7c3d0bd7f909 Mon Sep 17 00:00:00 2001
From: Alec <alecjprobst@gmail.com>
Date: Fri, 16 Apr 2021 19:08:07 -0400
Subject: [PATCH 26/42] Updated hpp file with final comments

---
 .../WatchDogInterface/WatchDogInterface.hpp   | 46 +++++++++++--------
 1 file changed, 27 insertions(+), 19 deletions(-)

diff --git a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.hpp b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.hpp
index d63a7aff3..6300b9301 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.hpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.hpp
@@ -9,6 +9,8 @@
 // acknowledged.
 //
 // This file outlines all functions implemented in WatchDogInterface
+// Contains all functions that send and receive data between WatchdogInterface and Watchdog
+// Contains functions that only watchdog receives, functions are marked as such. Such functions only send a stroke to the Watchdog if ever received.
 // ======================================================================
 
 #ifndef WatchDogInterface_HPP
@@ -227,29 +229,29 @@ namespace CubeRover {
       } __attribute__((packed, aligned(8)));
 
      struct WatchdogTelemetry {
-         int16_t voltage_2V5;
-         int16_t voltage_2V8;
-         int16_t voltage_24V;
-         int16_t voltage_28V;
-         int8_t battery_thermistor;
-         int8_t sys_status;
-         int16_t battery_level;
-         int32_t battery_current;
+         int16_t voltage_2V5;   // Current measured voltage of the 2.5V line as read from the Watchdog
+         int16_t voltage_2V8;   // Current measured voltage of the 2.8V line as read from the Watchdog
+         int16_t voltage_24V;   // Current measured voltage of the 24V line as read from the Watchdog
+         int16_t voltage_28V;   // Current measured voltage of the 28V line as read from the Watchdog
+         int8_t battery_thermistor;   // Current measured voltage of the watchdog battery thermistor as read from the Watchdog
+         int8_t sys_status;   // 8 bit systems status where each bit represents a watchdog status
+         int16_t battery_level;   // Current measured battery voltage as read from the Watchdog
+         int32_t battery_current;   // Current measured battery current as read from the Watchdog
      } __attribute__((packed, aligned(8)));
 
      // Incorrect Response Possible Values
      enum resp_error : U8
      {
-         bad_parity = 1,
-         bad_size_received = 2,
-         bad_reset_value = 3,
-         bad_magic_value = 4,
-         not_enough_bytes = 5
+         bad_parity = 1,    // Error code for response having bad parity value
+         bad_size_received = 2,   // Error code for response having bad data size received
+         bad_reset_value = 3,   // Error code for response having a bad reset value
+         bad_magic_value = 4,   // Error code for response having a bad magic value
+         not_enough_bytes = 5   // Error code for response not having enough bytes (must be over min_receive_size)
      };
 
      enum disengage_command : U16
      {
-        Disengage = 0x00EE
+        Disengage = 0x00EE    // Reset value for the disengagement command sent to Watchdog
      };
 
      // Receives a Frame start everytime data is sent from watchdog to hercules
@@ -265,17 +267,23 @@ namespace CubeRover {
 
      bool Read_Temp();          // Checking the temperature sensors from the ADC
 
-     void pollDMAReceiveFinished();
-     void pollDMASendFinished();
-     bool dmaReceive(void *buffer, int size, bool blocking=true);
-     bool dmaSend(void *buffer, int size, bool blocking=true);
+     void pollDMAReceiveFinished();   // Polls DMA recieve finish to see if we've finished our DMA receiving
+     void pollDMASendFinished();      // Polls DMA send finish to see if we've finished our DMA sending
+     // Perform a DMA receive function
+     bool dmaReceive(void *buffer,          // The buffer to put all received data into
+                      int size,             // The size that is received from watchdog
+                      bool blocking=true);  // Check variable to see if we need to block other DMA requests
+     // Perform a DMA send function
+     bool dmaSend(void *buffer,           // The buffer of data to send to watchdog
+                  int size,               // The size of the data to send to watchdog
+                  bool blocking=true);    // Check variable to see if we need to block other DMA requests
 
       // Usage during FSW initialization
       // Only difference between this is function and Reset_Specific_cmdHandler is lack of cmd response
       bool Reset_Specific_Handler(reset_values_possible reset_value);
 
 
-      sciBASE_t *m_sci;
+      sciBASE_t *m_sci;   // The sci base used to initialize the watchdog interface connection 
       adcData_t m_thermistor_buffer[number_thermistors];  // Location to store current data for thermistors
       bool m_finished_initializing;     // Flag set when this component is fully initialized and interrupt DMA can be used (otherwise polling DMA)
 

From 084434967fe01dc284d241d8fad1f89f456470c7 Mon Sep 17 00:00:00 2001
From: Alec <alecjprobst@gmail.com>
Date: Mon, 19 Apr 2021 20:31:09 -0400
Subject: [PATCH 27/42] Modified .xml file to include new variables defined by
 Connor. Changed .cpp/.hpp to reflect these new variables. Should be no change
 on how program runs normally since functions only used by Watchdog

---
 .../WatchDogInterface/WatchDogInterface.cpp   | 65 +++++++++----------
 .../WatchDogInterface/WatchDogInterface.hpp   | 54 +++++++--------
 .../WatchDogInterfaceComponentAi.xml          | 59 +++++++++++++++--
 3 files changed, 115 insertions(+), 63 deletions(-)

diff --git a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.cpp b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.cpp
index 6a7febdad..a15b350f7 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.cpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.cpp
@@ -197,7 +197,8 @@ namespace CubeRover {
   void WatchDogInterfaceComponentImpl ::
     Disengage_From_Lander_cmdHandler(
         const FwOpcodeType opCode,
-        const U32 cmdSeq
+        const U32 cmdSeq,
+        confirm_disengage confirm
     )
   {
 	  // Send Activity Log/tlm to know watchdog recieved command
@@ -303,10 +304,11 @@ namespace CubeRover {
   void WatchDogInterfaceComponentImpl ::
     Prepare_For_Deployment_cmdHandler(
         const FwOpcodeType opCode,
-        const U32 cmdSeq
+        const U32 cmdSeq,
+        confirm_prepare_for_deploy confirm
     )
   {
-    Reset_Specific_Handler(No_Reset);
+    // TODO
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
@@ -316,97 +318,94 @@ namespace CubeRover {
         const U32 cmdSeq
     )
   {
-    Reset_Specific_Handler(No_Reset);
+    // TODO
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
   void WatchDogInterfaceComponentImpl ::
     Set_Kp_Specific_cmdHandler(
         const FwOpcodeType opCode,
-        const U32 cmdSeq
-    )
-  {
-    Reset_Specific_Handler(No_Reset);
-    this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
-  }
-
-  void WatchDogInterfaceComponentImpl ::
-    Set_Heater_On_value_cmdHandler(
-        const FwOpcodeType opCode,
-        const U32 cmdSeq
+        const U32 cmdSeq,
+        U16 value
     )
   {
-    Reset_Specific_Handler(No_Reset);
+    // TODO
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
   void WatchDogInterfaceComponentImpl ::
-    Set_Heater_Off_value_cmdHandler(
+    Set_Heater_Duty_Cycle_Max_cmdHandler(
         const FwOpcodeType opCode,
         const U32 cmdSeq
     )
   {
-    Reset_Specific_Handler(No_Reset);
+    // TODO
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
   void WatchDogInterfaceComponentImpl ::
-    Set_Heater_Duty_Cycle_Max_cmdHandler(
+    Set_Heater_Duty_Cycle_Period_cmdHandler(
         const FwOpcodeType opCode,
-        const U32 cmdSeq
+        const U32 cmdSeq,
+        U16 period
     )
   {
-    Reset_Specific_Handler(No_Reset);
+    // TODO
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
   void WatchDogInterfaceComponentImpl ::
-    Set_Heater_Duty_Cycle_Period_cmdHandler(
+    Set_Heater_Window_cmdHandler(
         const FwOpcodeType opCode,
-        const U32 cmdSeq
+        const U32 cmdSeq,
+        U16 adc_half_width
     )
   {
-    Reset_Specific_Handler(No_Reset);
+    // TODO
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
   void WatchDogInterfaceComponentImpl ::
-    Set_V_Setpoint_cmdHandler(
+    Set_Heater_Setpoint_cmdHandler(
         const FwOpcodeType opCode,
-        const U32 cmdSeq
+        const U32 cmdSeq,
+        U16 adc_setpoint
     )
   {
-    Reset_Specific_Handler(No_Reset);
+    // TODO
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
   void WatchDogInterfaceComponentImpl ::
     Switch_to_Sleep_Mode_cmdHandler(
         const FwOpcodeType opCode,
-        const U32 cmdSeq
+        const U32 cmdSeq,
+        confirm_sleep_mode confirm
     )
   {
-    Reset_Specific_Handler(No_Reset);
+    // TODO
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
   void WatchDogInterfaceComponentImpl ::
     Switch_to_Keep_Alive_Mode_cmdHandler(
         const FwOpcodeType opCode,
-        const U32 cmdSeq
+        const U32 cmdSeq,
+        confirm_alive_mode confirm
     )
   {
-    Reset_Specific_Handler(No_Reset);
+    // TODO
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
   void WatchDogInterfaceComponentImpl ::
     Switch_to_Service_Mode_cmdHandler(
         const FwOpcodeType opCode,
-        const U32 cmdSeq
+        const U32 cmdSeq,
+        confirm_service_mode confirm
     )
   {
-    Reset_Specific_Handler(No_Reset);
+    // TODO
     this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
   }
 
diff --git a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.hpp b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.hpp
index 6300b9301..0c7029134 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.hpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.hpp
@@ -121,15 +121,16 @@ namespace CubeRover {
           const FwOpcodeType opCode, /*!< The opcode*/
           const U32 cmdSeq, /*!< The command sequence number*/
           reset_values_possible reset_value /*!< 
-                    	Value that represents which things need to be reset
+                    	ENUM Value that specifies which components or hardware need to be reset
                     */
       );
 
       //! Implementation for Disengage_From_Lander command handler
-      //! Command to send signal to MSP430 that it should send a signal to lander to disengage
+      //! Command to send signal to MSP430 that it should send a signal to lander to disengage, sets disengage pin high
       void Disengage_From_Lander_cmdHandler(
           const FwOpcodeType opCode, /*!< The opcode*/
-          const U32 cmdSeq /*!< The command sequence number*/
+          const U32 cmdSeq, /*!< The command sequence number*/
+          confirm_disengage confirm 
       );
 
       //! Implementation for Engage_From_Lander command handler
@@ -145,7 +146,8 @@ namespace CubeRover {
       //! Command to send signal to MSP430 to prepare for deploying (may not be needed)
       void Prepare_For_Deployment_cmdHandler(
           const FwOpcodeType opCode, /*!< The opcode*/
-          const U32 cmdSeq /*!< The command sequence number*/
+          const U32 cmdSeq, /*!< The command sequence number*/
+          confirm_prepare_for_deploy confirm 
       );
 
       //! Implementation for Switch_Connection_Mode command handler
@@ -159,21 +161,8 @@ namespace CubeRover {
       //! Command to send signal to MSP430 that it should set Kp to a specific value
       void Set_Kp_Specific_cmdHandler(
           const FwOpcodeType opCode, /*!< The opcode*/
-          const U32 cmdSeq /*!< The command sequence number*/
-      );
-
-      //! Implementation for Set_Heater_On_value command handler
-      //! Command to send signal to MSP430 that it should set the value which the heater automatically turns on
-      void Set_Heater_On_value_cmdHandler(
-          const FwOpcodeType opCode, /*!< The opcode*/
-          const U32 cmdSeq /*!< The command sequence number*/
-      );
-
-      //! Implementation for Set_Heater_Off_value command handler
-      //! Command to send signal to MSP430 that it should set the value which the heater automatically turns off
-      void Set_Heater_Off_value_cmdHandler(
-          const FwOpcodeType opCode, /*!< The opcode*/
-          const U32 cmdSeq /*!< The command sequence number*/
+          const U32 cmdSeq, /*!< The command sequence number*/
+          U16 value 
       );
 
       //! Implementation for Set_Heater_Duty_Cycle_Max command handler
@@ -187,35 +176,48 @@ namespace CubeRover {
       //! Command to send signal to MSP430 that it should set the period the Duty Cycle for the heater is at
       void Set_Heater_Duty_Cycle_Period_cmdHandler(
           const FwOpcodeType opCode, /*!< The opcode*/
-          const U32 cmdSeq /*!< The command sequence number*/
+          const U32 cmdSeq, /*!< The command sequence number*/
+          U16 period 
       );
 
-      //! Implementation for Set_V_Setpoint command handler
+      //! Implementation for Set_Heater_Window command handler
+      //! Set the Half-Width of the heater on/off deadband window around the setpoint (in thermistor ADC values). Between setpoint - half_width and setpoint + half_width, heater is off.
+      void Set_Heater_Window_cmdHandler(
+          const FwOpcodeType opCode, /*!< The opcode*/
+          const U32 cmdSeq, /*!< The command sequence number*/
+          U16 adc_half_width 
+      );
+
+      //! Implementation for Set_Heater_Setpoint command handler
       //! Command to send signal to MSP430 that it should set V to a specific value
-      void Set_V_Setpoint_cmdHandler(
+      void Set_Heater_Setpoint_cmdHandler(
           const FwOpcodeType opCode, /*!< The opcode*/
-          const U32 cmdSeq /*!< The command sequence number*/
+          const U32 cmdSeq, /*!< The command sequence number*/
+          U16 adc_setpoint 
       );
 
       //! Implementation for Switch_to_Sleep_Mode command handler
       //! Command to send signal to MSP430 that it should go into Sleep Mode
       void Switch_to_Sleep_Mode_cmdHandler(
           const FwOpcodeType opCode, /*!< The opcode*/
-          const U32 cmdSeq /*!< The command sequence number*/
+          const U32 cmdSeq, /*!< The command sequence number*/
+          confirm_sleep_mode confirm 
       );
 
       //! Implementation for Switch_to_Keep_Alive_Mode command handler
       //! Command to send signal to MSP430 that it should go into Keep Alive Mode
       void Switch_to_Keep_Alive_Mode_cmdHandler(
           const FwOpcodeType opCode, /*!< The opcode*/
-          const U32 cmdSeq /*!< The command sequence number*/
+          const U32 cmdSeq, /*!< The command sequence number*/
+          confirm_alive_mode confirm 
       );
 
       //! Implementation for Switch_to_Service_Mode command handler
       //! Command to send signal to MSP430 that it should go into Service Mode
       void Switch_to_Service_Mode_cmdHandler(
           const FwOpcodeType opCode, /*!< The opcode*/
-          const U32 cmdSeq /*!< The command sequence number*/
+          const U32 cmdSeq, /*!< The command sequence number*/
+          confirm_service_mode confirm 
       );
 
       /* End of Commands that Only Watchdog Processes*/
diff --git a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterfaceComponentAi.xml b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterfaceComponentAi.xml
index 5ee9b7f8e..4b36a5d3b 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterfaceComponentAi.xml
+++ b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterfaceComponentAi.xml
@@ -125,11 +125,25 @@
             <comment>
             Command to send signal to MSP430 to prepare for deploying (may not be needed)
             </comment>
+            <args>
+                <arg name="confirm" type="ENUM">
+                    <enum name="confirm_prepare_for_deploy">
+                        <item name="Confirm_Prep" value = "96" />
+                    </enum>
+                </arg>
+            </args>
         </command>
         <command kind="async" opcode="0x02" mnemonic="Disengage_From_Lander">
             <comment>
             Command to send signal to MSP430 that it should send a signal to lander to disengage, sets disengage pin high
             </comment>
+            <args>
+                <arg name="confirm" type="ENUM">
+                    <enum name="confirm_disengage">
+                        <item name="Confirm_Deploy" value = "96" />
+                    </enum>
+                </arg>
+            </args>
         </command>
         <command kind="async" opcode="0x03" mnemonic="Switch_Connection_Mode">
             <comment>
@@ -145,8 +159,11 @@
             <comment>
             Command to send signal to MSP430 that it should set Kp to a specific value
             </comment>
+            <args>
+                <arg name="value" type="U16" />
+            </args>
         </command>
-        <command kind="async" opcode="0xAB" mnemonic="Set_Heater_On_value">
+        <!-- <command kind="async" opcode="0xAB" mnemonic="Set_Heater_On_value">
             <comment>
             Command to send signal to MSP430 that it should set the value which the heater automatically turns on
             </comment>
@@ -155,7 +172,7 @@
             <comment>
             Command to send signal to MSP430 that it should set the value which the heater automatically turns off
             </comment>
-        </command>
+        </command> -->
         <command kind="async" opcode="0xAD" mnemonic="Set_Heater_Duty_Cycle_Max">
             <comment>
             Command to send signal to MSP430 that it should set the max possible Duty Cycle value for the heater
@@ -165,26 +182,61 @@
             <comment>
             Command to send signal to MSP430 that it should set the period the Duty Cycle for the heater is at
             </comment>
+            <args>
+                <arg name="period" type="U16" />
+            </args>
+        </command>
+        <command kind="async" opcode="0xAF" mnemonic="Set_Heater_Window">
+            <comment>
+            Set the Half-Width of the heater on/off deadband window around the setpoint (in thermistor ADC values). Between setpoint - half_width and setpoint + half_width, heater is off.
+            </comment>
+            <args>
+                <arg name="adc_half_width" type="U16" />
+            </args>
         </command>
-        <command kind="async" opcode="0xDA" mnemonic="Set_V_Setpoint">
+        <command kind="async" opcode="0xDA" mnemonic="Set_Heater_Setpoint">
             <comment>
             Command to send signal to MSP430 that it should set V to a specific value
             </comment>
+            <args>
+                <arg name="adc_setpoint" type="U16" />
+            </args>
         </command>
         <command kind="async" opcode="0xEA" mnemonic="Switch_to_Sleep_Mode">
             <comment>
             Command to send signal to MSP430 that it should go into Sleep Mode
             </comment>
+            <args>
+                <arg name="confirm" type="ENUM">
+                    <enum name="confirm_sleep_mode">
+                        <item name="Confirm_Sleep" value = "119" />
+                    </enum>
+                </arg>
+            </args>
         </command>
         <command kind="async" opcode="0xEB" mnemonic="Switch_to_Keep_Alive_Mode">
             <comment>
             Command to send signal to MSP430 that it should go into Keep Alive Mode
             </comment>
+            <args>
+                <arg name="confirm" type="ENUM">
+                    <enum name="confirm_alive_mode">
+                        <item name="Confirm_Alive" value = "119" />
+                    </enum>
+                </arg>
+            </args>
         </command>
         <command kind="async" opcode="0xEC" mnemonic="Switch_to_Service_Mode">
             <comment>
             Command to send signal to MSP430 that it should go into Service Mode
             </comment>
+            <args>
+                <arg name="confirm" type="ENUM">
+                    <enum name="confirm_service_mode">
+                        <item name="Confirm_Service" value = "119" />
+                    </enum>
+                </arg>
+            </args>
         </command>
     </commands>
 
@@ -321,4 +373,3 @@
         </channel>
     </telemetry>
 </component>
-

From a3a8540f262aebfd4d782e8101d29c3d19f3a14c Mon Sep 17 00:00:00 2001
From: Justin Nguyen <justinnuwin@gmail.com>
Date: Tue, 20 Apr 2021 22:41:37 -0400
Subject: [PATCH 28/42] Check in latest motor controller code tested WORKING
 with Jonathan. - Validated all commands working and can command single motors

---
 Apps/FlightSoftware/.gitignore                |   1 +
 .../MotorControl/MotorControlComponent.cpp    | 115 +++++++---
 .../MotorControl/MotorControlComponent.hpp    |  36 +--
 .../MotorControl/MotorControlComponentAi.xml  |  18 +-
 .../MotorControl/MotorController_i2c.c        | 212 ++++++++++--------
 .../MotorControl/MotorController_i2c.h        |  12 +-
 .../MotorControl/docs/MotorControl.md         |   4 +
 .../CubeRover/Top/CubeRoverTopologyAppAi.xml  |   2 +-
 .../Top/channels/motorControl_channels.html   |  24 ++
 .../Top/commands/motorControl_commands.html   |  66 +-----
 10 files changed, 289 insertions(+), 201 deletions(-)

diff --git a/Apps/FlightSoftware/.gitignore b/Apps/FlightSoftware/.gitignore
index 304360cab..308957fd2 100644
--- a/Apps/FlightSoftware/.gitignore
+++ b/Apps/FlightSoftware/.gitignore
@@ -1 +1,2 @@
 Readme
+.*.swp
diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp
index 341e1726f..891ead83e 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp
@@ -76,7 +76,7 @@ namespace CubeRover {
 
     // Initalize the converting values
     m_angularToLinear = CUBEROVER_COM_TO_WHEEL_CIRC_CM/360; 
-           // This should be the circumference from the COM of the rover to the wheel.
+    // This should be the circumference from the COM of the rover to the wheel.
   }
 
   /**
@@ -142,8 +142,9 @@ namespace CubeRover {
           default:
               return;
         }
-        if (err != MC_NO_ERROR)
+        if (err != MC_NO_ERROR)  // TODO: Should stop right?
             log_WARNING_HI_MC_MSPNotResponding();
+        pollStatus();
     }
     else if (command_type == CubeRoverPorts::MC_UpdateTelemetry) {
         updateTelemetry();
@@ -494,9 +495,10 @@ namespace CubeRover {
 uint32_t MotorControlComponentImpl::regSizeMap(RegisterAddress_t reg) {
     switch (reg) {
         case REG_I2C_ADDRESS:
+        case REG_TARGET_SPEED:
+        case REG_CTRL:
         case REG_FAULT:
         case e_REG_STATUS:
-        case REG_TARGET_SPEED:
             return 1;
         case REG_P_CURRENT:
         case REG_I_CURRENT:
@@ -504,10 +506,10 @@ uint32_t MotorControlComponentImpl::regSizeMap(RegisterAddress_t reg) {
         case REG_I_SPEED:
         case REG_ACC_RATE:
         case REG_DEC_RATE:
-        case REG_CURRENT_POSITION:
             return 2;
-        case REG_MOTOR_CURRENT:  // TODO: CHeck if this retuns 2 byts or 4!? 2 from thismethod 4 from micheal's update current tlm code
         case REG_RELATIVE_TARGET_POSITION:
+        case REG_CURRENT_POSITION:
+        case REG_MOTOR_CURRENT:  // TODO: CHeck if this retuns 2 byts or 4!? 2 from thismethod 4 from micheal's update current tlm code
             return 4;
         default:
             return 0;
@@ -517,20 +519,41 @@ uint32_t MotorControlComponentImpl::regSizeMap(RegisterAddress_t reg) {
 MotorControlComponentImpl::MCError_t
 MotorControlComponentImpl::sendAllMotorsData(const RegisterAddress_t reg, void *_data) {
     uint8_t *data = static_cast<uint8_t *>(_data);
-    MCError_t err = MC_NO_ERROR;
     
-    //TODO: This sends command to motors round robin. What if one fails???
-    // Talked to Connor. STOP and go to service mode
-    
-    for (int i = 0; i < NUM_MOTORS; ++i) { 
-        // TODO: MotorControlTransfer kind of dangerous since data isnt garunteed const
-        err = motorControlTransfer(motorIdAddressMap[i], reg, data);
+    for (int i = 0; i < NUM_MOTORS; ++i) {
+        MCError_t err = motorControlTransfer(motorIdAddressMap[i], reg, data);
         if (err != MC_NO_ERROR)
-            return err;          
+            return err;
     }
+    // TODO: What if one latched up? Should we check status here and issue STOP?
+
     return MC_NO_ERROR;  
 }
 
+bool MotorControlComponentImpl::checkMotorsStatus() {
+    MCError_t err;
+    for (int i = 0; i < NUM_MOTORS; ++i) {
+        err = motorControlTransfer(motorIdAddressMap[i], e_REG_STATUS, &m_currStatus[i].value);
+        if (err != MC_NO_ERROR) {
+            // I2C Communication Error
+            watchdogResetRequest_out(0, CubeRoverPorts::motorsReset);
+            // TODO: Reset our I2C too
+            return false;
+        } else if (m_currStatus[i].bits.controller_error) {
+            // TODO: Send STOP general call
+            // TODO: Need to check mappping between resetting one motor and which one is connected to watchdog
+            // TODO: Check status again after reset
+            return false;
+            watchdogResetRequest_out(0, CubeRoverPorts::motorsReset);
+            // XXX: Do we need to update our tlm counter?
+        } else if (!m_currStatus[i].bits.position_converged) {
+            // TODO: Do we... wait?
+            return false;
+        }
+    }
+    return true;
+}
+
 /**
  * @brief      Helper function to move all motors simultaneously
  *
@@ -539,11 +562,11 @@ MotorControlComponentImpl::sendAllMotorsData(const RegisterAddress_t reg, void *
  */
 MotorControlComponentImpl::MCError_t
 MotorControlComponentImpl::moveAllMotorsStraight(int32_t distance, int16_t speed) {
-    MotorTick_t Right_Wheels_Relative_ticks, Left_Wheels_Relative_ticks, Relative_ticks;
     MCError_t err;
+
+    checkMotorsStatus();
    
     Throttle_t motor_speed;
-   
     // Enforce speed always positive. Direction set by distance
     if (speed > 0) {
         motor_speed = groundSpeedToSpeedPrecent(speed);
@@ -553,10 +576,12 @@ MotorControlComponentImpl::moveAllMotorsStraight(int32_t distance, int16_t speed
         err = sendAllMotorsData(REG_TARGET_SPEED, &motor_speed);
         if (err != MC_NO_ERROR)
             return err;
+    } else {
+        return err;     // Initialize???
     }
    
+    MotorTick_t Right_Wheels_Relative_ticks, Left_Wheels_Relative_ticks, Relative_ticks;
     Relative_ticks = groundCMToMotorTicks(distance);
-   
     // Ensure the sides are traveling the right direction
     if (m_forward_is_positive) {
         Right_Wheels_Relative_ticks = Relative_ticks;
@@ -596,6 +621,8 @@ MotorControlComponentImpl::moveAllMotorsStraight(int32_t distance, int16_t speed
 MotorControlComponentImpl::MCError_t
 MotorControlComponentImpl::rotateAllMotors(int16_t distance, int16_t speed) {
     MCError_t err;
+
+    checkMotorsStatus();
    
     // Enforce speed always positive. Direction set by distance
     if (speed > 0) {
@@ -606,11 +633,18 @@ MotorControlComponentImpl::rotateAllMotors(int16_t distance, int16_t speed) {
         err = sendAllMotorsData(REG_TARGET_SPEED, &motor_speed);
         if (err != MC_NO_ERROR)
             return err;  
+    } else {
+        return err;
     }
    
     MotorTick_t Relative_ticks = m_angularToLinear*groundCMToMotorTicks(distance);
     
     // FIXME: XXX: CRITICAL SECTION REQUIRED
+    StatusRegister_t status;
+    err = motorControlTransfer(FRONT_LEFT_MC_I2C_ADDR, e_REG_STATUS, &status.value);
+    err = motorControlTransfer(FRONT_RIGHT_MC_I2C_ADDR, e_REG_STATUS, &status.value);
+    err = motorControlTransfer(REAR_LEFT_MC_I2C_ADDR, e_REG_STATUS, &status.value);
+    err = motorControlTransfer(REAR_RIGHT_MC_I2C_ADDR, e_REG_STATUS, &status.value);
    
     err = motorControlTransfer(FRONT_LEFT_MC_I2C_ADDR, REG_RELATIVE_TARGET_POSITION, &Relative_ticks);
     if (err != MC_NO_ERROR)
@@ -637,28 +671,33 @@ MotorControlComponentImpl::motorControlTransfer(I2cSlaveAddress_t addr,
                                                      void *_data)
 {
     uint8_t *data = static_cast<uint8_t *>(_data);
-    // TODO: Cleanup ret, what are we going to return from I2C functions
-    MCError_t ret = MC_NO_ERROR;
     uint32_t dataLength = regSizeMap(reg);
 
     if (dataLength <= 0) 
       return MC_UNEXPECTED_ERROR;
 
     uint8_t reg_buffer = static_cast<uint8_t>(reg);
-    i2cMasterTransmit(m_i2c, addr, 1, &reg_buffer);
-    // TODO: If error on above (currently returns void) return
+    if (!i2cMasterTransmit(m_i2c, addr, 1, &reg_buffer)) {
+        // TODO: Check response below ERROR OCCURRED
+        return MC_I2C_TIMEOUT_ERROR;
+    }
 
     if (reg == REG_I2C_ADDRESS      ||
         reg == REG_CURRENT_POSITION ||
         reg == REG_CURRENT_POSITION ||
         reg == REG_MOTOR_CURRENT    ||
         reg == e_REG_STATUS         ||
-        reg == REG_FAULT)
-            i2cMasterReceive(m_i2c, addr, dataLength, data);
-    else
-            i2cMasterTransmit(m_i2c, addr, dataLength, data);
-
-    return ret;
+        reg == REG_FAULT) {
+            if (i2cMasterReceive(m_i2c, addr, dataLength, data))
+                return MC_NO_ERROR;
+            else
+                return MC_I2C_TIMEOUT_ERROR;
+    } else {
+            if (i2cMasterTransmit(m_i2c, addr, dataLength, data))
+                return MC_NO_ERROR;
+            else
+                return MC_I2C_TIMEOUT_ERROR;
+    }
 }
 
 // Convert ground units to motor control native units
@@ -676,7 +715,7 @@ MotorControlComponentImpl::groundSpeedToSpeedPrecent(int16_t speed) {
     return speed;
 }
 
-bool MotorControlComponentImpl :: updateTelemetry() {
+bool MotorControlComponentImpl::updateTelemetry() {
     MCError_t err = MC_NO_ERROR;
     uint32_t buffer[NUM_MOTORS];
    
@@ -723,4 +762,26 @@ bool MotorControlComponentImpl :: updateTelemetry() {
     
     return true;
 }
+
+bool MotorControlComponentImpl::pollStatus() {
+    StatusRegister_t status;
+    status.value = 0xff;
+    do {
+        unsigned delay = 500000;
+        while (delay)    // Delay 0.5s to give the motors a chance to converge. 0.5 / (1/ 110e6)
+            delay--;
+
+        uint8_t reg = e_REG_STATUS;
+        for (int i = 0; i < 4; ++i) {
+            i2cMasterTransmit(m_i2c, FRONT_LEFT_MC_I2C_ADDR+i, 1, &reg);
+            StatusRegister_t this_status;
+            i2cMasterReceive(m_i2c, FRONT_LEFT_MC_I2C_ADDR+i, 1, &this_status.value);
+            status.value &= this_status.value;
+        }
+    } while (!(status.bits.position_converged));        // FIXME: Potential infinite loop
+
+    return true;
+}
+
+
 } // end namespace CubeRover
diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.hpp b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.hpp
index b3ea38cee..f79138a80 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.hpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.hpp
@@ -154,22 +154,23 @@ namespace CubeRover {
 
       
     /* Implementation specific declarations */
-    private:
+    public:
         typedef enum  {
-            REG_I2C_ADDRESS = 0,              // DEVELOPMENT ONLY // READ-ONLY
-            REG_RELATIVE_TARGET_POSITION = 1, // Write-only
-            REG_TARGET_SPEED = 2,             // Write-only
-            REG_CURRENT_POSITION = 3,         // Read-only
-            REG_MOTOR_CURRENT = 5,            // Read-only
-            REG_P_CURRENT = 6,                // Write-only
-            REG_I_CURRENT = 7,                // Write-only
-            REG_P_SPEED = 8,                  // Write-only
-            REG_I_SPEED = 9,                  // Write-only
-            REG_ACC_RATE = 10,                // Write-only
-            REG_DEC_RATE = 11,                // Write-only
-            REG_CTRL = 12,                    // Write-only
-            e_REG_STATUS = 13,                // Read-only
-            REG_FAULT = 14,                   // Read-only
+            REG_I2C_ADDRESS = 0,              // Read-only  - 1Byte
+            REG_RELATIVE_TARGET_POSITION = 1, // Write-only - 4Bytes
+            REG_TARGET_SPEED = 2,             // Write-only - 1Byte
+            REG_CURRENT_POSITION = 3,         // Read-only  - 4Bytes
+            // REG_CURRENT_SPEED = 4,         // Deprecated
+            REG_MOTOR_CURRENT = 5,            // Read-only  - 4Bytes
+            REG_P_CURRENT = 6,                // Write-only - 2Bytes
+            REG_I_CURRENT = 7,                // Write-only - 2Bytes
+            REG_P_SPEED = 8,                  // Write-only - 2Bytes
+            REG_I_SPEED = 9,                  // Write-only - 2Bytes
+            REG_ACC_RATE = 10,                // Write-only - 2Bytes
+            REG_DEC_RATE = 11,                // Write-only - 2Bytes
+            REG_CTRL = 12,                    // Write-only - 1Byte
+            e_REG_STATUS = 13,                // Read-only  - 1Byte
+            REG_FAULT = 14,                   // Read-only  - 1Byte
             NUM_REGS = 16,
         } RegisterAddress_t;
         
@@ -231,6 +232,7 @@ namespace CubeRover {
 
         uint32_t regSizeMap(RegisterAddress_t reg);
 
+        bool checkMotorsStatus();
         MCError_t moveAllMotorsStraight(int32_t distance, int16_t speed);
         MCError_t rotateAllMotors(int16_t angle, int16_t speed);
         MCError_t spinMotors(bool forward);
@@ -240,6 +242,8 @@ namespace CubeRover {
 
         bool updateTelemetry();
 
+        bool pollStatus();
+
         // Member items
         uint32_t tick_count = 0;
 
@@ -254,6 +258,8 @@ namespace CubeRover {
         // Stall detection
         bool m_stallDetectectionEnabled[4];
 
+        StatusRegister_t m_currStatus[NUM_MOTORS];
+
         // Does a positive setpoint drive the rover forward or backwards
         // Set this flag to rotate the wheels accordingly
         bool m_forward_is_positive = true;
diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponentAi.xml b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponentAi.xml
index a6fd237fb..68e88e5a8 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponentAi.xml
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponentAi.xml
@@ -50,7 +50,7 @@
     <port name="motorCommandIn" data_type="CubeRoverPorts::MotorCommand" kind="sync_input" max_number="1"></port>
 
     <!-- Watchdog Reset port -->
-    <!--<port name="WatchdogCommandOut" data_type="CubeRoverPorts::WatchdogResetRequest" kind="output" max_number="1"></port>-->
+    <port name="watchdogResetRequest" data_type="CubeRoverPorts::WatchdogResetRequest" kind="output" max_number="1"></port>
 
   </ports>
 
@@ -236,6 +236,22 @@
     <!--<channel id="11" name="MC_RL_Speed" data_type="I16" update = "on_change">
       <comment>Rear Left motor speed in centimeters per second</comment>
     </channel>-->
+
+    <channel id="11" name="MC_FL_Status" data_type="U8" update = "on_change">
+      <comment>Front left status</comment>
+    </channel>
+
+    <channel id="12" name="MC_FR_Status" data_type="U8" update = "on_change">
+      <comment>Front right status</comment>
+    </channel>
+
+    <channel id="13" name="MC_RR_Status" data_type="U8" update = "on_change">
+    <comment>Rear right status</comment>
+    </channel>
+
+    <channel id="14" name="MC_RL_Status" data_type="U8" update = "on_change">
+      <comment>Rear left status</comment>
+    </channel>
   </telemetry>
 
 </component>
diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorController_i2c.c b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorController_i2c.c
index bedba9847..3ad718703 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorController_i2c.c
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorController_i2c.c
@@ -1,140 +1,168 @@
 #include "MotorController_i2c.h"
 
+#include <FreeRTOSConfig.h>
+
 // Timeout for I2C communication
-uint16_t i2c_timeout = 1350;
+const uint16_t i2c_timeout = 51350;
 
-/**
- * @brief      I2c master transmit
- *
- * @param      i2c     Pointer to i2c memory-mapped peripheral
- * @param[in]  sadd    The slave address
- * @param[in]  length  The length
- * @param[in]  data    The data
- *
- * @return     Motor Controller error
+/*
+ * Reimplementation of HAL's i2cSend (without interrupt mode) which times out if nothing was
+ * received in a certain amount of cycles. Returns false if timed out, true on success
+ */
+static bool i2cSendWithTimeout(i2cBASE_t *i2c, uint32 length, uint8 * data, unsigned timeout) {
+    while (length > 0U)
+    {
+        /*SAFETYMCUSW 28 D MR:NA <APPROVED> "Potentially infinite loop found - Hardware Status check for execution sequence" */
+        while ((i2c->STR & (uint32)I2C_TX_INT) == 0U)
+        {
+            if (!timeout)
+                // return false;
+            timeout--;
+        } /* Wait */
+        /*SAFETYMCUSW 45 D MR:21.1 <APPROVED> "Valid non NULL input parameters are only allowed in this driver" */
+        i2c->DXR = (uint32)(*data);
+        /*SAFETYMCUSW 45 D MR:21.1 <APPROVED> "Valid non NULL input parameters are only allowed in this driver" */
+        /*SAFETYMCUSW 567 S MR:17.1,17.4 <APPROVED> "Pointer increment needed" */
+        data++;
+        length--;
+    }
+    return true;
+}
+
+/*
+ * Reimplementation of HAL's i2cReceive (without interrupt mode) which times out if nothing was
+ * received in a certain amount of cycles. Returns false if timed out, true on success
  */
-void i2cMasterTransmit(i2cBASE_t *i2c, I2cSlaveAddress_t sadd, uint32_t length, uint8_t *data)
-{
+static bool i2cReceiveWithTimeout(i2cBASE_t *i2c, uint32 length, uint8 * data, unsigned timeout) {
+    while (length > 0U)
+    {
+        /*SAFETYMCUSW 28 D MR:NA <APPROVED> "Potentially infinite loop found - Hardware Status check for execution sequence" */
+        while ((i2c->STR & (uint32)I2C_RX_INT) == 0U)
+        {
+            if (!timeout)
+                // return false;
+            timeout--;
+        } /* Wait */
+        /*SAFETYMCUSW 45 D MR:21.1 <APPROVED> "Valid non NULL input parameters are only allowed in this driver" */
+        *data = ((uint8)i2c->DRR);
+        /*SAFETYMCUSW 45 D MR:21.1 <APPROVED> "Valid non NULL input parameters are only allowed in this driver" */
+        /*SAFETYMCUSW 567 S MR:17.1,17.4 <APPROVED> "Pointer increment needed" */
+        data++;
+        length--;
+    }
+    return true;
+}
+
+bool i2cMasterTransmit(i2cBASE_t *i2c, I2cSlaveAddress_t sadd, uint32_t length, uint8_t *data) {
     // ASSERT i2c not NULL
     // ASSERT data not NULL
 
-    /* Configure address of Slave to talk to */
     i2cSetSlaveAdd(i2c, sadd);
-   
-    /* Set direction to Transmitter */
     i2cSetDirection(i2c, I2C_TRANSMITTER);
-   
-    /* Configure Data count */
     i2cSetCount(i2c, length);
-   
-    /* Set mode as Master */
     i2cSetMode(i2c, I2C_MASTER);
-   
-    /* Set Stop after programmed Count */
     i2cSetStop(i2c);
-   
-    /* Transmit Start Condition */
     i2cSetStart(i2c);
-   
-    /* Transmit DATA_COUNT number of data in Polling mode */
+
+    // TODO: configCPU_CLOCK_HZ use this to compute optimal timeout
+    // (20 lines of code * 4 instr/line) / (16e6 Hz) * 110e6Hz => 550 cycles <= number of Hercules cycles for MSP to be ready
+//    int maxReceiveAttempts = 4;
+//    while (maxReceiveAttempts) {
+//        if (i2cSendWithTimeout(i2c, length, data, 600))
+//            break;
+//        maxReceiveAttempts--;
+//    }
+//    if (!maxReceiveAttempts)
+//        return false;
     i2cSend(i2c, length, data);
    
-    /* Wait until Bus Busy is cleared */
-    uint16_t timeouter = 0;
-    while (i2cIsBusBusy(i2c) == true)
-    {
-      if (++timeouter > i2c_timeout)
-        return; //MC_I2C_TIMEOUT_ERROR;
-    }   
-   
-    /* Wait until Stop is detected */
-    timeouter = 0;
-    while (i2cIsStopDetected(i2c) == 0)
-    {
-      if (++timeouter > i2c_timeout)
-        return; //MC_I2C_TIMEOUT_ERROR;
-    }   
+    int timeout = 0;
+    while (i2cIsBusBusy(i2c)) {
+//      if (++timeout > i2c_timeout)
+//        return false;
+    }
+
+    timeout = 0;
+    //while (i2cIsStopDetected(i2c)) {
+//      if (++timeout > i2c_timeout)
+//        return false;
+    //}
+
+    timeout = 0;
+    while (i2cIsMasterReady(i2c)) {
+//      if (++timeout > i2c_timeout)
+//        return false;
+    }
    
-    /* Clear the Stop condition */
-    i2cClearSCD(i2c);
+    i2cClearSCD(i2c);   // Clear the Stop condition
    
     /* Delay long enough for the slave to be ready */
     delayForI2C();
-   
-    // return MC_NO_ERROR;
+
+    return true;
 }
 
-/**
- * @brief      I2C master receive
- *
- * @param      i2c     I 2 c
- * @param[in]  sadd    The slave address
- * @param[in]  length  The length
- * @param[in]  data    The data
- *
- * @return     Motor controller error
- */
-void i2cMasterReceive(i2cBASE_t *i2c, I2cSlaveAddress_t sadd, uint32_t length, uint8_t *data)
-{
+bool i2cMasterReceive(i2cBASE_t *i2c, I2cSlaveAddress_t sadd, uint32_t length, uint8_t *data) {
     // ASSERT i2c not NULL
     // ASSERT data not NULL
-   
-    /* Configure address of Slave to talk to */
+    
     i2cSetSlaveAdd(i2c, sadd);
-   
-    /* Set direction to receiver */
     i2cSetDirection(i2c, I2C_RECEIVER);
-   
-    /* Configure Data count */
     i2cSetCount(i2c, length);
-   
-    /* Set mode as Master */
     i2cSetMode(i2c, I2C_MASTER);
-   
-    /* Set Stop after programmed Count */
     i2cSetStop(i2c);
-   
-    /* Transmit Start Condition */
     i2cSetStart(i2c);
-   
-    /* Transmit DATA_COUNT number of data in Polling mode */
+    
+    // TODO: configCPU_CLOCK_HZ use this to compute optimal timeout
+    // (20 lines of code * 4 instr/line) / (16e6 Hz) * 110e6Hz => 550 cycles <= number of Hercules cycles for MSP to be ready
+//    int maxReceiveAttempts = 4;
+//    while (maxReceiveAttempts) {
+//        if (i2cReceiveWithTimeout(i2c, length, data, 600))
+//            break;
+//        maxReceiveAttempts--;
+//    }
+//    if (!maxReceiveAttempts)
+//        return false;
     i2cReceive(i2c, length, data);
-   
-    /* Wait until Bus Busy is cleared */
-    uint16_t timeouter = 0;
-    while (i2cIsBusBusy(i2c) == true)
-    {
-      if (++timeouter > i2c_timeout)
-        return; // MC_I2C_TIMEOUT_ERROR;
-    }   
-   
-    /* Wait until Stop is detected */
-    timeouter = 0;
-    while (i2cIsStopDetected(i2c) == 0)
-    {
-      if (++timeouter > i2c_timeout)
-        return; //MC_I2C_TIMEOUT_ERROR;
+
+    int timeout = 0;
+    while (i2cIsBusBusy(i2c)) {
+//      if (++timeout > i2c_timeout)
+//        return false;
+    }
+
+    timeout = 0;
+//     while (i2cIsStopDetected(i2c)) {
+//      if (++timeout > i2c_timeout)
+//        return false;
+//     }
+
+    timeout = 0;
+    while (i2cIsMasterReady(i2c)) {
+//      if (++timeout > i2c_timeout)
+//        return false;
     }
    
-    /* Clear the Stop condition */
-    i2cClearSCD(i2c);
+    i2cClearSCD(i2c);  // Clear the Stop condition
    
     /* Delay long enough for the slave to be ready */
     delayForI2C();
-   
-    // return MC_NO_ERROR;
+
+    return true;
 }
 
 /**
 * @brief      Delays for 1050 ticks slow enough for slave sides
 *
 */
-void delayForI2C()
-{
+void delayForI2C() {
     // FIXME: DONT USE POLLING LOOP FOR DELAY
     // for (unsigned i = 180000000; i; --i); ~= 13.5s
     unsigned i;
-    for (i = 900; i; --i);
+    for (i = 100000; i; --i) {
+        volatile j = 5;
+        j++;
+    }
 }
 
 
diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorController_i2c.h b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorController_i2c.h
index 67dca2f1e..d573bed11 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorController_i2c.h
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorController_i2c.h
@@ -6,20 +6,14 @@ extern "C" {
 #endif
 
 #include <stdint.h>
+#include <stdbool.h>
 
 #include "i2c.h"
 
 typedef uint8_t I2cSlaveAddress_t;
 
-void i2cMasterTransmit(i2cBASE_t *i2c,
-                       I2cSlaveAddress_t sadd,
-                       uint32_t length,
-                       uint8_t *data);
-
-void i2cMasterReceive(i2cBASE_t *i2c,
-                      I2cSlaveAddress_t sadd,
-                      uint32_t length,
-                      uint8_t *data);
+bool i2cMasterTransmit(i2cBASE_t *i2c, I2cSlaveAddress_t sadd, uint32_t length, uint8_t *data);
+bool i2cMasterReceive(i2cBASE_t *i2c, I2cSlaveAddress_t sadd, uint32_t length, uint8_t *data);
 
 void delayForI2C();
 
diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/docs/MotorControl.md b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/docs/MotorControl.md
index cfd43e4ea..d39f1276f 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/docs/MotorControl.md
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/docs/MotorControl.md
@@ -43,6 +43,10 @@
 |MC_RR_Current|7 (0x7)|U16|Rear Right motor current in milliAmps|
 |MC_RL_Encoder_Ticks|9 (0x9)|I32|Rear Left motor encoder displacement in encoder ticks|
 |MC_RL_Current|10 (0xa)|U16|Rear Left motor current in milliAmps|
+|MC_FL_Status|11 (0xb)|U8|Front left status|
+|MC_FR_Status|12 (0xc)|U8|Front right status|
+|MC_RR_Status|13 (0xd)|U8|Rear right status|
+|MC_RL_Status|14 (0xe)|U8|Rear left status|
 
 ## Event List
 
diff --git a/Apps/FlightSoftware/fprime/CubeRover/Top/CubeRoverTopologyAppAi.xml b/Apps/FlightSoftware/fprime/CubeRover/Top/CubeRoverTopologyAppAi.xml
index 7e1499b97..2823f595e 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/Top/CubeRoverTopologyAppAi.xml
+++ b/Apps/FlightSoftware/fprime/CubeRover/Top/CubeRoverTopologyAppAi.xml
@@ -594,7 +594,7 @@
       -->
       
   <connection name="motorControl_to_watchDogInterface_WatchdogResetRequest">
-    <source component="motorControl" port="WatchdogCommandOut" type="CubeRoverPorts::WatchdogResetRequest" num="0" />
+    <source component="motorControl" port="watchdogResetRequest" type="CubeRoverPorts::WatchdogResetRequest" num="0" />
     <target component="watchDogInterface" port="CompResetRequest" type="CubeRoverPorts::WatchdogResetRequest" num="0" />
   </connection>
 
diff --git a/Apps/FlightSoftware/fprime/CubeRover/Top/channels/motorControl_channels.html b/Apps/FlightSoftware/fprime/CubeRover/Top/channels/motorControl_channels.html
index 0741e6c45..953e3bb3f 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/Top/channels/motorControl_channels.html
+++ b/Apps/FlightSoftware/fprime/CubeRover/Top/channels/motorControl_channels.html
@@ -80,6 +80,30 @@ <h1><b>Telemetry Channels: motorControl:MotorControl</b></h1>
     <td>U16</td>
     <td>Rear Left motor current in milliAmps</td>
  </tr>
+ <tr>
+    <td>MC_FL_Status</td>
+    <td>3595 (0xe0b)</td>
+    <td>U8</td>
+    <td>Front left status</td>
+ </tr>
+ <tr>
+    <td>MC_FR_Status</td>
+    <td>3596 (0xe0c)</td>
+    <td>U8</td>
+    <td>Front right status</td>
+ </tr>
+ <tr>
+    <td>MC_RR_Status</td>
+    <td>3597 (0xe0d)</td>
+    <td>U8</td>
+    <td>Rear right status</td>
+ </tr>
+ <tr>
+    <td>MC_RL_Status</td>
+    <td>3598 (0xe0e)</td>
+    <td>U8</td>
+    <td>Rear left status</td>
+ </tr>
 </table>
 </body>
 </html>
diff --git a/Apps/FlightSoftware/fprime/CubeRover/Top/commands/motorControl_commands.html b/Apps/FlightSoftware/fprime/CubeRover/Top/commands/motorControl_commands.html
index 751268406..d7ca39ae6 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/Top/commands/motorControl_commands.html
+++ b/Apps/FlightSoftware/fprime/CubeRover/Top/commands/motorControl_commands.html
@@ -50,7 +50,7 @@ <h1><b>Command: motorControl:MotorControl</b></h1>
 					<tr style = "border-right: 2px solid black;border-top: 2px solid black;">
 						<td>Motor_ID</td>
 						<td>U8</td>
-						<td>The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors </td>
+						<td>The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR </td>
 					</tr>
 					<tr style = "border-right: 2px solid black;border-bottom: 2px solid black;">
 						<td>PI_Values</td>
@@ -65,26 +65,11 @@ <h1><b>Command: motorControl:MotorControl</b></h1>
 					<tr style = "border-right: 2px solid black;border-top: 2px solid black;">
 						<td>Motor_ID</td>
 						<td>U8</td>
-						<td>The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors </td>
+						<td>The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR </td>
 					</tr>
 					<tr style = "border-right: 2px solid black;border-bottom: 2px solid black;">
 						<td>PID_Values</td>
-						<td>U64</td>
-						<td></td>
-					</tr>
-		</tr>
-		<tr style = "border: 2px solid black;">
-			<td rowspan="3">MC_Position_PID</td>
-			<td rowspan="3">3586 (0xe02)</td>
-			<td rowspan="3"></td>
-					<tr style = "border-right: 2px solid black;border-top: 2px solid black;">
-						<td>Motor_ID</td>
-						<td>U8</td>
-						<td>The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors </td>
-					</tr>
-					<tr style = "border-right: 2px solid black;border-bottom: 2px solid black;">
-						<td>PID_Values</td>
-						<td>U64</td>
+						<td>U32</td>
 						<td></td>
 					</tr>
 		</tr>
@@ -95,7 +80,7 @@ <h1><b>Command: motorControl:MotorControl</b></h1>
 					<tr style = "border-right: 2px solid black;border-top: 2px solid black;">
 						<td>Motor_ID</td>
 						<td>U8</td>
-						<td>The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors </td>
+						<td>The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR </td>
 					</tr>
 					<tr style = "border-right: 2px solid black;border-bottom: 2px solid black;">
 						<td>Rate_Values</td>
@@ -110,7 +95,7 @@ <h1><b>Command: motorControl:MotorControl</b></h1>
 					<tr style = "border-right: 2px solid black;border-top: 2px solid black;">
 						<td>Motor_ID</td>
 						<td>U8</td>
-						<td>The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors </td>
+						<td>The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR </td>
 					</tr>
 					<tr style = "border-right: 2px solid black;border-bottom: 2px solid black;">
 						<td>Value</td>
@@ -125,7 +110,7 @@ <h1><b>Command: motorControl:MotorControl</b></h1>
 					<tr style = "border-right: 2px solid black;border-top: 2px solid black;border-bottom: 2px solid black;">
 						<td>Motor_ID</td>
 						<td>U8</td>
-						<td>The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors </td>
+						<td>The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR </td>
 					</tr>
 		</tr>
 		<tr style = "border: 2px solid black;">
@@ -135,11 +120,11 @@ <h1><b>Command: motorControl:MotorControl</b></h1>
 					<tr style = "border-right: 2px solid black;border-top: 2px solid black;">
 						<td>Motor_ID</td>
 						<td>U8</td>
-						<td>The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors </td>
+						<td>The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR </td>
 					</tr>
 					<tr style = "border-right: 2px solid black;border-bottom: 2px solid black;">
-						<td>Spin_Type</td>
-						<td>U8</td>
+						<td>Raw_Ticks</td>
+						<td>U32</td>
 						<td></td>
 					</tr>
 		</tr>
@@ -150,7 +135,7 @@ <h1><b>Command: motorControl:MotorControl</b></h1>
 					<tr style = "border-right: 2px solid black;border-top: 2px solid black;">
 						<td>Motor_ID</td>
 						<td>U8</td>
-						<td>The motor id from 0 - 4 (Motor 0 is Front Left motor and goes counter clockwise) 4 is all motors </td>
+						<td>The motor id from 0 - 4 Motor 0 is all motors, Motorsss 1 - 4 are FL, FR, BL, BR </td>
 					</tr>
 					<tr style = "border-right: 2px solid black;border-bottom: 2px solid black;">
 						<td>Value</td>
@@ -173,14 +158,6 @@ <h1><b>Command: motorControl:MotorControl</b></h1>
 						<td> The new value to be used in place </td>
 					</tr>
 		</tr>
-		<tr style = "border: 2px solid black;">
-			<td rowspan="1">MC_GetParameters</td>
-			<td rowspan="1">3593 (0xe09)</td>
-			<td rowspan="1">Returns all current parameters of the module</td>
-				<td></td>
-				<td></td>
-				<td></td>
-		</tr>
 		<tr style = "border: 2px solid black;">
 			<td rowspan="1">MC_UpdateTelemetry</td>
 			<td rowspan="1">3600 (0xe10)</td>
@@ -189,29 +166,6 @@ <h1><b>Command: motorControl:MotorControl</b></h1>
 				<td></td>
 				<td></td>
 		</tr>
-		<tr style = "border: 2px solid black;">
-			<td rowspan="3">MC_DriveTest</td>
-			<td rowspan="3">3736 (0xe98)</td>
-			<td rowspan="3">Allows the direct commanding of moves bypassing Nav if things are incorrect</td>
-					<tr style = "border-right: 2px solid black;border-top: 2px solid black;">
-						<td>Distance</td>
-						<td>I64</td>
-						<td></td>
-					</tr>
-					<tr style = "border-right: 2px solid black;border-bottom: 2px solid black;">
-						<td>MoveType</td>
-						<td>I8</td>
-						<td></td>
-					</tr>
-		</tr>
-		<tr style = "border: 2px solid black;">
-			<td rowspan="1">MC_SelfTest</td>
-			<td rowspan="1">3737 (0xe99)</td>
-			<td rowspan="1">Runs through a routine to confirms the MSP are functioning properly</td>
-				<td></td>
-				<td></td>
-				<td></td>
-		</tr>
 	</tbody>
 </table>
 

From cf635aaee321fe182a92168b809fade9e71709df Mon Sep 17 00:00:00 2001
From: Justin Nguyen <justinnuwin@users.noreply.github.com>
Date: Tue, 20 Apr 2021 19:44:12 -0700
Subject: [PATCH 29/42] Don't update revision from feature branch

---
 .../PrimaryFlightController/FlightMCU/Include/Version.h         | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Apps/FlightSoftware/PrimaryFlightController/FlightMCU/Include/Version.h b/Apps/FlightSoftware/PrimaryFlightController/FlightMCU/Include/Version.h
index 1cc000e79..d121c33a9 100644
--- a/Apps/FlightSoftware/PrimaryFlightController/FlightMCU/Include/Version.h
+++ b/Apps/FlightSoftware/PrimaryFlightController/FlightMCU/Include/Version.h
@@ -11,6 +11,6 @@
 
 static const unsigned VERSION_MAJOR = 1;
 static const unsigned VERSION_MINOR = 1;
-static const unsigned VERSION_REVISION = 1;
+static const unsigned VERSION_REVISION = 0;
 
 #endif _VERSION_H_

From df9bf92fad032d5804a5b0ab6e389ddc7b6cf460 Mon Sep 17 00:00:00 2001
From: Justin Nguyen <justinnuwin@gmail.com>
Date: Wed, 21 Apr 2021 02:35:32 -0400
Subject: [PATCH 30/42] Add bugfix for Watchdog reset test and comment for
 checking uplink ip address

---
 .../CubeRoverNetworkManager.cpp               |   2 +-
 .../commands/watchDogInterface_commands.html  | 166 +++++++++---------
 .../Top/events/watchDogInterface_events.html  |   9 +
 .../WatchDogInterface/WatchDogInterface.cpp   |   4 +-
 .../WatchDogInterface/WatchDogInterface.hpp   |   2 -
 .../docs/WatchDogInterface.md                 |  31 ++--
 6 files changed, 111 insertions(+), 103 deletions(-)

diff --git a/Apps/FlightSoftware/fprime/CubeRover/NetworkManager/CubeRoverNetworkManager.cpp b/Apps/FlightSoftware/fprime/CubeRover/NetworkManager/CubeRoverNetworkManager.cpp
index 998dadfe5..a81c39bd4 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/NetworkManager/CubeRoverNetworkManager.cpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/NetworkManager/CubeRoverNetworkManager.cpp
@@ -1333,7 +1333,7 @@ ErrorCode CubeRoverNetworkManager :: cb_EventUdpData(const Endpoint endpoint,
                                                      const DataSize16 dataSize){
   uint8_t *ptrData = data;
 
-  if(ipAddressesMatch(srcAddress, m_spacecraftIpAddress)){
+  if(ipAddressesMatch(srcAddress, m_spacecraftIpAddress)){    // FIXME: DON"T DO THIS UNNECCESSARY
 
     // Log the number of bytes received
     m_logNbOfBytesReceived += dataSize;
diff --git a/Apps/FlightSoftware/fprime/CubeRover/Top/commands/watchDogInterface_commands.html b/Apps/FlightSoftware/fprime/CubeRover/Top/commands/watchDogInterface_commands.html
index 906849c77..a5ee48fb6 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/Top/commands/watchDogInterface_commands.html
+++ b/Apps/FlightSoftware/fprime/CubeRover/Top/commands/watchDogInterface_commands.html
@@ -49,27 +49,31 @@ <h1><b>Command: watchDogInterface:WatchDogInterface</b></h1>
 			<td rowspan="2">Command to reset the specific parts of rover</td>
 					<tr style = "border-right: 2px solid black;border-top: 2px solid black;border-bottom: 2px solid black;">
 						<td>reset_value</td>
-						<td>U8</td>
+						<td>reset_values_possible</td>
 						<td>
-                    	U8 Value that specifies which components or hardware need to be reset
+                    	ENUM Value that specifies which components or hardware need to be reset
                     </td>
 					</tr>
 		</tr>
 		<tr style = "border: 2px solid black;">
-			<td rowspan="1">Prepare_For_Deployment</td>
-			<td rowspan="1">4097 (0x1001)</td>
-			<td rowspan="1">Command to send signal to MSP430 to prepare for deploying (may not be needed)</td>
-				<td></td>
-				<td></td>
-				<td></td>
+			<td rowspan="2">Prepare_For_Deployment</td>
+			<td rowspan="2">4097 (0x1001)</td>
+			<td rowspan="2">Command to send signal to MSP430 to prepare for deploying (may not be needed)</td>
+					<tr style = "border-right: 2px solid black;border-top: 2px solid black;border-bottom: 2px solid black;">
+						<td>confirm</td>
+						<td>confirm_prepare_for_deploy</td>
+						<td></td>
+					</tr>
 		</tr>
 		<tr style = "border: 2px solid black;">
-			<td rowspan="1">Disengage_From_Lander</td>
-			<td rowspan="1">4098 (0x1002)</td>
-			<td rowspan="1">Command to send signal to MSP430 that it should send a signal to lander to disengage</td>
-				<td></td>
-				<td></td>
-				<td></td>
+			<td rowspan="2">Disengage_From_Lander</td>
+			<td rowspan="2">4098 (0x1002)</td>
+			<td rowspan="2">Command to send signal to MSP430 that it should send a signal to lander to disengage, sets disengage pin high</td>
+					<tr style = "border-right: 2px solid black;border-top: 2px solid black;border-bottom: 2px solid black;">
+						<td>confirm</td>
+						<td>confirm_disengage</td>
+						<td></td>
+					</tr>
 		</tr>
 		<tr style = "border: 2px solid black;">
 			<td rowspan="1">Switch_Connection_Mode</td>
@@ -80,100 +84,90 @@ <h1><b>Command: watchDogInterface:WatchDogInterface</b></h1>
 				<td></td>
 		</tr>
 		<tr style = "border: 2px solid black;">
-			<td rowspan="1">Set_Kp_Most</td>
-			<td rowspan="1">4266 (0x10aa)</td>
-			<td rowspan="1">Command to send signal to MSP430 that it should set Kp to most significant parameter</td>
-				<td></td>
-				<td></td>
-				<td></td>
-		</tr>
-		<tr style = "border: 2px solid black;">
-			<td rowspan="1">Set_Kp_Least</td>
-			<td rowspan="1">4267 (0x10ab)</td>
-			<td rowspan="1">Command to send signal to MSP430 that it should set Kp to least significant parameter</td>
+			<td rowspan="1">Engage_From_Lander</td>
+			<td rowspan="1">4100 (0x1004)</td>
+			<td rowspan="1">Command to send signal to MSP430 that it should send a signal to lander to engage, sets disengage pin low</td>
 				<td></td>
 				<td></td>
 				<td></td>
 		</tr>
 		<tr style = "border: 2px solid black;">
-			<td rowspan="1">Set_Kp_Specific</td>
-			<td rowspan="1">4268 (0x10ac)</td>
-			<td rowspan="1">Command to send signal to MSP430 that it should set Kp to a specific value</td>
-				<td></td>
-				<td></td>
-				<td></td>
-		</tr>
-		<tr style = "border: 2px solid black;">
-			<td rowspan="1">Set_Ki_Most</td>
-			<td rowspan="1">4282 (0x10ba)</td>
-			<td rowspan="1">Command to send signal to MSP430 that it should set Ki to most significant parameter</td>
-				<td></td>
-				<td></td>
-				<td></td>
-		</tr>
-		<tr style = "border: 2px solid black;">
-			<td rowspan="1">Set_Ki_Least</td>
-			<td rowspan="1">4283 (0x10bb)</td>
-			<td rowspan="1">Command to send signal to MSP430 that it should set Ki to least significant parameter</td>
-				<td></td>
-				<td></td>
-				<td></td>
+			<td rowspan="2">Set_Kp_Specific</td>
+			<td rowspan="2">4266 (0x10aa)</td>
+			<td rowspan="2">Command to send signal to MSP430 that it should set Kp to a specific value</td>
+					<tr style = "border-right: 2px solid black;border-top: 2px solid black;border-bottom: 2px solid black;">
+						<td>value</td>
+						<td>U16</td>
+						<td></td>
+					</tr>
 		</tr>
 		<tr style = "border: 2px solid black;">
-			<td rowspan="1">Set_Ki_Specific</td>
-			<td rowspan="1">4284 (0x10bc)</td>
-			<td rowspan="1">Command to send signal to MSP430 that it should set Ki to a specific value</td>
+			<td rowspan="1">Set_Heater_Duty_Cycle_Max</td>
+			<td rowspan="1">4269 (0x10ad)</td>
+			<td rowspan="1">Command to send signal to MSP430 that it should set the max possible Duty Cycle value for the heater</td>
 				<td></td>
 				<td></td>
 				<td></td>
 		</tr>
 		<tr style = "border: 2px solid black;">
-			<td rowspan="1">Set_Kd_Most</td>
-			<td rowspan="1">4298 (0x10ca)</td>
-			<td rowspan="1">Command to send signal to MSP430 that it should set Kd to most significant parameter</td>
-				<td></td>
-				<td></td>
-				<td></td>
+			<td rowspan="2">Set_Heater_Duty_Cycle_Period</td>
+			<td rowspan="2">4270 (0x10ae)</td>
+			<td rowspan="2">Command to send signal to MSP430 that it should set the period the Duty Cycle for the heater is at</td>
+					<tr style = "border-right: 2px solid black;border-top: 2px solid black;border-bottom: 2px solid black;">
+						<td>period</td>
+						<td>U16</td>
+						<td></td>
+					</tr>
 		</tr>
 		<tr style = "border: 2px solid black;">
-			<td rowspan="1">Set_Kd_Least</td>
-			<td rowspan="1">4299 (0x10cb)</td>
-			<td rowspan="1">Command to send signal to MSP430 that it should set Kd to least significant parameter</td>
-				<td></td>
-				<td></td>
-				<td></td>
+			<td rowspan="2">Set_Heater_Window</td>
+			<td rowspan="2">4271 (0x10af)</td>
+			<td rowspan="2">Set the Half-Width of the heater on/off deadband window around the setpoint (in thermistor ADC values). Between setpoint - half_width and setpoint + half_width, heater is off.</td>
+					<tr style = "border-right: 2px solid black;border-top: 2px solid black;border-bottom: 2px solid black;">
+						<td>adc_half_width</td>
+						<td>U16</td>
+						<td></td>
+					</tr>
 		</tr>
 		<tr style = "border: 2px solid black;">
-			<td rowspan="1">Set_V_Setpoint</td>
-			<td rowspan="1">4314 (0x10da)</td>
-			<td rowspan="1">Command to send signal to MSP430 that it should set V to a specific value</td>
-				<td></td>
-				<td></td>
-				<td></td>
+			<td rowspan="2">Set_Heater_Setpoint</td>
+			<td rowspan="2">4314 (0x10da)</td>
+			<td rowspan="2">Command to send signal to MSP430 that it should set V to a specific value</td>
+					<tr style = "border-right: 2px solid black;border-top: 2px solid black;border-bottom: 2px solid black;">
+						<td>adc_setpoint</td>
+						<td>U16</td>
+						<td></td>
+					</tr>
 		</tr>
 		<tr style = "border: 2px solid black;">
-			<td rowspan="1">Switch_to_Sleep_Mode</td>
-			<td rowspan="1">4330 (0x10ea)</td>
-			<td rowspan="1">Command to send signal to MSP430 that it should go into Sleep Mode</td>
-				<td></td>
-				<td></td>
-				<td></td>
+			<td rowspan="2">Switch_to_Sleep_Mode</td>
+			<td rowspan="2">4330 (0x10ea)</td>
+			<td rowspan="2">Command to send signal to MSP430 that it should go into Sleep Mode</td>
+					<tr style = "border-right: 2px solid black;border-top: 2px solid black;border-bottom: 2px solid black;">
+						<td>confirm</td>
+						<td>confirm_sleep_mode</td>
+						<td></td>
+					</tr>
 		</tr>
 		<tr style = "border: 2px solid black;">
-			<td rowspan="1">Switch_to_Keep_Alive_Mode</td>
-			<td rowspan="1">4331 (0x10eb)</td>
-			<td rowspan="1">Command to send signal to MSP430 that it should go into Keep Alive Mode</td>
-				<td></td>
-				<td></td>
-				<td></td>
+			<td rowspan="2">Switch_to_Keep_Alive_Mode</td>
+			<td rowspan="2">4331 (0x10eb)</td>
+			<td rowspan="2">Command to send signal to MSP430 that it should go into Keep Alive Mode</td>
+					<tr style = "border-right: 2px solid black;border-top: 2px solid black;border-bottom: 2px solid black;">
+						<td>confirm</td>
+						<td>confirm_alive_mode</td>
+						<td></td>
+					</tr>
 		</tr>
 		<tr style = "border: 2px solid black;">
-			<td rowspan="1">Switch_to_Service_Mode</td>
-			<td rowspan="1">4332 (0x10ec)</td>
-			<td rowspan="1">Command to send signal to MSP430 that it should go into Service Mode</td>
-				<td></td>
-				<td></td>
-				<td></td>
+			<td rowspan="2">Switch_to_Service_Mode</td>
+			<td rowspan="2">4332 (0x10ec)</td>
+			<td rowspan="2">Command to send signal to MSP430 that it should go into Service Mode</td>
+					<tr style = "border-right: 2px solid black;border-top: 2px solid black;border-bottom: 2px solid black;">
+						<td>confirm</td>
+						<td>confirm_service_mode</td>
+						<td></td>
+					</tr>
 		</tr>
 	</tbody>
 </table>
diff --git a/Apps/FlightSoftware/fprime/CubeRover/Top/events/watchDogInterface_events.html b/Apps/FlightSoftware/fprime/CubeRover/Top/events/watchDogInterface_events.html
index 0caef20e8..275b12266 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/Top/events/watchDogInterface_events.html
+++ b/Apps/FlightSoftware/fprime/CubeRover/Top/events/watchDogInterface_events.html
@@ -92,6 +92,15 @@ <h1><b>Events: watchDogInterface:WatchDogInterface</b></h1>
 				<td></td>
 				<td></td>
 		</tr>
+		<tr style = "border: 2px solid black;">
+			<td rowspan="1">WatchDogIncorrectResetValue</td>
+			<td rowspan="1">4101 (0x1005)</td>
+			<td rowspan="1">Warning that an incorrect reset value has been sent from ground</td>
+				<td></td>
+				<td></td>
+				<td></td>
+				<td></td>
+		</tr>
 	</tbody>
 </table>
 
diff --git a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.cpp b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.cpp
index d644da737..488bec17d 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.cpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.cpp
@@ -170,7 +170,7 @@ namespace CubeRover {
     // Sends a command to watchdog to reset specified devices
 
       // Check that reset_value is correct
-      if(reset_value >= No_Reset && reset_value <= max_reset_value)
+      if(reset_value < No_Reset && reset_value >= reset_values_possible_MAX)
       {
         this->log_WARNING_LO_WatchDogIncorrectResetValue();
         return;
@@ -279,7 +279,7 @@ namespace CubeRover {
     // Sends a command to watchdog to reset specified devices
 
       // Check that reset_value is correct
-      if(reset_value >= No_Reset && reset_value <= max_reset_value)
+      if(reset_value < No_Reset && reset_value >= reset_values_possible_MAX)
       {
         this->log_WARNING_LO_WatchDogIncorrectResetValue();
         return;
diff --git a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.hpp b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.hpp
index 0c7029134..1c4b516fd 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.hpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterface.hpp
@@ -32,8 +32,6 @@ const U16 zero_size = 0x0000;
 const U8 min_receive_size = 8;
 // Magic Value first sent in the header between watchdog and hercules communication
 const U32 header_magic = 0x21B00B;
-// The maximum enumerated value possible in the reset_value enumeration
-#define max_reset_value Disable_Heater_Control
 
 namespace CubeRover {
 
diff --git a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/docs/WatchDogInterface.md b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/docs/WatchDogInterface.md
index a0906f072..77db3b560 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/docs/WatchDogInterface.md
+++ b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/docs/WatchDogInterface.md
@@ -7,24 +7,30 @@
 |Mnemonic|ID|Description|Arg Name|Arg Type|Comment
 |---|---|---|---|---|---|
 |Reset_Specific|0 (0x0)|Command to reset the specific parts of rover| | |
-| | | |reset_value|U8|
-                    	U8 Value that specifies which components or hardware need to be reset
+| | | |reset_value|reset_values_possible|
+                    	ENUM Value that specifies which components or hardware need to be reset
                     |
 |Prepare_For_Deployment|1 (0x1)|Command to send signal to MSP430 to prepare for deploying (may not be needed)| | |
-|Disengage_From_Lander|2 (0x2)|Command to send signal to MSP430 that it should send a signal to lander to disengage| | |
+| | | |confirm|confirm_prepare_for_deploy||
+|Disengage_From_Lander|2 (0x2)|Command to send signal to MSP430 that it should send a signal to lander to disengage, sets disengage pin high| | |
+| | | |confirm|confirm_disengage||
 |Switch_Connection_Mode|3 (0x3)|Command to send signal to MSP430 that we switch the current connection mode| | |
-|Set_Kp_Most|170 (0xaa)|Command to send signal to MSP430 that it should set Kp to most significant parameter| | |
-|Set_Kp_Least|171 (0xab)|Command to send signal to MSP430 that it should set Kp to least significant parameter| | |
-|Set_Kp_Specific|172 (0xac)|Command to send signal to MSP430 that it should set Kp to a specific value| | |
-|Set_Ki_Most|186 (0xba)|Command to send signal to MSP430 that it should set Ki to most significant parameter| | |
-|Set_Ki_Least|187 (0xbb)|Command to send signal to MSP430 that it should set Ki to least significant parameter| | |
-|Set_Ki_Specific|188 (0xbc)|Command to send signal to MSP430 that it should set Ki to a specific value| | |
-|Set_Kd_Most|202 (0xca)|Command to send signal to MSP430 that it should set Kd to most significant parameter| | |
-|Set_Kd_Least|203 (0xcb)|Command to send signal to MSP430 that it should set Kd to least significant parameter| | |
-|Set_V_Setpoint|218 (0xda)|Command to send signal to MSP430 that it should set V to a specific value| | |
+|Engage_From_Lander|4 (0x4)|Command to send signal to MSP430 that it should send a signal to lander to engage, sets disengage pin low| | |
+|Set_Kp_Specific|170 (0xaa)|Command to send signal to MSP430 that it should set Kp to a specific value| | |
+| | | |value|U16||
+|Set_Heater_Duty_Cycle_Max|173 (0xad)|Command to send signal to MSP430 that it should set the max possible Duty Cycle value for the heater| | |
+|Set_Heater_Duty_Cycle_Period|174 (0xae)|Command to send signal to MSP430 that it should set the period the Duty Cycle for the heater is at| | |
+| | | |period|U16||
+|Set_Heater_Window|175 (0xaf)|Set the Half-Width of the heater on/off deadband window around the setpoint (in thermistor ADC values). Between setpoint - half_width and setpoint + half_width, heater is off.| | |
+| | | |adc_half_width|U16||
+|Set_Heater_Setpoint|218 (0xda)|Command to send signal to MSP430 that it should set V to a specific value| | |
+| | | |adc_setpoint|U16||
 |Switch_to_Sleep_Mode|234 (0xea)|Command to send signal to MSP430 that it should go into Sleep Mode| | |
+| | | |confirm|confirm_sleep_mode||
 |Switch_to_Keep_Alive_Mode|235 (0xeb)|Command to send signal to MSP430 that it should go into Keep Alive Mode| | |
+| | | |confirm|confirm_alive_mode||
 |Switch_to_Service_Mode|236 (0xec)|Command to send signal to MSP430 that it should go into Service Mode| | |
+| | | |confirm|confirm_service_mode||
 
 ## Telemetry Channel List
 
@@ -57,3 +63,4 @@
 |WatchDogCommError|3 (0x3)|Warning that a WatchDog MSP430 error has occured.| | | | |
 | | | |error|U32||The watchdog error value (reference to documentation)|
 |ADCThermistorError|4 (0x4)|Warning that less than 16 thermistors had conversions or conversion never completed meaning no new tempurature values are being generated| | | | |
+|WatchDogIncorrectResetValue|5 (0x5)|Warning that an incorrect reset value has been sent from ground| | | | |

From e16960e85b72a7727bebb14fedf2e257aa7b8a39 Mon Sep 17 00:00:00 2001
From: Iris Watchdog Developers <watchdog-devs@irisrover.space>
Date: Fri, 23 Apr 2021 19:09:45 -0400
Subject: [PATCH 31/42] Working on open loop

---
 Apps/FlightSoftware/MotorControl/.cproject    |   4 +-
 .../.launches/MotorControl.launch             |   2 +-
 .../Release/driverlib/subdir_rules.mk         |   2 +-
 .../MotorControl/Release/subdir_rules.mk      |   2 +-
 Apps/FlightSoftware/MotorControl/i2c.c        |  70 ++++++++----
 Apps/FlightSoftware/MotorControl/main.c       | 102 ++++++++++--------
 Apps/FlightSoftware/MotorControl/main.h       |   8 +-
 Apps/FlightSoftware/MotorControl/mod6_cnt.h   |   9 +-
 8 files changed, 127 insertions(+), 72 deletions(-)

diff --git a/Apps/FlightSoftware/MotorControl/.cproject b/Apps/FlightSoftware/MotorControl/.cproject
index 97eaf6fda..71b1d1484 100644
--- a/Apps/FlightSoftware/MotorControl/.cproject
+++ b/Apps/FlightSoftware/MotorControl/.cproject
@@ -55,8 +55,8 @@
 									<listOptionValue builtIn="false" value="C:\ti\ccs930\ccs\ccs_base\msp430ware_3_80_11_07\iqmathlib\include"/>
 								</option>
 								<option id="com.ti.ccstudio.buildDefinitions.MSP430_18.12.compilerID.ADVICE__POWER.749999146" name="Enable checking of ULP power rules (--advice:power)" superClass="com.ti.ccstudio.buildDefinitions.MSP430_18.12.compilerID.ADVICE__POWER" useByScannerDiscovery="false" value="all" valueType="string"/>
-								<option id="com.ti.ccstudio.buildDefinitions.MSP430_18.12.compilerID.OPT_LEVEL.849785229" name="Optimization level (--opt_level, -O)" superClass="com.ti.ccstudio.buildDefinitions.MSP430_18.12.compilerID.OPT_LEVEL" value="com.ti.ccstudio.buildDefinitions.MSP430_18.12.compilerID.OPT_LEVEL.2" valueType="enumerated"/>
-								<option id="com.ti.ccstudio.buildDefinitions.MSP430_18.12.compilerID.OPT_FOR_SPEED.1270961573" name="Speed vs. size trade-offs (--opt_for_speed, -mf)" superClass="com.ti.ccstudio.buildDefinitions.MSP430_18.12.compilerID.OPT_FOR_SPEED" value="com.ti.ccstudio.buildDefinitions.MSP430_18.12.compilerID.OPT_FOR_SPEED.1" valueType="enumerated"/>
+								<option id="com.ti.ccstudio.buildDefinitions.MSP430_18.12.compilerID.OPT_LEVEL.849785229" name="Optimization level (--opt_level, -O)" superClass="com.ti.ccstudio.buildDefinitions.MSP430_18.12.compilerID.OPT_LEVEL" value="com.ti.ccstudio.buildDefinitions.MSP430_18.12.compilerID.OPT_LEVEL.off" valueType="enumerated"/>
+								<option id="com.ti.ccstudio.buildDefinitions.MSP430_18.12.compilerID.OPT_FOR_SPEED.1270961573" name="Speed vs. size trade-offs (--opt_for_speed, -mf)" superClass="com.ti.ccstudio.buildDefinitions.MSP430_18.12.compilerID.OPT_FOR_SPEED" value="com.ti.ccstudio.buildDefinitions.MSP430_18.12.compilerID.OPT_FOR_SPEED.0" valueType="enumerated"/>
 								<inputType id="com.ti.ccstudio.buildDefinitions.MSP430_18.12.compiler.inputType__C_SRCS.535958418" name="C Sources" superClass="com.ti.ccstudio.buildDefinitions.MSP430_18.12.compiler.inputType__C_SRCS"/>
 								<inputType id="com.ti.ccstudio.buildDefinitions.MSP430_18.12.compiler.inputType__CPP_SRCS.71812098" name="C++ Sources" superClass="com.ti.ccstudio.buildDefinitions.MSP430_18.12.compiler.inputType__CPP_SRCS"/>
 								<inputType id="com.ti.ccstudio.buildDefinitions.MSP430_18.12.compiler.inputType__ASM_SRCS.441132983" name="Assembly Sources" superClass="com.ti.ccstudio.buildDefinitions.MSP430_18.12.compiler.inputType__ASM_SRCS"/>
diff --git a/Apps/FlightSoftware/MotorControl/.launches/MotorControl.launch b/Apps/FlightSoftware/MotorControl/.launches/MotorControl.launch
index 344a8b938..da14a0307 100644
--- a/Apps/FlightSoftware/MotorControl/.launches/MotorControl.launch
+++ b/Apps/FlightSoftware/MotorControl/.launches/MotorControl.launch
@@ -23,7 +23,7 @@
 <stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_PROJECT.MSP430FR5994.ccxml.TI MSP430 USB2_0/MSP430" value="MotorControl"/>
 <stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_TARGET_CONFIG" value="${target_config_active_default:MotorControl}"/>
 <stringAttribute key="com.ti.ccstudio.debug.debugModel.MRU_PROGRAM.MSP430FR5994.ccxml.TI MSP430 USB1/MSP430" value="E:/xprize\Documents\MotorControlDev\MotorControl\MotorControl\Release\MotorControl.out"/>
-<stringAttribute key="com.ti.ccstudio.debug.debugModel.MRU_PROGRAM.MSP430FR5994.ccxml.TI MSP430 USB1_0/MSP430" value="E:/xprize\Documents\MotorControlDev\MotorControl\MotorControl\Release\MotorControl.out"/>
+<stringAttribute key="com.ti.ccstudio.debug.debugModel.MRU_PROGRAM.MSP430FR5994.ccxml.TI MSP430 USB1_0/MSP430" value="E:/xprize\Documents\GitHub\motorControl_dev\Apps\FlightSoftware\MotorControl\Debug\MotorControl.out"/>
 <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
 <listEntry value="/MotorControl"/>
 </listAttribute>
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/subdir_rules.mk b/Apps/FlightSoftware/MotorControl/Release/driverlib/subdir_rules.mk
index 5af439c24..f0b0b87a0 100644
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/subdir_rules.mk
+++ b/Apps/FlightSoftware/MotorControl/Release/driverlib/subdir_rules.mk
@@ -8,7 +8,7 @@ SHELL = cmd.exe
 driverlib/%.obj: ../driverlib/%.c $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: MSP430 Compiler'
-	"C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/bin/cl430" -vmspx --data_model=restricted -O2 --use_hw_mpy=F5 --include_path="C:/ti/ccs930/ccs/ccs_base/msp430/include" --include_path="E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib" --include_path="C:/ti/ccs930/ccs/ccs_base/msp430ware_3_80_11_07/iqmathlib/include" --include_path="E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl" --include_path="C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include" --advice:power=all --advice:hw_config=all --define=__MSP430FR5994__ --define=_MPU_ENABLE --printf_support=minimal --diag_warning=225 --diag_wrap=off --display_error_number --silicon_errata=CPU21 --silicon_errata=CPU22 --silicon_errata=CPU40 --preproc_with_compile --preproc_dependency="driverlib/$(basename $(<F)).d_raw" --obj_directory="driverlib" $(GEN_OPTS__FLAG) "$<"
+	"C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/bin/cl430" -vmspx --data_model=restricted -O2 --use_hw_mpy=F5 --include_path="C:/ti/ccs930/ccs/ccs_base/msp430/include" --include_path="E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib" --include_path="C:/ti/ccs930/ccs/ccs_base/msp430ware_3_80_11_07/iqmathlib/include" --include_path="E:/xprize/Documents/GitHub/motorControl_dev/Apps/FlightSoftware/MotorControl" --include_path="C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include" --advice:power=all --advice:hw_config=all --define=__MSP430FR5994__ --define=_MPU_ENABLE --printf_support=minimal --diag_warning=225 --diag_wrap=off --display_error_number --silicon_errata=CPU21 --silicon_errata=CPU22 --silicon_errata=CPU40 --preproc_with_compile --preproc_dependency="driverlib/$(basename $(<F)).d_raw" --obj_directory="driverlib" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
diff --git a/Apps/FlightSoftware/MotorControl/Release/subdir_rules.mk b/Apps/FlightSoftware/MotorControl/Release/subdir_rules.mk
index 628d31c76..14498e9f9 100644
--- a/Apps/FlightSoftware/MotorControl/Release/subdir_rules.mk
+++ b/Apps/FlightSoftware/MotorControl/Release/subdir_rules.mk
@@ -8,7 +8,7 @@ SHELL = cmd.exe
 %.obj: ../%.c $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
 	@echo 'Building file: "$<"'
 	@echo 'Invoking: MSP430 Compiler'
-	"C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/bin/cl430" -vmspx --data_model=restricted -O2 --use_hw_mpy=F5 --include_path="C:/ti/ccs930/ccs/ccs_base/msp430/include" --include_path="E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib" --include_path="C:/ti/ccs930/ccs/ccs_base/msp430ware_3_80_11_07/iqmathlib/include" --include_path="E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl" --include_path="C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include" --advice:power=all --advice:hw_config=all --define=__MSP430FR5994__ --define=_MPU_ENABLE --printf_support=minimal --diag_warning=225 --diag_wrap=off --display_error_number --silicon_errata=CPU21 --silicon_errata=CPU22 --silicon_errata=CPU40 --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
+	"C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/bin/cl430" -vmspx --data_model=restricted -O2 --use_hw_mpy=F5 --include_path="C:/ti/ccs930/ccs/ccs_base/msp430/include" --include_path="E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib" --include_path="C:/ti/ccs930/ccs/ccs_base/msp430ware_3_80_11_07/iqmathlib/include" --include_path="E:/xprize/Documents/GitHub/motorControl_dev/Apps/FlightSoftware/MotorControl" --include_path="C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include" --advice:power=all --advice:hw_config=all --define=__MSP430FR5994__ --define=_MPU_ENABLE --printf_support=minimal --diag_warning=225 --diag_wrap=off --display_error_number --silicon_errata=CPU21 --silicon_errata=CPU22 --silicon_errata=CPU40 --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
 	@echo 'Finished building: "$<"'
 	@echo ' '
 
diff --git a/Apps/FlightSoftware/MotorControl/i2c.c b/Apps/FlightSoftware/MotorControl/i2c.c
index 919f3ba48..d7e6be100 100644
--- a/Apps/FlightSoftware/MotorControl/i2c.c
+++ b/Apps/FlightSoftware/MotorControl/i2c.c
@@ -21,6 +21,8 @@ extern uint8_t g_statusRegister;
 extern uint8_t g_controlRegister;
 extern uint8_t g_faultRegister;
 
+extern uint16_t g_accelRate, g_decelRate;
+
 int16_t g_transmitCurrentPosition;
 
 volatile uint8_t g_i2cCmdLength[MAX_NB_CMDS];
@@ -106,8 +108,7 @@ inline void i2cSlaveProcessCmd(const uint8_t cmd){
         g_slaveMode = TX_DATA_MODE;
         g_txByteCtr = g_i2cCmdLength[cmd];
         //Fill out the TransmitBuffer
-        g_transmitCurrentPosition = (int16_t) g_currentPosition;
-        copyArray((uint8_t*)&g_transmitCurrentPosition, (uint8_t*)g_txBuffer, g_txByteCtr);
+        copyArray((uint8_t*)&g_currentPosition, (uint8_t*)g_txBuffer, g_txByteCtr);
         disableI2cRxInterrupt();
         enableI2cTxInterrupt();
         break;
@@ -195,37 +196,58 @@ inline void i2cSlaveTransactionDone(const uint8_t cmd){
                   (uint8_t*)&g_targetPosition,
                   sizeof(g_targetPosition));
         g_currentPosition = 0;
+        g_statusRegister &= ~POSITION_CONVERGED;
         break;
       case TARGET_SPEED:
       {
         copyArray((uint8_t*)g_rxBuffer,
                   (uint8_t*)&g_maxSpeed,
                   sizeof(g_maxSpeed));
-//        if(g_maxSpeed > MAX_TARGET_SPEED){
-//            g_maxSpeed = MAX_TARGET_SPEED;
-//        }
+        if(g_maxSpeed > MAX_TARGET_SPEED){
+            g_maxSpeed = MAX_TARGET_SPEED;
+        }
         break;
       }
       case P_CURRENT:
+      {
+        uint16_t input_as_uint = 0;
         copyArray((uint8_t*)g_rxBuffer,
-                  (uint8_t*)&g_piCur.Kp,
-                  sizeof(g_piCur.Kp));
+                  (uint8_t*)&input_as_uint,
+                  sizeof(input_as_uint));
+        float input_as_float = (float)(*(int16_t *)input_as_uint);
+        g_piCur.Kp = _IQ(input_as_float);
         break;
+      }
       case I_CURRENT:
-        copyArray((uint8_t*)g_rxBuffer,
-                  (uint8_t*)&g_piCur.Ki,
-                  sizeof(g_piCur.Ki));
-        break;
+      {
+          uint16_t input_as_uint = 0;
+          copyArray((uint8_t*)g_rxBuffer,
+                    (uint8_t*)&input_as_uint,
+                    sizeof(input_as_uint));
+          float input_as_float = (float)(*(int16_t *)input_as_uint);
+          g_piCur.Ki = _IQ(input_as_float);
+          break;
+      }
       case P_SPEED:
+      {
+        uint16_t input_as_uint = 0;
         copyArray((uint8_t*)g_rxBuffer,
-                  (uint8_t*)&g_piSpd.Kp,
-                  sizeof(g_piSpd.Kp));
+                  (uint8_t*)&input_as_uint,
+                  sizeof(input_as_uint));
+        float input_as_float = (float)(*(int16_t *)input_as_uint);
+        g_piSpd.Kp = _IQ(input_as_float);
         break;
+      }
       case I_SPEED:
-        copyArray((uint8_t*)g_rxBuffer,
-                  (uint8_t*)&g_piSpd.Ki,
-                  sizeof(g_piSpd.Ki));
-        break;
+      {
+          uint16_t input_as_uint = 0;
+          copyArray((uint8_t*)g_rxBuffer,
+                    (uint8_t*)&input_as_uint,
+                    sizeof(input_as_uint));
+          float input_as_float = (float)(*(int16_t *)input_as_uint);
+          g_piSpd.Kp = _IQ(input_as_float);
+          break;
+      }
       case CONTROL_REGISTER:
         copyArray((uint8_t*)g_rxBuffer,
                   (uint8_t*)&g_controlRegister,
@@ -252,8 +274,16 @@ inline void i2cSlaveTransactionDone(const uint8_t cmd){
         }
 
         break;     
-      case ACC_RATE:
+      case ACC_RATE: //TODO: flesh these out
+          copyArray((uint8_t*)g_rxBuffer,
+                            (uint8_t*)&g_accelRate,
+                            sizeof(g_accelRate));
+          break;
       case DEC_RATE:
+          copyArray((uint8_t*)g_rxBuffer,
+                          (uint8_t*)&g_decelRate,
+                          sizeof(g_decelRate));
+            break;
       default:
         break;  
     }
@@ -270,9 +300,9 @@ void initializeCmdLength(){
   g_i2cCmdLength[CURRENT_POSITION] = 4;
   g_i2cCmdLength[CURRENT_SPEED] = 2;
   g_i2cCmdLength[MOTOR_CURRENT] = 4;
-  g_i2cCmdLength[P_CURRENT] = 4;
+  g_i2cCmdLength[P_CURRENT] = 2;
   g_i2cCmdLength[I_CURRENT] = 2;
-  g_i2cCmdLength[P_SPEED] = 4;
+  g_i2cCmdLength[P_SPEED] = 2;
   g_i2cCmdLength[I_SPEED] = 2;
   g_i2cCmdLength[ACC_RATE] = 2;
   g_i2cCmdLength[DEC_RATE] = 2;
diff --git a/Apps/FlightSoftware/MotorControl/main.c b/Apps/FlightSoftware/MotorControl/main.c
index b18588231..9b0f40def 100644
--- a/Apps/FlightSoftware/MotorControl/main.c
+++ b/Apps/FlightSoftware/MotorControl/main.c
@@ -1,7 +1,7 @@
 // [DEBUG] Switches
 //#define IRIS_ALL_OFF
 //#define IRIS_CLEAR_FAULT
-//#define IRIS_SPIN_MOTOR
+#define IRIS_SPIN_MOTOR
 //#define IRIS_SPIN_MOTOR_REVERSE
 //#define IRIS_SPIN_MOTOR_INDEF
 
@@ -56,6 +56,9 @@ volatile CmdState g_cmdState;
 volatile int8_t g_targetDirection;
 volatile int8_t g_oldTargetDirection;
 
+volatile uint16_t g_accelRate;
+volatile uint16_t g_decelRate;
+
 uint8_t g_statusRegister;
 volatile uint8_t g_controlRegister;
 volatile uint8_t g_faultRegister;
@@ -68,14 +71,6 @@ volatile bool driveOpenLoop = false;
 int g_testeroni = 0;
 volatile uint8_t g_rxBuffer_tmp[I2C_RX_BUFFER_MAX_SIZE];
 
-// i2c debugging
-volatile bool g_i2cSend = 0;
-extern uint8_t g_readRegAddr;
-extern I2cMode g_slaveMode;
-extern uint8_t g_txBuffer[I2C_TX_BUFFER_MAX_SIZE];
-extern uint8_t g_txBufferIdx;
-extern uint8_t g_txByteCtr;
-
 // timing debug
 bool g_updateReadings = false;
 int g_timerTicks = 0;
@@ -647,7 +642,7 @@ void main(void){
 
   g_closeLoopThreshold = _IQ(CLOSE_LOOP_THRESHOLD);
   g_closedLoop = false;
-  g_controlRegister = 0;
+  g_controlRegister = 0; //DRIVE_OPEN_LOOP; // [DEBUG], should init in closed loop
 
   initializeI2cModule();
   initializePwmModules();
@@ -672,28 +667,7 @@ void main(void){
 
   while(1){
       // check if driving in open or closed loop, act accordingly
-      if (g_controlRegister & DRIVE_OPEN_LOOP) {
-            //driving open loop
-
-            // target position sets direction motor drives in (will NOT converge though)
-            g_targetDirection = (g_targetPosition - g_currentPosition >= 0) ? 1 : -1;
-
-            // Execute macro to generate ramp up if needed
-              OPEN_LOOP_IMPULSE_MACRO(g_impulse);
-              if(g_impulse.Out){
-                MOD6CNT_MACRO(g_mod6cnt);
-                g_commState = (g_targetDirection > 0) ? g_mod6cnt.Counter : 5 - g_mod6cnt.Counter;
-              }
-
-            // apply constant output
-            _iq output = _IQ(g_maxSpeed / MAX_TARGET_SPEED);
-
-            if(g_targetDirection > 0) {
-                pwmGenerator(g_commState, output);
-            } else{
-                pwmGenerator(g_commState, -output);
-            }
-        } else {
+      if (~g_controlRegister & DRIVE_OPEN_LOOP) {
             // driving closed loop
         // update sensor (Hall & current) readings
         if(g_updateReadings){
@@ -815,6 +789,8 @@ void main(void){
 
               g_controlPrescaler = PI_SPD_CONTROL_PRESCALER;
             }
+        } else {
+
         }
 
 #ifndef IRIS_ALL_OFF
@@ -851,26 +827,66 @@ void main(void){
 #pragma CODE_SECTION(TIMER0_B0_ISR, ".TI.ramfunc")
 #pragma vector=TIMER0_B0_VECTOR
 __interrupt void TIMER0_B0_ISR (void){
+    if (g_controlRegister & DRIVE_OPEN_LOOP) {
+        //driving open loop
+        if(!g_targetReached){
+            // target position sets direction motor drives in (will NOT converge though)
+            g_targetDirection = (g_targetPosition - g_currentPosition >= 0) ? 1 : -1;
+
+            // Execute macro to generate ramp up if needed
+              IMPULSE_MACRO(g_impulse);
+              if(g_impulse.Out){
+                OPEN_LOOP_MOD6CNT_MACRO(g_mod6cnt);
+                g_commState = (g_targetDirection > 0) ? g_mod6cnt.Counter : 5 - g_mod6cnt.Counter;
+              }
 
-    if(g_calibrating){
-      // Prepare ADC conversion for next round
-      HWREG8(ADC12_B_BASE + OFS_ADC12CTL0_L) &= ~(ADC12ENC);
-      HWREG8(ADC12_B_BASE + OFS_ADC12CTL0_L) |= ADC12ENC + ADC12SC;
 
-      g_currentOffsetPhaseA = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_0));
-      g_currentOffsetPhaseB = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_1));
-      g_currentOffsetPhaseC = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_2));
-      g_calibrationDone = true;
-    }
+            _iq output = _IQ(0.1);
+
+            if(g_targetDirection > 0) {
+                pwmGenerator(g_commState, output);
+            } else{
+                pwmGenerator(g_commState, -output);
+            }
+        }
+
+//
+      if(g_controlPrescaler <= 0){
+          // update position estimate, check for convergence
+          g_currentPosition += g_targetDirection*OPEN_LOOP_TICKS;
+
+          if (_IQabs(g_targetPosition - g_currentPosition) < 100) {
+                g_targetReached = true;
+                g_statusRegister |= POSITION_CONVERGED;
+            } else {
+                g_targetReached = false;
+                g_statusRegister &= ~POSITION_CONVERGED;
+            }
 
-    if(!g_calibrationDone) return;
+          g_controlPrescaler = PI_SPD_CONTROL_PRESCALER;
+      }
+    } else {
+        // closed loop interrupt things
+        if(g_calibrating){
+          // Prepare ADC conversion for next round
+          HWREG8(ADC12_B_BASE + OFS_ADC12CTL0_L) &= ~(ADC12ENC);
+          HWREG8(ADC12_B_BASE + OFS_ADC12CTL0_L) |= ADC12ENC + ADC12SC;
+
+          g_currentOffsetPhaseA = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_0));
+          g_currentOffsetPhaseB = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_1));
+          g_currentOffsetPhaseC = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_2));
+          g_calibrationDone = true;
+        }
+        if(!g_calibrationDone) return;
 
-    g_updateReadings=true; //TODO: rename g_readSensors
+        g_updateReadings=true; //TODO: rename g_readSensors
+    }
 
     // without conditional can get huge and negative
    if(g_controlPrescaler>0)
        g_controlPrescaler = g_controlPrescaler -1;
 
+
   return;
 
 }
diff --git a/Apps/FlightSoftware/MotorControl/main.h b/Apps/FlightSoftware/MotorControl/main.h
index b868b8d6d..de7286343 100644
--- a/Apps/FlightSoftware/MotorControl/main.h
+++ b/Apps/FlightSoftware/MotorControl/main.h
@@ -14,9 +14,9 @@
 #include "mod6_cnt.h"
 #include "impulse.h"
 
-#define PWM_PERIOD_TICKS            512 //2048 //512     // 15.6 KHz @ 16MHz
-#define PWM_HALF_PERIOD_TICKS       256 //1024 //256
-#define PI_SPD_CONTROL_PRESCALER    1000 //250    // 15.6 Hz, speed control
+#define PWM_PERIOD_TICKS            512 // 15.6 KHz @ 16MHz
+#define PWM_HALF_PERIOD_TICKS       256
+#define PI_SPD_CONTROL_PRESCALER    1000 // 15.6 Hz, speed control
 
 // bits of control register
 #define DRIVE_OPEN_LOOP             1       // first bit of control reg; drive only in open loop if set to 1
@@ -46,6 +46,8 @@
 #define PERIOD_IMPULSE          150
 #define CLOSE_LOOP_THRESHOLD    0.01      // Close loop threshold from open to close loop
 
+#define OPEN_LOOP_TICKS         10       // distance in hall sensor ticks motor covers in open loop mode per 1/15.6 sec
+
 #define ONE_OVER_4096           0.0002441
 
 #ifdef IRIS_OVERRIDE_SPEED_TO_5cm_s
diff --git a/Apps/FlightSoftware/MotorControl/mod6_cnt.h b/Apps/FlightSoftware/MotorControl/mod6_cnt.h
index 59765a3df..c8a967075 100644
--- a/Apps/FlightSoftware/MotorControl/mod6_cnt.h
+++ b/Apps/FlightSoftware/MotorControl/mod6_cnt.h
@@ -15,4 +15,11 @@ typedef struct { uint8_t  Counter;	    // Output: Modulo 6 counter output - Q0 (
  else																\
    v.Counter += 1;         /* Otherwise, increment by 1 */          \
 
-#endif // __MOD_6CNT_H__ 
+
+#define OPEN_LOOP_MOD6CNT_MACRO(v)                                         \
+ if (v.Counter >= 5)    /* Reset the counter when it is 5 */        \
+   v.Counter = 0;                                                   \
+ else                                                               \
+   v.Counter += 2;         /* Otherwise, increment by 1 */          \
+
+#endif // __MOD_6CNT_H__

From c23c24e45fca3560bc3a5bc9eed1db7f3d3eb8f0 Mon Sep 17 00:00:00 2001
From: Iris Watchdog Developers <watchdog-devs@irisrover.space>
Date: Tue, 27 Apr 2021 16:14:35 -0400
Subject: [PATCH 32/42] Open loop bug resolved, also will now converge and
 change flag

---
 Apps/FlightSoftware/MotorControl/main.c | 138 ++++++++++++------------
 Apps/FlightSoftware/MotorControl/main.h |   1 +
 2 files changed, 73 insertions(+), 66 deletions(-)

diff --git a/Apps/FlightSoftware/MotorControl/main.c b/Apps/FlightSoftware/MotorControl/main.c
index 9b0f40def..034a74aa1 100644
--- a/Apps/FlightSoftware/MotorControl/main.c
+++ b/Apps/FlightSoftware/MotorControl/main.c
@@ -53,12 +53,12 @@ volatile uint8_t g_maxSpeed;
 volatile StateMachine g_state;
 volatile CmdState g_cmdState;
 
-volatile int8_t g_targetDirection;
-volatile int8_t g_oldTargetDirection;
-
 volatile uint16_t g_accelRate;
 volatile uint16_t g_decelRate;
 
+volatile int8_t g_targetDirection;
+volatile int8_t g_oldTargetDirection;
+
 uint8_t g_statusRegister;
 volatile uint8_t g_controlRegister;
 volatile uint8_t g_faultRegister;
@@ -71,6 +71,14 @@ volatile bool driveOpenLoop = false;
 int g_testeroni = 0;
 volatile uint8_t g_rxBuffer_tmp[I2C_RX_BUFFER_MAX_SIZE];
 
+// i2c debugging
+volatile bool g_i2cSend = 0;
+extern uint8_t g_readRegAddr;
+extern I2cMode g_slaveMode;
+extern uint8_t g_txBuffer[I2C_TX_BUFFER_MAX_SIZE];
+extern uint8_t g_txBufferIdx;
+extern uint8_t g_txByteCtr;
+
 // timing debug
 bool g_updateReadings = false;
 int g_timerTicks = 0;
@@ -642,7 +650,7 @@ void main(void){
 
   g_closeLoopThreshold = _IQ(CLOSE_LOOP_THRESHOLD);
   g_closedLoop = false;
-  g_controlRegister = 0; //DRIVE_OPEN_LOOP; // [DEBUG], should init in closed loop
+  g_controlRegister = 1; //driving open loop //0;
 
   initializeI2cModule();
   initializePwmModules();
@@ -667,7 +675,38 @@ void main(void){
 
   while(1){
       // check if driving in open or closed loop, act accordingly
-      if (~g_controlRegister & DRIVE_OPEN_LOOP) {
+      if (g_controlRegister & DRIVE_OPEN_LOOP) {
+            //driving open loop
+
+            // target position sets direction motor drives in (will NOT converge though)
+            g_targetDirection = (g_targetPosition - g_currentPosition >= 0) ? 1 : -1;
+
+            if(!g_targetReached){
+                // Execute macro to generate ramp up if needed
+                  OPEN_LOOP_IMPULSE_MACRO(g_impulse);
+                  if(g_impulse.Out){
+                    MOD6CNT_MACRO(g_mod6cnt);
+                    g_commState = (g_targetDirection > 0) ? g_mod6cnt.Counter : 5 - g_mod6cnt.Counter;
+                  }
+
+                // apply constant output
+                _iq output = _IQ(0.3);
+
+                // apply output as PWM
+                if(g_targetDirection > 0) {
+                    pwmGenerator(g_commState, output);
+                } else{
+                    pwmGenerator(g_commState, -output);
+                }
+
+            }
+
+            if (g_controlPrescaler<=0){
+                g_controlPrescaler = PI_SPD_CONTROL_PRESCALER;
+                g_currentPosition += g_targetDirection * OPEN_LOOP_SPEED;
+            }
+
+        } else {
             // driving closed loop
         // update sensor (Hall & current) readings
         if(g_updateReadings){
@@ -746,14 +785,6 @@ void main(void){
 
           // outer control loop (speed)
           if(g_controlPrescaler <= 0){
-              // Normalize from -255 ~ + 255 to -1.0 ~ 1.0
-              if  (_IQabs(g_targetPosition - g_currentPosition) < 100) {
-                  g_targetReached = true;
-                  g_statusRegister |= POSITION_CONVERGED;
-              } else {
-                  g_targetReached = false;
-                  g_statusRegister &= ~POSITION_CONVERGED;
-              }
 
               g_targetDirection = (g_targetPosition - g_currentPosition >= 0) ? 1 : -1;
 
@@ -789,8 +820,6 @@ void main(void){
 
               g_controlPrescaler = PI_SPD_CONTROL_PRESCALER;
             }
-        } else {
-
         }
 
 #ifndef IRIS_ALL_OFF
@@ -827,65 +856,42 @@ void main(void){
 #pragma CODE_SECTION(TIMER0_B0_ISR, ".TI.ramfunc")
 #pragma vector=TIMER0_B0_VECTOR
 __interrupt void TIMER0_B0_ISR (void){
-    if (g_controlRegister & DRIVE_OPEN_LOOP) {
-        //driving open loop
-        if(!g_targetReached){
-            // target position sets direction motor drives in (will NOT converge though)
-            g_targetDirection = (g_targetPosition - g_currentPosition >= 0) ? 1 : -1;
-
-            // Execute macro to generate ramp up if needed
-              IMPULSE_MACRO(g_impulse);
-              if(g_impulse.Out){
-                OPEN_LOOP_MOD6CNT_MACRO(g_mod6cnt);
-                g_commState = (g_targetDirection > 0) ? g_mod6cnt.Counter : 5 - g_mod6cnt.Counter;
-              }
 
+    if(g_calibrating){
+      // Prepare ADC conversion for next round
+      HWREG8(ADC12_B_BASE + OFS_ADC12CTL0_L) &= ~(ADC12ENC);
+      HWREG8(ADC12_B_BASE + OFS_ADC12CTL0_L) |= ADC12ENC + ADC12SC;
 
-            _iq output = _IQ(0.1);
-
-            if(g_targetDirection > 0) {
-                pwmGenerator(g_commState, output);
-            } else{
-                pwmGenerator(g_commState, -output);
-            }
-        }
-
-//
-      if(g_controlPrescaler <= 0){
-          // update position estimate, check for convergence
-          g_currentPosition += g_targetDirection*OPEN_LOOP_TICKS;
-
-          if (_IQabs(g_targetPosition - g_currentPosition) < 100) {
-                g_targetReached = true;
-                g_statusRegister |= POSITION_CONVERGED;
-            } else {
-                g_targetReached = false;
-                g_statusRegister &= ~POSITION_CONVERGED;
-            }
+      g_currentOffsetPhaseA = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_0));
+      g_currentOffsetPhaseB = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_1));
+      g_currentOffsetPhaseC = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_2));
+      g_calibrationDone = true;
+    }
 
-          g_controlPrescaler = PI_SPD_CONTROL_PRESCALER;
-      }
-    } else {
-        // closed loop interrupt things
-        if(g_calibrating){
-          // Prepare ADC conversion for next round
-          HWREG8(ADC12_B_BASE + OFS_ADC12CTL0_L) &= ~(ADC12ENC);
-          HWREG8(ADC12_B_BASE + OFS_ADC12CTL0_L) |= ADC12ENC + ADC12SC;
-
-          g_currentOffsetPhaseA = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_0));
-          g_currentOffsetPhaseB = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_1));
-          g_currentOffsetPhaseC = HWREG16(ADC12_B_BASE + (OFS_ADC12MEM0 + ADC12_B_MEMORY_2));
-          g_calibrationDone = true;
-        }
-        if(!g_calibrationDone) return;
+    if(!g_calibrationDone) return;
 
-        g_updateReadings=true; //TODO: rename g_readSensors
-    }
+    g_updateReadings=true; //TODO: rename g_readSensors
 
     // without conditional can get huge and negative
    if(g_controlPrescaler>0)
        g_controlPrescaler = g_controlPrescaler -1;
-
+   else{
+       // check if target reached
+       if  (_IQabs(g_targetPosition - g_currentPosition) < 100) {
+           g_targetReached = true;
+           g_statusRegister |= POSITION_CONVERGED;
+           // turn off output
+           _iq output = _IQ(0.0);
+           if(g_targetDirection > 0) {
+               pwmGenerator(g_commState, output);
+           } else{
+               pwmGenerator(g_commState, -output);
+           }
+       } else {
+           g_targetReached = false;
+           g_statusRegister &= ~POSITION_CONVERGED;
+       }
+   }
 
   return;
 
diff --git a/Apps/FlightSoftware/MotorControl/main.h b/Apps/FlightSoftware/MotorControl/main.h
index de7286343..f522d9412 100644
--- a/Apps/FlightSoftware/MotorControl/main.h
+++ b/Apps/FlightSoftware/MotorControl/main.h
@@ -17,6 +17,7 @@
 #define PWM_PERIOD_TICKS            512 // 15.6 KHz @ 16MHz
 #define PWM_HALF_PERIOD_TICKS       256
 #define PI_SPD_CONTROL_PRESCALER    1000 // 15.6 Hz, speed control
+#define OPEN_LOOP_SPEED             25   // estimate of rotational distance (in hall sensor ticks) covered in 1/15.6 [sec] by motor when in open loop
 
 // bits of control register
 #define DRIVE_OPEN_LOOP             1       // first bit of control reg; drive only in open loop if set to 1

From 86354582d26c6358a8382a7dc2f870d5772930b5 Mon Sep 17 00:00:00 2001
From: Iris Watchdog Developers <watchdog-devs@irisrover.space>
Date: Tue, 27 Apr 2021 18:07:06 -0400
Subject: [PATCH 33/42] Added timeout to motor controllers (~128 seconds),
 implemented EXECUTE_COMMAND bit of control register, added ability to
 override default open loop PWM and control it using the desired speed given
 from Hercules

---
 Apps/FlightSoftware/MotorControl/i2c.c  |  5 +++-
 Apps/FlightSoftware/MotorControl/main.c | 40 +++++++++++++++----------
 Apps/FlightSoftware/MotorControl/main.h |  5 +++-
 3 files changed, 32 insertions(+), 18 deletions(-)

diff --git a/Apps/FlightSoftware/MotorControl/i2c.c b/Apps/FlightSoftware/MotorControl/i2c.c
index d7e6be100..1c51ec81b 100644
--- a/Apps/FlightSoftware/MotorControl/i2c.c
+++ b/Apps/FlightSoftware/MotorControl/i2c.c
@@ -20,6 +20,7 @@ extern volatile uint16_t g_maxSpeed;
 extern uint8_t g_statusRegister;
 extern uint8_t g_controlRegister;
 extern uint8_t g_faultRegister;
+extern uint32_t g_drivingTimeoutCtr;
 
 extern uint16_t g_accelRate, g_decelRate;
 
@@ -196,7 +197,9 @@ inline void i2cSlaveTransactionDone(const uint8_t cmd){
                   (uint8_t*)&g_targetPosition,
                   sizeof(g_targetPosition));
         g_currentPosition = 0;
-        g_statusRegister &= ~POSITION_CONVERGED;
+        g_statusRegister &= ~POSITION_CONVERGED; // likely no longer converged (if still converged, control loop will correct for that)
+        g_drivingTimeoutCtr = 0; //reset timeout counter
+        g_faultRegister = 0; // reset fault register
         break;
       case TARGET_SPEED:
       {
diff --git a/Apps/FlightSoftware/MotorControl/main.c b/Apps/FlightSoftware/MotorControl/main.c
index 034a74aa1..2826a7fdc 100644
--- a/Apps/FlightSoftware/MotorControl/main.c
+++ b/Apps/FlightSoftware/MotorControl/main.c
@@ -62,6 +62,7 @@ volatile int8_t g_oldTargetDirection;
 uint8_t g_statusRegister;
 volatile uint8_t g_controlRegister;
 volatile uint8_t g_faultRegister;
+volatile uint32_t g_drivingTimeoutCtr;
 uint8_t g_errorCounter= 0; // incremented every time inner control loop is reached and motor is acting strange
                            // if it exceeds ERROR_ITERATION_THRESHOLD then motor is stopped
 
@@ -71,17 +72,8 @@ volatile bool driveOpenLoop = false;
 int g_testeroni = 0;
 volatile uint8_t g_rxBuffer_tmp[I2C_RX_BUFFER_MAX_SIZE];
 
-// i2c debugging
-volatile bool g_i2cSend = 0;
-extern uint8_t g_readRegAddr;
-extern I2cMode g_slaveMode;
-extern uint8_t g_txBuffer[I2C_TX_BUFFER_MAX_SIZE];
-extern uint8_t g_txBufferIdx;
-extern uint8_t g_txByteCtr;
-
 // timing debug
-bool g_updateReadings = false;
-int g_timerTicks = 0;
+bool g_readSensors = false;
 
 
 /**
@@ -609,6 +601,7 @@ void main(void){
   g_currentPosition = 0;
   g_oldPosition = g_currentPosition;
   g_targetPosition = 0;
+  g_drivingTimeoutCtr = 0;
 #ifdef IRIS_SPIN_MOTOR
   g_targetPosition = 8500;//9750; // [DEBUG]
 #endif
@@ -675,7 +668,7 @@ void main(void){
 
   while(1){
       // check if driving in open or closed loop, act accordingly
-      if (g_controlRegister & DRIVE_OPEN_LOOP) {
+      if (g_controlRegister & DRIVE_OPEN_LOOP && g_controlRegister & EXECUTE_COMMAND) {
             //driving open loop
 
             // target position sets direction motor drives in (will NOT converge though)
@@ -690,7 +683,11 @@ void main(void){
                   }
 
                 // apply constant output
-                _iq output = _IQ(0.3);
+                _iq output;
+                if(g_controlRegister & OPEN_LOOP_TORQUE_OVERRIDE)
+                    output = _IQ(g_maxSpeed / MAX_TARGET_SPEED);
+                else
+                    output = _IQ(0.3);
 
                 // apply output as PWM
                 if(g_targetDirection > 0) {
@@ -704,13 +701,16 @@ void main(void){
             if (g_controlPrescaler<=0){
                 g_controlPrescaler = PI_SPD_CONTROL_PRESCALER;
                 g_currentPosition += g_targetDirection * OPEN_LOOP_SPEED;
+
+                if(!g_targetReached)
+                    g_drivingTimeoutCtr++;
             }
 
-        } else {
+        } else if (g_controlRegister & EXECUTE_COMMAND){
             // driving closed loop
         // update sensor (Hall & current) readings
-        if(g_updateReadings){
-            g_updateReadings = false;
+        if(g_readSensors){
+            g_readSensors = false;
 
             // measure hall sensors
             readHallSensor();
@@ -819,6 +819,8 @@ void main(void){
               PI_MACRO(g_piSpd);
 
               g_controlPrescaler = PI_SPD_CONTROL_PRESCALER;
+              if(!g_targetReached)
+                  g_drivingTimeoutCtr++;
             }
         }
 
@@ -870,7 +872,7 @@ __interrupt void TIMER0_B0_ISR (void){
 
     if(!g_calibrationDone) return;
 
-    g_updateReadings=true; //TODO: rename g_readSensors
+    g_readSensors=true; //TODO: rename g_readSensors
 
     // without conditional can get huge and negative
    if(g_controlPrescaler>0)
@@ -891,6 +893,12 @@ __interrupt void TIMER0_B0_ISR (void){
            g_targetReached = false;
            g_statusRegister &= ~POSITION_CONVERGED;
        }
+
+       if(g_drivingTimeoutCtr > DRIVING_TIMEOUT_THRESHOLD){
+           g_faultRegister |= DRIVING_TIMEOUT;
+           g_targetPosition = g_currentPosition;
+           g_targetReached = true;
+       }
    }
 
   return;
diff --git a/Apps/FlightSoftware/MotorControl/main.h b/Apps/FlightSoftware/MotorControl/main.h
index f522d9412..078ca16a2 100644
--- a/Apps/FlightSoftware/MotorControl/main.h
+++ b/Apps/FlightSoftware/MotorControl/main.h
@@ -17,7 +17,8 @@
 #define PWM_PERIOD_TICKS            512 // 15.6 KHz @ 16MHz
 #define PWM_HALF_PERIOD_TICKS       256
 #define PI_SPD_CONTROL_PRESCALER    1000 // 15.6 Hz, speed control
-#define OPEN_LOOP_SPEED             25   // estimate of rotational distance (in hall sensor ticks) covered in 1/15.6 [sec] by motor when in open loop
+#define OPEN_LOOP_SPEED             3   // estimate of rotational distance (in hall sensor ticks) covered in 1/15.6 [sec] by motor when in open loop
+#define DRIVING_TIMEOUT_THRESHOLD   2000 // how much time in 1/15.6 [sec] before stopping driving (2000 = ~128 seconds)
 
 // bits of control register
 #define DRIVE_OPEN_LOOP             1       // first bit of control reg; drive only in open loop if set to 1
@@ -26,6 +27,7 @@
 #define STATE_MACHINE_RUN           8
 #define OVERRIDE_FAULT_DETECTION   16       // don't reset current & desired position if abnormal behavior detected
 #define EXECUTE_COMMAND            32       // actually drive to command
+#define OPEN_LOOP_TORQUE_OVERRIDE  64
 
 // bits of status register (shares 1,2,4 with control register)
 #define POSITION_CONVERGED      8
@@ -35,6 +37,7 @@
 #define DRIVER_FAULT                1           // for if there is a fault in the DRV8304 motor drivers
 #define POSITION_NO_CHANGE          2           // for if position is not changing at all; could be dead hall sensors
 #define DRIVING_WRONG_DIRECTION     4           // for if motor is driving in wrong direction
+#define DRIVING_TIMEOUT             8           // for if motor does not converge in time defined by DRIVING_TIMEOUT_THRESHOLD
 
 #define ERROR_ITERATION_THRESHOLD   10      // how many iterations motor performance must be funky before driving is stopped
 

From 914f90a51cd500f4c20fe4c6d680426f4fab6f93 Mon Sep 17 00:00:00 2001
From: Iris Watchdog Developers <watchdog-devs@irisrover.space>
Date: Wed, 28 Apr 2021 16:47:52 -0400
Subject: [PATCH 34/42] Going to revert back to older commit

---
 Apps/FlightSoftware/MotorControl/main.c | 36 +++++++------------------
 Apps/FlightSoftware/MotorControl/main.h | 12 +--------
 2 files changed, 11 insertions(+), 37 deletions(-)

diff --git a/Apps/FlightSoftware/MotorControl/main.c b/Apps/FlightSoftware/MotorControl/main.c
index 2826a7fdc..da986f11d 100644
--- a/Apps/FlightSoftware/MotorControl/main.c
+++ b/Apps/FlightSoftware/MotorControl/main.c
@@ -1,14 +1,10 @@
 // [DEBUG] Switches
 //#define IRIS_ALL_OFF
 //#define IRIS_CLEAR_FAULT
-#define IRIS_SPIN_MOTOR
+//#define IRIS_SPIN_MOTOR
 //#define IRIS_SPIN_MOTOR_REVERSE
 //#define IRIS_SPIN_MOTOR_INDEF
 
-//#define IRIS_OVERRIDE_SPEED_TO_5cm_s
-//#define IRIS_OVERRIDE_CURRENT_MAX
-//#define IRIS_OVERRIDE_CURRENT_MAX_MULTIPLIER 4.00
-
 #include "main.h"
 
 _iq g_currentPhaseA;
@@ -632,35 +628,22 @@ void main(void){
   g_piCur.Kp = _IQ(KP_CUR);
   g_piCur.Ki = _IQ(KI_CUR);
 
-#ifdef IRIS_OVERRIDE_CURRENT_MAX
-  // [DEBUG]
-  g_piCur.Umax = _IQ(IRIS_OVERRIDE_CURRENT_MAX_MULTIPLIER);
-  g_piCur.Umin = _IQ(IRIS_OVERRIDE_CURRENT_MAX_MULTIPLIER);
-  g_piSpd.Umax = _IQ(IRIS_OVERRIDE_CURRENT_MAX_MULTIPLIER);
-  g_piSpd.Umin = _IQ(IRIS_OVERRIDE_CURRENT_MAX_MULTIPLIER);
-#endif
-
-
   g_closeLoopThreshold = _IQ(CLOSE_LOOP_THRESHOLD);
   g_closedLoop = false;
-  g_controlRegister = 1; //driving open loop //0;
+  g_controlRegister = 0; // 33 = (1 for driving open loop, 32 for execute command)
 
   initializeI2cModule();
   initializePwmModules();
   initializeAdcModule();
   initializeHallInterface();
 
-  __bis_SR_register(GIE);
+  __bis_SR_register(GIE); // enable interrupts (timer & i2c)
 
   currentOffsetCalibration();
 
   enableGateDriver(); // TODO <<<< remove this line
 
 #else
-//    // [DEBUG]
-//    initializeGpios();
-//    long x = PJIN & 0x02;
-
     disableGateDriver();
     asm("  NOP");
 #endif
@@ -872,7 +855,7 @@ __interrupt void TIMER0_B0_ISR (void){
 
     if(!g_calibrationDone) return;
 
-    g_readSensors=true; //TODO: rename g_readSensors
+    g_readSensors=true;
 
     // without conditional can get huge and negative
    if(g_controlPrescaler>0)
@@ -884,20 +867,21 @@ __interrupt void TIMER0_B0_ISR (void){
            g_statusRegister |= POSITION_CONVERGED;
            // turn off output
            _iq output = _IQ(0.0);
-           if(g_targetDirection > 0) {
-               pwmGenerator(g_commState, output);
-           } else{
-               pwmGenerator(g_commState, -output);
-           }
+           pwmGenerator(g_commState, output);
        } else {
+           // target not reached yet
            g_targetReached = false;
            g_statusRegister &= ~POSITION_CONVERGED;
        }
 
+       // check for timeout on conversion toward position goal
        if(g_drivingTimeoutCtr > DRIVING_TIMEOUT_THRESHOLD){
            g_faultRegister |= DRIVING_TIMEOUT;
            g_targetPosition = g_currentPosition;
            g_targetReached = true;
+           // turn off output
+          _iq output = _IQ(0.0);
+          pwmGenerator(g_commState, output);
        }
    }
 
diff --git a/Apps/FlightSoftware/MotorControl/main.h b/Apps/FlightSoftware/MotorControl/main.h
index 078ca16a2..208972985 100644
--- a/Apps/FlightSoftware/MotorControl/main.h
+++ b/Apps/FlightSoftware/MotorControl/main.h
@@ -1,6 +1,5 @@
 #ifndef MAIN_H_
 #define MAIN_H_
-//#define IRIS_SPIN_HALF_SPEED
 
 /* Include the IQmath header file. */
 #define GLOBAL_IQ                   15
@@ -54,16 +53,7 @@
 
 #define ONE_OVER_4096           0.0002441
 
-#ifdef IRIS_OVERRIDE_SPEED_TO_5cm_s
-    #define MAX_TARGET_SPEED                   345
-#endif
-#ifdef IRIS_SPIN_HALF_SPEED
-    #define MAX_TARGET_SPEED                   50
-#else
-    #define MAX_TARGET_SPEED                   100U
-#endif
-
-#define MIN_TARGET_SPEED                  -MAX_TARGET_SPEED
+#define MAX_TARGET_SPEED                   100U
 
 inline _iq _IQ15mpy_inline(_iq,_iq);
 

From b5a93d884308fb0ea313f91c4745dc6d7114da2b Mon Sep 17 00:00:00 2001
From: Iris Watchdog Developers <watchdog-devs@irisrover.space>
Date: Thu, 29 Apr 2021 19:11:34 -0400
Subject: [PATCH 35/42] i2c funkiness (part a million) resolved. Must. not.
 put. too. much. in. interrupts.

---
 Apps/FlightSoftware/MotorControl/i2c.c  |  6 ++--
 Apps/FlightSoftware/MotorControl/main.c | 38 +++++++++----------------
 2 files changed, 17 insertions(+), 27 deletions(-)

diff --git a/Apps/FlightSoftware/MotorControl/i2c.c b/Apps/FlightSoftware/MotorControl/i2c.c
index 1c51ec81b..f59e0ec4d 100644
--- a/Apps/FlightSoftware/MotorControl/i2c.c
+++ b/Apps/FlightSoftware/MotorControl/i2c.c
@@ -206,9 +206,9 @@ inline void i2cSlaveTransactionDone(const uint8_t cmd){
         copyArray((uint8_t*)g_rxBuffer,
                   (uint8_t*)&g_maxSpeed,
                   sizeof(g_maxSpeed));
-        if(g_maxSpeed > MAX_TARGET_SPEED){
-            g_maxSpeed = MAX_TARGET_SPEED;
-        }
+//        if(g_maxSpeed > MAX_TARGET_SPEED){
+//            g_maxSpeed = MAX_TARGET_SPEED;
+//        }
         break;
       }
       case P_CURRENT:
diff --git a/Apps/FlightSoftware/MotorControl/main.c b/Apps/FlightSoftware/MotorControl/main.c
index da986f11d..9553034ce 100644
--- a/Apps/FlightSoftware/MotorControl/main.c
+++ b/Apps/FlightSoftware/MotorControl/main.c
@@ -630,7 +630,7 @@ void main(void){
 
   g_closeLoopThreshold = _IQ(CLOSE_LOOP_THRESHOLD);
   g_closedLoop = false;
-  g_controlRegister = 0; // 33 = (1 for driving open loop, 32 for execute command)
+  g_controlRegister = 32; // 33 = (1 for driving open loop, 32 for execute command)
 
   initializeI2cModule();
   initializePwmModules();
@@ -650,6 +650,19 @@ void main(void){
 
 
   while(1){
+      // check if target reached
+      if  (_IQabs(g_targetPosition - g_currentPosition) < 100) {
+            g_targetReached = true;
+            g_statusRegister |= POSITION_CONVERGED;
+            // turn off output
+            _iq output = _IQ(0.0);
+            pwmGenerator(g_commState, output);
+        } else {
+            // target not reached yet
+            g_targetReached = false;
+            g_statusRegister &= ~POSITION_CONVERGED;
+        }
+
       // check if driving in open or closed loop, act accordingly
       if (g_controlRegister & DRIVE_OPEN_LOOP && g_controlRegister & EXECUTE_COMMAND) {
             //driving open loop
@@ -860,30 +873,7 @@ __interrupt void TIMER0_B0_ISR (void){
     // without conditional can get huge and negative
    if(g_controlPrescaler>0)
        g_controlPrescaler = g_controlPrescaler -1;
-   else{
-       // check if target reached
-       if  (_IQabs(g_targetPosition - g_currentPosition) < 100) {
-           g_targetReached = true;
-           g_statusRegister |= POSITION_CONVERGED;
-           // turn off output
-           _iq output = _IQ(0.0);
-           pwmGenerator(g_commState, output);
-       } else {
-           // target not reached yet
-           g_targetReached = false;
-           g_statusRegister &= ~POSITION_CONVERGED;
-       }
 
-       // check for timeout on conversion toward position goal
-       if(g_drivingTimeoutCtr > DRIVING_TIMEOUT_THRESHOLD){
-           g_faultRegister |= DRIVING_TIMEOUT;
-           g_targetPosition = g_currentPosition;
-           g_targetReached = true;
-           // turn off output
-          _iq output = _IQ(0.0);
-          pwmGenerator(g_commState, output);
-       }
-   }
 
   return;
 

From 503c1211766c5ddcadd04b24dbb55ea85f21fdeb Mon Sep 17 00:00:00 2001
From: Iris Watchdog Developers <watchdog-devs@irisrover.space>
Date: Sat, 1 May 2021 13:57:20 -0400
Subject: [PATCH 36/42] Checking in code after testing with Justin

---
 Apps/FlightSoftware/MotorControl/main.c | 2 +-
 Apps/FlightSoftware/MotorControl/main.h | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/Apps/FlightSoftware/MotorControl/main.c b/Apps/FlightSoftware/MotorControl/main.c
index 9553034ce..a1c32bbc1 100644
--- a/Apps/FlightSoftware/MotorControl/main.c
+++ b/Apps/FlightSoftware/MotorControl/main.c
@@ -630,7 +630,7 @@ void main(void){
 
   g_closeLoopThreshold = _IQ(CLOSE_LOOP_THRESHOLD);
   g_closedLoop = false;
-  g_controlRegister = 32; // 33 = (1 for driving open loop, 32 for execute command)
+  g_controlRegister = 0; // 33 = (1 for driving open loop, 32 for execute command)
 
   initializeI2cModule();
   initializePwmModules();
diff --git a/Apps/FlightSoftware/MotorControl/main.h b/Apps/FlightSoftware/MotorControl/main.h
index 208972985..d8a41d006 100644
--- a/Apps/FlightSoftware/MotorControl/main.h
+++ b/Apps/FlightSoftware/MotorControl/main.h
@@ -26,7 +26,7 @@
 #define STATE_MACHINE_RUN           8
 #define OVERRIDE_FAULT_DETECTION   16       // don't reset current & desired position if abnormal behavior detected
 #define EXECUTE_COMMAND            32       // actually drive to command
-#define OPEN_LOOP_TORQUE_OVERRIDE  64
+#define OPEN_LOOP_TORQUE_OVERRIDE  64       // use g_maxSpeed/MAX_TARGET_SPEED to calculate open loop PWM cycle (instead of constant at 0.3)
 
 // bits of status register (shares 1,2,4 with control register)
 #define POSITION_CONVERGED      8

From 91ac7ccf96816e302aacefc09c5a3ad18226b2ef Mon Sep 17 00:00:00 2001
From: Justin Nguyen <justinnuwin@gmail.com>
Date: Sat, 1 May 2021 14:04:59 -0400
Subject: [PATCH 37/42] Check in WORKING and TESTED motor control code and test
 pattern in Main

---
 .../FlightMCU/App/Main.cpp                    | 31 ++++++++++
 .../MotorControl/MotorControlComponent.cpp    | 50 ++++++++++++-----
 .../MotorControl/MotorControlComponent.hpp    | 12 +++-
 .../MotorControl/MotorController_i2c.c        | 56 +++++++++----------
 4 files changed, 103 insertions(+), 46 deletions(-)

diff --git a/Apps/FlightSoftware/PrimaryFlightController/FlightMCU/App/Main.cpp b/Apps/FlightSoftware/PrimaryFlightController/FlightMCU/App/Main.cpp
index f8c18a580..fdc4e0bde 100644
--- a/Apps/FlightSoftware/PrimaryFlightController/FlightMCU/App/Main.cpp
+++ b/Apps/FlightSoftware/PrimaryFlightController/FlightMCU/App/Main.cpp
@@ -30,8 +30,39 @@ extern "C" {
     void vApplicationStackOverflowHook(void *xTask, char *pcTaskName);
 }
 
+extern CubeRover::MotorControlComponentImpl motorControl;
+bool test = false;
+int dist = 5;
+int angle = 45;
 void vApplicationIdleHook(void) {
     run1cycle();
+    if (test) {
+        for (int i = 80; i; i--) {
+            motorControl.moveAllMotorsStraight(-1*dist, i);
+            motorControl.pollStatus();
+        }
+
+        for (int i = 20; i; i--) {
+            motorControl.moveAllMotorsStraight(dist, 100);
+            motorControl.pollStatus();
+        }
+
+        for (int i = 100000; i; i--);
+
+        for (int i = 40; i; i--) {
+            motorControl.rotateAllMotors(angle, 100);
+            motorControl.pollStatus();
+            motorControl.rotateAllMotors(angle, 100);
+            motorControl.pollStatus();
+            for (int i = 10000; i; i--);
+            motorControl.rotateAllMotors(-1*angle, 100);
+            motorControl.pollStatus();
+            motorControl.rotateAllMotors(-1*angle, 100);
+            motorControl.pollStatus();
+        }
+
+        for (int i = 100000; i; i--);
+    }
 }
 
 void vApplicationTickHook(void) {
diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp
index 891ead83e..f2cc6272d 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp
@@ -57,6 +57,7 @@ namespace CubeRover {
     m_FR_Encoder_Count = 0;
     m_RR_Encoder_Count = 0;
     m_RL_Encoder_Count = 0;
+    m_openloop_mode = false;
   }
 
   /**
@@ -142,9 +143,14 @@ namespace CubeRover {
           default:
               return;
         }
-        if (err != MC_NO_ERROR)  // TODO: Should stop right?
+        if (err != MC_NO_ERROR) {
+            // TODO: Should stop right?
             log_WARNING_HI_MC_MSPNotResponding();
-        pollStatus();
+        } else {
+            // Only Poll for status if the movement was successful
+            // TODO: PollStatus or checkMotorStatus in a Loop?? The latter is preferred
+            pollStatus();
+        }
     }
     else if (command_type == CubeRoverPorts::MC_UpdateTelemetry) {
         updateTelemetry();
@@ -568,7 +574,7 @@ MotorControlComponentImpl::moveAllMotorsStraight(int32_t distance, int16_t speed
    
     Throttle_t motor_speed;
     // Enforce speed always positive. Direction set by distance
-    if (speed > 0) {
+    if (speed >= 0) {
         motor_speed = groundSpeedToSpeedPrecent(speed);
        
         // Send the speed to all the motors
@@ -577,7 +583,7 @@ MotorControlComponentImpl::moveAllMotorsStraight(int32_t distance, int16_t speed
         if (err != MC_NO_ERROR)
             return err;
     } else {
-        return err;     // Initialize???
+        return MC_UNEXPECTED_ERROR;     // Initialize???
     }
    
     MotorTick_t Right_Wheels_Relative_ticks, Left_Wheels_Relative_ticks, Relative_ticks;
@@ -590,8 +596,6 @@ MotorControlComponentImpl::moveAllMotorsStraight(int32_t distance, int16_t speed
         Right_Wheels_Relative_ticks = -1*Relative_ticks;
         Left_Wheels_Relative_ticks = Relative_ticks;
     }    
-   
-    // FIXME: XXX: CRITICAL SECTION REQUIRED
     
     err = motorControlTransfer(FRONT_LEFT_MC_I2C_ADDR, REG_RELATIVE_TARGET_POSITION, &Left_Wheels_Relative_ticks);
     if (err != MC_NO_ERROR)
@@ -606,7 +610,15 @@ MotorControlComponentImpl::moveAllMotorsStraight(int32_t distance, int16_t speed
         return err;  
    
     err = motorControlTransfer(REAR_LEFT_MC_I2C_ADDR, REG_RELATIVE_TARGET_POSITION, &Left_Wheels_Relative_ticks);
-    
+    if (err != MC_NO_ERROR)
+        return err;
+
+    // FIXME: XXX: CRITICAL SECTION REQUIRED
+    uint8_t execute_cmd = (1 << 5);
+    if (m_openloop_mode)
+        execute_cmd |= (1 << 0);
+    err = sendAllMotorsData(REG_CTRL, &execute_cmd);
+
     // FIXME: XXX: CRITICAL SECTION REQUIRED
     
     return err;  
@@ -626,7 +638,7 @@ MotorControlComponentImpl::rotateAllMotors(int16_t distance, int16_t speed) {
    
     // Enforce speed always positive. Direction set by distance
     if (speed > 0) {
-        Throttle_t motor_speed = m_angularToLinear*groundSpeedToSpeedPrecent(speed);
+        Throttle_t motor_speed = groundSpeedToSpeedPrecent(speed);
        
         // Send the speed to all the motors
         // Required to send this before the setpoint (or else the MC will start spinning before speed was set)
@@ -639,7 +651,6 @@ MotorControlComponentImpl::rotateAllMotors(int16_t distance, int16_t speed) {
    
     MotorTick_t Relative_ticks = m_angularToLinear*groundCMToMotorTicks(distance);
     
-    // FIXME: XXX: CRITICAL SECTION REQUIRED
     StatusRegister_t status;
     err = motorControlTransfer(FRONT_LEFT_MC_I2C_ADDR, e_REG_STATUS, &status.value);
     err = motorControlTransfer(FRONT_RIGHT_MC_I2C_ADDR, e_REG_STATUS, &status.value);
@@ -659,8 +670,15 @@ MotorControlComponentImpl::rotateAllMotors(int16_t distance, int16_t speed) {
         return err;  
    
     err = motorControlTransfer(REAR_LEFT_MC_I2C_ADDR, REG_RELATIVE_TARGET_POSITION, &Relative_ticks);
+    if (err != MC_NO_ERROR)
+        return err;
 
     // FIXME: XXX: CRITICAL SECTION REQUIRED
+    uint8_t execute_cmd = (1 << 5);
+    if (m_openloop_mode)
+        execute_cmd |= (1 << 0);
+    err = sendAllMotorsData(REG_CTRL, &execute_cmd);
+    // FIXME: XXX: CRITICAL SECTION REQUIRED
     
     return err;
 }
@@ -764,8 +782,7 @@ bool MotorControlComponentImpl::updateTelemetry() {
 }
 
 bool MotorControlComponentImpl::pollStatus() {
-    StatusRegister_t status;
-    status.value = 0xff;
+    StatusRegister_t status[NUM_MOTORS];
     do {
         unsigned delay = 500000;
         while (delay)    // Delay 0.5s to give the motors a chance to converge. 0.5 / (1/ 110e6)
@@ -773,12 +790,15 @@ bool MotorControlComponentImpl::pollStatus() {
 
         uint8_t reg = e_REG_STATUS;
         for (int i = 0; i < 4; ++i) {
+            for (int j = 10000; j; j--);
             i2cMasterTransmit(m_i2c, FRONT_LEFT_MC_I2C_ADDR+i, 1, &reg);
-            StatusRegister_t this_status;
-            i2cMasterReceive(m_i2c, FRONT_LEFT_MC_I2C_ADDR+i, 1, &this_status.value);
-            status.value &= this_status.value;
+            for (int j = 10000; j; j--);
+            i2cMasterReceive(m_i2c, FRONT_LEFT_MC_I2C_ADDR+i, 1, &(status[i].value));
         }
-    } while (!(status.bits.position_converged));        // FIXME: Potential infinite loop
+    } while (!(status[0].bits.position_converged &&
+               status[1].bits.position_converged &&
+               status[2].bits.position_converged &&
+               status[3].bits.position_converged));        // FIXME: Potential infinite loop (Should reset after 2.5 min)
 
     return true;
 }
diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.hpp b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.hpp
index f79138a80..3944ebebd 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.hpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.hpp
@@ -183,7 +183,9 @@ namespace CubeRover {
                 uint8_t fsm_disable : 1;
                 uint8_t fsm_run     : 1;
                 uint8_t override_fault_detection : 1;
-                uint8_t unused      : 3;
+                uint8_t execute_command          : 1;
+                uint8_t override_openloop_torque : 1;
+                uint8_t unused      : 1;
             } bits;
         } ControlRegister_t;
         
@@ -205,7 +207,8 @@ namespace CubeRover {
                 uint8_t driver_fault        : 1;
                 uint8_t position_no_change  : 1;
                 uint8_t driving_wrong_direction : 1;
-                uint8_t unused              : 5;
+                uint8_t timeout             : 1;    // TODO: Implement checking this on our side!
+                uint8_t unused              : 4;
             } bits;
         } FaultRegister_t;
 
@@ -233,6 +236,7 @@ namespace CubeRover {
         uint32_t regSizeMap(RegisterAddress_t reg);
 
         bool checkMotorsStatus();
+    public:
         MCError_t moveAllMotorsStraight(int32_t distance, int16_t speed);
         MCError_t rotateAllMotors(int16_t angle, int16_t speed);
         MCError_t spinMotors(bool forward);
@@ -256,7 +260,9 @@ namespace CubeRover {
         float m_angularToLinear;
 
         // Stall detection
-        bool m_stallDetectectionEnabled[4];
+        bool m_stallDetectectionEnabled[NUM_MOTORS];
+
+        bool m_openloop_mode;
 
         StatusRegister_t m_currStatus[NUM_MOTORS];
 
diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorController_i2c.c b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorController_i2c.c
index 3ad718703..15ef08164 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorController_i2c.c
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorController_i2c.c
@@ -16,7 +16,7 @@ static bool i2cSendWithTimeout(i2cBASE_t *i2c, uint32 length, uint8 * data, unsi
         while ((i2c->STR & (uint32)I2C_TX_INT) == 0U)
         {
             if (!timeout)
-                // return false;
+                return false;
             timeout--;
         } /* Wait */
         /*SAFETYMCUSW 45 D MR:21.1 <APPROVED> "Valid non NULL input parameters are only allowed in this driver" */
@@ -40,7 +40,7 @@ static bool i2cReceiveWithTimeout(i2cBASE_t *i2c, uint32 length, uint8 * data, u
         while ((i2c->STR & (uint32)I2C_RX_INT) == 0U)
         {
             if (!timeout)
-                // return false;
+                return false;
             timeout--;
         } /* Wait */
         /*SAFETYMCUSW 45 D MR:21.1 <APPROVED> "Valid non NULL input parameters are only allowed in this driver" */
@@ -66,20 +66,20 @@ bool i2cMasterTransmit(i2cBASE_t *i2c, I2cSlaveAddress_t sadd, uint32_t length,
 
     // TODO: configCPU_CLOCK_HZ use this to compute optimal timeout
     // (20 lines of code * 4 instr/line) / (16e6 Hz) * 110e6Hz => 550 cycles <= number of Hercules cycles for MSP to be ready
-//    int maxReceiveAttempts = 4;
-//    while (maxReceiveAttempts) {
-//        if (i2cSendWithTimeout(i2c, length, data, 600))
-//            break;
-//        maxReceiveAttempts--;
-//    }
-//    if (!maxReceiveAttempts)
-//        return false;
-    i2cSend(i2c, length, data);
+    int maxReceiveAttempts = 5;
+    while (maxReceiveAttempts) {
+        if (i2cSendWithTimeout(i2c, length, data, 1000))
+            break;
+        maxReceiveAttempts--;
+    }
+    if (!maxReceiveAttempts)
+        return false;
+//    i2cSend(i2c, length, data);
    
     int timeout = 0;
     while (i2cIsBusBusy(i2c)) {
-//      if (++timeout > i2c_timeout)
-//        return false;
+      if (++timeout > i2c_timeout)
+        return false;
     }
 
     timeout = 0;
@@ -90,8 +90,8 @@ bool i2cMasterTransmit(i2cBASE_t *i2c, I2cSlaveAddress_t sadd, uint32_t length,
 
     timeout = 0;
     while (i2cIsMasterReady(i2c)) {
-//      if (++timeout > i2c_timeout)
-//        return false;
+      if (++timeout > i2c_timeout)
+        return false;
     }
    
     i2cClearSCD(i2c);   // Clear the Stop condition
@@ -115,20 +115,20 @@ bool i2cMasterReceive(i2cBASE_t *i2c, I2cSlaveAddress_t sadd, uint32_t length, u
     
     // TODO: configCPU_CLOCK_HZ use this to compute optimal timeout
     // (20 lines of code * 4 instr/line) / (16e6 Hz) * 110e6Hz => 550 cycles <= number of Hercules cycles for MSP to be ready
-//    int maxReceiveAttempts = 4;
-//    while (maxReceiveAttempts) {
-//        if (i2cReceiveWithTimeout(i2c, length, data, 600))
-//            break;
-//        maxReceiveAttempts--;
-//    }
-//    if (!maxReceiveAttempts)
-//        return false;
-    i2cReceive(i2c, length, data);
+    int maxReceiveAttempts = 4;
+    while (maxReceiveAttempts) {
+        if (i2cReceiveWithTimeout(i2c, length, data, 600))
+            break;
+        maxReceiveAttempts--;
+    }
+    if (!maxReceiveAttempts)
+        return false;
+    //i2cReceive(i2c, length, data);
 
     int timeout = 0;
     while (i2cIsBusBusy(i2c)) {
-//      if (++timeout > i2c_timeout)
-//        return false;
+      if (++timeout > i2c_timeout)
+        return false;
     }
 
     timeout = 0;
@@ -139,8 +139,8 @@ bool i2cMasterReceive(i2cBASE_t *i2c, I2cSlaveAddress_t sadd, uint32_t length, u
 
     timeout = 0;
     while (i2cIsMasterReady(i2c)) {
-//      if (++timeout > i2c_timeout)
-//        return false;
+      if (++timeout > i2c_timeout)
+        return false;
     }
    
     i2cClearSCD(i2c);  // Clear the Stop condition

From 68945d4214aef0f08f5d41dbf83b8a94127d65f7 Mon Sep 17 00:00:00 2001
From: Iris Watchdog Developers <watchdog-devs@irisrover.space>
Date: Sat, 1 May 2021 15:08:14 -0400
Subject: [PATCH 38/42] Fixed i2c readings for speed & current PI gains, also
 updated timeout counter to actually work

---
 .../.launches/MotorControl.launch             |  7 +++
 Apps/FlightSoftware/MotorControl/i2c.c        | 33 ++++--------
 Apps/FlightSoftware/MotorControl/main.c       | 53 +++++++++++--------
 Apps/FlightSoftware/MotorControl/main.h       |  2 +-
 4 files changed, 50 insertions(+), 45 deletions(-)

diff --git a/Apps/FlightSoftware/MotorControl/.launches/MotorControl.launch b/Apps/FlightSoftware/MotorControl/.launches/MotorControl.launch
index da14a0307..176d01b01 100644
--- a/Apps/FlightSoftware/MotorControl/.launches/MotorControl.launch
+++ b/Apps/FlightSoftware/MotorControl/.launches/MotorControl.launch
@@ -1,5 +1,11 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <launchConfiguration type="com.ti.ccstudio.debug.launchType.device.debugging">
+<mapAttribute key="ccs.memoryview.format">
+<mapEntry key="org.eclipse.cdt.debug.ui.memory.memorybrowser.MemoryBrowser@#$TI MSP430 USB1_0/MSP430@#$0" value="16-Bit Hex - TI Style"/>
+</mapAttribute>
+<mapAttribute key="ccs.memoryview.pageexpr">
+<mapEntry key="org.eclipse.cdt.debug.ui.memory.memorybrowser.MemoryBrowser@#$TI MSP430 USB1_0/MSP430" value="@@0x001D8A"/>
+</mapAttribute>
 <stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_DEBUGGER_PROPERTIES.MSP430FR5994.ccxml.TI MSP430 USB1/MSP430" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot; ?&gt;&#10;&lt;PropertyValues&gt;&#10;&#10;  &lt;property id=&quot;ConnectOnStartup&quot;&gt;&#10;    &lt;curValue&gt;1&lt;/curValue&gt;&#10;  &lt;/property&gt;&#10;&#10;  &lt;property id=&quot;EnableInstalledBreakpoint&quot;&gt;&#10;    &lt;curValue&gt;1&lt;/curValue&gt;&#10;  &lt;/property&gt;&#10;&#10;&lt;/PropertyValues&gt;&#10;"/>
 <stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_DEBUGGER_PROPERTIES.MSP430FR5994.ccxml.TI MSP430 USB1_0/MSP430" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot; ?&gt;&#10;&lt;PropertyValues&gt;&#10;&#10;  &lt;property id=&quot;ConnectOnStartup&quot;&gt;&#10;    &lt;curValue&gt;1&lt;/curValue&gt;&#10;  &lt;/property&gt;&#10;&#10;  &lt;property id=&quot;EnableInstalledBreakpoint&quot;&gt;&#10;    &lt;curValue&gt;1&lt;/curValue&gt;&#10;  &lt;/property&gt;&#10;&#10;&lt;/PropertyValues&gt;&#10;"/>
 <stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_DEBUGGER_PROPERTIES.MSP430FR5994.ccxml.TI MSP430 USB2_0/MSP430" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot; ?&gt;&#10;&lt;PropertyValues&gt;&#10;&#10;  &lt;property id=&quot;ConnectOnStartup&quot;&gt;&#10;    &lt;curValue&gt;1&lt;/curValue&gt;&#10;  &lt;/property&gt;&#10;&#10;  &lt;property id=&quot;EnableInstalledBreakpoint&quot;&gt;&#10;    &lt;curValue&gt;1&lt;/curValue&gt;&#10;  &lt;/property&gt;&#10;&#10;&lt;/PropertyValues&gt;&#10;"/>
@@ -32,4 +38,5 @@
 </listAttribute>
 <stringAttribute key="org.eclipse.debug.core.source_locator_id" value="com.ti.ccstudio.debug.sourceLocator"/>
 <stringAttribute key="org.eclipse.debug.core.source_locator_memento" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;sourceLookupDirector&gt;&#13;&#10;&lt;sourceContainers duplicates=&quot;false&quot;&gt;&#13;&#10;&lt;container memento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#13;&amp;#10;&amp;lt;default/&amp;gt;&amp;#13;&amp;#10;&quot; typeId=&quot;org.eclipse.debug.core.containerType.default&quot;/&gt;&#13;&#10;&lt;container memento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#13;&amp;#10;&amp;lt;cpuSpecificContainer cpuName=&amp;quot;TI MSP430 USB1/MSP430&amp;quot;&amp;gt;&amp;#13;&amp;#10;&amp;lt;childContainerEntry childMemento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;amp;lt;project name=&amp;amp;quot;MotorControl&amp;amp;quot; referencedProjects=&amp;amp;quot;true&amp;amp;quot;/&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;quot; childType=&amp;quot;org.eclipse.debug.core.containerType.project&amp;quot;/&amp;gt;&amp;#13;&amp;#10;&amp;lt;childContainerEntry childMemento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;amp;lt;default/&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;quot; childType=&amp;quot;org.eclipse.debug.core.containerType.default&amp;quot;/&amp;gt;&amp;#13;&amp;#10;&amp;lt;childContainerEntry childMemento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;amp;lt;productsSource/&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;quot; childType=&amp;quot;com.ti.ccstudio.debug.containerType.products.source&amp;quot;/&amp;gt;&amp;#13;&amp;#10;&amp;lt;childContainerEntry childMemento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;amp;lt;deviceLibrarySource/&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;quot; childType=&amp;quot;com.ti.ccstudio.debug.containerType.device.library.source&amp;quot;/&amp;gt;&amp;#13;&amp;#10;&amp;lt;childContainerEntry childMemento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;amp;lt;librarySource/&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;quot; childType=&amp;quot;com.ti.ccstudio.debug.containerType.library.source&amp;quot;/&amp;gt;&amp;#13;&amp;#10;&amp;lt;/cpuSpecificContainer&amp;gt;&amp;#13;&amp;#10;&quot; typeId=&quot;com.ti.ccstudio.debug.containerType.cpu.specific&quot;/&gt;&#13;&#10;&lt;container memento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#13;&amp;#10;&amp;lt;cpuSpecificContainer cpuName=&amp;quot;TI MSP430 USB2_0/MSP430&amp;quot;&amp;gt;&amp;#13;&amp;#10;&amp;lt;childContainerEntry childMemento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;amp;lt;project name=&amp;amp;quot;MotorControl&amp;amp;quot; referencedProjects=&amp;amp;quot;true&amp;amp;quot;/&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;quot; childType=&amp;quot;org.eclipse.debug.core.containerType.project&amp;quot;/&amp;gt;&amp;#13;&amp;#10;&amp;lt;childContainerEntry childMemento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;amp;lt;default/&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;quot; childType=&amp;quot;org.eclipse.debug.core.containerType.default&amp;quot;/&amp;gt;&amp;#13;&amp;#10;&amp;lt;childContainerEntry childMemento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;amp;lt;productsSource/&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;quot; childType=&amp;quot;com.ti.ccstudio.debug.containerType.products.source&amp;quot;/&amp;gt;&amp;#13;&amp;#10;&amp;lt;childContainerEntry childMemento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;amp;lt;deviceLibrarySource/&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;quot; childType=&amp;quot;com.ti.ccstudio.debug.containerType.device.library.source&amp;quot;/&amp;gt;&amp;#13;&amp;#10;&amp;lt;childContainerEntry childMemento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;amp;lt;librarySource/&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;quot; childType=&amp;quot;com.ti.ccstudio.debug.containerType.library.source&amp;quot;/&amp;gt;&amp;#13;&amp;#10;&amp;lt;/cpuSpecificContainer&amp;gt;&amp;#13;&amp;#10;&quot; typeId=&quot;com.ti.ccstudio.debug.containerType.cpu.specific&quot;/&gt;&#13;&#10;&lt;container memento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#13;&amp;#10;&amp;lt;cpuSpecificContainer cpuName=&amp;quot;TI MSP430 USB1_0/MSP430&amp;quot;&amp;gt;&amp;#13;&amp;#10;&amp;lt;childContainerEntry childMemento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;amp;lt;project name=&amp;amp;quot;MotorControl&amp;amp;quot; referencedProjects=&amp;amp;quot;true&amp;amp;quot;/&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;quot; childType=&amp;quot;org.eclipse.debug.core.containerType.project&amp;quot;/&amp;gt;&amp;#13;&amp;#10;&amp;lt;childContainerEntry childMemento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;amp;lt;default/&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;quot; childType=&amp;quot;org.eclipse.debug.core.containerType.default&amp;quot;/&amp;gt;&amp;#13;&amp;#10;&amp;lt;childContainerEntry childMemento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;amp;lt;productsSource/&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;quot; childType=&amp;quot;com.ti.ccstudio.debug.containerType.products.source&amp;quot;/&amp;gt;&amp;#13;&amp;#10;&amp;lt;childContainerEntry childMemento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;amp;lt;deviceLibrarySource/&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;quot; childType=&amp;quot;com.ti.ccstudio.debug.containerType.device.library.source&amp;quot;/&amp;gt;&amp;#13;&amp;#10;&amp;lt;childContainerEntry childMemento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;amp;lt;librarySource/&amp;amp;gt;&amp;amp;#13;&amp;amp;#10;&amp;quot; childType=&amp;quot;com.ti.ccstudio.debug.containerType.library.source&amp;quot;/&amp;gt;&amp;#13;&amp;#10;&amp;lt;/cpuSpecificContainer&amp;gt;&amp;#13;&amp;#10;&quot; typeId=&quot;com.ti.ccstudio.debug.containerType.cpu.specific&quot;/&gt;&#13;&#10;&lt;/sourceContainers&gt;&#13;&#10;&lt;/sourceLookupDirector&gt;&#13;&#10;"/>
+<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;/&gt;&#13;&#10;"/>
 </launchConfiguration>
diff --git a/Apps/FlightSoftware/MotorControl/i2c.c b/Apps/FlightSoftware/MotorControl/i2c.c
index f59e0ec4d..b962fd060 100644
--- a/Apps/FlightSoftware/MotorControl/i2c.c
+++ b/Apps/FlightSoftware/MotorControl/i2c.c
@@ -213,42 +213,31 @@ inline void i2cSlaveTransactionDone(const uint8_t cmd){
       }
       case P_CURRENT:
       {
-        uint16_t input_as_uint = 0;
-        copyArray((uint8_t*)g_rxBuffer,
-                  (uint8_t*)&input_as_uint,
-                  sizeof(input_as_uint));
-        float input_as_float = (float)(*(int16_t *)input_as_uint);
-        g_piCur.Kp = _IQ(input_as_float);
+         // This conversion has been verified to be working as of 5-1-2021
+      copyArray((uint8_t*)g_rxBuffer,
+                        (uint8_t*)&g_piCur.Kp,
+                        sizeof(g_piCur.Kp));
         break;
       }
       case I_CURRENT:
       {
-          uint16_t input_as_uint = 0;
           copyArray((uint8_t*)g_rxBuffer,
-                    (uint8_t*)&input_as_uint,
-                    sizeof(input_as_uint));
-          float input_as_float = (float)(*(int16_t *)input_as_uint);
-          g_piCur.Ki = _IQ(input_as_float);
+                      (uint8_t*)&g_piCur.Ki,
+                      sizeof(g_piCur.Ki ));
           break;
       }
       case P_SPEED:
       {
-        uint16_t input_as_uint = 0;
-        copyArray((uint8_t*)g_rxBuffer,
-                  (uint8_t*)&input_as_uint,
-                  sizeof(input_as_uint));
-        float input_as_float = (float)(*(int16_t *)input_as_uint);
-        g_piSpd.Kp = _IQ(input_as_float);
+          copyArray((uint8_t*)g_rxBuffer,
+                (uint8_t*)&g_piSpd.Kp,
+                sizeof(g_piSpd.Kp ));
         break;
       }
       case I_SPEED:
       {
-          uint16_t input_as_uint = 0;
           copyArray((uint8_t*)g_rxBuffer,
-                    (uint8_t*)&input_as_uint,
-                    sizeof(input_as_uint));
-          float input_as_float = (float)(*(int16_t *)input_as_uint);
-          g_piSpd.Kp = _IQ(input_as_float);
+                    (uint8_t*)&g_piSpd.Ki,
+                    sizeof(g_piSpd.Ki ));
           break;
       }
       case CONTROL_REGISTER:
diff --git a/Apps/FlightSoftware/MotorControl/main.c b/Apps/FlightSoftware/MotorControl/main.c
index a1c32bbc1..c6ffef90e 100644
--- a/Apps/FlightSoftware/MotorControl/main.c
+++ b/Apps/FlightSoftware/MotorControl/main.c
@@ -818,30 +818,39 @@ void main(void){
               if(!g_targetReached)
                   g_drivingTimeoutCtr++;
             }
+          // reset controller internals if needed
+        #ifndef IRIS_ALL_OFF
+           asm("  NOP");
+          g_closedLoop = (_IQabs(g_currentSpeed) > g_closeLoopThreshold && !g_targetReached) ? true : false;
+
+           // if controllers are saturated, reset its integrator & output
+           if(g_piSpd.w1){
+               __disable_interrupt();
+              g_piSpd.i1 = 0;
+              g_piSpd.ui = 0;
+              g_piSpd.v1 = 0;
+              __enable_interrupt();
+           }
+
+           if(g_piCur.w1){
+               __disable_interrupt();
+               g_piCur.i1 = 0;
+               g_piCur.ui = 0;
+               g_piCur.v1 = 0;
+               __enable_interrupt();
+           }
+
+        #endif
         }
 
-#ifndef IRIS_ALL_OFF
-   asm("  NOP");
-  g_closedLoop = (_IQabs(g_currentSpeed) > g_closeLoopThreshold && !g_targetReached) ? true : false;
-
-   // if controllers are saturated, reset its integrator & output
-   if(g_piSpd.w1){
-       __disable_interrupt();
-      g_piSpd.i1 = 0;
-      g_piSpd.ui = 0;
-      g_piSpd.v1 = 0;
-      __enable_interrupt();
-   }
-
-   if(g_piCur.w1){
-       __disable_interrupt();
-       g_piCur.i1 = 0;
-       g_piCur.ui = 0;
-       g_piCur.v1 = 0;
-       __enable_interrupt();
-   }
-
-#endif
+      // check if motor has taken too long to converge, act accordingly if so
+      if(g_drivingTimeoutCtr > DRIVING_TIMEOUT_THRESHOLD){
+          g_targetReached = true;
+          g_targetPosition = g_currentPosition; // so motor won't flip g_targetReached again
+          g_faultRegister |= DRIVING_TIMEOUT;
+          g_statusRegister |= (POSITION_CONVERGED | CONTROLLER_ERROR);
+          g_drivingTimeoutCtr = 0;
+      }
   }
 }
 
diff --git a/Apps/FlightSoftware/MotorControl/main.h b/Apps/FlightSoftware/MotorControl/main.h
index d8a41d006..c779cf105 100644
--- a/Apps/FlightSoftware/MotorControl/main.h
+++ b/Apps/FlightSoftware/MotorControl/main.h
@@ -17,7 +17,7 @@
 #define PWM_HALF_PERIOD_TICKS       256
 #define PI_SPD_CONTROL_PRESCALER    1000 // 15.6 Hz, speed control
 #define OPEN_LOOP_SPEED             3   // estimate of rotational distance (in hall sensor ticks) covered in 1/15.6 [sec] by motor when in open loop
-#define DRIVING_TIMEOUT_THRESHOLD   2000 // how much time in 1/15.6 [sec] before stopping driving (2000 = ~128 seconds)
+#define DRIVING_TIMEOUT_THRESHOLD   1872 // how much time in 1/15.6 [sec] before stopping driving (1872 = ~120 seconds)
 
 // bits of control register
 #define DRIVE_OPEN_LOOP             1       // first bit of control reg; drive only in open loop if set to 1

From f2bc311bfecf129bba4d065d2b8ee28f20aadd26 Mon Sep 17 00:00:00 2001
From: Justin Nguyen <justinnuwin@gmail.com>
Date: Sat, 1 May 2021 15:09:40 -0400
Subject: [PATCH 39/42] Add tests for Kp, openloop, and timeout

---
 .../FlightMCU/App/Main.cpp                    | 32 +++++++++++++++----
 .../MotorControl/MotorControlComponent.cpp    |  8 ++---
 2 files changed, 30 insertions(+), 10 deletions(-)

diff --git a/Apps/FlightSoftware/PrimaryFlightController/FlightMCU/App/Main.cpp b/Apps/FlightSoftware/PrimaryFlightController/FlightMCU/App/Main.cpp
index fdc4e0bde..ef5dee61a 100644
--- a/Apps/FlightSoftware/PrimaryFlightController/FlightMCU/App/Main.cpp
+++ b/Apps/FlightSoftware/PrimaryFlightController/FlightMCU/App/Main.cpp
@@ -31,24 +31,44 @@ extern "C" {
 }
 
 extern CubeRover::MotorControlComponentImpl motorControl;
-bool test = false;
+bool test_movement = false;
+bool test_set_gains = false;
+bool test_openloop = false;
 int dist = 5;
 int angle = 45;
 void vApplicationIdleHook(void) {
     run1cycle();
-    if (test) {
-        for (int i = 80; i; i--) {
-            motorControl.moveAllMotorsStraight(-1*dist, i);
+    if (test_set_gains) {
+        motorControl.MC_Current_PID_cmdHandler(0x00, 0, 0, 0x001e7530);
+        motorControl.MC_Speed_PID_cmdHandler(0x00, 0, 0, 0x001e7530);
+    }
+    if (test_openloop) {
+        motorControl.m_openloop_mode = true;
+
+        motorControl.moveAllMotorsStraight(2, 42);   // Speed is ignored when openloop torque override is set
+        motorControl.pollStatus();
+
+        for (int i = 100000; i; i--);
+
+        motorControl.moveAllMotorsStraight(100, 42);  // Test timeout of position converged flag
+        motorControl.pollStatus();
+
+        motorControl.m_openloop_mode = false;
+    }
+    if (test_movement) {
+        for (int i = 80; i; i--) {      // Test ramping speed
+            motorControl.moveAllMotorsStraight(dist, i);
             motorControl.pollStatus();
         }
 
-        for (int i = 20; i; i--) {
-            motorControl.moveAllMotorsStraight(dist, 100);
+        for (int i = 20; i; i--) {      // Test full speed opposite direction
+            motorControl.moveAllMotorsStraight(-1*dist, 100);
             motorControl.pollStatus();
         }
 
         for (int i = 100000; i; i--);
 
+        // Test turning
         for (int i = 40; i; i--) {
             motorControl.rotateAllMotors(angle, 100);
             motorControl.pollStatus();
diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp
index f2cc6272d..3eb37ea77 100644
--- a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp
+++ b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp
@@ -175,8 +175,8 @@ namespace CubeRover {
                                                               U32 PI_Values)
   {
     MCError_t err;
-    uint16_t P_Value = (uint16_t)((PI_Values & (uint32_t)0x00ff) >> 0 );
-    uint16_t I_Value = (uint16_t)((PI_Values & (uint32_t)0xff00) >> 16);
+    uint16_t P_Value = (uint16_t)((PI_Values & (uint32_t)0x0000ffff) >> 0 );
+    uint16_t I_Value = (uint16_t)((PI_Values & (uint32_t)0xffff0000) >> 16);
 
     if (Motor_ID == ALL_MOTOR_ID) {
         err = sendAllMotorsData(REG_P_CURRENT, &P_Value);
@@ -221,8 +221,8 @@ namespace CubeRover {
                                                             U32 PID_Values)
   {
     MCError_t err;
-    uint16_t P_Value = (uint16_t)((PID_Values & (uint32_t)0x00ff) >> 0 );
-    uint16_t I_Value = (uint16_t)((PID_Values & (uint32_t)0xff00) >> 16);
+    uint16_t P_Value = (uint16_t)((PID_Values & (uint32_t)0x0000ffff) >> 0 );
+    uint16_t I_Value = (uint16_t)((PID_Values & (uint32_t)0xffff0000) >> 16);
     
     if (Motor_ID == ALL_MOTOR_ID) {
         err = sendAllMotorsData(REG_P_SPEED, &P_Value);

From 01e8a3f1759aae19e69ce3578b2a92a2177d9863 Mon Sep 17 00:00:00 2001
From: Iris Watchdog Developers <watchdog-devs@irisrover.space>
Date: Sat, 1 May 2021 16:02:44 -0400
Subject: [PATCH 40/42] Cleaned up code & corrected small bug with integral
 term being fully reset (caused stop-start behavior when given large position
 setpoints

---
 Apps/FlightSoftware/MotorControl/i2c.c     |  25 ++---
 Apps/FlightSoftware/MotorControl/i2c.h     |  13 ---
 Apps/FlightSoftware/MotorControl/impulse.h |   4 +
 Apps/FlightSoftware/MotorControl/main.c    | 119 ++++++++++-----------
 Apps/FlightSoftware/MotorControl/main.h    |  33 +++---
 5 files changed, 93 insertions(+), 101 deletions(-)

diff --git a/Apps/FlightSoftware/MotorControl/i2c.c b/Apps/FlightSoftware/MotorControl/i2c.c
index b962fd060..e528c20b9 100644
--- a/Apps/FlightSoftware/MotorControl/i2c.c
+++ b/Apps/FlightSoftware/MotorControl/i2c.c
@@ -1,5 +1,6 @@
 #include "i2c.h"
 
+// variables for i2c fucntionality
 volatile uint8_t g_rxBuffer[I2C_RX_BUFFER_MAX_SIZE];
 volatile uint8_t g_txBuffer[I2C_TX_BUFFER_MAX_SIZE];
 volatile uint8_t g_rxBufferIdx;
@@ -9,8 +10,9 @@ volatile uint8_t g_txByteCtr;
 volatile I2cMode g_slaveMode;
 volatile uint8_t g_i2cSlaveAddress;
 volatile uint8_t g_readRegAddr;
+volatile uint8_t g_i2cCmdLength[MAX_NB_CMDS];
 
-
+// external variables that are written and read to
 extern volatile _iq g_currentSpeed;
 extern volatile int32_t g_currentPosition;
 extern volatile int32_t g_targetPosition;
@@ -21,17 +23,8 @@ extern uint8_t g_statusRegister;
 extern uint8_t g_controlRegister;
 extern uint8_t g_faultRegister;
 extern uint32_t g_drivingTimeoutCtr;
-
 extern uint16_t g_accelRate, g_decelRate;
-
-int16_t g_transmitCurrentPosition;
-
-volatile uint8_t g_i2cCmdLength[MAX_NB_CMDS];
-
 extern CmdState g_cmdState;
-extern bool driveOpenLoop;
-
-extern bool g_i2cSend;
 
 
 /**
@@ -126,7 +119,6 @@ inline void i2cSlaveProcessCmd(const uint8_t cmd){
         g_slaveMode = TX_DATA_MODE;
         g_txByteCtr = g_i2cCmdLength[cmd];
         //Fill out the TransmitBuffer
-//        int16_t current_info = (int16_t)g_piCur.Fbk; // top 16 MSBs empty
         copyArray((uint8_t*)&g_piCur.Fbk, (uint8_t*)g_txBuffer, g_txByteCtr);
         disableI2cRxInterrupt();
         enableI2cTxInterrupt();
@@ -196,7 +188,7 @@ inline void i2cSlaveTransactionDone(const uint8_t cmd){
         copyArray((uint8_t*)g_rxBuffer,
                   (uint8_t*)&g_targetPosition,
                   sizeof(g_targetPosition));
-        g_currentPosition = 0;
+        g_currentPosition = 0; // reset because target pos is relative
         g_statusRegister &= ~POSITION_CONVERGED; // likely no longer converged (if still converged, control loop will correct for that)
         g_drivingTimeoutCtr = 0; //reset timeout counter
         g_faultRegister = 0; // reset fault register
@@ -206,9 +198,6 @@ inline void i2cSlaveTransactionDone(const uint8_t cmd){
         copyArray((uint8_t*)g_rxBuffer,
                   (uint8_t*)&g_maxSpeed,
                   sizeof(g_maxSpeed));
-//        if(g_maxSpeed > MAX_TARGET_SPEED){
-//            g_maxSpeed = MAX_TARGET_SPEED;
-//        }
         break;
       }
       case P_CURRENT:
@@ -283,7 +272,8 @@ inline void i2cSlaveTransactionDone(const uint8_t cmd){
 
 
 /**
- * @brief      Initializes the command length.
+ * @brief      Initializes the command length
+ *              (expected # of bytes to read/write for each register)
  */
 void initializeCmdLength(){
   g_i2cCmdLength[I2C_ADDRESS] = 1;
@@ -365,11 +355,13 @@ __interrupt void USCI_B0_ISR(void){
       rxBuf = UCB0RXBUF;
       switch(g_slaveMode){
         case RX_REG_ADDRESS_MODE:
+            // switch state based on which register master wants to interact with (all read only OR write only)
           TB0CCTL0 = 0x0000; // Turn off timer interrupt
           g_readRegAddr = rxBuf;
           i2cSlaveProcessCmd(g_readRegAddr);
           break;
         case RX_DATA_MODE:
+            // master is writing bytes to us
           g_rxBuffer[g_rxBufferIdx++] = rxBuf;
           g_rxByteCtr--;
           if(g_rxByteCtr == 0){
@@ -389,6 +381,7 @@ __interrupt void USCI_B0_ISR(void){
     case USCI_I2C_UCTXIFG0:                 // Vector 24: TXIFG0
       switch(g_slaveMode){
         case TX_DATA_MODE:
+            // master is reading bytes from us
           UCB0TXBUF = g_txBuffer[g_txBufferIdx++];
           g_txByteCtr--;
           if(g_txByteCtr == 0){
diff --git a/Apps/FlightSoftware/MotorControl/i2c.h b/Apps/FlightSoftware/MotorControl/i2c.h
index d31ccab89..6b5572455 100644
--- a/Apps/FlightSoftware/MotorControl/i2c.h
+++ b/Apps/FlightSoftware/MotorControl/i2c.h
@@ -45,19 +45,6 @@ typedef enum I2cMode{
     TIMEOUT_MODE
 }I2cMode;
 
-
-typedef struct I2cPacket{
-    uint8_t header;
-    uint8_t dataSize;
-    uint8_t regId;
-    uint8_t data[I2C_MAX_DATA_SIZE];
-
-}I2cPacket;
-
-bool readI2cData(I2cPacket *pckt);
 void initializeI2cModule();
-//void disableI2cTxInterrupt();
-//void enableI2cRxInterrupt();
-//void i2cSlaveTransactionDone(const uint8_t cmd);
 
 #endif /* I2C_H_ */
diff --git a/Apps/FlightSoftware/MotorControl/impulse.h b/Apps/FlightSoftware/MotorControl/impulse.h
index 68a433a0a..902ffb981 100644
--- a/Apps/FlightSoftware/MotorControl/impulse.h
+++ b/Apps/FlightSoftware/MotorControl/impulse.h
@@ -10,6 +10,7 @@ typedef struct { uint16_t  Period;		// Input: Period of output impulse in a numb
 	IMPULSE Macro Definition
 ------------------------------------------------------------------------------*/
 
+// this macro is used to kick-start closed loop control; doesn't need to be as fast
 #define IMPULSE_MACRO(v)										\
   																\
   v.Out = 0x00;      /* Always clear impulse output at entry*/ \
@@ -21,6 +22,9 @@ typedef struct { uint16_t  Period;		// Input: Period of output impulse in a numb
      v.Counter = 0;        /* Reset counter*/					\
   } 
 
+// this macro is for fully open-loop control
+//      ticks through commutations faster (by skipping half of them), allows for open loop
+//      speed to be twice as fast
 #define OPEN_LOOP_IMPULSE_MACRO(v)                                        \
                                                                 \
   v.Out = 0x00;      /* Always clear impulse output at entry*/ \
diff --git a/Apps/FlightSoftware/MotorControl/main.c b/Apps/FlightSoftware/MotorControl/main.c
index c6ffef90e..971e80b5c 100644
--- a/Apps/FlightSoftware/MotorControl/main.c
+++ b/Apps/FlightSoftware/MotorControl/main.c
@@ -62,12 +62,6 @@ volatile uint32_t g_drivingTimeoutCtr;
 uint8_t g_errorCounter= 0; // incremented every time inner control loop is reached and motor is acting strange
                            // if it exceeds ERROR_ITERATION_THRESHOLD then motor is stopped
 
-// backup plan for if we cannot get encoder readings
-volatile bool driveOpenLoop = false;
-
-int g_testeroni = 0;
-volatile uint8_t g_rxBuffer_tmp[I2C_RX_BUFFER_MAX_SIZE];
-
 // timing debug
 bool g_readSensors = false;
 
@@ -572,9 +566,6 @@ void main(void){
 
   initializeGpios();
 
-  // [DEBUG]
-//  g_rxBuffer_tmp[0] = 75;
-
 #ifdef IRIS_CLEAR_FAULT
   clear_driver_fault_register();
 #endif
@@ -587,7 +578,10 @@ void main(void){
   CS_initClockSignal(CS_SMCLK,CS_DCOCLK_SELECT,CS_CLOCK_DIVIDER_1);
   CS_initClockSignal(CS_MCLK,CS_DCOCLK_SELECT,CS_CLOCK_DIVIDER_1);
 
-  // Initialize global variables
+  // ==========================================
+  //    Initialize global variables
+  // ==========================================
+  // sensor-related variables (current & hall/encoder)
   g_currentOffsetPhaseA = 0;
   g_currentOffsetPhaseB = 0;
   g_currentOffsetPhaseC = 0;
@@ -607,13 +601,15 @@ void main(void){
 #ifdef IRIS_SPIN_MOTOR_INDEF
   g_targetPosition = 1000000; //approx 100 revolutions
 #endif
+
+  // software control related variables (rate groups, internal state machine)
   g_controlPrescaler = PI_SPD_CONTROL_PRESCALER;
   g_closedLoop = false;
-  g_state = RUNNING; // g_statusRegister bit 3 is 0 to reflect this state
+  g_state = RUNNING;
   g_cmdState = NO_CMD;
+  g_controlRegister = 0; // see main.h for bits
 
-//  copyArray((uint8_t*)g_rxBuffer_tmp, (uint8_t*)&g_maxSpeed,sizeof(g_maxSpeed));
-
+  // motor controller related variables (PI contorllers for speed and current)
   g_maxSpeed = MAX_TARGET_SPEED;
 
   g_openLoopTorque = _IQ(OPEN_LOOP_TORQUE);
@@ -630,8 +626,9 @@ void main(void){
 
   g_closeLoopThreshold = _IQ(CLOSE_LOOP_THRESHOLD);
   g_closedLoop = false;
-  g_controlRegister = 0; // 33 = (1 for driving open loop, 32 for execute command)
 
+
+  // initialize hardware components
   initializeI2cModule();
   initializePwmModules();
   initializeAdcModule();
@@ -641,7 +638,8 @@ void main(void){
 
   currentOffsetCalibration();
 
-  enableGateDriver(); // TODO <<<< remove this line
+  enableGateDriver(); // get ready to move
+
 
 #else
     disableGateDriver();
@@ -652,38 +650,39 @@ void main(void){
   while(1){
       // check if target reached
       if  (_IQabs(g_targetPosition - g_currentPosition) < 100) {
-            g_targetReached = true;
-            g_statusRegister |= POSITION_CONVERGED;
-            // turn off output
-            _iq output = _IQ(0.0);
-            pwmGenerator(g_commState, output);
-        } else {
-            // target not reached yet
-            g_targetReached = false;
-            g_statusRegister &= ~POSITION_CONVERGED;
-        }
+          // target has been reached
+          g_targetReached = true;
+          g_statusRegister |= POSITION_CONVERGED;
+          // turn off output
+          _iq output = _IQ(0.0);
+          pwmGenerator(g_commState, output);
+      } else {
+          // target not reached yet
+          g_targetReached = false;
+          g_statusRegister &= ~POSITION_CONVERGED;
+      }
 
       // check if driving in open or closed loop, act accordingly
       if (g_controlRegister & DRIVE_OPEN_LOOP && g_controlRegister & EXECUTE_COMMAND) {
             //driving open loop
 
-            // target position sets direction motor drives in (will NOT converge though)
+            // target position sets direction motor drives in
             g_targetDirection = (g_targetPosition - g_currentPosition >= 0) ? 1 : -1;
 
             if(!g_targetReached){
-                // Execute macro to generate ramp up if needed
+                // Iterate through commutations & apply impulse to desired motor windings
                   OPEN_LOOP_IMPULSE_MACRO(g_impulse);
                   if(g_impulse.Out){
                     MOD6CNT_MACRO(g_mod6cnt);
                     g_commState = (g_targetDirection > 0) ? g_mod6cnt.Counter : 5 - g_mod6cnt.Counter;
                   }
 
-                // apply constant output
+
                 _iq output;
                 if(g_controlRegister & OPEN_LOOP_TORQUE_OVERRIDE)
-                    output = _IQ(g_maxSpeed / MAX_TARGET_SPEED);
+                    output = _IQ(g_maxSpeed / MAX_TARGET_SPEED); // apply user specified output
                 else
-                    output = _IQ(0.3);
+                    output = _IQ(0.3); // apply constant output
 
                 // apply output as PWM
                 if(g_targetDirection > 0) {
@@ -694,6 +693,7 @@ void main(void){
 
             }
 
+            // control loop - updates current position with speed estimate & ticks timeout counter
             if (g_controlPrescaler<=0){
                 g_controlPrescaler = PI_SPD_CONTROL_PRESCALER;
                 g_currentPosition += g_targetDirection * OPEN_LOOP_SPEED;
@@ -703,9 +703,10 @@ void main(void){
             }
 
         } else if (g_controlRegister & EXECUTE_COMMAND){
-            // driving closed loop
-        // update sensor (Hall & current) readings
+        // driving closed loop
+
         if(g_readSensors){
+            // update sensor (Hall & current) readings
             g_readSensors = false;
 
             // measure hall sensors
@@ -757,6 +758,10 @@ void main(void){
 
           PI_MACRO(g_piCur);
 
+          // check if we can pivot to closed loop control
+          g_closedLoop = (_IQabs(g_currentSpeed) > g_closeLoopThreshold && !g_targetReached) ? true : false;
+
+          // apply constant torque if still in open loop
           if(g_closedLoop == false && g_targetReached == false){
             g_piCur.i1 = 0;
             g_piCur.ui = 0;
@@ -767,7 +772,7 @@ void main(void){
                 g_closedLoop = true;
             }
           }
-
+          // set integrator and output to 0 if target is reached
           if(g_targetReached == true){
               g_piCur.i1 = 0;
               g_piCur.ui = 0;
@@ -776,7 +781,23 @@ void main(void){
               g_piCur.Out = 0;
               g_closedLoop = false;
           }
+//           if controllers are saturated, reset its integrator & output
+          if(g_piSpd.w1){
+              __disable_interrupt();
+             g_piSpd.i1 = 0; // full wipe of integrator causes jumpy stop-start behavior
+             g_piSpd.ui = 0;
+             g_piSpd.v1 = 0;
+             __enable_interrupt();
+          }
+          if(g_piCur.w1){
+              __disable_interrupt();
+              g_piCur.i1 = _IQ(0.5); // full wipe of integrator causes jumpy stop-start behavior
+              g_piCur.ui = 0;
+              g_piCur.v1 = 0;
+              __enable_interrupt();
+          }
 
+          // apply duty cycle based on current PI controller's output
           pwmGenerator(g_commState, g_piCur.Out);
 
           // outer control loop (speed)
@@ -811,36 +832,13 @@ void main(void){
               }
 
               g_piSpd.Fbk = getSpeed();
-
               PI_MACRO(g_piSpd);
 
+              // rest control prescaler & tick timeout counter
               g_controlPrescaler = PI_SPD_CONTROL_PRESCALER;
               if(!g_targetReached)
                   g_drivingTimeoutCtr++;
             }
-          // reset controller internals if needed
-        #ifndef IRIS_ALL_OFF
-           asm("  NOP");
-          g_closedLoop = (_IQabs(g_currentSpeed) > g_closeLoopThreshold && !g_targetReached) ? true : false;
-
-           // if controllers are saturated, reset its integrator & output
-           if(g_piSpd.w1){
-               __disable_interrupt();
-              g_piSpd.i1 = 0;
-              g_piSpd.ui = 0;
-              g_piSpd.v1 = 0;
-              __enable_interrupt();
-           }
-
-           if(g_piCur.w1){
-               __disable_interrupt();
-               g_piCur.i1 = 0;
-               g_piCur.ui = 0;
-               g_piCur.v1 = 0;
-               __enable_interrupt();
-           }
-
-        #endif
         }
 
       // check if motor has taken too long to converge, act accordingly if so
@@ -856,7 +854,7 @@ void main(void){
 
 
 /**
- * @brief      Main control loop
+ * @brief      Timer interrupt that sets rate for controller and indicates when to read sensors again
  */
 #ifndef IRIS_ALL_OFF
 
@@ -864,6 +862,7 @@ void main(void){
 #pragma vector=TIMER0_B0_VECTOR
 __interrupt void TIMER0_B0_ISR (void){
 
+    // calibrate ADC for current readings
     if(g_calibrating){
       // Prepare ADC conversion for next round
       HWREG8(ADC12_B_BASE + OFS_ADC12CTL0_L) &= ~(ADC12ENC);
@@ -875,9 +874,9 @@ __interrupt void TIMER0_B0_ISR (void){
       g_calibrationDone = true;
     }
 
-    if(!g_calibrationDone) return;
+    if(!g_calibrationDone) return; // wait for calibration to finish
 
-    g_readSensors=true;
+    g_readSensors=true; // read sensors (hall/encoders & current) again every time this interrupts fires
 
     // without conditional can get huge and negative
    if(g_controlPrescaler>0)
diff --git a/Apps/FlightSoftware/MotorControl/main.h b/Apps/FlightSoftware/MotorControl/main.h
index c779cf105..af5814871 100644
--- a/Apps/FlightSoftware/MotorControl/main.h
+++ b/Apps/FlightSoftware/MotorControl/main.h
@@ -13,12 +13,10 @@
 #include "mod6_cnt.h"
 #include "impulse.h"
 
-#define PWM_PERIOD_TICKS            512 // 15.6 KHz @ 16MHz
-#define PWM_HALF_PERIOD_TICKS       256
-#define PI_SPD_CONTROL_PRESCALER    1000 // 15.6 Hz, speed control
-#define OPEN_LOOP_SPEED             3   // estimate of rotational distance (in hall sensor ticks) covered in 1/15.6 [sec] by motor when in open loop
-#define DRIVING_TIMEOUT_THRESHOLD   1872 // how much time in 1/15.6 [sec] before stopping driving (1872 = ~120 seconds)
-
+/* ============================================
+ *          Bits of Registers
+ * ============================================
+ */
 // bits of control register
 #define DRIVE_OPEN_LOOP             1       // first bit of control reg; drive only in open loop if set to 1
 #define CLEAR_DRIVER_FAULT          2       // second bit indicates request to try to clear fault in motor driver
@@ -39,22 +37,33 @@
 #define DRIVING_TIMEOUT             8           // for if motor does not converge in time defined by DRIVING_TIMEOUT_THRESHOLD
 
 #define ERROR_ITERATION_THRESHOLD   10      // how many iterations motor performance must be funky before driving is stopped
+#define PWM_PERIOD_TICKS            512 // 15.6 KHz @ 16MHz
+#define PWM_HALF_PERIOD_TICKS       256
+#define PI_SPD_CONTROL_PRESCALER    1000 // 15.6 Hz, speed control
+#define OPEN_LOOP_SPEED             3   // estimate of rotational distance (in hall sensor ticks) covered in 1/15.6 [sec] by motor when in open loop
+#define DRIVING_TIMEOUT_THRESHOLD   1872 // how much time in 1/15.6 [sec] before stopping driving (1872 = ~120 seconds)
 
+/* ============================================
+ *          Constants
+ * ============================================
+ */
 #define KP_SPD                  1.0
 #define KI_SPD                  0.0009
 #define KP_CUR                  0.95
 #define KI_CUR                  0.002
 
-#define OPEN_LOOP_TORQUE        0.1       // Normalized to 1.0, 1.0 being maximum current system can produce
-#define PERIOD_IMPULSE          150
+#define OPEN_LOOP_TORQUE        0.1       // for kick-starting into closed loop (normalized to 1.0, 1.0 being maximum current system can produce)
+#define PERIOD_IMPULSE          150       //   ^ also used to kick-start, see impulse.h for details
 #define CLOSE_LOOP_THRESHOLD    0.01      // Close loop threshold from open to close loop
-
+                                          //   -> threshold for current speed
 #define OPEN_LOOP_TICKS         10       // distance in hall sensor ticks motor covers in open loop mode per 1/15.6 sec
 
-#define ONE_OVER_4096           0.0002441
-
-#define MAX_TARGET_SPEED                   100U
+#define MAX_TARGET_SPEED                   100U // used to initialize g_maxSpeed
 
+/* ============================================
+ *        Function/struct/enum definitions
+ * ============================================
+ */
 inline _iq _IQ15mpy_inline(_iq,_iq);
 
 inline bool read_driver_fault();

From 4ba99b8c0e2f410e3703842ff50aeda044a8faf7 Mon Sep 17 00:00:00 2001
From: iris-hermes-mobile <iris.hermes.mobile@gmail.com>
Date: Fri, 15 Oct 2021 17:16:38 -0400
Subject: [PATCH 41/42] trying to fix gitingore

---
 .gitignore | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/.gitignore b/.gitignore
index 09da79fc4..e0044a6e9 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,7 @@
-Apps/FlightSoftware/MotorControl/Release/
-Apps/FlightSoftware/MotorControl/Debug/
+./Apps/FlightSoftware/MotorControl/Release/*
+./Apps/FlightSoftware/MotorControl/Debug/*
+Release/
+Debug/
+*.mk
+*.obj
+*.d

From 4dcf4e92303883bdb66933ea81d52ffa35af31ff Mon Sep 17 00:00:00 2001
From: iris-hermes-mobile <iris.hermes.mobile@gmail.com>
Date: Tue, 26 Oct 2021 13:16:10 -0400
Subject: [PATCH 42/42] removing build files that we don't want on github

---
 Apps/FlightSoftware/MotorControl/.cproject    | 217 ----------------
 .../FlightSoftware/MotorControl/Release/bsp.d | 109 --------
 .../MotorControl/Release/bsp.obj              | Bin 45092 -> 0 bytes
 .../MotorControl/Release/driverlib/adc12_b.d  |  45 ----
 .../Release/driverlib/adc12_b.obj             | Bin 51336 -> 0 bytes
 .../MotorControl/Release/driverlib/aes256.d   |  45 ----
 .../MotorControl/Release/driverlib/aes256.obj | Bin 42004 -> 0 bytes
 .../MotorControl/Release/driverlib/comp_e.d   |  45 ----
 .../MotorControl/Release/driverlib/comp_e.obj | Bin 48400 -> 0 bytes
 .../MotorControl/Release/driverlib/crc.d      |  45 ----
 .../MotorControl/Release/driverlib/crc.obj    | Bin 26976 -> 0 bytes
 .../MotorControl/Release/driverlib/crc32.d    |  45 ----
 .../MotorControl/Release/driverlib/crc32.obj  | Bin 29300 -> 0 bytes
 .../MotorControl/Release/driverlib/cs.d       |  45 ----
 .../MotorControl/Release/driverlib/cs.obj     | Bin 61032 -> 0 bytes
 .../MotorControl/Release/driverlib/dma.d      |  45 ----
 .../MotorControl/Release/driverlib/dma.obj    | Bin 47088 -> 0 bytes
 .../MotorControl/Release/driverlib/esi.d      |  37 ---
 .../MotorControl/Release/driverlib/esi.obj    | Bin 14604 -> 0 bytes
 .../Release/driverlib/eusci_a_spi.d           |  45 ----
 .../Release/driverlib/eusci_a_spi.obj         | Bin 43352 -> 0 bytes
 .../Release/driverlib/eusci_a_uart.d          |  45 ----
 .../Release/driverlib/eusci_a_uart.obj        | Bin 44684 -> 0 bytes
 .../Release/driverlib/eusci_b_i2c.d           |  45 ----
 .../Release/driverlib/eusci_b_i2c.obj         | Bin 84080 -> 0 bytes
 .../Release/driverlib/eusci_b_spi.d           |  45 ----
 .../Release/driverlib/eusci_b_spi.obj         | Bin 43344 -> 0 bytes
 .../MotorControl/Release/driverlib/framctl.d  |  37 ---
 .../Release/driverlib/framctl.obj             | Bin 14608 -> 0 bytes
 .../Release/driverlib/framctl_a.d             |  45 ----
 .../Release/driverlib/framctl_a.obj           | Bin 34620 -> 0 bytes
 .../MotorControl/Release/driverlib/gpio.d     |  45 ----
 .../MotorControl/Release/driverlib/gpio.obj   | Bin 44068 -> 0 bytes
 .../MotorControl/Release/driverlib/hspll.d    |  37 ---
 .../MotorControl/Release/driverlib/hspll.obj  | Bin 14608 -> 0 bytes
 .../MotorControl/Release/driverlib/lcd_c.d    |  37 ---
 .../MotorControl/Release/driverlib/lcd_c.obj  | Bin 14608 -> 0 bytes
 .../MotorControl/Release/driverlib/mpu.d      |  45 ----
 .../MotorControl/Release/driverlib/mpu.obj    | Bin 35924 -> 0 bytes
 .../MotorControl/Release/driverlib/mpy32.d    |  45 ----
 .../MotorControl/Release/driverlib/mpy32.obj  | Bin 45240 -> 0 bytes
 .../MotorControl/Release/driverlib/mtif.d     |  37 ---
 .../MotorControl/Release/driverlib/mtif.obj   | Bin 14608 -> 0 bytes
 .../MotorControl/Release/driverlib/pmm.d      |  45 ----
 .../MotorControl/Release/driverlib/pmm.obj    | Bin 27780 -> 0 bytes
 .../MotorControl/Release/driverlib/ram.d      |  45 ----
 .../MotorControl/Release/driverlib/ram.obj    | Bin 18316 -> 0 bytes
 .../MotorControl/Release/driverlib/ref_a.d    |  45 ----
 .../MotorControl/Release/driverlib/ref_a.obj  | Bin 38892 -> 0 bytes
 .../MotorControl/Release/driverlib/rtc_b.d    |  37 ---
 .../MotorControl/Release/driverlib/rtc_b.obj  | Bin 14608 -> 0 bytes
 .../MotorControl/Release/driverlib/rtc_c.d    |  45 ----
 .../MotorControl/Release/driverlib/rtc_c.obj  | Bin 58140 -> 0 bytes
 .../MotorControl/Release/driverlib/saph.d     |  37 ---
 .../MotorControl/Release/driverlib/saph.obj   | Bin 14608 -> 0 bytes
 .../MotorControl/Release/driverlib/sdhs.d     |  37 ---
 .../MotorControl/Release/driverlib/sdhs.obj   | Bin 14608 -> 0 bytes
 .../MotorControl/Release/driverlib/sfr.d      |  45 ----
 .../MotorControl/Release/driverlib/sfr.obj    | Bin 25620 -> 0 bytes
 .../Release/driverlib/subdir_rules.mk         |  15 --
 .../Release/driverlib/subdir_vars.mk          | 224 -----------------
 .../MotorControl/Release/driverlib/sysctl.d   |  45 ----
 .../MotorControl/Release/driverlib/sysctl.obj | Bin 33784 -> 0 bytes
 .../MotorControl/Release/driverlib/timer_a.d  |  45 ----
 .../Release/driverlib/timer_a.obj             | Bin 59236 -> 0 bytes
 .../MotorControl/Release/driverlib/timer_b.d  |  45 ----
 .../Release/driverlib/timer_b.obj             | Bin 64340 -> 0 bytes
 .../MotorControl/Release/driverlib/tlv.d      |  45 ----
 .../MotorControl/Release/driverlib/tlv.obj    | Bin 27084 -> 0 bytes
 .../MotorControl/Release/driverlib/uups.d     |  37 ---
 .../MotorControl/Release/driverlib/uups.obj   | Bin 14608 -> 0 bytes
 .../MotorControl/Release/driverlib/wdt_a.d    |  45 ----
 .../MotorControl/Release/driverlib/wdt_a.obj  | Bin 22812 -> 0 bytes
 .../FlightSoftware/MotorControl/Release/i2c.d | 133 ----------
 .../MotorControl/Release/i2c.obj              | Bin 69120 -> 0 bytes
 .../MotorControl/Release/main.d               | 133 ----------
 .../MotorControl/Release/main.obj             | Bin 93696 -> 0 bytes
 .../MotorControl/Release/objects.mk           |   8 -
 .../MotorControl/Release/sources.mk           | 116 ---------
 .../MotorControl/Release/subdir_rules.mk      |  15 --
 .../MotorControl/Release/subdir_vars.mk       |  41 ---
 .../FlightMCU/.cproject                       | 229 -----------------
 Apps/FlightSoftware/Watchdog/.cproject        | 229 -----------------
 .../Autocoders/MagicDrawCompPlugin/classes.mk |  27 --
 .../fprime/Autocoders/Python/templates/mod.mk |  28 ---
 .../Autocoders/Python/templates/test/mod.mk   |   8 -
 .../Python/templates/test/ut/mod.mk           |  23 --
 .../Python/test/active_tester/mod.mk          |  29 ---
 .../Python/test/active_tester/test/mod.mk     |   1 -
 .../Python/test/active_tester/test/ut/mod.mk  |  25 --
 .../fprime/Autocoders/Python/test/app1/mod.mk |  22 --
 .../Autocoders/Python/test/app1/test/mod.mk   |   1 -
 .../Python/test/app1/test/ut/mod.mk           |  25 --
 .../fprime/Autocoders/Python/test/app2/mod.mk |  22 --
 .../Autocoders/Python/test/app2/test/mod.mk   |   1 -
 .../Python/test/app2/test/ut/mod.mk           |  22 --
 .../Autocoders/Python/test/cnt_only/mod.mk    |  24 --
 .../Python/test/cnt_only/test/mod.mk          |   1 -
 .../Python/test/cnt_only/test/ut/mod.mk       |  25 --
 .../Autocoders/Python/test/command1/mod.mk    |  24 --
 .../Python/test/command1/test/mod.mk          |  17 --
 .../Python/test/command1/test/ut/mod.mk       |  22 --
 .../Autocoders/Python/test/command2/mod.mk    |  18 --
 .../Python/test/command2/test/mod.mk          |  17 --
 .../Python/test/command2/test/ut/mod.mk       |  22 --
 .../Python/test/command_multi_inst/mod.mk     |  23 --
 .../test/command_multi_inst/test/mod.mk       |  17 --
 .../test/command_multi_inst/test/ut/mod.mk    |  22 --
 .../Autocoders/Python/test/command_res/mod.mk |  22 --
 .../Python/test/command_res/test/mod.mk       |  17 --
 .../Python/test/command_res/test/ut/mod.mk    |  22 --
 .../Python/test/command_string/mod.mk         |  19 --
 .../Python/test/command_string/test/mod.mk    |  17 --
 .../Python/test/command_string/test/ut/mod.mk |  22 --
 .../Python/test/command_tester/mod.mk         |  18 --
 .../Python/test/command_tester/test/mod.mk    |  17 --
 .../Python/test/command_tester/test/ut/mod.mk |  22 --
 .../Python/test/comp_diff_namespace/mod.mk    |  21 --
 .../test/comp_diff_namespace/test/mod.mk      |  17 --
 .../test/comp_diff_namespace/test/ut/mod.mk   |  22 --
 .../Python/test/comp_no_namespace/mod.mk      |  22 --
 .../Python/test/comp_no_namespace/test/mod.mk |  17 --
 .../test/comp_no_namespace/test/ut/mod.mk     |  22 --
 .../Autocoders/Python/test/enum1port/mod.mk   |  18 --
 .../Python/test/enum_return_port/mod.mk       |  10 -
 .../Autocoders/Python/test/event1/mod.mk      |  18 --
 .../Autocoders/Python/test/event1/test/mod.mk |  17 --
 .../Python/test/event1/test/ut/mod.mk         |  22 --
 .../Autocoders/Python/test/event2/mod.mk      |  20 --
 .../Autocoders/Python/test/event2/test/mod.mk |  17 --
 .../Python/test/event2/test/ut/mod.mk         |  22 --
 .../Autocoders/Python/test/event_enum/mod.mk  |  18 --
 .../Python/test/event_enum/test/mod.mk        |   1 -
 .../Python/test/event_enum/test/ut/mod.mk     |  22 --
 .../Python/test/event_multi_inst/mod.mk       |  18 --
 .../Python/test/event_multi_inst/test/mod.mk  |  17 --
 .../test/event_multi_inst/test/ut/mod.mk      |  22 --
 .../Python/test/event_string/mod.mk           |  18 --
 .../Python/test/event_string/test/mod.mk      |  17 --
 .../Python/test/event_string/test/ut/mod.mk   |  22 --
 .../Python/test/event_throttle/mod.mk         |  18 --
 .../Python/test/event_throttle/test/mod.mk    |  17 --
 .../Python/test/event_throttle/test/ut/mod.mk |  22 --
 .../Autocoders/Python/test/ext_dict/mod.mk    |  23 --
 .../Python/test/ext_dict/test/mod.mk          |  17 --
 .../Python/test/ext_dict/test/ut/mod.mk       |  22 --
 .../Autocoders/Python/test/interface1/mod.mk  |  19 --
 .../Python/test/interface1/test/mod.mk        |  17 --
 .../Python/test/interface1/test/ut/mod.mk     |  22 --
 .../fprime/Autocoders/Python/test/log1/mod.mk |  19 --
 .../Autocoders/Python/test/log1/test/mod.mk   |  17 --
 .../Python/test/log1/test/ut/mod.mk           |  22 --
 .../Autocoders/Python/test/log_tester/mod.mk  |  20 --
 .../Python/test/log_tester/test/mod.mk        |  17 --
 .../Python/test/log_tester/test/ut/mod.mk     |  22 --
 .../fprime/Autocoders/Python/test/main/mod.mk |  18 --
 .../Autocoders/Python/test/noargport/mod.mk   |  19 --
 .../Python/test/noargport/test/mod.mk         |  17 --
 .../Python/test/noargport/test/ut/mod.mk      |  22 --
 .../Autocoders/Python/test/param1/mod.mk      |  18 --
 .../Autocoders/Python/test/param1/test/mod.mk |  17 --
 .../Python/test/param1/test/ut/mod.mk         |  20 --
 .../Autocoders/Python/test/param2/mod.mk      |  19 --
 .../Autocoders/Python/test/param2/test/mod.mk |  17 --
 .../Python/test/param2/test/ut/mod.mk         |  22 --
 .../Autocoders/Python/test/param_enum/mod.mk  |  19 --
 .../Python/test/param_enum/test/mod.mk        |  17 --
 .../Python/test/param_enum/test/ut/mod.mk     |  22 --
 .../Python/test/param_multi_inst/mod.mk       |  18 --
 .../Python/test/param_multi_inst/test/mod.mk  |  17 --
 .../test/param_multi_inst/test/ut/mod.mk      |  22 --
 .../Python/test/param_string/mod.mk           |  18 --
 .../Python/test/param_string/test/mod.mk      |  17 --
 .../Python/test/param_string/test/ut/mod.mk   |  22 --
 .../Python/test/param_tester/mod.mk           |  18 --
 .../Python/test/param_tester/test/mod.mk      |  17 --
 .../Python/test/param_tester/test/ut/mod.mk   |  22 --
 .../Python/test/pass_by_attrib/mod.mk         |  19 --
 .../Python/test/pass_by_attrib/test/mod.mk    |  17 --
 .../Python/test/pass_by_attrib/test/ut/mod.mk |  22 --
 .../Python/test/port_loopback/mod.mk          |  24 --
 .../Python/test/port_loopback/test/mod.mk     |  17 --
 .../Python/test/port_loopback/test/ut/mod.mk  |  22 --
 .../Autocoders/Python/test/port_nogen/mod.mk  |  23 --
 .../Python/test/port_nogen/test/mod.mk        |   8 -
 .../Python/test/port_nogen/test/ut/mod.mk     |  23 --
 .../Python/test/port_return_type/mod.mk       |  19 --
 .../Python/test/port_return_type/test/mod.mk  |  17 --
 .../test/port_return_type/test/ut/mod.mk      |  22 --
 .../Autocoders/Python/test/queued1/mod.mk     |  22 --
 .../Python/test/queued1/test/mod.mk           |   8 -
 .../Python/test/queued1/test/ut/mod.mk        |  22 --
 .../Python/test/serial_passive/mod.mk         |  20 --
 .../Python/test/serial_passive/test/mod.mk    |   1 -
 .../Python/test/serial_passive/test/ut/mod.mk |  16 --
 .../Autocoders/Python/test/serialize1/mod.mk  |  18 --
 .../Autocoders/Python/test/serialize2/mod.mk  |  18 --
 .../Autocoders/Python/test/serialize3/mod.mk  |  18 --
 .../Python/test/serialize3/test/mod.mk        |   1 -
 .../Python/test/serialize3/test/ut/mod.mk     |   7 -
 .../Python/test/serialize_enum/mod.mk         |  18 --
 .../Python/test/serialize_stringbuffer/mod.mk |  18 --
 .../test/serialize_stringbuffer/test/mod.mk   |   1 -
 .../serialize_stringbuffer/test/ut/mod.mk     |   7 -
 .../Python/test/serialize_template/mod.mk     |  21 --
 .../Python/test/serialize_user/mod.mk         |  24 --
 .../Python/test/serialize_user/test/mod.mk    |  17 --
 .../Python/test/serialize_user/test/ut/mod.mk |  22 --
 .../Autocoders/Python/test/stress/mod.mk      |  31 ---
 .../Autocoders/Python/test/stress/test/mod.mk |  17 --
 .../Python/test/stress/test/ut/mod.mk         |  22 --
 .../Autocoders/Python/test/string_port/mod.mk |  19 --
 .../Python/test/string_port/test/mod.mk       |  17 --
 .../Python/test/string_port/test/ut/mod.mk    |  22 --
 .../Python/test/telem_tester/mod.mk           |  18 --
 .../Python/test/telem_tester/test/mod.mk      |  17 --
 .../Python/test/telem_tester/test/ut/mod.mk   |  22 --
 .../Autocoders/Python/test/time_tester/mod.mk |  18 --
 .../Python/test/time_tester/test/mod.mk       |  17 --
 .../Python/test/time_tester/test/ut/mod.mk    |  22 --
 .../fprime/Autocoders/Python/test/tlm1/mod.mk |  18 --
 .../Autocoders/Python/test/tlm1/test/mod.mk   |  17 --
 .../Python/test/tlm1/test/ut/mod.mk           |  22 --
 .../fprime/Autocoders/Python/test/tlm2/mod.mk |  20 --
 .../Autocoders/Python/test/tlm2/test/mod.mk   |  17 --
 .../Python/test/tlm2/test/ut/mod.mk           |  22 --
 .../Autocoders/Python/test/tlm_enum/mod.mk    |  19 --
 .../Python/test/tlm_enum/test/mod.mk          |  17 --
 .../Python/test/tlm_enum/test/ut/mod.mk       |  22 --
 .../Python/test/tlm_multi_inst/mod.mk         |  18 --
 .../Python/test/tlm_multi_inst/test/mod.mk    |  17 --
 .../Python/test/tlm_multi_inst/test/ut/mod.mk |  22 --
 .../Python/test/tlm_onchange/mod.mk           |  25 --
 .../Python/test/tlm_onchange/test/mod.mk      |  17 --
 .../Python/test/tlm_onchange/test/ut/mod.mk   |  22 --
 .../Autocoders/Python/test/tlm_string/mod.mk  |  19 --
 .../Python/test/tlm_string/test/mod.mk        |  17 --
 .../Python/test/tlm_string/test/ut/mod.mk     |  22 --
 .../Python/utils/NoseTests/AppTemplate/mod.mk |  21 --
 .../utils/NoseTests/AppTemplate/test/mod.mk   |   1 -
 .../NoseTests/AppTemplate/test/ut/mod.mk      |  25 --
 .../fprime/CFDP/Checksum/GTest/mod.mk         |   6 -
 .../fprime/CFDP/Checksum/mod.mk               |  25 --
 .../fprime/CFDP/Checksum/test/mod.mk          |  17 --
 .../fprime/CFDP/Checksum/test/ut/mod.mk       |   9 -
 .../fprime/CubeRover/Camera/mod.mk            |   3 -
 .../CubeRoverComponentTemplate/mod.mk         |   5 -
 .../CubeRoverPorts/CameraTakePicture/mod.mk   |  10 -
 .../CubeRoverPorts/FileDownlink/mod.mk        |  10 -
 .../CubeRover/CubeRoverPorts/IMUData/mod.mk   |   2 -
 .../CubeRoverPorts/MotorCommand/mod.mk        |   2 -
 .../CubeRover/CubeRoverPorts/MotorData/mod.mk |   2 -
 .../WatchdogResetRequest/mod.mk               |   2 -
 .../fprime/CubeRover/CubeRoverPorts/mod.mk    |  14 --
 .../fprime/CubeRover/GroundInterface/mod.mk   |   3 -
 .../fprime/CubeRover/IMU/mod.mk               |   9 -
 .../fprime/CubeRover/MotorControl/mod.mk      |   9 -
 .../fprime/CubeRover/Navigation/mod.mk        |   2 -
 .../fprime/CubeRover/NetworkManager/mod.mk    |   6 -
 .../fprime/CubeRover/Top/mod.mk               |   4 -
 .../fprime/CubeRover/UdpInterface/mod.mk      |  12 -
 .../fprime/CubeRover/WatchDogInterface/mod.mk |   6 -
 .../fprime/Drv/BlockDriver/mod.mk             |  12 -
 .../fprime/Drv/DataTypes/mod.mk               |  12 -
 .../fprime/Drv/FreeRtosSerialDriver/mod.mk    |   7 -
 .../fprime/Drv/GpioDriverPorts/mod.mk         |   8 -
 .../fprime/Drv/LinuxGpioDriver/mod.mk         |  25 --
 .../fprime/Drv/LinuxGpioDriver/test/mod.mk    |   1 -
 .../fprime/Drv/LinuxGpioDriver/test/ut/mod.mk |  36 ---
 .../fprime/Drv/LinuxSerialDriver/mod.mk       |  25 --
 .../fprime/Drv/LinuxSerialDriver/test/mod.mk  |   1 -
 .../Drv/LinuxSerialDriver/test/ut/mod.mk      |  37 ---
 .../fprime/Drv/LinuxSpiDriver/mod.mk          |  26 --
 .../fprime/Drv/LinuxSpiDriver/test/mod.mk     |   8 -
 .../fprime/Drv/LinuxSpiDriver/test/ut/mod.mk  |  35 ---
 .../fprime/Drv/SerialDriverPorts/mod.mk       |   8 -
 .../fprime/Drv/SpiDriverPorts/mod.mk          |   8 -
 Apps/FlightSoftware/fprime/Fw/Buffer/mod.mk   |   8 -
 Apps/FlightSoftware/fprime/Fw/Cfg/mod.mk      |  23 --
 Apps/FlightSoftware/fprime/Fw/Cmd/mod.mk      |  29 ---
 Apps/FlightSoftware/fprime/Fw/Com/mod.mk      |  23 --
 Apps/FlightSoftware/fprime/Fw/ComFile/mod.mk  |  22 --
 Apps/FlightSoftware/fprime/Fw/Comp/mod.mk     |  18 --
 .../fprime/Fw/FilePacket/GTest/mod.mk         |  10 -
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 .../fprime/Fw/FilePacket/test/mod.mk          |   1 -
 .../fprime/Fw/FilePacket/test/ut/mod.mk       |  19 --
 Apps/FlightSoftware/fprime/Fw/Log/mod.mk      |  31 ---
 Apps/FlightSoftware/fprime/Fw/Log/test/mod.mk |   8 -
 .../fprime/Fw/Log/test/ut/mod.mk              |  13 -
 Apps/FlightSoftware/fprime/Fw/Obj/mod.mk      |  24 --
 Apps/FlightSoftware/fprime/Fw/Port/mod.mk     |  31 ---
 Apps/FlightSoftware/fprime/Fw/Prm/mod.mk      |  24 --
 .../fprime/Fw/SerializableFile/mod.mk         |   7 -
 .../test/TestSerializable/mod.mk              |   1 -
 .../fprime/Fw/SerializableFile/test/mod.mk    |   2 -
 .../fprime/Fw/SerializableFile/test/ut/mod.mk |  11 -
 Apps/FlightSoftware/fprime/Fw/Test/mod.mk     |   3 -
 Apps/FlightSoftware/fprime/Fw/Time/mod.mk     |  23 --
 .../FlightSoftware/fprime/Fw/Time/test/mod.mk |  17 --
 .../fprime/Fw/Time/test/ut/mod.mk             |  21 --
 Apps/FlightSoftware/fprime/Fw/Tlm/mod.mk      |  18 --
 Apps/FlightSoftware/fprime/Fw/Tlm/test/mod.mk |   8 -
 .../fprime/Fw/Tlm/test/ut/mod.mk              |  13 -
 .../fprime/Fw/Types/GTest/mod.mk              |   5 -
 Apps/FlightSoftware/fprime/Fw/Types/mod.mk    |  49 ----
 .../fprime/Fw/Types/test/mod.mk               |  17 --
 .../fprime/Fw/Types/test/ut/mod.mk            |  21 --
 Apps/FlightSoftware/fprime/Os/Stubs/mod.mk    |  15 --
 Apps/FlightSoftware/fprime/Os/mod.mk          | 117 ---------
 Apps/FlightSoftware/fprime/Os/test/mod.mk     |  10 -
 Apps/FlightSoftware/fprime/Os/test/ut/mod.mk  |  19 --
 Apps/FlightSoftware/fprime/RPI/RpiDemo/mod.mk |   6 -
 Apps/FlightSoftware/fprime/RPI/Top/mod.mk     |   4 -
 .../fprime/Ref/PingReceiver/mod.mk            |  20 --
 .../fprime/Ref/RecvBuffApp/mod.mk             |  21 --
 .../fprime/Ref/SendBuffApp/mod.mk             |  20 --
 .../fprime/Ref/SignalGen/mod.mk               |  11 -
 Apps/FlightSoftware/fprime/Ref/Top/mod.mk     |   2 -
 .../fprime/Svc/ActiveLogger/mod.mk            |  14 --
 .../fprime/Svc/ActiveLogger/test/mod.mk       |  11 -
 .../fprime/Svc/ActiveLogger/test/ut/mod.mk    |  41 ---
 .../fprime/Svc/ActiveRateGroup/mod.mk         |  24 --
 .../fprime/Svc/ActiveRateGroup/test/mod.mk    |  11 -
 .../fprime/Svc/ActiveRateGroup/test/ut/mod.mk |  37 ---
 .../fprime/Svc/AssertFatalAdapter/mod.mk      |  20 --
 .../fprime/Svc/AssertFatalAdapter/test/mod.mk |   8 -
 .../Svc/AssertFatalAdapter/test/ut/mod.mk     |  23 --
 .../fprime/Svc/BufferAccumulator/mod.mk       |   9 -
 .../fprime/Svc/BufferAccumulator/test/mod.mk  |   5 -
 .../Svc/BufferAccumulator/test/ut/mod.mk      |  22 --
 .../fprime/Svc/BufferLogger/mod.mk            |   9 -
 .../fprime/Svc/BufferLogger/test/mod.mk       |   5 -
 .../fprime/Svc/BufferLogger/test/ut/mod.mk    |  21 --
 .../fprime/Svc/BufferManager/mod.mk           |   9 -
 .../fprime/Svc/BufferManager/test/mod.mk      |   5 -
 .../fprime/Svc/BufferManager/test/ut/mod.mk   |  18 --
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diff --git a/Apps/FlightSoftware/MotorControl/.cproject b/Apps/FlightSoftware/MotorControl/.cproject
deleted file mode 100644
index 71b1d1484..000000000
--- a/Apps/FlightSoftware/MotorControl/.cproject
+++ /dev/null
@@ -1,217 +0,0 @@
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-									<listOptionValue builtIn="false" value="libmath.a"/>
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-									<listOptionValue builtIn="false" value="${CCS_BASE_ROOT}/msp430/lib/5xx_6xx_FRxx"/>
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-	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
-	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-		<project id="MotorControl.com.ti.ccstudio.buildDefinitions.MSP430.ProjectType.1889937193" name="MSP430" projectType="com.ti.ccstudio.buildDefinitions.MSP430.ProjectType"/>
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diff --git a/Apps/FlightSoftware/MotorControl/Release/bsp.d b/Apps/FlightSoftware/MotorControl/Release/bsp.d
deleted file mode 100644
index 361aebd9d..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/bsp.d
+++ /dev/null
@@ -1,109 +0,0 @@
-# FIXED
-
-bsp.obj: ../bsp.c
-bsp.obj: ../bsp.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/driverlib.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/inc/hw_memmap.h
-bsp.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-bsp.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-bsp.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-bsp.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-bsp.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-bsp.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-bsp.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-bsp.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-bsp.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-bsp.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-bsp.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-bsp.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-bsp.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-bsp.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-bsp.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/hspll.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/sysctl.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/dma.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_b_i2c.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/rtc_b.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/crc.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/adc12_b.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/esi.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/saph.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/cs.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/ram.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/mpy32.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/crc32.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/comp_e.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/framctl.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/aes256.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/sfr.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/wdt_a.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/timer_a.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/pmm.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/rtc_c.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/uups.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/framctl_a.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_a_uart.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/gpio.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/mpu.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/tlv.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/sdhs.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_a_spi.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/timer_b.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/ref_a.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_b_spi.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/mtif.h
-bsp.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/lcd_c.h
-
-../bsp.c: 
-../bsp.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/driverlib.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/adc12_b.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/adc12_b.d
deleted file mode 100644
index a2faa6d3b..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/adc12_b.d
+++ /dev/null
@@ -1,45 +0,0 @@
-# FIXED
-
-driverlib/adc12_b.obj: ../driverlib/adc12_b.c
-driverlib/adc12_b.obj: ../driverlib/inc/hw_memmap.h
-driverlib/adc12_b.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/aes256.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/aes256.d
deleted file mode 100644
index 4440bcc2c..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/aes256.d
+++ /dev/null
@@ -1,45 +0,0 @@
-# FIXED
-
-driverlib/aes256.obj: ../driverlib/aes256.c
-driverlib/aes256.obj: ../driverlib/inc/hw_memmap.h
-driverlib/aes256.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/aes256.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/aes256.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/aes256.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/aes256.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/aes256.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/aes256.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/aes256.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/aes256.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/aes256.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/aes256.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/aes256.obj
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/comp_e.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/comp_e.d
deleted file mode 100644
index 3061197f1..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/comp_e.d
+++ /dev/null
@@ -1,45 +0,0 @@
-# FIXED
-
-driverlib/comp_e.obj: ../driverlib/comp_e.c
-driverlib/comp_e.obj: ../driverlib/inc/hw_memmap.h
-driverlib/comp_e.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/comp_e.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/comp_e.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/comp_e.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-driverlib/comp_e.obj: ../driverlib/comp_e.h
-driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
-driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
-driverlib/comp_e.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
-
-../driverlib/comp_e.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
-../driverlib/comp_e.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/comp_e.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/comp_e.obj
deleted file mode 100644
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/crc.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/crc.d
deleted file mode 100644
index 4ea5bb8bd..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/crc.d
+++ /dev/null
@@ -1,45 +0,0 @@
-# FIXED
-
-driverlib/crc.obj: ../driverlib/crc.c
-driverlib/crc.obj: ../driverlib/inc/hw_memmap.h
-driverlib/crc.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/crc.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/crc.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/crc.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-driverlib/crc.obj: ../driverlib/crc.h
-driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
-driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
-driverlib/crc.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
-
-../driverlib/crc.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
-../driverlib/crc.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/crc.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/crc.obj
deleted file mode 100644
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/crc32.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/crc32.d
deleted file mode 100644
index 5d816749e..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/crc32.d
+++ /dev/null
@@ -1,45 +0,0 @@
-# FIXED
-
-driverlib/crc32.obj: ../driverlib/crc32.c
-driverlib/crc32.obj: ../driverlib/inc/hw_memmap.h
-driverlib/crc32.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/crc32.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/crc32.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/crc32.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-driverlib/crc32.obj: ../driverlib/crc32.h
-driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
-driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
-driverlib/crc32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
-
-../driverlib/crc32.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
-../driverlib/crc32.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/crc32.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/crc32.obj
deleted file mode 100644
index 433ad6f302d68323e59a977ff3605fc521bff9df..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/cs.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/cs.d
deleted file mode 100644
index 99dbd91ca..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/cs.d
+++ /dev/null
@@ -1,45 +0,0 @@
-# FIXED
-
-driverlib/cs.obj: ../driverlib/cs.c
-driverlib/cs.obj: ../driverlib/inc/hw_memmap.h
-driverlib/cs.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/cs.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/cs.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/cs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/cs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/cs.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/cs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/cs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/cs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/cs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/cs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/cs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/cs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/cs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/cs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-driverlib/cs.obj: ../driverlib/cs.h
-driverlib/cs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
-driverlib/cs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
-driverlib/cs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
-
-../driverlib/cs.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
-../driverlib/cs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/cs.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/cs.obj
deleted file mode 100644
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/dma.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/dma.d
deleted file mode 100644
index b5a61a66e..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/dma.d
+++ /dev/null
@@ -1,45 +0,0 @@
-# FIXED
-
-driverlib/dma.obj: ../driverlib/dma.c
-driverlib/dma.obj: ../driverlib/inc/hw_memmap.h
-driverlib/dma.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/dma.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/dma.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/dma.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-driverlib/dma.obj: ../driverlib/dma.h
-driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
-driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
-driverlib/dma.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
-
-../driverlib/dma.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
-../driverlib/dma.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/dma.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/dma.obj
deleted file mode 100644
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/esi.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/esi.d
deleted file mode 100644
index a6916674e..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/esi.d
+++ /dev/null
@@ -1,37 +0,0 @@
-# FIXED
-
-driverlib/esi.obj: ../driverlib/esi.c
-driverlib/esi.obj: ../driverlib/inc/hw_memmap.h
-driverlib/esi.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/esi.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/esi.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/esi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/esi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/esi.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/esi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/esi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/esi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/esi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/esi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/esi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/esi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/esi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/esi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-
-../driverlib/esi.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/esi.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/esi.obj
deleted file mode 100644
index 976bbd65186b8d6e7de9d6a16ed18fca69b6202d..0000000000000000000000000000000000000000
GIT binary patch
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_a_spi.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_a_spi.d
deleted file mode 100644
index a523305c3..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_a_spi.d
+++ /dev/null
@@ -1,45 +0,0 @@
-# FIXED
-
-driverlib/eusci_a_spi.obj: ../driverlib/eusci_a_spi.c
-driverlib/eusci_a_spi.obj: ../driverlib/inc/hw_memmap.h
-driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-driverlib/eusci_a_spi.obj: ../driverlib/eusci_a_spi.h
-driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
-driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
-driverlib/eusci_a_spi.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
-
-../driverlib/eusci_a_spi.c: 
-../driverlib/inc/hw_memmap.h: 
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_a_spi.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_a_spi.obj
deleted file mode 100644
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_a_uart.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_a_uart.d
deleted file mode 100644
index 606861e5b..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_a_uart.d
+++ /dev/null
@@ -1,45 +0,0 @@
-# FIXED
-
-driverlib/eusci_a_uart.obj: ../driverlib/eusci_a_uart.c
-driverlib/eusci_a_uart.obj: ../driverlib/inc/hw_memmap.h
-driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-driverlib/eusci_a_uart.obj: ../driverlib/eusci_a_uart.h
-driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
-driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
-driverlib/eusci_a_uart.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
-
-../driverlib/eusci_a_uart.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
-../driverlib/eusci_a_uart.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_a_uart.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_a_uart.obj
deleted file mode 100644
index 12f893cd9d118896255eaca93552842b18d3d6ed..0000000000000000000000000000000000000000
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_b_i2c.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_b_i2c.d
deleted file mode 100644
index 9bccedb45..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_b_i2c.d
+++ /dev/null
@@ -1,45 +0,0 @@
-# FIXED
-
-driverlib/eusci_b_i2c.obj: ../driverlib/eusci_b_i2c.c
-driverlib/eusci_b_i2c.obj: ../driverlib/inc/hw_memmap.h
-driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-driverlib/eusci_b_i2c.obj: ../driverlib/eusci_b_i2c.h
-driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
-driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
-driverlib/eusci_b_i2c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
-
-../driverlib/eusci_b_i2c.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
-../driverlib/eusci_b_i2c.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_b_i2c.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_b_i2c.obj
deleted file mode 100644
index ad24984a0e4f1a3f9c5ca5df01ee0893e4b733e4..0000000000000000000000000000000000000000
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_b_spi.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_b_spi.d
deleted file mode 100644
index 0444b8d6c..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_b_spi.d
+++ /dev/null
@@ -1,45 +0,0 @@
-# FIXED
-
-driverlib/eusci_b_spi.obj: ../driverlib/eusci_b_spi.c
-driverlib/eusci_b_spi.obj: ../driverlib/inc/hw_memmap.h
-driverlib/eusci_b_spi.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/eusci_b_spi.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
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-driverlib/eusci_b_spi.obj: ../driverlib/eusci_b_spi.h
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-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_b_spi.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/eusci_b_spi.obj
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/framctl.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/framctl.d
deleted file mode 100644
index 810b9f330..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/framctl.d
+++ /dev/null
@@ -1,37 +0,0 @@
-# FIXED
-
-driverlib/framctl.obj: ../driverlib/framctl.c
-driverlib/framctl.obj: ../driverlib/inc/hw_memmap.h
-driverlib/framctl.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/framctl.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/framctl.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/framctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/framctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/framctl.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/framctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/framctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/framctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/framctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/framctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/framctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/framctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/framctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/framctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-
-../driverlib/framctl.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/framctl.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/framctl.obj
deleted file mode 100644
index a0afb529c9f731f8c4889002c66717c534c59255..0000000000000000000000000000000000000000
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/framctl_a.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/framctl_a.d
deleted file mode 100644
index 998c8b6df..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/framctl_a.d
+++ /dev/null
@@ -1,45 +0,0 @@
-# FIXED
-
-driverlib/framctl_a.obj: ../driverlib/framctl_a.c
-driverlib/framctl_a.obj: ../driverlib/inc/hw_memmap.h
-driverlib/framctl_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/framctl_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/framctl_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/framctl_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-driverlib/framctl_a.obj: ../driverlib/framctl_a.h
-driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
-driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
-driverlib/framctl_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
-
-../driverlib/framctl_a.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
-../driverlib/framctl_a.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/framctl_a.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/framctl_a.obj
deleted file mode 100644
index 878c655bc46e46a92fc7586f5740b302c350c56c..0000000000000000000000000000000000000000
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/gpio.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/gpio.d
deleted file mode 100644
index 250fad31f..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/gpio.d
+++ /dev/null
@@ -1,45 +0,0 @@
-# FIXED
-
-driverlib/gpio.obj: ../driverlib/gpio.c
-driverlib/gpio.obj: ../driverlib/inc/hw_memmap.h
-driverlib/gpio.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/gpio.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/gpio.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/gpio.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-driverlib/gpio.obj: ../driverlib/gpio.h
-driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
-driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
-driverlib/gpio.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
-
-../driverlib/gpio.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
-../driverlib/gpio.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/gpio.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/gpio.obj
deleted file mode 100644
index 2b662621e2d52ec39b3271fccf97cdb54a7d47f9..0000000000000000000000000000000000000000
GIT binary patch
literal 0
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/hspll.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/hspll.d
deleted file mode 100644
index d6e03143c..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/hspll.d
+++ /dev/null
@@ -1,37 +0,0 @@
-# FIXED
-
-driverlib/hspll.obj: ../driverlib/hspll.c
-driverlib/hspll.obj: ../driverlib/inc/hw_memmap.h
-driverlib/hspll.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/hspll.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/hspll.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/hspll.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/hspll.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/hspll.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/hspll.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/hspll.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/hspll.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/hspll.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/hspll.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/hspll.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/hspll.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/hspll.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/hspll.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-
-../driverlib/hspll.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/hspll.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/hspll.obj
deleted file mode 100644
index 39f930618b6d995a88bbf06f44b74a845c2e7a83..0000000000000000000000000000000000000000
GIT binary patch
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/lcd_c.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/lcd_c.d
deleted file mode 100644
index 52e8e8582..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/lcd_c.d
+++ /dev/null
@@ -1,37 +0,0 @@
-# FIXED
-
-driverlib/lcd_c.obj: ../driverlib/lcd_c.c
-driverlib/lcd_c.obj: ../driverlib/inc/hw_memmap.h
-driverlib/lcd_c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/lcd_c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/lcd_c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/lcd_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/lcd_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/lcd_c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/lcd_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/lcd_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/lcd_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/lcd_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/lcd_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/lcd_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/lcd_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/lcd_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/lcd_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-
-../driverlib/lcd_c.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/lcd_c.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/lcd_c.obj
deleted file mode 100644
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/mpu.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/mpu.d
deleted file mode 100644
index f0d32ca3d..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/mpu.d
+++ /dev/null
@@ -1,45 +0,0 @@
-# FIXED
-
-driverlib/mpu.obj: ../driverlib/mpu.c
-driverlib/mpu.obj: ../driverlib/inc/hw_memmap.h
-driverlib/mpu.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/mpu.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/mpu.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/mpu.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-driverlib/mpu.obj: ../driverlib/mpu.h
-driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
-driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
-driverlib/mpu.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
-
-../driverlib/mpu.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
-../driverlib/mpu.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/mpu.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/mpu.obj
deleted file mode 100644
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/mpy32.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/mpy32.d
deleted file mode 100644
index 73ce1f5a1..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/mpy32.d
+++ /dev/null
@@ -1,45 +0,0 @@
-# FIXED
-
-driverlib/mpy32.obj: ../driverlib/mpy32.c
-driverlib/mpy32.obj: ../driverlib/inc/hw_memmap.h
-driverlib/mpy32.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/mpy32.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/mpy32.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/mpy32.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-driverlib/mpy32.obj: ../driverlib/mpy32.h
-driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
-driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
-driverlib/mpy32.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
-
-../driverlib/mpy32.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
-../driverlib/mpy32.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/mpy32.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/mpy32.obj
deleted file mode 100644
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/mtif.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/mtif.d
deleted file mode 100644
index 1e01776ae..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/mtif.d
+++ /dev/null
@@ -1,37 +0,0 @@
-# FIXED
-
-driverlib/mtif.obj: ../driverlib/mtif.c
-driverlib/mtif.obj: ../driverlib/inc/hw_memmap.h
-driverlib/mtif.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/mtif.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/mtif.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/mtif.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/mtif.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/mtif.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/mtif.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/mtif.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/mtif.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/mtif.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/mtif.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/mtif.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/mtif.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/mtif.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/mtif.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-
-../driverlib/mtif.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/mtif.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/mtif.obj
deleted file mode 100644
index 51ce18d687467c6f8bfc480a4660c64a24039260..0000000000000000000000000000000000000000
GIT binary patch
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/pmm.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/pmm.d
deleted file mode 100644
index f51821dd7..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/pmm.d
+++ /dev/null
@@ -1,45 +0,0 @@
-# FIXED
-
-driverlib/pmm.obj: ../driverlib/pmm.c
-driverlib/pmm.obj: ../driverlib/inc/hw_memmap.h
-driverlib/pmm.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/pmm.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/pmm.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/pmm.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-driverlib/pmm.obj: ../driverlib/pmm.h
-driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
-driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
-driverlib/pmm.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
-
-../driverlib/pmm.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
-../driverlib/pmm.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/pmm.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/pmm.obj
deleted file mode 100644
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/ram.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/ram.d
deleted file mode 100644
index c9c239747..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/ram.d
+++ /dev/null
@@ -1,45 +0,0 @@
-# FIXED
-
-driverlib/ram.obj: ../driverlib/ram.c
-driverlib/ram.obj: ../driverlib/inc/hw_memmap.h
-driverlib/ram.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/ram.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/ram.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/ram.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-driverlib/ram.obj: ../driverlib/ram.h
-driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
-driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
-driverlib/ram.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
-
-../driverlib/ram.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/ref_a.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/ref_a.d
deleted file mode 100644
index 1b91a78a8..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/ref_a.d
+++ /dev/null
@@ -1,45 +0,0 @@
-# FIXED
-
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-driverlib/ref_a.obj: ../driverlib/inc/hw_memmap.h
-driverlib/ref_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/ref_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/ref_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/ref_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/ref_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/ref_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/ref_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/ref_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/ref_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/ref_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/ref_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/ref_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/ref_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/rtc_b.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/rtc_b.d
deleted file mode 100644
index b2b6a1801..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/rtc_b.d
+++ /dev/null
@@ -1,37 +0,0 @@
-# FIXED
-
-driverlib/rtc_b.obj: ../driverlib/rtc_b.c
-driverlib/rtc_b.obj: ../driverlib/inc/hw_memmap.h
-driverlib/rtc_b.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/rtc_b.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/rtc_b.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/rtc_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/rtc_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/rtc_b.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/rtc_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/rtc_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/rtc_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/rtc_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/rtc_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/rtc_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/rtc_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/rtc_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/rtc_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-
-../driverlib/rtc_b.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/rtc_b.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/rtc_b.obj
deleted file mode 100644
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/rtc_c.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/rtc_c.d
deleted file mode 100644
index 59b141f05..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/rtc_c.d
+++ /dev/null
@@ -1,45 +0,0 @@
-# FIXED
-
-driverlib/rtc_c.obj: ../driverlib/rtc_c.c
-driverlib/rtc_c.obj: ../driverlib/inc/hw_memmap.h
-driverlib/rtc_c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/rtc_c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/rtc_c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/rtc_c.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-driverlib/rtc_c.obj: ../driverlib/rtc_c.h
-driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
-driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
-driverlib/rtc_c.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
-
-../driverlib/rtc_c.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
-../driverlib/rtc_c.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/rtc_c.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/rtc_c.obj
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/saph.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/saph.d
deleted file mode 100644
index faea60371..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/saph.d
+++ /dev/null
@@ -1,37 +0,0 @@
-# FIXED
-
-driverlib/saph.obj: ../driverlib/saph.c
-driverlib/saph.obj: ../driverlib/inc/hw_memmap.h
-driverlib/saph.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/saph.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/saph.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/saph.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/saph.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/saph.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/saph.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/saph.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/saph.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/saph.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/saph.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/saph.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/saph.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/saph.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/saph.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-
-../driverlib/saph.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/saph.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/saph.obj
deleted file mode 100644
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/sdhs.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/sdhs.d
deleted file mode 100644
index 32d249838..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/sdhs.d
+++ /dev/null
@@ -1,37 +0,0 @@
-# FIXED
-
-driverlib/sdhs.obj: ../driverlib/sdhs.c
-driverlib/sdhs.obj: ../driverlib/inc/hw_memmap.h
-driverlib/sdhs.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/sdhs.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/sdhs.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/sdhs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/sdhs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/sdhs.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/sdhs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/sdhs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/sdhs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/sdhs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/sdhs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/sdhs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/sdhs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/sdhs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/sdhs.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-
-../driverlib/sdhs.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/sdhs.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/sdhs.obj
deleted file mode 100644
index 9b12f2ba32855576aff366f994864e0cadacb769..0000000000000000000000000000000000000000
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/sfr.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/sfr.d
deleted file mode 100644
index c7a94b196..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/sfr.d
+++ /dev/null
@@ -1,45 +0,0 @@
-# FIXED
-
-driverlib/sfr.obj: ../driverlib/sfr.c
-driverlib/sfr.obj: ../driverlib/inc/hw_memmap.h
-driverlib/sfr.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/sfr.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/sfr.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/sfr.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-driverlib/sfr.obj: ../driverlib/sfr.h
-driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
-driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
-driverlib/sfr.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
-
-../driverlib/sfr.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
-../driverlib/sfr.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/sfr.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/sfr.obj
deleted file mode 100644
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/subdir_rules.mk b/Apps/FlightSoftware/MotorControl/Release/driverlib/subdir_rules.mk
deleted file mode 100644
index f0b0b87a0..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/subdir_rules.mk
+++ /dev/null
@@ -1,15 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-SHELL = cmd.exe
-
-# Each subdirectory must supply rules for building sources it contributes
-driverlib/%.obj: ../driverlib/%.c $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: MSP430 Compiler'
-	"C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/bin/cl430" -vmspx --data_model=restricted -O2 --use_hw_mpy=F5 --include_path="C:/ti/ccs930/ccs/ccs_base/msp430/include" --include_path="E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib" --include_path="C:/ti/ccs930/ccs/ccs_base/msp430ware_3_80_11_07/iqmathlib/include" --include_path="E:/xprize/Documents/GitHub/motorControl_dev/Apps/FlightSoftware/MotorControl" --include_path="C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include" --advice:power=all --advice:hw_config=all --define=__MSP430FR5994__ --define=_MPU_ENABLE --printf_support=minimal --diag_warning=225 --diag_wrap=off --display_error_number --silicon_errata=CPU21 --silicon_errata=CPU22 --silicon_errata=CPU40 --preproc_with_compile --preproc_dependency="driverlib/$(basename $(<F)).d_raw" --obj_directory="driverlib" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/subdir_vars.mk b/Apps/FlightSoftware/MotorControl/Release/driverlib/subdir_vars.mk
deleted file mode 100644
index 59ec27a1d..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/subdir_vars.mk
+++ /dev/null
@@ -1,224 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-SHELL = cmd.exe
-
-# Add inputs and outputs from these tool invocations to the build variables 
-C_SRCS += \
-../driverlib/adc12_b.c \
-../driverlib/aes256.c \
-../driverlib/comp_e.c \
-../driverlib/crc.c \
-../driverlib/crc32.c \
-../driverlib/cs.c \
-../driverlib/dma.c \
-../driverlib/esi.c \
-../driverlib/eusci_a_spi.c \
-../driverlib/eusci_a_uart.c \
-../driverlib/eusci_b_i2c.c \
-../driverlib/eusci_b_spi.c \
-../driverlib/framctl.c \
-../driverlib/framctl_a.c \
-../driverlib/gpio.c \
-../driverlib/hspll.c \
-../driverlib/lcd_c.c \
-../driverlib/mpu.c \
-../driverlib/mpy32.c \
-../driverlib/mtif.c \
-../driverlib/pmm.c \
-../driverlib/ram.c \
-../driverlib/ref_a.c \
-../driverlib/rtc_b.c \
-../driverlib/rtc_c.c \
-../driverlib/saph.c \
-../driverlib/sdhs.c \
-../driverlib/sfr.c \
-../driverlib/sysctl.c \
-../driverlib/timer_a.c \
-../driverlib/timer_b.c \
-../driverlib/tlv.c \
-../driverlib/uups.c \
-../driverlib/wdt_a.c 
-
-C_DEPS += \
-./driverlib/adc12_b.d \
-./driverlib/aes256.d \
-./driverlib/comp_e.d \
-./driverlib/crc.d \
-./driverlib/crc32.d \
-./driverlib/cs.d \
-./driverlib/dma.d \
-./driverlib/esi.d \
-./driverlib/eusci_a_spi.d \
-./driverlib/eusci_a_uart.d \
-./driverlib/eusci_b_i2c.d \
-./driverlib/eusci_b_spi.d \
-./driverlib/framctl.d \
-./driverlib/framctl_a.d \
-./driverlib/gpio.d \
-./driverlib/hspll.d \
-./driverlib/lcd_c.d \
-./driverlib/mpu.d \
-./driverlib/mpy32.d \
-./driverlib/mtif.d \
-./driverlib/pmm.d \
-./driverlib/ram.d \
-./driverlib/ref_a.d \
-./driverlib/rtc_b.d \
-./driverlib/rtc_c.d \
-./driverlib/saph.d \
-./driverlib/sdhs.d \
-./driverlib/sfr.d \
-./driverlib/sysctl.d \
-./driverlib/timer_a.d \
-./driverlib/timer_b.d \
-./driverlib/tlv.d \
-./driverlib/uups.d \
-./driverlib/wdt_a.d 
-
-OBJS += \
-./driverlib/adc12_b.obj \
-./driverlib/aes256.obj \
-./driverlib/comp_e.obj \
-./driverlib/crc.obj \
-./driverlib/crc32.obj \
-./driverlib/cs.obj \
-./driverlib/dma.obj \
-./driverlib/esi.obj \
-./driverlib/eusci_a_spi.obj \
-./driverlib/eusci_a_uart.obj \
-./driverlib/eusci_b_i2c.obj \
-./driverlib/eusci_b_spi.obj \
-./driverlib/framctl.obj \
-./driverlib/framctl_a.obj \
-./driverlib/gpio.obj \
-./driverlib/hspll.obj \
-./driverlib/lcd_c.obj \
-./driverlib/mpu.obj \
-./driverlib/mpy32.obj \
-./driverlib/mtif.obj \
-./driverlib/pmm.obj \
-./driverlib/ram.obj \
-./driverlib/ref_a.obj \
-./driverlib/rtc_b.obj \
-./driverlib/rtc_c.obj \
-./driverlib/saph.obj \
-./driverlib/sdhs.obj \
-./driverlib/sfr.obj \
-./driverlib/sysctl.obj \
-./driverlib/timer_a.obj \
-./driverlib/timer_b.obj \
-./driverlib/tlv.obj \
-./driverlib/uups.obj \
-./driverlib/wdt_a.obj 
-
-OBJS__QUOTED += \
-"driverlib\adc12_b.obj" \
-"driverlib\aes256.obj" \
-"driverlib\comp_e.obj" \
-"driverlib\crc.obj" \
-"driverlib\crc32.obj" \
-"driverlib\cs.obj" \
-"driverlib\dma.obj" \
-"driverlib\esi.obj" \
-"driverlib\eusci_a_spi.obj" \
-"driverlib\eusci_a_uart.obj" \
-"driverlib\eusci_b_i2c.obj" \
-"driverlib\eusci_b_spi.obj" \
-"driverlib\framctl.obj" \
-"driverlib\framctl_a.obj" \
-"driverlib\gpio.obj" \
-"driverlib\hspll.obj" \
-"driverlib\lcd_c.obj" \
-"driverlib\mpu.obj" \
-"driverlib\mpy32.obj" \
-"driverlib\mtif.obj" \
-"driverlib\pmm.obj" \
-"driverlib\ram.obj" \
-"driverlib\ref_a.obj" \
-"driverlib\rtc_b.obj" \
-"driverlib\rtc_c.obj" \
-"driverlib\saph.obj" \
-"driverlib\sdhs.obj" \
-"driverlib\sfr.obj" \
-"driverlib\sysctl.obj" \
-"driverlib\timer_a.obj" \
-"driverlib\timer_b.obj" \
-"driverlib\tlv.obj" \
-"driverlib\uups.obj" \
-"driverlib\wdt_a.obj" 
-
-C_DEPS__QUOTED += \
-"driverlib\adc12_b.d" \
-"driverlib\aes256.d" \
-"driverlib\comp_e.d" \
-"driverlib\crc.d" \
-"driverlib\crc32.d" \
-"driverlib\cs.d" \
-"driverlib\dma.d" \
-"driverlib\esi.d" \
-"driverlib\eusci_a_spi.d" \
-"driverlib\eusci_a_uart.d" \
-"driverlib\eusci_b_i2c.d" \
-"driverlib\eusci_b_spi.d" \
-"driverlib\framctl.d" \
-"driverlib\framctl_a.d" \
-"driverlib\gpio.d" \
-"driverlib\hspll.d" \
-"driverlib\lcd_c.d" \
-"driverlib\mpu.d" \
-"driverlib\mpy32.d" \
-"driverlib\mtif.d" \
-"driverlib\pmm.d" \
-"driverlib\ram.d" \
-"driverlib\ref_a.d" \
-"driverlib\rtc_b.d" \
-"driverlib\rtc_c.d" \
-"driverlib\saph.d" \
-"driverlib\sdhs.d" \
-"driverlib\sfr.d" \
-"driverlib\sysctl.d" \
-"driverlib\timer_a.d" \
-"driverlib\timer_b.d" \
-"driverlib\tlv.d" \
-"driverlib\uups.d" \
-"driverlib\wdt_a.d" 
-
-C_SRCS__QUOTED += \
-"../driverlib/adc12_b.c" \
-"../driverlib/aes256.c" \
-"../driverlib/comp_e.c" \
-"../driverlib/crc.c" \
-"../driverlib/crc32.c" \
-"../driverlib/cs.c" \
-"../driverlib/dma.c" \
-"../driverlib/esi.c" \
-"../driverlib/eusci_a_spi.c" \
-"../driverlib/eusci_a_uart.c" \
-"../driverlib/eusci_b_i2c.c" \
-"../driverlib/eusci_b_spi.c" \
-"../driverlib/framctl.c" \
-"../driverlib/framctl_a.c" \
-"../driverlib/gpio.c" \
-"../driverlib/hspll.c" \
-"../driverlib/lcd_c.c" \
-"../driverlib/mpu.c" \
-"../driverlib/mpy32.c" \
-"../driverlib/mtif.c" \
-"../driverlib/pmm.c" \
-"../driverlib/ram.c" \
-"../driverlib/ref_a.c" \
-"../driverlib/rtc_b.c" \
-"../driverlib/rtc_c.c" \
-"../driverlib/saph.c" \
-"../driverlib/sdhs.c" \
-"../driverlib/sfr.c" \
-"../driverlib/sysctl.c" \
-"../driverlib/timer_a.c" \
-"../driverlib/timer_b.c" \
-"../driverlib/tlv.c" \
-"../driverlib/uups.c" \
-"../driverlib/wdt_a.c" 
-
-
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/sysctl.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/sysctl.d
deleted file mode 100644
index b56d343ec..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/sysctl.d
+++ /dev/null
@@ -1,45 +0,0 @@
-# FIXED
-
-driverlib/sysctl.obj: ../driverlib/sysctl.c
-driverlib/sysctl.obj: ../driverlib/inc/hw_memmap.h
-driverlib/sysctl.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/sysctl.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/sysctl.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/sysctl.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-driverlib/sysctl.obj: ../driverlib/sysctl.h
-driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
-driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
-driverlib/sysctl.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
-
-../driverlib/sysctl.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
-../driverlib/sysctl.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/sysctl.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/sysctl.obj
deleted file mode 100644
index 165e5fecaceb398e45a9d72cae49645c639611ca..0000000000000000000000000000000000000000
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/timer_a.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/timer_a.d
deleted file mode 100644
index 627bbae68..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/timer_a.d
+++ /dev/null
@@ -1,45 +0,0 @@
-# FIXED
-
-driverlib/timer_a.obj: ../driverlib/timer_a.c
-driverlib/timer_a.obj: ../driverlib/inc/hw_memmap.h
-driverlib/timer_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/timer_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/timer_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/timer_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-driverlib/timer_a.obj: ../driverlib/timer_a.h
-driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
-driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
-driverlib/timer_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
-
-../driverlib/timer_a.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
-../driverlib/timer_a.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/timer_a.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/timer_a.obj
deleted file mode 100644
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/timer_b.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/timer_b.d
deleted file mode 100644
index c4e008660..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/timer_b.d
+++ /dev/null
@@ -1,45 +0,0 @@
-# FIXED
-
-driverlib/timer_b.obj: ../driverlib/timer_b.c
-driverlib/timer_b.obj: ../driverlib/inc/hw_memmap.h
-driverlib/timer_b.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/timer_b.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/timer_b.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/timer_b.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-driverlib/timer_b.obj: ../driverlib/timer_b.h
-driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
-driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
-driverlib/timer_b.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
-
-../driverlib/timer_b.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
-../driverlib/timer_b.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/timer_b.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/timer_b.obj
deleted file mode 100644
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/tlv.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/tlv.d
deleted file mode 100644
index cc4f3016b..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/tlv.d
+++ /dev/null
@@ -1,45 +0,0 @@
-# FIXED
-
-driverlib/tlv.obj: ../driverlib/tlv.c
-driverlib/tlv.obj: ../driverlib/inc/hw_memmap.h
-driverlib/tlv.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/tlv.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/tlv.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/tlv.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-driverlib/tlv.obj: ../driverlib/tlv.h
-driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
-driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
-driverlib/tlv.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
-
-../driverlib/tlv.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
-../driverlib/tlv.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/tlv.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/tlv.obj
deleted file mode 100644
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/uups.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/uups.d
deleted file mode 100644
index 36698f0d5..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/uups.d
+++ /dev/null
@@ -1,37 +0,0 @@
-# FIXED
-
-driverlib/uups.obj: ../driverlib/uups.c
-driverlib/uups.obj: ../driverlib/inc/hw_memmap.h
-driverlib/uups.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/uups.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/uups.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/uups.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/uups.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/uups.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/uups.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/uups.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/uups.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/uups.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
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-driverlib/uups.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
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-driverlib/uups.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
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-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/uups.obj b/Apps/FlightSoftware/MotorControl/Release/driverlib/uups.obj
deleted file mode 100644
index a37ab99f6f6bea06f9ce417aaf887e96b078313c..0000000000000000000000000000000000000000
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diff --git a/Apps/FlightSoftware/MotorControl/Release/driverlib/wdt_a.d b/Apps/FlightSoftware/MotorControl/Release/driverlib/wdt_a.d
deleted file mode 100644
index 15641a834..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/driverlib/wdt_a.d
+++ /dev/null
@@ -1,45 +0,0 @@
-# FIXED
-
-driverlib/wdt_a.obj: ../driverlib/wdt_a.c
-driverlib/wdt_a.obj: ../driverlib/inc/hw_memmap.h
-driverlib/wdt_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-driverlib/wdt_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-driverlib/wdt_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-driverlib/wdt_a.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-driverlib/wdt_a.obj: ../driverlib/wdt_a.h
-driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/assert.h
-driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
-driverlib/wdt_a.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
-
-../driverlib/wdt_a.c: 
-../driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
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diff --git a/Apps/FlightSoftware/MotorControl/Release/i2c.d b/Apps/FlightSoftware/MotorControl/Release/i2c.d
deleted file mode 100644
index aa83d2c6a..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/i2c.d
+++ /dev/null
@@ -1,133 +0,0 @@
-# FIXED
-
-i2c.obj: ../i2c.c
-i2c.obj: ../i2c.h
-i2c.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/driverlib.h
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diff --git a/Apps/FlightSoftware/MotorControl/Release/main.d b/Apps/FlightSoftware/MotorControl/Release/main.d
deleted file mode 100644
index 89a39608e..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/main.d
+++ /dev/null
@@ -1,133 +0,0 @@
-# FIXED
-
-main.obj: ../main.c
-main.obj: ../main.h
-main.obj: C:/ti/ccs930/ccs/ccs_base/msp430ware_3_80_11_07/iqmathlib/include/IQmathLib.h
-main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/limits.h
-main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdlib.h
-main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h
-main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h
-main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h
-main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h
-main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h
-main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h
-main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h
-main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h
-main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h
-main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/driverlib.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/inc/hw_memmap.h
-main.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h
-main.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h
-main.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h
-main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h
-main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h
-main.obj: C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h
-main.obj: C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/hspll.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/sysctl.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/dma.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_b_i2c.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/rtc_b.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/crc.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/adc12_b.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/esi.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/saph.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/cs.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/ram.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/mpy32.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/crc32.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/comp_e.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/framctl.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/aes256.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/sfr.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/wdt_a.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/timer_a.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/pmm.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/rtc_c.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/uups.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/framctl_a.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_a_uart.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/gpio.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/mpu.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/tlv.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/sdhs.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_a_spi.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/timer_b.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/ref_a.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_b_spi.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/mtif.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/lcd_c.h
-main.obj: ../bsp.h
-main.obj: ../i2c.h
-main.obj: E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/driverlib.h
-main.obj: ../main.h
-main.obj: ../pi.h
-main.obj: ../mod6_cnt.h
-main.obj: ../impulse.h
-
-../main.c: 
-../main.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430ware_3_80_11_07/iqmathlib/include/IQmathLib.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/limits.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdlib.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_ti_config.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/linkage.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/cdefs.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/_stdint40.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_types.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/machine/_stdint.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/sys/_stdint.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/driverlib.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/inc/hw_memmap.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/msp430fr5994.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/in430.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/intrinsics_legacy_undefs.h: 
-C:/ti/ccs930/ccs/ccs_base/msp430/include/legacy.h: 
-C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include/stdbool.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/hspll.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/sysctl.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/dma.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_b_i2c.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/rtc_b.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/crc.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/adc12_b.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/esi.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/saph.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/cs.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/ram.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/mpy32.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/crc32.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/comp_e.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/framctl.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/aes256.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/sfr.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/wdt_a.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/timer_a.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/pmm.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/rtc_c.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/uups.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/framctl_a.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_a_uart.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/gpio.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/mpu.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/tlv.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/sdhs.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_a_spi.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/timer_b.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/ref_a.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/eusci_b_spi.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/mtif.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/lcd_c.h: 
-../bsp.h: 
-../i2c.h: 
-E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib/driverlib.h: 
-../main.h: 
-../pi.h: 
-../mod6_cnt.h: 
-../impulse.h: 
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diff --git a/Apps/FlightSoftware/MotorControl/Release/objects.mk b/Apps/FlightSoftware/MotorControl/Release/objects.mk
deleted file mode 100644
index 53c9324f0..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/objects.mk
+++ /dev/null
@@ -1,8 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-USER_OBJS :=
-
-LIBS := -llibmpu_init.a -lIQmathLib.a -llibmath.a -llibc.a
-
diff --git a/Apps/FlightSoftware/MotorControl/Release/sources.mk b/Apps/FlightSoftware/MotorControl/Release/sources.mk
deleted file mode 100644
index c6795b62c..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/sources.mk
+++ /dev/null
@@ -1,116 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-C55_SRCS := 
-A_SRCS := 
-ASM_UPPER_SRCS := 
-EXE_SRCS := 
-LDS_UPPER_SRCS := 
-CPP_SRCS := 
-CMD_SRCS := 
-O_SRCS := 
-ELF_SRCS := 
-C??_SRCS := 
-C64_SRCS := 
-C67_SRCS := 
-SA_SRCS := 
-S64_SRCS := 
-OPT_SRCS := 
-CXX_SRCS := 
-S67_SRCS := 
-S??_SRCS := 
-PDE_SRCS := 
-SV7A_SRCS := 
-K_SRCS := 
-CLA_SRCS := 
-S55_SRCS := 
-LD_UPPER_SRCS := 
-OUT_SRCS := 
-INO_SRCS := 
-LIB_SRCS := 
-ASM_SRCS := 
-S_UPPER_SRCS := 
-S43_SRCS := 
-LD_SRCS := 
-CMD_UPPER_SRCS := 
-C_UPPER_SRCS := 
-C++_SRCS := 
-C43_SRCS := 
-OBJ_SRCS := 
-LDS_SRCS := 
-S_SRCS := 
-CC_SRCS := 
-S62_SRCS := 
-C62_SRCS := 
-C_SRCS := 
-C55_DEPS := 
-C_UPPER_DEPS := 
-S67_DEPS := 
-S62_DEPS := 
-S_DEPS := 
-OPT_DEPS := 
-C??_DEPS := 
-ASM_UPPER_DEPS := 
-S??_DEPS := 
-C64_DEPS := 
-CXX_DEPS := 
-S64_DEPS := 
-INO_DEPS := 
-CLA_DEPS := 
-S55_DEPS := 
-SV7A_DEPS := 
-EXE_OUTPUTS := 
-C62_DEPS := 
-C67_DEPS := 
-PDE_DEPS := 
-K_DEPS := 
-C_DEPS := 
-CC_DEPS := 
-BIN_OUTPUTS := 
-C++_DEPS := 
-C43_DEPS := 
-S43_DEPS := 
-OBJS := 
-ASM_DEPS := 
-S_UPPER_DEPS := 
-CPP_DEPS := 
-SA_DEPS := 
-C++_DEPS__QUOTED := 
-OPT_DEPS__QUOTED := 
-S_UPPER_DEPS__QUOTED := 
-SA_DEPS__QUOTED := 
-C??_DEPS__QUOTED := 
-S67_DEPS__QUOTED := 
-C55_DEPS__QUOTED := 
-CC_DEPS__QUOTED := 
-ASM_UPPER_DEPS__QUOTED := 
-SV7A_DEPS__QUOTED := 
-S??_DEPS__QUOTED := 
-OBJS__QUOTED := 
-C67_DEPS__QUOTED := 
-K_DEPS__QUOTED := 
-S55_DEPS__QUOTED := 
-INO_DEPS__QUOTED := 
-C62_DEPS__QUOTED := 
-C_DEPS__QUOTED := 
-C_UPPER_DEPS__QUOTED := 
-C43_DEPS__QUOTED := 
-CPP_DEPS__QUOTED := 
-BIN_OUTPUTS__QUOTED := 
-C64_DEPS__QUOTED := 
-CXX_DEPS__QUOTED := 
-CLA_DEPS__QUOTED := 
-S_DEPS__QUOTED := 
-ASM_DEPS__QUOTED := 
-S43_DEPS__QUOTED := 
-EXE_OUTPUTS__QUOTED := 
-S64_DEPS__QUOTED := 
-S62_DEPS__QUOTED := 
-PDE_DEPS__QUOTED := 
-
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-. \
-driverlib \
-
diff --git a/Apps/FlightSoftware/MotorControl/Release/subdir_rules.mk b/Apps/FlightSoftware/MotorControl/Release/subdir_rules.mk
deleted file mode 100644
index 14498e9f9..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/subdir_rules.mk
+++ /dev/null
@@ -1,15 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-SHELL = cmd.exe
-
-# Each subdirectory must supply rules for building sources it contributes
-%.obj: ../%.c $(GEN_OPTS) | $(GEN_FILES) $(GEN_MISC_FILES)
-	@echo 'Building file: "$<"'
-	@echo 'Invoking: MSP430 Compiler'
-	"C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/bin/cl430" -vmspx --data_model=restricted -O2 --use_hw_mpy=F5 --include_path="C:/ti/ccs930/ccs/ccs_base/msp430/include" --include_path="E:/xprize/Documents/MotorControlDev/MotorControl/MotorControl/driverlib" --include_path="C:/ti/ccs930/ccs/ccs_base/msp430ware_3_80_11_07/iqmathlib/include" --include_path="E:/xprize/Documents/GitHub/motorControl_dev/Apps/FlightSoftware/MotorControl" --include_path="C:/ti/ccs930/ccs/tools/compiler/ti-cgt-msp430_18.12.4.LTS/include" --advice:power=all --advice:hw_config=all --define=__MSP430FR5994__ --define=_MPU_ENABLE --printf_support=minimal --diag_warning=225 --diag_wrap=off --display_error_number --silicon_errata=CPU21 --silicon_errata=CPU22 --silicon_errata=CPU40 --preproc_with_compile --preproc_dependency="$(basename $(<F)).d_raw" $(GEN_OPTS__FLAG) "$<"
-	@echo 'Finished building: "$<"'
-	@echo ' '
-
-
diff --git a/Apps/FlightSoftware/MotorControl/Release/subdir_vars.mk b/Apps/FlightSoftware/MotorControl/Release/subdir_vars.mk
deleted file mode 100644
index bbad840d4..000000000
--- a/Apps/FlightSoftware/MotorControl/Release/subdir_vars.mk
+++ /dev/null
@@ -1,41 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-SHELL = cmd.exe
-
-# Add inputs and outputs from these tool invocations to the build variables 
-CMD_SRCS += \
-../lnk_msp430fr5994.cmd 
-
-C_SRCS += \
-../bsp.c \
-../i2c.c \
-../main.c 
-
-C_DEPS += \
-./bsp.d \
-./i2c.d \
-./main.d 
-
-OBJS += \
-./bsp.obj \
-./i2c.obj \
-./main.obj 
-
-OBJS__QUOTED += \
-"bsp.obj" \
-"i2c.obj" \
-"main.obj" 
-
-C_DEPS__QUOTED += \
-"bsp.d" \
-"i2c.d" \
-"main.d" 
-
-C_SRCS__QUOTED += \
-"../bsp.c" \
-"../i2c.c" \
-"../main.c" 
-
-
diff --git a/Apps/FlightSoftware/PrimaryFlightController/FlightMCU/.cproject b/Apps/FlightSoftware/PrimaryFlightController/FlightMCU/.cproject
deleted file mode 100644
index b92f4ad54..000000000
--- a/Apps/FlightSoftware/PrimaryFlightController/FlightMCU/.cproject
+++ /dev/null
@@ -1,229 +0,0 @@
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diff --git a/Apps/FlightSoftware/Watchdog/.cproject b/Apps/FlightSoftware/Watchdog/.cproject
deleted file mode 100644
index b927d932b..000000000
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diff --git a/Apps/FlightSoftware/fprime/Autocoders/MagicDrawCompPlugin/classes.mk b/Apps/FlightSoftware/fprime/Autocoders/MagicDrawCompPlugin/classes.mk
deleted file mode 100644
index 0120c648e..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/MagicDrawCompPlugin/classes.mk
+++ /dev/null
@@ -1,27 +0,0 @@
-classes: \
-  ./src/gov/nasa/jpl/componentaction/ISFComponent.java \
-  ./src/gov/nasa/jpl/componentaction/IsfTopAction.java \
-  ./src/gov/nasa/jpl/componentaction/ProcessISFTopology.java \
-  ./src/gov/nasa/jpl/componentaction/MpmcsErrorStream.java \
-  ./src/gov/nasa/jpl/componentaction/ISFPort.java \
-  ./src/gov/nasa/jpl/componentaction/isfxmlwriter/IsfPortXmlWriter.java \
-  ./src/gov/nasa/jpl/componentaction/isfxmlwriter/IsfSubXmlWriter.java \
-  ./src/gov/nasa/jpl/componentaction/isfxmlwriter/IsfCompXmlWriter.java \
-  ./src/gov/nasa/jpl/componentaction/IsfXmlAutocoderAction.java \
-  ./src/gov/nasa/jpl/componentaction/LoadIDException.java \
-  ./src/gov/nasa/jpl/componentaction/Utils.java \
-  ./src/gov/nasa/jpl/componentaction/LoadIDConfigAction.java \
-  ./src/gov/nasa/jpl/componentaction/IsfXmlAction.java \
-  ./src/gov/nasa/jpl/componentaction/LoadIDConfig.java \
-  ./src/gov/nasa/jpl/componentaction/Partition.java \
-  ./src/gov/nasa/jpl/componentaction/IsfComponentAction.java \
-  ./src/gov/nasa/jpl/componentaction/ProcessISFProject.java \
-  ./src/gov/nasa/jpl/componentaction/ConnectorException.java \
-  ./src/gov/nasa/jpl/componentaction/ISFSubsystem.java \
-  ./src/gov/nasa/jpl/componentaction/IsfAbout.java \
-  ./src/gov/nasa/jpl/componentaction/PortException.java \
-  ./src/gov/nasa/jpl/componentaction/ComponentException.java \
-  ./src/gov/nasa/jpl/componentaction/MainMenuConfigurator.java \
-  ./src/gov/nasa/jpl/componentaction/TestISFExceptions.java
-	mkdir -p $@
-	javac -classpath lib/commons-cli-1.3.1.jar:lib/velocity-1.6.2-dep.jar:lib/md.jar:lib/bundles/com.nomagic.magicdraw.foundation_2.0.0.201803050637.jar:lib/bundles/org.eclipse.emf.common_2.10.1.v20140901-1043.jar:lib/bundles/javax.jmi_1.0.0.201803050637/javax_jmi-1_0-fr.jar:lib/bundles/org.junit_4.11.0.v201303080030/junit.jar:lib/bundles/com.nomagic.magicdraw.uml2_2.5.0.201803050637.jar:lib/bundles/org.eclipse.emf.ecore_2.10.1.v20140901-1043.jar:lib/md_api.jar: -d classes -encoding UTF8 $+
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/templates/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/templates/mod.mk
deleted file mode 100644
index 72aa08bf0..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/templates/mod.mk
+++ /dev/null
@@ -1,28 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = 	ExampleComponentAi.xml \
-		ExamplePortAi.xml \
-		AnotherPortAi.xml \
-		ExampleSerializableAi.xml \
-		Example2SerializableAi.xml \
-		ExampleType.cpp \
-		ExampleComponentImpl.cpp #\
-#		main.cpp
-
-HDR =   ExampleType.hpp \
-		ExampleComponentImpl.hpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/templates/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/templates/test/mod.mk
deleted file mode 100644
index 662852e69..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/templates/test/mod.mk
+++ /dev/null
@@ -1,8 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/templates/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/templates/test/ut/mod.mk
deleted file mode 100644
index b76b740f0..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/templates/test/ut/mod.mk
+++ /dev/null
@@ -1,23 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/TesterBase.cpp Handcode/GTestBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/templates Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/active_tester/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/active_tester/mod.mk
deleted file mode 100644
index 47a82ae01..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/active_tester/mod.mk
+++ /dev/null
@@ -1,29 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC =  Simple_ActiveComponentAi.xml \
- 	   Simple_Active_TesterComponentAi.xml \
-	   Simple_ActiveImpl.cpp \
-	   Simple_Active_TesterImpl.cpp \
-	   Active_TesterTopologyAppAi.xml \
-	   F32PortAi.xml \
-	   U32PortAi.xml
-
-HDR = Simple_ActiveImpl.hpp \
-	  Simple_Active_TesterImpl.hpp
-
-
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/active_tester/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/active_tester/test/mod.mk
deleted file mode 100644
index 871e2ff15..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/active_tester/test/mod.mk
+++ /dev/null
@@ -1 +0,0 @@
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/active_tester/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/active_tester/test/ut/mod.mk
deleted file mode 100644
index 546b3aaac..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/active_tester/test/ut/mod.mk
+++ /dev/null
@@ -1,25 +0,0 @@
-#
-##   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   #   acknowledged.
-#   #
-#   #
-
-# This is a template for the mod.mk file that goes in each module
-# # and each module's subdirectories.
-# # With a fresh checkout, "make gen_make" should be invoked. It should also be
-# # run if any of the variables are updated. Any unused variables can
-# # be deleted from the file.
-#
-# # There are some standard files that are included for reference
-#
- TEST_SRC = Top.cpp
-
-
- TEST_MODS = Autocoders/Python/test/active_tester Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com
-
-
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/app1/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/app1/mod.mk
deleted file mode 100644
index 33a30c05c..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/app1/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = DuckComponentAi.xml \
-	  DuckImpl.cpp \
-	  Msg1PortAi.xml
-
-HDR = DuckImpl.hpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/app1/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/app1/test/mod.mk
deleted file mode 100644
index 871e2ff15..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/app1/test/mod.mk
+++ /dev/null
@@ -1 +0,0 @@
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/app1/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/app1/test/ut/mod.mk
deleted file mode 100644
index d6e715689..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/app1/test/ut/mod.mk
+++ /dev/null
@@ -1,25 +0,0 @@
-#
-##   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   #   acknowledged.
-#   #
-#   #
-
-# This is a template for the mod.mk file that goes in each module
-# # and each module's subdirectories.
-# # With a fresh checkout, "make gen_make" should be invoked. It should also be
-# # run if any of the variables are updated. Any unused variables can
-# # be deleted from the file.
-#
-# # There are some standard files that are included for reference
-#
- TEST_SRC = Top.cpp
-
-
- TEST_MODS = Autocoders/Python/test/app1 Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com
-
-
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/app2/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/app2/mod.mk
deleted file mode 100644
index 5effb1cea..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/app2/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = MsgPortAi.xml \
-	  VoidPortAi.xml \
-	  VoidArgComponentAi.xml \
-	  App2VoidArgImpl.cpp
-
-HDR = App2VoidArgImpl.hpp
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/app2/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/app2/test/mod.mk
deleted file mode 100644
index 871e2ff15..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/app2/test/mod.mk
+++ /dev/null
@@ -1 +0,0 @@
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/app2/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/app2/test/ut/mod.mk
deleted file mode 100644
index f60048a07..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/app2/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-##   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   #   acknowledged.
-#   #
-#   #
-#
-# This is a template for the mod.mk file that goes in each module
-# # and each module's subdirectories.
-# # With a fresh checkout, "make gen_make" should be invoked. It should also be
-# # run if any of the variables are updated. Any unused variables can
-# # be deleted from the file.
-#
-# # There are some standard files that are included for reference
-
- TEST_SRC = Top.cpp
-
- TEST_MODS = Autocoders/Python/test/app2 Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/cnt_only/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/cnt_only/mod.mk
deleted file mode 100644
index f40c3979d..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/cnt_only/mod.mk
+++ /dev/null
@@ -1,24 +0,0 @@
-
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
- #This is a template for the mod.mk file that goes in each module
- # and each module's subdirectories.
- # With a fresh checkout, "make gen_make" should be invoked. It should also be
- # run if any of the variables are updated. Any unused variables can
- # be deleted from the file.
-
- # There are some standard files that are included for reference
-
- SRC = DuckImpl.cpp \
-	   DuckComponentAi.xml \
-	   Msg1PortAi.xml
-
- HDR = Components.hpp \
-	   Top.hpp \
-	   DuckImpl.hpp
-
-  SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/cnt_only/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/cnt_only/test/mod.mk
deleted file mode 100644
index 871e2ff15..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/cnt_only/test/mod.mk
+++ /dev/null
@@ -1 +0,0 @@
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/cnt_only/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/cnt_only/test/ut/mod.mk
deleted file mode 100644
index 24210c3ac..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/cnt_only/test/ut/mod.mk
+++ /dev/null
@@ -1,25 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#  ALL RIGHTS RESERVED. United States Government Sponsorship
-#  #   #   acknowledged.
-#  #   #
-#  #   #
-#
-# This is a template for the mod.mk file that goes in each module
- # and each module's subdirectories.
- # With a fresh checkout, "make gen_make" should be invoked. It should also be
- # run if any of the variables are updated. Any unused variables can
- # be deleted from the file.
-
- # There are some standard files that are included for reference
-
- TEST_SRC = Top.cpp
-
-
- TEST_MODS = Autocoders/Python/test/cnt_only Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com
-
-
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command1/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/command1/mod.mk
deleted file mode 100644
index 448c1b149..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command1/mod.mk
+++ /dev/null
@@ -1,24 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = Test1ComponentAi.xml \
-      Test2PortAi.xml \
-      TestCommand1Impl.cpp \
-      TestCommandSourceImpl.cpp \
-      main.cpp
-
-SUBDIRS = test
-
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command1/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/command1/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command1/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command1/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/command1/test/ut/mod.mk
deleted file mode 100644
index 2a05c0343..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command1/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/command1 Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command2/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/command2/mod.mk
deleted file mode 100644
index 8e167346b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command2/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = TestComponentAi.xml TestPortAi.xml TestCommandComponentImpl.cpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command2/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/command2/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command2/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command2/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/command2/test/ut/mod.mk
deleted file mode 100644
index 0a6cc1ce8..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command2/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp Tester.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/command2 Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_multi_inst/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_multi_inst/mod.mk
deleted file mode 100644
index 13f624a50..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_multi_inst/mod.mk
+++ /dev/null
@@ -1,23 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = Test1ComponentAi.xml \
-      Test2PortAi.xml \
-      TestCommand1Impl.cpp \
-      main.cpp \
-      TestCommandSourceImpl.cpp
-
-SUBDIRS = test
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_multi_inst/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_multi_inst/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_multi_inst/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_multi_inst/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_multi_inst/test/ut/mod.mk
deleted file mode 100644
index 496173a1b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_multi_inst/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/command_multi_inst Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_res/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_res/mod.mk
deleted file mode 100644
index 1adc7b28f..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_res/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = Test1ComponentAi.xml \
-      Test2PortAi.xml \
-      Test1ComponentImpl.cpp
-
-SUBDIRS = test
-
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_res/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_res/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_res/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_res/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_res/test/ut/mod.mk
deleted file mode 100644
index 24edb6f79..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_res/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp Tester.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/command_res Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_string/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_string/mod.mk
deleted file mode 100644
index 5b0783cf9..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_string/mod.mk
+++ /dev/null
@@ -1,19 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = TestComponentAi.xml TestPortAi.xml TestCommandImpl.cpp TestCommandSourceImpl.cpp main.cpp
-
-SUBDIRS = test
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_string/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_string/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_string/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_string/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_string/test/ut/mod.mk
deleted file mode 100644
index 819638a78..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_string/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/command_string Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_tester/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_tester/mod.mk
deleted file mode 100644
index e4ed6ff0f..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_tester/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = CommandTestComponentAi.xml
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_tester/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_tester/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_tester/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_tester/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_tester/test/ut/mod.mk
deleted file mode 100644
index 5859aed08..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/command_tester/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/command_tester Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/comp_diff_namespace/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/comp_diff_namespace/mod.mk
deleted file mode 100644
index 8fc2b2aae..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/comp_diff_namespace/mod.mk
+++ /dev/null
@@ -1,21 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = 	TestComponentAi.xml \
-		TestPortAi.xml \
-		QuaternionSerializableAi.xml
-
-SUBDIRS = test
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/comp_diff_namespace/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/comp_diff_namespace/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/comp_diff_namespace/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/comp_diff_namespace/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/comp_diff_namespace/test/ut/mod.mk
deleted file mode 100644
index 5560b7353..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/comp_diff_namespace/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/comp_diff_namespace Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/comp_no_namespace/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/comp_no_namespace/mod.mk
deleted file mode 100644
index 2013c129f..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/comp_no_namespace/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = 	TestComponentAi.xml \
-		TestPortAi.xml \
-		QuaternionSerializableAi.xml
-
-SUBDIRS = test
-
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/comp_no_namespace/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/comp_no_namespace/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/comp_no_namespace/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/comp_no_namespace/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/comp_no_namespace/test/ut/mod.mk
deleted file mode 100644
index 73fe4cdaf..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/comp_no_namespace/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/comp_no_namespace Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/enum1port/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/enum1port/mod.mk
deleted file mode 100644
index 57d0820d3..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/enum1port/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = DrvTimingSignalPortAi.xml
-
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/enum_return_port/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/enum_return_port/mod.mk
deleted file mode 100644
index 0f580439f..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/enum_return_port/mod.mk
+++ /dev/null
@@ -1,10 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-SRC = TestPortAi.xml
-
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event1/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/event1/mod.mk
deleted file mode 100644
index e76b0c5f9..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event1/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = TestComponentAi.xml TestPortAi.xml TestLogImpl.cpp TestLogRecvImpl.cpp main.cpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event1/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/event1/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event1/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event1/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/event1/test/ut/mod.mk
deleted file mode 100644
index e7f6f46e7..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event1/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/event1 Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event2/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/event2/mod.mk
deleted file mode 100644
index 9f9a0f3ea..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event2/mod.mk
+++ /dev/null
@@ -1,20 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = TestComponentAi.xml TestPortAi.xml QuaternionSerializableAi.xml
-
-SUBDIRS = test
-
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event2/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/event2/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event2/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event2/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/event2/test/ut/mod.mk
deleted file mode 100644
index 853170ad3..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event2/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/event2 Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_enum/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_enum/mod.mk
deleted file mode 100644
index e76b0c5f9..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_enum/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = TestComponentAi.xml TestPortAi.xml TestLogImpl.cpp TestLogRecvImpl.cpp main.cpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_enum/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_enum/test/mod.mk
deleted file mode 100644
index 871e2ff15..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_enum/test/mod.mk
+++ /dev/null
@@ -1 +0,0 @@
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_enum/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_enum/test/ut/mod.mk
deleted file mode 100644
index 78fff3cc0..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_enum/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/command2 Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_multi_inst/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_multi_inst/mod.mk
deleted file mode 100644
index e76b0c5f9..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_multi_inst/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = TestComponentAi.xml TestPortAi.xml TestLogImpl.cpp TestLogRecvImpl.cpp main.cpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_multi_inst/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_multi_inst/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_multi_inst/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_multi_inst/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_multi_inst/test/ut/mod.mk
deleted file mode 100644
index 78fff3cc0..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_multi_inst/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/command2 Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_string/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_string/mod.mk
deleted file mode 100644
index e76b0c5f9..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_string/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = TestComponentAi.xml TestPortAi.xml TestLogImpl.cpp TestLogRecvImpl.cpp main.cpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_string/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_string/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_string/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_string/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_string/test/ut/mod.mk
deleted file mode 100644
index 78fff3cc0..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_string/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/command2 Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_throttle/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_throttle/mod.mk
deleted file mode 100644
index 7527453af..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_throttle/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = TestComponentAi.xml TestPortAi.xml TestLogImpl.cpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_throttle/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_throttle/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_throttle/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_throttle/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_throttle/test/ut/mod.mk
deleted file mode 100644
index ba9877150..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/event_throttle/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp Tester.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/event_throttle Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/ext_dict/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/ext_dict/mod.mk
deleted file mode 100644
index f4729ad3a..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/ext_dict/mod.mk
+++ /dev/null
@@ -1,23 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = 	ExampleComponentAi.xml \
-		ExamplePortAi.xml \
-		ExampleSerializableAi.xml \
-		Example2SerializableAi.xml \
-		ExampleType.cpp \
-		ExampleComponentImpl.cpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/ext_dict/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/ext_dict/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/ext_dict/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/ext_dict/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/ext_dict/test/ut/mod.mk
deleted file mode 100644
index 02acdae2d..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/ext_dict/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/ext_dict Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/interface1/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/interface1/mod.mk
deleted file mode 100644
index 3a4d91c1d..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/interface1/mod.mk
+++ /dev/null
@@ -1,19 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = TestComponentAi.xml TestComponentImpl.cpp UserSerializer.cpp
-
-SUBDIRS = test
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/interface1/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/interface1/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/interface1/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/interface1/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/interface1/test/ut/mod.mk
deleted file mode 100644
index 3c8249013..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/interface1/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/interface1 Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/log1/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/log1/mod.mk
deleted file mode 100644
index 99f6b5eed..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/log1/mod.mk
+++ /dev/null
@@ -1,19 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = Test1ComponentAi.xml Test4PortAi.xml
-SUBDIRS = test
-
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/log1/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/log1/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/log1/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/log1/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/log1/test/ut/mod.mk
deleted file mode 100644
index 4018945b2..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/log1/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/log1 Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/log_tester/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/log_tester/mod.mk
deleted file mode 100644
index c59cda98b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/log_tester/mod.mk
+++ /dev/null
@@ -1,20 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = LogTestComponentAi.xml TestTextLogImpl.cpp
-
-SUBDIRS = test
-
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/log_tester/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/log_tester/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/log_tester/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/log_tester/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/log_tester/test/ut/mod.mk
deleted file mode 100644
index ef176085c..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/log_tester/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/log_tester Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Log Fw/Tlm Fw/Types Fw/Time Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/main/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/main/mod.mk
deleted file mode 100644
index d1f00f25c..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/main/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = main.cpp
-
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/noargport/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/noargport/mod.mk
deleted file mode 100644
index 69c931577..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/noargport/mod.mk
+++ /dev/null
@@ -1,19 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = SomePortAi.xml ExampleComponentAi.xml  main.cpp
-SUBDIRS = test
-
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/noargport/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/noargport/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/noargport/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/noargport/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/noargport/test/ut/mod.mk
deleted file mode 100644
index 61785c685..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/noargport/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/noargport Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param1/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/param1/mod.mk
deleted file mode 100644
index e414548ad..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param1/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = TestComponentAi.xml TestPortAi.xml TestPrmSourceImpl.cpp TestPrmImpl.cpp main.cpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param1/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/param1/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param1/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param1/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/param1/test/ut/mod.mk
deleted file mode 100644
index ca6587a20..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param1/test/ut/mod.mk
+++ /dev/null
@@ -1,20 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/TesterBase.cpp Tester.cpp Main.cpp
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param2/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/param2/mod.mk
deleted file mode 100644
index 169fab693..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param2/mod.mk
+++ /dev/null
@@ -1,19 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = TestComponentAi.xml TestPortAi.xml QuaternionSerializableAi.xml
-SUBDIRS = test
-
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param2/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/param2/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param2/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param2/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/param2/test/ut/mod.mk
deleted file mode 100644
index 6ab958bfe..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param2/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/param2 Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_enum/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_enum/mod.mk
deleted file mode 100644
index 01eee98ef..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_enum/mod.mk
+++ /dev/null
@@ -1,19 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = TestComponentAi.xml TestPortAi.xml TestPrmSourceImpl.cpp TestPrmImpl.cpp main.cpp
-SUBDIRS = test
-
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_enum/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_enum/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_enum/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_enum/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_enum/test/ut/mod.mk
deleted file mode 100644
index 9aa4bf070..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_enum/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/param_enum Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_multi_inst/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_multi_inst/mod.mk
deleted file mode 100644
index e414548ad..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_multi_inst/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = TestComponentAi.xml TestPortAi.xml TestPrmSourceImpl.cpp TestPrmImpl.cpp main.cpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_multi_inst/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_multi_inst/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_multi_inst/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_multi_inst/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_multi_inst/test/ut/mod.mk
deleted file mode 100644
index 2537318c5..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_multi_inst/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/TesterBase.cpp Handcode/GTestBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/param_multi_inst Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_string/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_string/mod.mk
deleted file mode 100644
index e414548ad..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_string/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = TestComponentAi.xml TestPortAi.xml TestPrmSourceImpl.cpp TestPrmImpl.cpp main.cpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_string/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_string/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_string/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_string/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_string/test/ut/mod.mk
deleted file mode 100644
index d35bd6016..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_string/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/TesterBase.cpp Handcode/GTestBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/param_string Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_tester/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_tester/mod.mk
deleted file mode 100644
index 2829683c2..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_tester/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = ParamTestComponentAi.xml
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_tester/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_tester/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_tester/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_tester/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_tester/test/ut/mod.mk
deleted file mode 100644
index b42408675..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/param_tester/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/param_tester Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/pass_by_attrib/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/pass_by_attrib/mod.mk
deleted file mode 100644
index f6aea29c8..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/pass_by_attrib/mod.mk
+++ /dev/null
@@ -1,19 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = Msg1PortAi.xml PassByComponentAi.xml
-SUBDIRS = test
-
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/pass_by_attrib/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/pass_by_attrib/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/pass_by_attrib/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/pass_by_attrib/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/pass_by_attrib/test/ut/mod.mk
deleted file mode 100644
index 760f990fb..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/pass_by_attrib/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/pass_by_attrib Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/port_loopback/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/port_loopback/mod.mk
deleted file mode 100644
index f0d5e4142..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/port_loopback/mod.mk
+++ /dev/null
@@ -1,24 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = 	ExampleComponentAi.xml \
-		ExamplePortAi.xml \
-		ExampleSerializableAi.xml \
-		ExampleType.cpp \
-		ExampleComponentImpl.cpp
-
-HDR =   ExampleType.hpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/port_loopback/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/port_loopback/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/port_loopback/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/port_loopback/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/port_loopback/test/ut/mod.mk
deleted file mode 100644
index 3d715a885..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/port_loopback/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/port_loopback Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/port_nogen/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/port_nogen/mod.mk
deleted file mode 100644
index f4729ad3a..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/port_nogen/mod.mk
+++ /dev/null
@@ -1,23 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = 	ExampleComponentAi.xml \
-		ExamplePortAi.xml \
-		ExampleSerializableAi.xml \
-		Example2SerializableAi.xml \
-		ExampleType.cpp \
-		ExampleComponentImpl.cpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/port_nogen/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/port_nogen/test/mod.mk
deleted file mode 100644
index 662852e69..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/port_nogen/test/mod.mk
+++ /dev/null
@@ -1,8 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/port_nogen/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/port_nogen/test/ut/mod.mk
deleted file mode 100644
index ea7c6ed90..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/port_nogen/test/ut/mod.mk
+++ /dev/null
@@ -1,23 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/port_nogen Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/port_return_type/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/port_return_type/mod.mk
deleted file mode 100644
index a114047d0..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/port_return_type/mod.mk
+++ /dev/null
@@ -1,19 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = Msg1PortAi.xml ReturnTypeComponentAi.xml
-SUBDIRS = test
-
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/port_return_type/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/port_return_type/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/port_return_type/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/port_return_type/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/port_return_type/test/ut/mod.mk
deleted file mode 100644
index 4018945b2..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/port_return_type/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/log1 Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/queued1/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/queued1/mod.mk
deleted file mode 100644
index 7b9633ea4..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/queued1/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = 	TestComponentAi.xml \
-		TestPortAi.xml \
-		Test2PortAi.xml \
-		TestComponentImpl.cpp
-
-SUBDIRS = test
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/queued1/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/queued1/test/mod.mk
deleted file mode 100644
index 662852e69..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/queued1/test/mod.mk
+++ /dev/null
@@ -1,8 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/queued1/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/queued1/test/ut/mod.mk
deleted file mode 100644
index fce86c31d..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/queued1/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = TestComponentTestAi.xml ComponentTester.cpp ComponentTesterImpl.cpp
-
-TEST_MODS = Autocoders/Python/test/queued1 Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serial_passive/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/serial_passive/mod.mk
deleted file mode 100644
index f53e602d7..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serial_passive/mod.mk
+++ /dev/null
@@ -1,20 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = 	TestComponentAi.xml \
-		TestSerialImpl.cpp \
-		main.cpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serial_passive/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/serial_passive/test/mod.mk
deleted file mode 100644
index 871e2ff15..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serial_passive/test/mod.mk
+++ /dev/null
@@ -1 +0,0 @@
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serial_passive/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/serial_passive/test/ut/mod.mk
deleted file mode 100644
index 440383bd7..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serial_passive/test/ut/mod.mk
+++ /dev/null
@@ -1,16 +0,0 @@
-TEST_SRC = 	Handcode/GTestBase.cpp \
-			Handcode/TesterBase.cpp \
-			Tester.cpp \
-			main.cpp
-
-TEST_MODS = Autocoders/Python/test/serial_passive \
-			Fw/Cmd Fw/Comp \
-			Fw/Port Fw/Prm \
-			Fw/Time Fw/Tlm \
-			Fw/Types Fw/Log \
-			Fw/Obj Os Fw/Com \
-			Autocoders/Python/test/port_loopback
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize1/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize1/mod.mk
deleted file mode 100644
index 1b7f3d410..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize1/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = QuaternionSerializableAi.xml
-
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize2/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize2/mod.mk
deleted file mode 100644
index 6e61ed970..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize2/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = QuaternionSerializableAi.xml GncMeasurementSerializableAi.xml
-
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize3/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize3/mod.mk
deleted file mode 100644
index 4b1089bc8..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize3/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = AlltypesSerializableAi.xml InttypeSerializableAi.xml
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize3/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize3/test/mod.mk
deleted file mode 100644
index 871e2ff15..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize3/test/mod.mk
+++ /dev/null
@@ -1 +0,0 @@
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize3/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize3/test/ut/mod.mk
deleted file mode 100644
index 13d29ddde..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize3/test/ut/mod.mk
+++ /dev/null
@@ -1,7 +0,0 @@
-TEST_SRC = main.cpp
-
-TEST_MODS = Fw/Types Autocoders/Python/test/serialize3
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize_enum/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize_enum/mod.mk
deleted file mode 100644
index 4933fa5d6..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize_enum/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = ExampleSerializableAi.xml
-
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize_stringbuffer/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize_stringbuffer/mod.mk
deleted file mode 100644
index 6e59f6b88..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize_stringbuffer/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = ExampleSerializableAi.xml
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize_stringbuffer/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize_stringbuffer/test/mod.mk
deleted file mode 100644
index 871e2ff15..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize_stringbuffer/test/mod.mk
+++ /dev/null
@@ -1 +0,0 @@
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize_stringbuffer/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize_stringbuffer/test/ut/mod.mk
deleted file mode 100644
index a5a060b9b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize_stringbuffer/test/ut/mod.mk
+++ /dev/null
@@ -1,7 +0,0 @@
-TEST_SRC = main.cpp
-
-TEST_MODS = Autocoders/Python/test/serialize_stringbuffer Fw/Types
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize_template/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize_template/mod.mk
deleted file mode 100644
index cbea9dbdf..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize_template/mod.mk
+++ /dev/null
@@ -1,21 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = 	ExamplePortAi.xml \
-		ExampleComponentAi.xml \
-		ExampleComponentImpl.cpp \
-		main.cpp
-
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize_user/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize_user/mod.mk
deleted file mode 100644
index 80e20cf61..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize_user/mod.mk
+++ /dev/null
@@ -1,24 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = 	UserSerializer.cpp \
-		ExamplePortAi.xml \
-		ExampleComponentAi.xml \
-		ExampleComponentImpl.cpp \
-		main.cpp
-
-SUBDIRS = test
-
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize_user/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize_user/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize_user/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize_user/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize_user/test/ut/mod.mk
deleted file mode 100644
index 9fcb12999..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/serialize_user/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/serialize_user Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/stress/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/stress/mod.mk
deleted file mode 100644
index 2e3fa7837..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/stress/mod.mk
+++ /dev/null
@@ -1,31 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = 	TestComponentAi.xml \
-		TestPortAi.xml \
-		Test2PortAi.xml \
-		TestPrmSourceImpl.cpp \
-		TestCommandSourceImpl.cpp \
-		TestTelemRecvImpl.cpp \
-		QuaternionSerializableAi.xml \
-		TestCommandImpl.cpp \
-		TestLogRecvImpl.cpp \
-		TestPtComponentAi.xml \
-		TestPtSourceImpl.cpp \
-		main.cpp
-
-SUBDIRS = test
-
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/stress/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/stress/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/stress/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/stress/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/stress/test/ut/mod.mk
deleted file mode 100644
index 9b9e25acc..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/stress/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/stress Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/string_port/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/string_port/mod.mk
deleted file mode 100644
index 945a53420..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/string_port/mod.mk
+++ /dev/null
@@ -1,19 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = TestPortAi.xml TestComponentAi.xml
-SUBDIRS = test
-
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/string_port/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/string_port/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/string_port/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/string_port/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/string_port/test/ut/mod.mk
deleted file mode 100644
index 3560f8266..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/string_port/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/string_port Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/telem_tester/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/telem_tester/mod.mk
deleted file mode 100644
index a59dcfabd..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/telem_tester/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = TelemTestComponentAi.xml
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/telem_tester/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/telem_tester/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/telem_tester/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/telem_tester/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/telem_tester/test/ut/mod.mk
deleted file mode 100644
index 9410899d3..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/telem_tester/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/telem_tester Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/time_tester/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/time_tester/mod.mk
deleted file mode 100644
index 923a61c89..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/time_tester/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = TimeTestComponentAi.xml TestTimeImpl.cpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/time_tester/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/time_tester/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/time_tester/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/time_tester/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/time_tester/test/ut/mod.mk
deleted file mode 100644
index 9f35fa942..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/time_tester/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/time_tester Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm1/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm1/mod.mk
deleted file mode 100644
index 10aece255..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm1/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = TestComponentAi.xml TestPortAi.xml TestTelemImpl.cpp TestTelemRecvImpl.cpp main.cpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm1/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm1/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm1/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm1/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm1/test/ut/mod.mk
deleted file mode 100644
index 1fbba738e..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm1/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/tlm1 Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm2/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm2/mod.mk
deleted file mode 100644
index 6091dbfab..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm2/mod.mk
+++ /dev/null
@@ -1,20 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = TestComponentAi.xml TestPortAi.xml QuaternionSerializableAi.xml TestTelemRecvImpl.cpp TestTelemImpl.cpp main.cpp
-
-SUBDIRS = test
-
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm2/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm2/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm2/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm2/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm2/test/ut/mod.mk
deleted file mode 100644
index 9280f6319..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm2/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/tlm2 Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_enum/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_enum/mod.mk
deleted file mode 100644
index 1157b68c7..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_enum/mod.mk
+++ /dev/null
@@ -1,19 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = TestComponentAi.xml TestPortAi.xml TestTelemImpl.cpp TestTelemRecvImpl.cpp main.cpp
-SUBDIRS = test
-
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_enum/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_enum/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_enum/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_enum/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_enum/test/ut/mod.mk
deleted file mode 100644
index bd88b31d3..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_enum/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/tlm_enum Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_multi_inst/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_multi_inst/mod.mk
deleted file mode 100644
index 10aece255..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_multi_inst/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = TestComponentAi.xml TestPortAi.xml TestTelemImpl.cpp TestTelemRecvImpl.cpp main.cpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_multi_inst/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_multi_inst/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_multi_inst/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_multi_inst/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_multi_inst/test/ut/mod.mk
deleted file mode 100644
index 1aa02437e..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_multi_inst/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/tlm_multi_inst Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_onchange/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_onchange/mod.mk
deleted file mode 100644
index c82aa3a70..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_onchange/mod.mk
+++ /dev/null
@@ -1,25 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = 	TestComponentAi.xml \
-		TestPortAi.xml \
-		QuaternionSerializableAi.xml \
-		TestTelemImpl.cpp \
-		TestTelemRecvImpl.cpp \
-		main.cpp
-
-SUBDIRS = test
-
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_onchange/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_onchange/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_onchange/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_onchange/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_onchange/test/ut/mod.mk
deleted file mode 100644
index 5b649e3d9..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_onchange/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/tlm_onchange Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_string/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_string/mod.mk
deleted file mode 100644
index 1157b68c7..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_string/mod.mk
+++ /dev/null
@@ -1,19 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = TestComponentAi.xml TestPortAi.xml TestTelemImpl.cpp TestTelemRecvImpl.cpp main.cpp
-SUBDIRS = test
-
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_string/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_string/test/mod.mk
deleted file mode 100644
index 418c3dc5b..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_string/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_string/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_string/test/ut/mod.mk
deleted file mode 100644
index afcc43f9c..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/test/tlm_string/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/GTestBase.cpp Handcode/TesterBase.cpp main.cpp
-
-TEST_MODS = Autocoders/Python/test/tlm_string Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/utils/NoseTests/AppTemplate/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/utils/NoseTests/AppTemplate/mod.mk
deleted file mode 100644
index 72909b05d..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/utils/NoseTests/AppTemplate/mod.mk
+++ /dev/null
@@ -1,21 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC =
-
-HDR =
-
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/utils/NoseTests/AppTemplate/test/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/utils/NoseTests/AppTemplate/test/mod.mk
deleted file mode 100644
index 871e2ff15..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/utils/NoseTests/AppTemplate/test/mod.mk
+++ /dev/null
@@ -1 +0,0 @@
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Autocoders/Python/utils/NoseTests/AppTemplate/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Autocoders/Python/utils/NoseTests/AppTemplate/test/ut/mod.mk
deleted file mode 100644
index 90a6c76de..000000000
--- a/Apps/FlightSoftware/fprime/Autocoders/Python/utils/NoseTests/AppTemplate/test/ut/mod.mk
+++ /dev/null
@@ -1,25 +0,0 @@
-#
-##   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   #   acknowledged.
-#   #
-#   #
-
-# This is a template for the mod.mk file that goes in each module
-# # and each module's subdirectories.
-# # With a fresh checkout, "make gen_make" should be invoked. It should also be
-# # run if any of the variables are updated. Any unused variables can
-# # be deleted from the file.
-#
-# # There are some standard files that are included for reference
-#
- TEST_SRC = #ADD MAIN FILE HERE#
-
-
- TEST_MODS = Autocoders/Python/test/#ADD APP ROOT HERE# Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com
-
-
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/CFDP/Checksum/GTest/mod.mk b/Apps/FlightSoftware/fprime/CFDP/Checksum/GTest/mod.mk
deleted file mode 100644
index bfd49c03f..000000000
--- a/Apps/FlightSoftware/fprime/CFDP/Checksum/GTest/mod.mk
+++ /dev/null
@@ -1,6 +0,0 @@
-SRC = \
-	Checksums.cpp
-
-HDR = \
-	Checksums.hpp
-
diff --git a/Apps/FlightSoftware/fprime/CFDP/Checksum/mod.mk b/Apps/FlightSoftware/fprime/CFDP/Checksum/mod.mk
deleted file mode 100644
index eb3b6afb7..000000000
--- a/Apps/FlightSoftware/fprime/CFDP/Checksum/mod.mk
+++ /dev/null
@@ -1,25 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = \	
-	Checksum.cpp
-
-#	FwStructSerializable.cpp
-	
-HDR = \	
-	Checksum.hpp
-	
-SUBDIRS = test
-
diff --git a/Apps/FlightSoftware/fprime/CFDP/Checksum/test/mod.mk b/Apps/FlightSoftware/fprime/CFDP/Checksum/test/mod.mk
deleted file mode 100644
index d3934dfa6..000000000
--- a/Apps/FlightSoftware/fprime/CFDP/Checksum/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/CFDP/Checksum/test/ut/mod.mk b/Apps/FlightSoftware/fprime/CFDP/Checksum/test/ut/mod.mk
deleted file mode 100644
index 80f2de5d2..000000000
--- a/Apps/FlightSoftware/fprime/CFDP/Checksum/test/ut/mod.mk
+++ /dev/null
@@ -1,9 +0,0 @@
-TEST_SRC = Main.cpp
-TEST_MODS = \
-						CFDP/Checksum \
-						Fw/Types \
-						gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/CubeRover/Camera/mod.mk b/Apps/FlightSoftware/fprime/CubeRover/Camera/mod.mk
deleted file mode 100644
index 7688606cc..000000000
--- a/Apps/FlightSoftware/fprime/CubeRover/Camera/mod.mk
+++ /dev/null
@@ -1,3 +0,0 @@
-SRC = CameraComponentAi.xml Camera.cpp S25fl512l.cpp
-
-HDR =  Camera.hpp S25fl512l.hpp
diff --git a/Apps/FlightSoftware/fprime/CubeRover/ComponentTemplate/CubeRoverComponentTemplate/mod.mk b/Apps/FlightSoftware/fprime/CubeRover/ComponentTemplate/CubeRoverComponentTemplate/mod.mk
deleted file mode 100644
index 58b50866d..000000000
--- a/Apps/FlightSoftware/fprime/CubeRover/ComponentTemplate/CubeRoverComponentTemplate/mod.mk
+++ /dev/null
@@ -1,5 +0,0 @@
-SRC = {{ COMPONENT_NAME }}ComponentAi.xml 
-
-HDR = 
-
-SUBDIRS = 
diff --git a/Apps/FlightSoftware/fprime/CubeRover/CubeRoverPorts/CameraTakePicture/mod.mk b/Apps/FlightSoftware/fprime/CubeRover/CubeRoverPorts/CameraTakePicture/mod.mk
deleted file mode 100644
index 4cc23e49d..000000000
--- a/Apps/FlightSoftware/fprime/CubeRover/CubeRoverPorts/CameraTakePicture/mod.mk
+++ /dev/null
@@ -1,10 +0,0 @@
-#
-#   Copyright 2015, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-
-SRC =	CameraTakePicturePortAi.xml 
-
diff --git a/Apps/FlightSoftware/fprime/CubeRover/CubeRoverPorts/FileDownlink/mod.mk b/Apps/FlightSoftware/fprime/CubeRover/CubeRoverPorts/FileDownlink/mod.mk
deleted file mode 100644
index c6faf5b6e..000000000
--- a/Apps/FlightSoftware/fprime/CubeRover/CubeRoverPorts/FileDownlink/mod.mk
+++ /dev/null
@@ -1,10 +0,0 @@
-#
-#   Copyright 2015, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-
-SRC =	FileDownlinkPortAi.xml 
-
diff --git a/Apps/FlightSoftware/fprime/CubeRover/CubeRoverPorts/IMUData/mod.mk b/Apps/FlightSoftware/fprime/CubeRover/CubeRoverPorts/IMUData/mod.mk
deleted file mode 100644
index b7b1f0d92..000000000
--- a/Apps/FlightSoftware/fprime/CubeRover/CubeRoverPorts/IMUData/mod.mk
+++ /dev/null
@@ -1,2 +0,0 @@
-SRC = IMUDataPortAi.xml 
-HDR = 
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/CubeRover/CubeRoverPorts/MotorCommand/mod.mk b/Apps/FlightSoftware/fprime/CubeRover/CubeRoverPorts/MotorCommand/mod.mk
deleted file mode 100644
index 05b3352eb..000000000
--- a/Apps/FlightSoftware/fprime/CubeRover/CubeRoverPorts/MotorCommand/mod.mk
+++ /dev/null
@@ -1,2 +0,0 @@
-SRC = MotorCommandPortAi.xml 
-HDR = 
diff --git a/Apps/FlightSoftware/fprime/CubeRover/CubeRoverPorts/MotorData/mod.mk b/Apps/FlightSoftware/fprime/CubeRover/CubeRoverPorts/MotorData/mod.mk
deleted file mode 100644
index 7b51595af..000000000
--- a/Apps/FlightSoftware/fprime/CubeRover/CubeRoverPorts/MotorData/mod.mk
+++ /dev/null
@@ -1,2 +0,0 @@
-SRC = MotorDataPortAi.xml 
-HDR = 
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/CubeRover/CubeRoverPorts/WatchdogResetRequest/mod.mk b/Apps/FlightSoftware/fprime/CubeRover/CubeRoverPorts/WatchdogResetRequest/mod.mk
deleted file mode 100644
index fe890baa9..000000000
--- a/Apps/FlightSoftware/fprime/CubeRover/CubeRoverPorts/WatchdogResetRequest/mod.mk
+++ /dev/null
@@ -1,2 +0,0 @@
-SRC = WatchdogResetRequestPortAi.xml 
-HDR = 
diff --git a/Apps/FlightSoftware/fprime/CubeRover/CubeRoverPorts/mod.mk b/Apps/FlightSoftware/fprime/CubeRover/CubeRoverPorts/mod.mk
deleted file mode 100644
index 9834273c0..000000000
--- a/Apps/FlightSoftware/fprime/CubeRover/CubeRoverPorts/mod.mk
+++ /dev/null
@@ -1,14 +0,0 @@
-#
-#   Copyright 2015, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-
-SRC =	OperationModePortAi.xml 
-# 		ModeManagerComponentImpl.cpp
-
-# HDR = 	ModeManagerComponentImpl.hpp
-
-# SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/mod.mk b/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/mod.mk
deleted file mode 100644
index 469e40219..000000000
--- a/Apps/FlightSoftware/fprime/CubeRover/GroundInterface/mod.mk
+++ /dev/null
@@ -1,3 +0,0 @@
-SRC = GroundInterfaceComponentAi.xml GroundInterface.cpp
-
-HDR = GroundInterface.hpp
diff --git a/Apps/FlightSoftware/fprime/CubeRover/IMU/mod.mk b/Apps/FlightSoftware/fprime/CubeRover/IMU/mod.mk
deleted file mode 100644
index 35234322a..000000000
--- a/Apps/FlightSoftware/fprime/CubeRover/IMU/mod.mk
+++ /dev/null
@@ -1,9 +0,0 @@
-# ---------------------------------------------------------------------- 
-# mod.mk
-# ---------------------------------------------------------------------- 
-
-SRC = IMUComponentAi.xml IMUComponent.cpp
-
-HDR = IMUComponent.hpp
-
-#SUBDIRS = test
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/mod.mk b/Apps/FlightSoftware/fprime/CubeRover/MotorControl/mod.mk
deleted file mode 100644
index f18416a95..000000000
--- a/Apps/FlightSoftware/fprime/CubeRover/MotorControl/mod.mk
+++ /dev/null
@@ -1,9 +0,0 @@
-# ---------------------------------------------------------------------- 
-# mod.mk
-# ---------------------------------------------------------------------- 
-
-SRC = MotorControlComponentAi.xml MotorControlComponent.cpp MotorController_i2c.c
-
-HDR = MotorControlComponent.hpp MotorController_i2c.h
-
-#SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/CubeRover/Navigation/mod.mk b/Apps/FlightSoftware/fprime/CubeRover/Navigation/mod.mk
deleted file mode 100644
index 05515654f..000000000
--- a/Apps/FlightSoftware/fprime/CubeRover/Navigation/mod.mk
+++ /dev/null
@@ -1,2 +0,0 @@
-SRC =	NavigationComponentAi.xml NavigationComponent.cpp
-HDR =	NavigationComponent.hpp
diff --git a/Apps/FlightSoftware/fprime/CubeRover/NetworkManager/mod.mk b/Apps/FlightSoftware/fprime/CubeRover/NetworkManager/mod.mk
deleted file mode 100644
index 60cd9a4f5..000000000
--- a/Apps/FlightSoftware/fprime/CubeRover/NetworkManager/mod.mk
+++ /dev/null
@@ -1,6 +0,0 @@
-SRC = NetworkManagerComponentAi.xml \
-	  CubeRoverNetworkManager.cpp \
-	  NetworkManager.cpp
-
-HDR = CubeRoverNetworkManager.hpp \
-	  NetworkManager.hpp
diff --git a/Apps/FlightSoftware/fprime/CubeRover/Top/mod.mk b/Apps/FlightSoftware/fprime/CubeRover/Top/mod.mk
deleted file mode 100644
index 20e917a1e..000000000
--- a/Apps/FlightSoftware/fprime/CubeRover/Top/mod.mk
+++ /dev/null
@@ -1,4 +0,0 @@
-SRC = 				Topology.cpp \
-                    CubeRoverTopologyAppAi.xml
-
-HDR = 				Topology.hpp
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/CubeRover/UdpInterface/mod.mk b/Apps/FlightSoftware/fprime/CubeRover/UdpInterface/mod.mk
deleted file mode 100644
index e9c111351..000000000
--- a/Apps/FlightSoftware/fprime/CubeRover/UdpInterface/mod.mk
+++ /dev/null
@@ -1,12 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-SRC = UdpInterfaceComponentAi.xml UdpInterface.cpp
-
-HDR =  UdpInterface.hpp
-
-#SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/mod.mk b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/mod.mk
deleted file mode 100644
index 0f6ec50af..000000000
--- a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/mod.mk
+++ /dev/null
@@ -1,6 +0,0 @@
-SRC = WatchDogInterfaceComponentAi.xml \
-	  WatchDogInterface.cpp
-
-HDR = WatchDogInterface.hpp
-
-SUBDIRS = 
diff --git a/Apps/FlightSoftware/fprime/Drv/BlockDriver/mod.mk b/Apps/FlightSoftware/fprime/Drv/BlockDriver/mod.mk
deleted file mode 100644
index 53c82e165..000000000
--- a/Apps/FlightSoftware/fprime/Drv/BlockDriver/mod.mk
+++ /dev/null
@@ -1,12 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-
-SRC = 	BlockDriverComponentAi.xml \
-		BlockDriverImpl.cpp 
-    
-HDR = 	BlockDriverImpl.hpp 		
diff --git a/Apps/FlightSoftware/fprime/Drv/DataTypes/mod.mk b/Apps/FlightSoftware/fprime/Drv/DataTypes/mod.mk
deleted file mode 100644
index 496ecda12..000000000
--- a/Apps/FlightSoftware/fprime/Drv/DataTypes/mod.mk
+++ /dev/null
@@ -1,12 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-
-SRC = 	DataBuffer.cpp \
-		DataBufferPortAi.xml
-    
-HDR = 	DataBuffer.hpp
diff --git a/Apps/FlightSoftware/fprime/Drv/FreeRtosSerialDriver/mod.mk b/Apps/FlightSoftware/fprime/Drv/FreeRtosSerialDriver/mod.mk
deleted file mode 100644
index 7a1323905..000000000
--- a/Apps/FlightSoftware/fprime/Drv/FreeRtosSerialDriver/mod.mk
+++ /dev/null
@@ -1,7 +0,0 @@
-
-SRC = FreeRtosSerialDriverComponentAi.xml FreeRtosSerialDriverComponentImpl.cpp
-
-HDR = FreeRtosSerialDriverComponentImpl.hpp
-
-#SUBDIRS = test
-
diff --git a/Apps/FlightSoftware/fprime/Drv/GpioDriverPorts/mod.mk b/Apps/FlightSoftware/fprime/Drv/GpioDriverPorts/mod.mk
deleted file mode 100644
index 2074d1d7e..000000000
--- a/Apps/FlightSoftware/fprime/Drv/GpioDriverPorts/mod.mk
+++ /dev/null
@@ -1,8 +0,0 @@
-#
-#   Copyright 2004-2016, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-SRC = GpioReadPortAi.xml GpioWritePortAi.xml
diff --git a/Apps/FlightSoftware/fprime/Drv/LinuxGpioDriver/mod.mk b/Apps/FlightSoftware/fprime/Drv/LinuxGpioDriver/mod.mk
deleted file mode 100644
index 5b52c4844..000000000
--- a/Apps/FlightSoftware/fprime/Drv/LinuxGpioDriver/mod.mk
+++ /dev/null
@@ -1,25 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-SRC = LinuxGpioDriverComponentAi.xml LinuxGpioDriverComponentImplCommon.cpp
-
-SRC_SDFLIGHT = LinuxGpioDriverComponentImpl.cpp
-
-SRC_LINUX = LinuxGpioDriverComponentImpl.cpp
-
-SRC_CYGWIN = LinuxGpioDriverComponentImpl.cpp
-
-SRC_DARWIN = LinuxGpioDriverComponentImplStub.cpp
-
-SRC_RASPIAN = LinuxGpioDriverComponentImpl.cpp
-
-SRC_LINUXRT = LinuxGpioDriverComponentImpl.cpp
-
-HDR = LinuxGpioDriverComponentImpl.hpp
-
-SUBDIRS = test
-
diff --git a/Apps/FlightSoftware/fprime/Drv/LinuxGpioDriver/test/mod.mk b/Apps/FlightSoftware/fprime/Drv/LinuxGpioDriver/test/mod.mk
deleted file mode 100644
index 2b9ea41e5..000000000
--- a/Apps/FlightSoftware/fprime/Drv/LinuxGpioDriver/test/mod.mk
+++ /dev/null
@@ -1 +0,0 @@
-SUBDIRS = ut
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/Drv/LinuxGpioDriver/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Drv/LinuxGpioDriver/test/ut/mod.mk
deleted file mode 100644
index 236966629..000000000
--- a/Apps/FlightSoftware/fprime/Drv/LinuxGpioDriver/test/ut/mod.mk
+++ /dev/null
@@ -1,36 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = 	Handcode/TesterBase.cpp \
-			Tester.cpp \
-			main.cpp
-
-TEST_MODS = Drv/LinuxGpioDriver \
-			Drv/GpioDriverPorts \
-			Svc/Cycle \
-			Fw/Tlm \
-			Fw/Comp \
-			Fw/Cmd \
-			Fw/Log \
-			Fw/Time \
-			Fw/Obj \
-			Fw/Port \
-			Fw/Types \
-			Os \
-			gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Drv/LinuxSerialDriver/mod.mk b/Apps/FlightSoftware/fprime/Drv/LinuxSerialDriver/mod.mk
deleted file mode 100644
index 6e122b03f..000000000
--- a/Apps/FlightSoftware/fprime/Drv/LinuxSerialDriver/mod.mk
+++ /dev/null
@@ -1,25 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-SRC = LinuxSerialDriverComponentAi.xml LinuxSerialDriverComponentImplCommon.cpp
-
-SRC_SDFLIGHT = LinuxSerialDriverComponentImpl.cpp
-
-SRC_LINUX = LinuxSerialDriverComponentImpl.cpp
-
-SRC_CYGWIN = LinuxSerialDriverComponentImpl.cpp
-
-SRC_DARWIN = LinuxSerialDriverComponentImplStub.cpp
-
-SRC_RASPIAN = LinuxSerialDriverComponentImpl.cpp
-
-SRC_LINUXRT = LinuxSerialDriverComponentImpl.cpp
-
-HDR = LinuxSerialDriverComponentImpl.hpp
-
-SUBDIRS = test
-
diff --git a/Apps/FlightSoftware/fprime/Drv/LinuxSerialDriver/test/mod.mk b/Apps/FlightSoftware/fprime/Drv/LinuxSerialDriver/test/mod.mk
deleted file mode 100644
index 2b9ea41e5..000000000
--- a/Apps/FlightSoftware/fprime/Drv/LinuxSerialDriver/test/mod.mk
+++ /dev/null
@@ -1 +0,0 @@
-SUBDIRS = ut
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/Drv/LinuxSerialDriver/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Drv/LinuxSerialDriver/test/ut/mod.mk
deleted file mode 100644
index 6d0a4f122..000000000
--- a/Apps/FlightSoftware/fprime/Drv/LinuxSerialDriver/test/ut/mod.mk
+++ /dev/null
@@ -1,37 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = 	Handcode/TesterBase.cpp \
-			Tester.cpp \
-			main.cpp
-
-TEST_MODS = Drv/LinuxSerialDriver \
-			Drv/SerialDriverPorts \
-			Fw/Tlm \
-			Fw/Comp \
-			Fw/Cmd \
-			Fw/Log \
-			Fw/Obj \
-			Fw/Port \
-			Fw/Time \
-			Fw/Types \
-			Fw/Com \
-			Fw/Buffer \
-			Svc/Sched \
-			Os
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Drv/LinuxSpiDriver/mod.mk b/Apps/FlightSoftware/fprime/Drv/LinuxSpiDriver/mod.mk
deleted file mode 100644
index b329f6530..000000000
--- a/Apps/FlightSoftware/fprime/Drv/LinuxSpiDriver/mod.mk
+++ /dev/null
@@ -1,26 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-SRC = LinuxSpiDriverComponentAi.xml LinuxSpiDriverComponentImplCommon.cpp
-
-SRC_SDFLIGHT = LinuxSpiDriverComponentImpl.cpp
-
-SRC_LINUX =  LinuxSpiDriverComponentImpl.cpp
-
-SRC_CYGWIN = LinuxSpiDriverComponentImpl.cpp
-
-SRC_DARWIN =  LinuxSpiDriverComponentImplStub.cpp
-
-SRC_RASPIAN =  LinuxSpiDriverComponentImpl.cpp
-
-SRC_LINUXRT = LinuxSpiDriverComponentImpl.cpp
-
-HDR = LinuxSpiDriverComponentImpl.hpp
-
-SUBDIRS = test
-
-
diff --git a/Apps/FlightSoftware/fprime/Drv/LinuxSpiDriver/test/mod.mk b/Apps/FlightSoftware/fprime/Drv/LinuxSpiDriver/test/mod.mk
deleted file mode 100644
index 662852e69..000000000
--- a/Apps/FlightSoftware/fprime/Drv/LinuxSpiDriver/test/mod.mk
+++ /dev/null
@@ -1,8 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Drv/LinuxSpiDriver/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Drv/LinuxSpiDriver/test/ut/mod.mk
deleted file mode 100644
index c1329a0d2..000000000
--- a/Apps/FlightSoftware/fprime/Drv/LinuxSpiDriver/test/ut/mod.mk
+++ /dev/null
@@ -1,35 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = 	Handcode/TesterBase.cpp \
-			Tester.cpp \
-			main.cpp
-
-TEST_MODS = Drv/LinuxSpiDriver \
-			Drv/SpiDriverPorts \
-			Fw/Buffer \
-			Fw/Tlm \
-			Fw/Comp \
-			Fw/Cmd \
-			Fw/Log \
-			Fw/Obj \
-			Fw/Port \
-			Fw/Time \
-			Fw/Types \
-			Os
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Drv/SerialDriverPorts/mod.mk b/Apps/FlightSoftware/fprime/Drv/SerialDriverPorts/mod.mk
deleted file mode 100644
index 270da30db..000000000
--- a/Apps/FlightSoftware/fprime/Drv/SerialDriverPorts/mod.mk
+++ /dev/null
@@ -1,8 +0,0 @@
-#
-#   Copyright 2004-2016, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-SRC = SerialReadPortAi.xml SerialWritePortAi.xml
diff --git a/Apps/FlightSoftware/fprime/Drv/SpiDriverPorts/mod.mk b/Apps/FlightSoftware/fprime/Drv/SpiDriverPorts/mod.mk
deleted file mode 100644
index cedce63a7..000000000
--- a/Apps/FlightSoftware/fprime/Drv/SpiDriverPorts/mod.mk
+++ /dev/null
@@ -1,8 +0,0 @@
-#
-#   Copyright 2004-2016, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-SRC = SpiReadWritePortAi.xml
diff --git a/Apps/FlightSoftware/fprime/Fw/Buffer/mod.mk b/Apps/FlightSoftware/fprime/Fw/Buffer/mod.mk
deleted file mode 100644
index f7559349d..000000000
--- a/Apps/FlightSoftware/fprime/Fw/Buffer/mod.mk
+++ /dev/null
@@ -1,8 +0,0 @@
-# ----------------------------------------------------------------------
-# mod.mk 
-# ----------------------------------------------------------------------
-
-SRC = \	
-	BufferSerializableAi.xml \
-  BufferGetPortAi.xml \
-	BufferSendPortAi.xml
diff --git a/Apps/FlightSoftware/fprime/Fw/Cfg/mod.mk b/Apps/FlightSoftware/fprime/Fw/Cfg/mod.mk
deleted file mode 100644
index f35b1a050..000000000
--- a/Apps/FlightSoftware/fprime/Fw/Cfg/mod.mk
+++ /dev/null
@@ -1,23 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = \	
-	ConfigCheck.cpp
-	
-HDR = \
-	Config.hpp \
-	SerIds.hpp
-
-
diff --git a/Apps/FlightSoftware/fprime/Fw/Cmd/mod.mk b/Apps/FlightSoftware/fprime/Fw/Cmd/mod.mk
deleted file mode 100644
index f57e8b534..000000000
--- a/Apps/FlightSoftware/fprime/Fw/Cmd/mod.mk
+++ /dev/null
@@ -1,29 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = \	
-	CmdPortAi.xml \
-	CmdResponsePortAi.xml \
-	CmdRegPortAi.xml \
-	CmdArgBuffer.cpp \
-	CmdPacket.cpp \
-	CmdString.cpp
-	
-	
-HDR =  \
-	CmdArgBuffer.hpp \
-	CmdPacket.hpp \
-	CmdString.hpp
-
diff --git a/Apps/FlightSoftware/fprime/Fw/Com/mod.mk b/Apps/FlightSoftware/fprime/Fw/Com/mod.mk
deleted file mode 100644
index f132511ed..000000000
--- a/Apps/FlightSoftware/fprime/Fw/Com/mod.mk
+++ /dev/null
@@ -1,23 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = \	
-	ComPortAi.xml \
-	ComBuffer.cpp \
-	ComPacket.cpp
-	
-HDR = ComBuffer.hpp \
-	ComPacket.hpp
-
diff --git a/Apps/FlightSoftware/fprime/Fw/ComFile/mod.mk b/Apps/FlightSoftware/fprime/Fw/ComFile/mod.mk
deleted file mode 100644
index eede54025..000000000
--- a/Apps/FlightSoftware/fprime/Fw/ComFile/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = \	
-	FilePacket.cpp \
-	FileBuffer.cpp
-	
-HDR = \
-	FilePacket.hpp \
-	FileBuffer.hpp
diff --git a/Apps/FlightSoftware/fprime/Fw/Comp/mod.mk b/Apps/FlightSoftware/fprime/Fw/Comp/mod.mk
deleted file mode 100644
index 7021078e7..000000000
--- a/Apps/FlightSoftware/fprime/Fw/Comp/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-20014, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-SRC = \	
-    ActiveComponentBase.cpp \
-    QueuedComponentBase.cpp \
-	PassiveComponentBase.cpp
-	
-HDR = \
-    ActiveComponentBase.hpp \
-    QueuedComponentBase.hpp \
-	PassiveComponentBase.hpp
-	
-
diff --git a/Apps/FlightSoftware/fprime/Fw/FilePacket/GTest/mod.mk b/Apps/FlightSoftware/fprime/Fw/FilePacket/GTest/mod.mk
deleted file mode 100644
index 9aefbedca..000000000
--- a/Apps/FlightSoftware/fprime/Fw/FilePacket/GTest/mod.mk
+++ /dev/null
@@ -1,10 +0,0 @@
-SRC = \
-	CancelPacket.cpp \
-	DataPacket.cpp \
-	EndPacket.cpp \
-	Header.cpp \
-	PathName.cpp \
-	StartPacket.cpp
-
-HDR = \
-  FilePackets.hpp
diff --git a/Apps/FlightSoftware/fprime/Fw/FilePacket/mod.mk b/Apps/FlightSoftware/fprime/Fw/FilePacket/mod.mk
deleted file mode 100644
index 29dd40776..000000000
--- a/Apps/FlightSoftware/fprime/Fw/FilePacket/mod.mk
+++ /dev/null
@@ -1,13 +0,0 @@
-SRC = \	
-	CancelPacket.cpp \
-	DataPacket.cpp \
-	EndPacket.cpp \
-	FilePacket.cpp \
-	Header.cpp \
-	PathName.cpp \
-	StartPacket.cpp
-
-HDR = \	
-  FilePacket.hpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Fw/FilePacket/test/mod.mk b/Apps/FlightSoftware/fprime/Fw/FilePacket/test/mod.mk
deleted file mode 100644
index 871e2ff15..000000000
--- a/Apps/FlightSoftware/fprime/Fw/FilePacket/test/mod.mk
+++ /dev/null
@@ -1 +0,0 @@
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Fw/FilePacket/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Fw/FilePacket/test/ut/mod.mk
deleted file mode 100644
index fe8b67153..000000000
--- a/Apps/FlightSoftware/fprime/Fw/FilePacket/test/ut/mod.mk
+++ /dev/null
@@ -1,19 +0,0 @@
-TEST_SRC = Main.cpp
-
-TEST_MODS = Fw/FilePacket/GTest \
-Fw/Types/GTest \
-Fw/FilePacket \
-Fw/Buffer \
-Fw/Port \
-Fw/Comp \
-Os \
-Fw/Obj \
-Utils/Hash \
-CFDP/Checksum/GTest \
-CFDP/Checksum \
-Fw/Types \
-gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Fw/Log/mod.mk b/Apps/FlightSoftware/fprime/Fw/Log/mod.mk
deleted file mode 100644
index 75534b8e6..000000000
--- a/Apps/FlightSoftware/fprime/Fw/Log/mod.mk
+++ /dev/null
@@ -1,31 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = \	
-	LogPortAi.xml \
-	LogTextPortAi.xml \
-	LogBuffer.cpp \
-	LogPacket.cpp \
-	LogString.cpp \
-	TextLogString.cpp \
-	AmpcsEvrLogPacket.cpp
-	
-HDR = LogBuffer.hpp \
-	LogPacket.hpp \
-	LogString.hpp \
-	TextLogString.hpp \
-	AmpcsEvrLogPacket.hpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Fw/Log/test/mod.mk b/Apps/FlightSoftware/fprime/Fw/Log/test/mod.mk
deleted file mode 100644
index b8d259187..000000000
--- a/Apps/FlightSoftware/fprime/Fw/Log/test/mod.mk
+++ /dev/null
@@ -1,8 +0,0 @@
-#
-#   Copyright 2004-20015, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Fw/Log/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Fw/Log/test/ut/mod.mk
deleted file mode 100644
index 557e515d5..000000000
--- a/Apps/FlightSoftware/fprime/Fw/Log/test/ut/mod.mk
+++ /dev/null
@@ -1,13 +0,0 @@
-#
-#   Copyright 2004-20015, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-TEST_SRC = LogTest.cpp
-
-TEST_MODS = Fw/Log Fw/Com Fw/Types Fw/Obj Fw/Port Fw/Time gtest
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Fw/Obj/mod.mk b/Apps/FlightSoftware/fprime/Fw/Obj/mod.mk
deleted file mode 100644
index d92787949..000000000
--- a/Apps/FlightSoftware/fprime/Fw/Obj/mod.mk
+++ /dev/null
@@ -1,24 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = \	
-	ObjBase.cpp \
-	SimpleObjRegistry.cpp
-	
-HDR = ObjBase.hpp \
-	SimpleObjRegistry.hpp
-	
-SUBDIRS = 
-
diff --git a/Apps/FlightSoftware/fprime/Fw/Port/mod.mk b/Apps/FlightSoftware/fprime/Fw/Port/mod.mk
deleted file mode 100644
index 5f73354e1..000000000
--- a/Apps/FlightSoftware/fprime/Fw/Port/mod.mk
+++ /dev/null
@@ -1,31 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = \	
-	PortBase.cpp \
-	InputPortBase.cpp \
-	OutputPortBase.cpp \
-	InputSerializePort.cpp \
-	OutputSerializePort.cpp
-	
-HDR = \	
-	PortBase.hpp \
-	InputPortBase.hpp \
-	OutputPortBase.hpp \
-	InputSerializePort.hpp \
-	OutputSerializePort.hpp
-	
-SUBDIRS = 
-
diff --git a/Apps/FlightSoftware/fprime/Fw/Prm/mod.mk b/Apps/FlightSoftware/fprime/Fw/Prm/mod.mk
deleted file mode 100644
index 9ab41c748..000000000
--- a/Apps/FlightSoftware/fprime/Fw/Prm/mod.mk
+++ /dev/null
@@ -1,24 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = \	
-	PrmGetPortAi.xml \
-	PrmSetPortAi.xml \
-	PrmBuffer.cpp \
-	PrmString.cpp
-	
-HDR = \
-	PrmBuffer.hpp \
-	PrmString.hpp
diff --git a/Apps/FlightSoftware/fprime/Fw/SerializableFile/mod.mk b/Apps/FlightSoftware/fprime/Fw/SerializableFile/mod.mk
deleted file mode 100644
index 7b7ffc8de..000000000
--- a/Apps/FlightSoftware/fprime/Fw/SerializableFile/mod.mk
+++ /dev/null
@@ -1,7 +0,0 @@
-SRC = \	
-	SerializableFile.cpp
-
-HDR = \	
-  SerializableFile.hpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Fw/SerializableFile/test/TestSerializable/mod.mk b/Apps/FlightSoftware/fprime/Fw/SerializableFile/test/TestSerializable/mod.mk
deleted file mode 100644
index 6add51768..000000000
--- a/Apps/FlightSoftware/fprime/Fw/SerializableFile/test/TestSerializable/mod.mk
+++ /dev/null
@@ -1 +0,0 @@
-SRC = TestSerializableAi.xml
diff --git a/Apps/FlightSoftware/fprime/Fw/SerializableFile/test/mod.mk b/Apps/FlightSoftware/fprime/Fw/SerializableFile/test/mod.mk
deleted file mode 100644
index 9804762e0..000000000
--- a/Apps/FlightSoftware/fprime/Fw/SerializableFile/test/mod.mk
+++ /dev/null
@@ -1,2 +0,0 @@
-SUBDIRS = ut \
-	  TestSerializable
diff --git a/Apps/FlightSoftware/fprime/Fw/SerializableFile/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Fw/SerializableFile/test/ut/mod.mk
deleted file mode 100644
index 44a87cde0..000000000
--- a/Apps/FlightSoftware/fprime/Fw/SerializableFile/test/ut/mod.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-TEST_SRC = Test.cpp 
-TEST_MODS = Fw/SerializableFile \
-	    Fw/SerializableFile/test/TestSerializable \
-	    Fw/Types \
-	    gtest \
-	    Os
-	    
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Fw/Test/mod.mk b/Apps/FlightSoftware/fprime/Fw/Test/mod.mk
deleted file mode 100644
index b33d0d113..000000000
--- a/Apps/FlightSoftware/fprime/Fw/Test/mod.mk
+++ /dev/null
@@ -1,3 +0,0 @@
-SRC = UnitTestAssert.cpp
-
-HDR = UnitTestAssert.hpp
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/Fw/Time/mod.mk b/Apps/FlightSoftware/fprime/Fw/Time/mod.mk
deleted file mode 100644
index 88a543508..000000000
--- a/Apps/FlightSoftware/fprime/Fw/Time/mod.mk
+++ /dev/null
@@ -1,23 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = \	
-	Time.cpp \
-	TimePortAi.xml
-	
-HDR = \	
-	Time.hpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Fw/Time/test/mod.mk b/Apps/FlightSoftware/fprime/Fw/Time/test/mod.mk
deleted file mode 100644
index d3934dfa6..000000000
--- a/Apps/FlightSoftware/fprime/Fw/Time/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Fw/Time/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Fw/Time/test/ut/mod.mk
deleted file mode 100644
index 059a188fc..000000000
--- a/Apps/FlightSoftware/fprime/Fw/Time/test/ut/mod.mk
+++ /dev/null
@@ -1,21 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = TimeTest.cpp
-
-TEST_MODS = Fw/Time Fw/Types gtest
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Fw/Tlm/mod.mk b/Apps/FlightSoftware/fprime/Fw/Tlm/mod.mk
deleted file mode 100644
index aef08a6bc..000000000
--- a/Apps/FlightSoftware/fprime/Fw/Tlm/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-2015, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-SRC = \	
-	TlmPortAi.xml \
-	TlmBuffer.cpp \
-	TlmPacket.cpp \
-	TlmString.cpp
-	
-HDR = TlmBuffer.hpp \
-	TlmPacket.hpp \
-	TlmString.hpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Fw/Tlm/test/mod.mk b/Apps/FlightSoftware/fprime/Fw/Tlm/test/mod.mk
deleted file mode 100644
index b8d259187..000000000
--- a/Apps/FlightSoftware/fprime/Fw/Tlm/test/mod.mk
+++ /dev/null
@@ -1,8 +0,0 @@
-#
-#   Copyright 2004-20015, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Fw/Tlm/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Fw/Tlm/test/ut/mod.mk
deleted file mode 100644
index eb46ff7d9..000000000
--- a/Apps/FlightSoftware/fprime/Fw/Tlm/test/ut/mod.mk
+++ /dev/null
@@ -1,13 +0,0 @@
-#
-#   Copyright 2004-20015, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-TEST_SRC = TlmTest.cpp
-
-TEST_MODS = Fw/Tlm Fw/Com Fw/Types Fw/Obj Fw/Port Fw/Time gtest
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Fw/Types/GTest/mod.mk b/Apps/FlightSoftware/fprime/Fw/Types/GTest/mod.mk
deleted file mode 100644
index 37b7db69b..000000000
--- a/Apps/FlightSoftware/fprime/Fw/Types/GTest/mod.mk
+++ /dev/null
@@ -1,5 +0,0 @@
-SRC = \
-	Bytes.cpp
-
-HDR = \
-  Bytes.hpp
diff --git a/Apps/FlightSoftware/fprime/Fw/Types/mod.mk b/Apps/FlightSoftware/fprime/Fw/Types/mod.mk
deleted file mode 100644
index 4f35df6ac..000000000
--- a/Apps/FlightSoftware/fprime/Fw/Types/mod.mk
+++ /dev/null
@@ -1,49 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = \	
-	PolyType.cpp \
-	StringType.cpp \
-	Serializable.cpp \
-	SerialBuffer.cpp \
-	Assert.cpp \
-	EightyCharString.cpp \
-	InternalInterfaceString.cpp \
-	BasicTypes.cpp \
-	MemAllocator.cpp \
-	MallocAllocator.cpp
-
-#	FwStructSerializable.cpp
-	
-HDR = \	
-	BasicTypes.hpp \
-	PolyType.hpp \
-	StringType.hpp \
-	Serializable.hpp \
-	SerialBuffer.hpp \
-	Assert.hpp \
-	EightyCharString.hpp \
-	InternalInterfaceString.hpp \
-	CAssert.hpp \
-	MemAllocator.hpp \
-	MallocAllocator.hpp
-
-#	FwStructSerializable.hpp
-
-SRC_BAERAD750 = \
-	VxWorks/VxWorksLogAssert.cpp
-	
-SUBDIRS = test
-
diff --git a/Apps/FlightSoftware/fprime/Fw/Types/test/mod.mk b/Apps/FlightSoftware/fprime/Fw/Types/test/mod.mk
deleted file mode 100644
index d3934dfa6..000000000
--- a/Apps/FlightSoftware/fprime/Fw/Types/test/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Fw/Types/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Fw/Types/test/ut/mod.mk
deleted file mode 100644
index d72821925..000000000
--- a/Apps/FlightSoftware/fprime/Fw/Types/test/ut/mod.mk
+++ /dev/null
@@ -1,21 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = TypesTest.cpp
-
-TEST_MODS = Fw/Types Os gtest
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Os/Stubs/mod.mk b/Apps/FlightSoftware/fprime/Os/Stubs/mod.mk
deleted file mode 100644
index 0cc4f64c0..000000000
--- a/Apps/FlightSoftware/fprime/Os/Stubs/mod.mk
+++ /dev/null
@@ -1,15 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-				
-SRC_LINUX = 	Linux/FileStub.cpp
-				
-				
-SRC_DARWIN = 	Linux/FileStub.cpp
-				
-				
-SRC_CYGWIN =    Linux/FileStub.cpp
-				
diff --git a/Apps/FlightSoftware/fprime/Os/mod.mk b/Apps/FlightSoftware/fprime/Os/mod.mk
deleted file mode 100644
index 0b14ece74..000000000
--- a/Apps/FlightSoftware/fprime/Os/mod.mk
+++ /dev/null
@@ -1,117 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-SRC = 			TaskCommon.cpp \
-				TaskString.cpp \
-				QueueCommon.cpp \
-				QueueString.cpp \
-				IPCQueueCommon.cpp \
-				SimpleQueueRegistry.cpp \
-				MemCommon.cpp \
-				ValidateFileCommon.cpp \
-				ValidatedFile.cpp \
-				FileCommon.cpp
-
-HDR = 			Queue.hpp \
-				IPCQueue.hpp \
-				QueueString.hpp \
-				SimpleQueueRegistry.hpp \
-				Task.hpp \
-				TaskString.hpp \
-				InterruptLock.hpp \
-				IntervalTimer.hpp \
-				WatchdogTimer.hpp \
-				Mutex.hpp \
-				File.hpp \
-				ValidateFile.hpp \
-				FileSystem.hpp \
-				LocklessQueue.hpp \
-				ValidatedFile.hpp
-
-SRC_LINUX=      Posix/IPCQueue.cpp \
-               	Pthreads/Queue.cpp \
-               	Pthreads/BufferQueueCommon.cpp \
-                Pthreads/PriorityBufferQueue.cpp \
-                Pthreads/MaxHeap/MaxHeap.cpp \
-				Linux/File.cpp \
-				Posix/Task.cpp \
-				LogPrintf.cpp \
-				Linux/InterruptLock.cpp \
-				Linux/WatchdogTimer.cpp \
-				X86/IntervalTimer.cpp \
-				Linux/IntervalTimer.cpp \
-				Posix/Mutex.cpp \
-				Linux/FileSystem.cpp \
-				Posix/LocklessQueue.cpp
-
-SRC_DARWIN =    MacOs/IPCQueueStub.cpp \ # NOTE(mereweth) - provide a stub that only works in single-process, not IPC
-               	Pthreads/Queue.cpp \
-                Pthreads/BufferQueueCommon.cpp \
-                Pthreads/PriorityBufferQueue.cpp \
-                Pthreads/MaxHeap/MaxHeap.cpp \
-				Linux/File.cpp \
-				Posix/Task.cpp \
-				LogPrintf.cpp \
-				Linux/WatchdogTimer.cpp \
-				Linux/InterruptLock.cpp \
-				X86/IntervalTimer.cpp \
-				MacOs/IntervalTimer.cpp \
-				Posix/Mutex.cpp \
-				Linux/FileSystem.cpp  \
-				Posix/LocklessQueue.cpp
-
-SRC_CYGWIN =    Pthreads/Queue.cpp \
-               	Pthreads/BufferQueueCommon.cpp \
-                Pthreads/PriorityBufferQueue.cpp \
-                Pthreads/MaxHeap/MaxHeap.cpp \
-				Linux/File.cpp \
-				Posix/Task.cpp \
-				LogPrintf.cpp \
-				Linux/InterruptLock.cpp \
-				Linux/WatchdogTimer.cpp \
-				X86/IntervalTimer.cpp \
-				Linux/IntervalTimer.cpp \
-				Posix/Mutex.cpp \
-				Linux/FileSystem.cpp
-				
-SRC_RASPIAN =   Pthreads/Queue.cpp \
-               	Pthreads/BufferQueueCommon.cpp \
-                Pthreads/PriorityBufferQueue.cpp \
-                Pthreads/MaxHeap/MaxHeap.cpp \
-				Linux/File.cpp \
-				Posix/Task.cpp \
-				LogPrintf.cpp \
-				Linux/InterruptLock.cpp \
-				Linux/WatchdogTimer.cpp \
-				X86/IntervalTimer.cpp \
-				Linux/IntervalTimer.cpp \
-				Posix/Mutex.cpp \
-				Linux/FileSystem.cpp
-
- SRC_TIR4	=	FreeRTOS/Task.cpp		\
-				FreeRTOS/Queue.cpp		\
-				FreeRTOS/Mutex.cpp		\
-				FreeRTOS/IntervalTimer.cpp	\
-				FreeRTOS/InterruptLock.cpp	\
-				FreeRTOS/File.cpp
-				
-
-
-SUBDIRS = test
-
-# to use Pthread priority queue include:
-#        Pthreads/Queue.cpp \
-#        Pthreads/BufferQueueCommon.cpp \
-#        Pthreads/PriorityBufferQueue.cpp \
-#        Pthreads/MaxHeap/MaxHeap.cpp \
-
-
-# to use Pthread fifo queue include:
-#        Pthreads/Queue.cpp \
-#        Pthreads/BufferQueueCommon.cpp \
-#        Pthreads/FIFOBufferQueue.cpp \
-
diff --git a/Apps/FlightSoftware/fprime/Os/test/mod.mk b/Apps/FlightSoftware/fprime/Os/test/mod.mk
deleted file mode 100644
index b967e3152..000000000
--- a/Apps/FlightSoftware/fprime/Os/test/mod.mk
+++ /dev/null
@@ -1,10 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-
-SUBDIRS = ut
-
diff --git a/Apps/FlightSoftware/fprime/Os/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Os/test/ut/mod.mk
deleted file mode 100644
index 2a13cbfe5..000000000
--- a/Apps/FlightSoftware/fprime/Os/test/ut/mod.mk
+++ /dev/null
@@ -1,19 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-TEST_SRC =      OsQueueTest.cpp \
-	        TestMain.cpp \
-	        IntervalTimerTest.cpp \
-                OsValidateFileTest.cpp \
-	        OsTaskTest.cpp \
-                OsFileSystemTest.cpp
-
-TEST_MODS = Os Fw/Obj Fw/Types Utils/Hash
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/RPI/RpiDemo/mod.mk b/Apps/FlightSoftware/fprime/RPI/RpiDemo/mod.mk
deleted file mode 100644
index afd1c67bd..000000000
--- a/Apps/FlightSoftware/fprime/RPI/RpiDemo/mod.mk
+++ /dev/null
@@ -1,6 +0,0 @@
-SRC = 	RpiDemoComponentAi.xml \
-		RpiDemoComponentImpl.cpp
-		
-HDR = 	RpiDemoComponentImpl.hpp
-					
-
diff --git a/Apps/FlightSoftware/fprime/RPI/Top/mod.mk b/Apps/FlightSoftware/fprime/RPI/Top/mod.mk
deleted file mode 100644
index 7f0d5d357..000000000
--- a/Apps/FlightSoftware/fprime/RPI/Top/mod.mk
+++ /dev/null
@@ -1,4 +0,0 @@
-SRC = 				Main.cpp \
-					Topology.cpp \
-                    RPITopologyAppAi.xml
-
diff --git a/Apps/FlightSoftware/fprime/Ref/PingReceiver/mod.mk b/Apps/FlightSoftware/fprime/Ref/PingReceiver/mod.mk
deleted file mode 100644
index 039dc568c..000000000
--- a/Apps/FlightSoftware/fprime/Ref/PingReceiver/mod.mk
+++ /dev/null
@@ -1,20 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = 	PingReceiverComponentImpl.cpp \
-		PingReceiverComponentAi.xml
-		
-HDR = 	PingReceiverComponentImpl.hpp
-		
diff --git a/Apps/FlightSoftware/fprime/Ref/RecvBuffApp/mod.mk b/Apps/FlightSoftware/fprime/Ref/RecvBuffApp/mod.mk
deleted file mode 100644
index 95adfbf55..000000000
--- a/Apps/FlightSoftware/fprime/Ref/RecvBuffApp/mod.mk
+++ /dev/null
@@ -1,21 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = 	RecvBuffComponentImpl.cpp \
-		RecvBuffComponentAi.xml \
-		PacketStatSerializableAi.xml
-		
-HDR = 	RecvBuffComponentImpl.hpp
-		
diff --git a/Apps/FlightSoftware/fprime/Ref/SendBuffApp/mod.mk b/Apps/FlightSoftware/fprime/Ref/SendBuffApp/mod.mk
deleted file mode 100644
index 6d17c09d6..000000000
--- a/Apps/FlightSoftware/fprime/Ref/SendBuffApp/mod.mk
+++ /dev/null
@@ -1,20 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = 	SendBuffComponentAi.xml \
-		SendBuffComponentImpl.cpp
-		
-HDR = 	SendBuffComponentImpl.hpp
-		
diff --git a/Apps/FlightSoftware/fprime/Ref/SignalGen/mod.mk b/Apps/FlightSoftware/fprime/Ref/SignalGen/mod.mk
deleted file mode 100644
index 3c185716c..000000000
--- a/Apps/FlightSoftware/fprime/Ref/SignalGen/mod.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-# ---------------------------------------------------------------------- 
-# mod.mk
-# ---------------------------------------------------------------------- 
-
-SRC = \
-                        SignalGen.cpp \
-			SignalGenComponentAi.xml
-
-HDR = SignalGen.hpp 
-
-SUBDIRS = 
diff --git a/Apps/FlightSoftware/fprime/Ref/Top/mod.mk b/Apps/FlightSoftware/fprime/Ref/Top/mod.mk
deleted file mode 100644
index f92f31b4e..000000000
--- a/Apps/FlightSoftware/fprime/Ref/Top/mod.mk
+++ /dev/null
@@ -1,2 +0,0 @@
-SRC = 				Topology.cpp \
-                    RefTopologyAppAi.xml
diff --git a/Apps/FlightSoftware/fprime/Svc/ActiveLogger/mod.mk b/Apps/FlightSoftware/fprime/Svc/ActiveLogger/mod.mk
deleted file mode 100644
index de0aba6f2..000000000
--- a/Apps/FlightSoftware/fprime/Svc/ActiveLogger/mod.mk
+++ /dev/null
@@ -1,14 +0,0 @@
-#
-#   Copyright 2015, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-
-SRC =	ActiveLoggerComponentAi.xml \
-		ActiveLoggerImpl.cpp
-
-HDR = 	ActiveLoggerImpl.hpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Svc/ActiveLogger/test/mod.mk b/Apps/FlightSoftware/fprime/Svc/ActiveLogger/test/mod.mk
deleted file mode 100644
index fe1e32e3e..000000000
--- a/Apps/FlightSoftware/fprime/Svc/ActiveLogger/test/mod.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-#
-#   Copyright 2015, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Svc/ActiveLogger/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Svc/ActiveLogger/test/ut/mod.mk
deleted file mode 100644
index 8773f7936..000000000
--- a/Apps/FlightSoftware/fprime/Svc/ActiveLogger/test/ut/mod.mk
+++ /dev/null
@@ -1,41 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = 	Handcode/TesterBase.cpp \
-			Handcode/GTestBase.cpp \
-			ActiveLoggerTester.cpp \
-			ActiveLoggerImplTester.cpp
-
-TEST_MODS = Svc/ActiveLogger \
-			Svc/Sched \
-			Svc/Fatal \
-			Svc/Ping \
-			Fw/Tlm \
-			Fw/Cmd \
-			Fw/Comp \
-			Fw/Log \
-			Fw/Prm \
-			Fw/Com \
-			Fw/Time \
-			Fw/Obj \
-			Fw/Port \
-			Fw/Types \
-			Os/Stubs \
-			Os \
-			gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Svc/ActiveRateGroup/mod.mk b/Apps/FlightSoftware/fprime/Svc/ActiveRateGroup/mod.mk
deleted file mode 100644
index 7e059b6ac..000000000
--- a/Apps/FlightSoftware/fprime/Svc/ActiveRateGroup/mod.mk
+++ /dev/null
@@ -1,24 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = 	\
-		ActiveRateGroupImpl.cpp \
-		ActiveRateGroupComponentAi.xml
-
-HDR = 	\
-		ActiveRateGroupImpl.hpp
-		
-SUBDIRS = test
-		
diff --git a/Apps/FlightSoftware/fprime/Svc/ActiveRateGroup/test/mod.mk b/Apps/FlightSoftware/fprime/Svc/ActiveRateGroup/test/mod.mk
deleted file mode 100644
index fe1e32e3e..000000000
--- a/Apps/FlightSoftware/fprime/Svc/ActiveRateGroup/test/mod.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-#
-#   Copyright 2015, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Svc/ActiveRateGroup/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Svc/ActiveRateGroup/test/ut/mod.mk
deleted file mode 100644
index 620f4055d..000000000
--- a/Apps/FlightSoftware/fprime/Svc/ActiveRateGroup/test/ut/mod.mk
+++ /dev/null
@@ -1,37 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = 	Handcode/TesterBase.cpp \
-			Handcode/GTestBase.cpp \
-			ActiveRateGroupTester.cpp \
-			ActiveRateGroupImplTester.cpp
-
-TEST_MODS = Svc/ActiveRateGroup \
-			Svc/Cycle \
-			Svc/Sched \
-			Svc/Ping \
-			Fw/Log \
-			Fw/Tlm \
-			Fw/Port \
-			Fw/Comp \
-			Fw/Obj \
-			Fw/Time \
-			Fw/Types \
-			Os \
-			gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Svc/AssertFatalAdapter/mod.mk b/Apps/FlightSoftware/fprime/Svc/AssertFatalAdapter/mod.mk
deleted file mode 100644
index 892c5615f..000000000
--- a/Apps/FlightSoftware/fprime/Svc/AssertFatalAdapter/mod.mk
+++ /dev/null
@@ -1,20 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = AssertFatalAdapterComponentAi.xml AssertFatalAdapterComponentImpl.cpp
-
-HDR = AssertFatalAdapterComponentImpl.cpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Svc/AssertFatalAdapter/test/mod.mk b/Apps/FlightSoftware/fprime/Svc/AssertFatalAdapter/test/mod.mk
deleted file mode 100644
index 662852e69..000000000
--- a/Apps/FlightSoftware/fprime/Svc/AssertFatalAdapter/test/mod.mk
+++ /dev/null
@@ -1,8 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Svc/AssertFatalAdapter/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Svc/AssertFatalAdapter/test/ut/mod.mk
deleted file mode 100644
index 98ead0490..000000000
--- a/Apps/FlightSoftware/fprime/Svc/AssertFatalAdapter/test/ut/mod.mk
+++ /dev/null
@@ -1,23 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = Handcode/TesterBase.cpp Handcode/GTestBase.cpp Tester.cpp main.cpp
-
-TEST_MODS = Svc/AssertFatalAdapter Fw/Comp Fw/Port Fw/Prm Fw/Time Fw/Types Fw/Log Fw/Obj Os gtest
-
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Svc/BufferAccumulator/mod.mk b/Apps/FlightSoftware/fprime/Svc/BufferAccumulator/mod.mk
deleted file mode 100644
index 0a570df1e..000000000
--- a/Apps/FlightSoftware/fprime/Svc/BufferAccumulator/mod.mk
+++ /dev/null
@@ -1,9 +0,0 @@
-# ----------------------------------------------------------------------
-# mod.mk
-# ----------------------------------------------------------------------
-
-SRC = BufferAccumulatorComponentAi.xml BufferAccumulator.cpp ArrayFIFOBuffer.cpp
-
-HDR = BufferAccumulator.hpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Svc/BufferAccumulator/test/mod.mk b/Apps/FlightSoftware/fprime/Svc/BufferAccumulator/test/mod.mk
deleted file mode 100644
index 9322220f9..000000000
--- a/Apps/FlightSoftware/fprime/Svc/BufferAccumulator/test/mod.mk
+++ /dev/null
@@ -1,5 +0,0 @@
-# ----------------------------------------------------------------------
-# mod.mk 
-# ----------------------------------------------------------------------
-
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Svc/BufferAccumulator/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Svc/BufferAccumulator/test/ut/mod.mk
deleted file mode 100644
index 4151e26f0..000000000
--- a/Apps/FlightSoftware/fprime/Svc/BufferAccumulator/test/ut/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-# ----------------------------------------------------------------------
-# mod.mk
-# ----------------------------------------------------------------------
-
-TEST_SRC=Handcode/TesterBase.cpp \
-				 Handcode/GTestBase.cpp \
-				 Tester.cpp \
-				 Main.cpp \
-				 Errors.cpp \
-				 Health.cpp \
-				 Accumulate.cpp \
-				 Drain.cpp
-
-TEST_MODS=Svc/BufferAccumulator \
-					Fw/Buffer Fw/Cmd Fw/Comp Fw/Port Fw/Time \
-					Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com \
-					Svc/Ping Svc/Sched Utils/Hash \
-					gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Svc/BufferLogger/mod.mk b/Apps/FlightSoftware/fprime/Svc/BufferLogger/mod.mk
deleted file mode 100644
index 529eec346..000000000
--- a/Apps/FlightSoftware/fprime/Svc/BufferLogger/mod.mk
+++ /dev/null
@@ -1,9 +0,0 @@
-# ---------------------------------------------------------------------- 
-# mod.mk
-# ---------------------------------------------------------------------- 
-
-SRC = BufferLoggerComponentAi.xml BufferLogger.cpp BufferLoggerFile.cpp
-
-HDR = BufferLogger.hpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Svc/BufferLogger/test/mod.mk b/Apps/FlightSoftware/fprime/Svc/BufferLogger/test/mod.mk
deleted file mode 100644
index 9322220f9..000000000
--- a/Apps/FlightSoftware/fprime/Svc/BufferLogger/test/mod.mk
+++ /dev/null
@@ -1,5 +0,0 @@
-# ----------------------------------------------------------------------
-# mod.mk 
-# ----------------------------------------------------------------------
-
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Svc/BufferLogger/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Svc/BufferLogger/test/ut/mod.mk
deleted file mode 100644
index 4597ff085..000000000
--- a/Apps/FlightSoftware/fprime/Svc/BufferLogger/test/ut/mod.mk
+++ /dev/null
@@ -1,21 +0,0 @@
-# ----------------------------------------------------------------------
-# mod.mk
-# ----------------------------------------------------------------------
-
-TEST_SRC=Handcode/TesterBase.cpp \
-				 Handcode/GTestBase.cpp \
-				 Tester.cpp \
-				 Main.cpp \
-				 Errors.cpp \
-				 Health.cpp \
-				 Logging.cpp
-
-TEST_MODS=Svc/BufferLogger \
-					Fw/Buffer Fw/Cmd Fw/Comp Fw/Port Fw/Time \
-					Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com \
-					Svc/Ping Svc/Sched Utils/Hash \
-					gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Svc/BufferManager/mod.mk b/Apps/FlightSoftware/fprime/Svc/BufferManager/mod.mk
deleted file mode 100644
index ca5659c7c..000000000
--- a/Apps/FlightSoftware/fprime/Svc/BufferManager/mod.mk
+++ /dev/null
@@ -1,9 +0,0 @@
-# ---------------------------------------------------------------------- 
-# mod.mk
-# ---------------------------------------------------------------------- 
-
-SRC = BufferManagerComponentAi.xml BufferManager.cpp
-
-HDR = BufferManager.hpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Svc/BufferManager/test/mod.mk b/Apps/FlightSoftware/fprime/Svc/BufferManager/test/mod.mk
deleted file mode 100644
index 9322220f9..000000000
--- a/Apps/FlightSoftware/fprime/Svc/BufferManager/test/mod.mk
+++ /dev/null
@@ -1,5 +0,0 @@
-# ----------------------------------------------------------------------
-# mod.mk 
-# ----------------------------------------------------------------------
-
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Svc/BufferManager/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Svc/BufferManager/test/ut/mod.mk
deleted file mode 100644
index c81024884..000000000
--- a/Apps/FlightSoftware/fprime/Svc/BufferManager/test/ut/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-# ----------------------------------------------------------------------
-# mod.mk 
-# ----------------------------------------------------------------------
-
-TEST_SRC=Handcode/TesterBase.cpp \
-				 Handcode/GTestBase.cpp \
-				 Tester.cpp \
-				 Main.cpp 
-
-TEST_MODS=Svc/BufferManager \
-					Fw/Buffer Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time \
-					Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com \
-					gtest
-
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Svc/CmdDispatcher/mod.mk b/Apps/FlightSoftware/fprime/Svc/CmdDispatcher/mod.mk
deleted file mode 100644
index 0c563d1d9..000000000
--- a/Apps/FlightSoftware/fprime/Svc/CmdDispatcher/mod.mk
+++ /dev/null
@@ -1,20 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = CommandDispatcherComponentAi.xml CommandDispatcherImpl.cpp
-
-HDR = CommandDispatcherImpl.hpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Svc/CmdDispatcher/test/mod.mk b/Apps/FlightSoftware/fprime/Svc/CmdDispatcher/test/mod.mk
deleted file mode 100644
index fe1e32e3e..000000000
--- a/Apps/FlightSoftware/fprime/Svc/CmdDispatcher/test/mod.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-#
-#   Copyright 2015, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Svc/CmdDispatcher/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Svc/CmdDispatcher/test/ut/mod.mk
deleted file mode 100644
index 3cbe85e06..000000000
--- a/Apps/FlightSoftware/fprime/Svc/CmdDispatcher/test/ut/mod.mk
+++ /dev/null
@@ -1,37 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = 	Handcode/TesterBase.cpp \
-			Handcode/GTestBase.cpp \
-			CommandDispatcherTester.cpp \
-			CommandDispatcherImplTester.cpp
-
-TEST_MODS = Svc/CmdDispatcher \
-			Fw/Tlm \
-			Fw/Comp \
-			Fw/Cmd \
-			Fw/Log \
-			Fw/Obj \
-			Fw/Port \
-			Fw/Time \
-			Fw/Types \
-			Fw/Com \
-			Svc/Sched \
-			Svc/Ping \
-			Os \
-			gtest
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Svc/CmdSequencer/mod.mk b/Apps/FlightSoftware/fprime/Svc/CmdSequencer/mod.mk
deleted file mode 100755
index 66836e6fd..000000000
--- a/Apps/FlightSoftware/fprime/Svc/CmdSequencer/mod.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-# ---------------------------------------------------------------------- 
-# mod.mk
-# ---------------------------------------------------------------------- 
-
-SRC = \
-	CmdSequencerComponentAi.xml \
-	CmdSequencerImpl.cpp \
-	Events.cpp \
-	FPrimeSequence.cpp \
-        Sequence.cpp \
-	formats/AMPCSSequence.cpp
-
-HDR = \
-	CmdSequencerImpl.hpp \
-	formats/AMPCSSequence.hpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Svc/CmdSequencer/test/mod.mk b/Apps/FlightSoftware/fprime/Svc/CmdSequencer/test/mod.mk
deleted file mode 100755
index 9322220f9..000000000
--- a/Apps/FlightSoftware/fprime/Svc/CmdSequencer/test/mod.mk
+++ /dev/null
@@ -1,5 +0,0 @@
-# ----------------------------------------------------------------------
-# mod.mk 
-# ----------------------------------------------------------------------
-
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Svc/CmdSequencer/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Svc/CmdSequencer/test/ut/mod.mk
deleted file mode 100644
index b988ead59..000000000
--- a/Apps/FlightSoftware/fprime/Svc/CmdSequencer/test/ut/mod.mk
+++ /dev/null
@@ -1,70 +0,0 @@
-# ----------------------------------------------------------------------
-# mod.mk 
-# ----------------------------------------------------------------------
-
-TEST_SRC= \
-  AMPCS.cpp \
-  CommandBuffers.cpp \
-  Handcode/GTestBase.cpp \
-  Health.cpp \
-  ImmediateBase.cpp \
-  Immediate.cpp \
-  ImmediateEOS.cpp \
-  Interceptors.cpp \
-  InvalidFiles.cpp \
-  Main.cpp \
-  Mixed.cpp \
-  MixedRelativeBase.cpp \
-  NoFiles.cpp \
-  Relative.cpp \
-  SequenceFiles/AMPCS/CRCs.cpp \
-  SequenceFiles/AMPCS/Headers.cpp \
-  SequenceFiles/AMPCS/Records.cpp \
-  SequenceFiles/BadCRCFile.cpp \
-  SequenceFiles/BadDescriptorFile.cpp \
-  SequenceFiles/BadTimeBaseFile.cpp \
-  SequenceFiles/BadTimeContextFile.cpp \
-  SequenceFiles/Buffers.cpp \
-  SequenceFiles/DataAfterRecordsFile.cpp \
-  SequenceFiles/EmptyFile.cpp \
-  SequenceFiles/File.cpp \
-  SequenceFiles/FPrime/CRCs.cpp \
-  SequenceFiles/FPrime/Headers.cpp \
-  SequenceFiles/FPrime/Records.cpp \
-  SequenceFiles/ImmediateEOSFile.cpp \
-  SequenceFiles/ImmediateFile.cpp \
-  SequenceFiles/MissingCRCFile.cpp \
-  SequenceFiles/MissingFile.cpp \
-  SequenceFiles/MixedFile.cpp \
-  SequenceFiles/RelativeFile.cpp \
-  SequenceFiles/SizeFieldTooLargeFile.cpp \
-  SequenceFiles/SizeFieldTooSmallFile.cpp \
-  SequenceFiles/TooLargeFile.cpp \
-  SequenceFiles/USecFieldTooShortFile.cpp \
-  Handcode/TesterBase.cpp \
-  Tester.cpp
-
-TEST_MODS= \
-  Svc/CmdSequencer \
-  Svc/Sched \
-  Svc/Ping \
-  Svc/Seq \
-  Fw/Cmd \
-  Fw/Comp \
-  Fw/Port \
-  Fw/Prm \
-  Fw/Time \
-  Fw/Tlm \
-  Fw/Types \
-  Fw/Log \
-  Fw/Obj \
-  Fw/Com \
-  Os/Stubs \
-  Os \
-  Utils/Hash \
-  gtest
-  
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Svc/ComLogger/mod.mk b/Apps/FlightSoftware/fprime/Svc/ComLogger/mod.mk
deleted file mode 100644
index d30b001c2..000000000
--- a/Apps/FlightSoftware/fprime/Svc/ComLogger/mod.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-# ---------------------------------------------------------------------- 
-# mod.mk
-# ---------------------------------------------------------------------- 
-
-SRC = \
-			ComLogger.cpp \
-			ComLoggerComponentAi.xml
-
-HDR = ComLogger.hpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Svc/ComLogger/test/mod.mk b/Apps/FlightSoftware/fprime/Svc/ComLogger/test/mod.mk
deleted file mode 100644
index 9322220f9..000000000
--- a/Apps/FlightSoftware/fprime/Svc/ComLogger/test/mod.mk
+++ /dev/null
@@ -1,5 +0,0 @@
-# ----------------------------------------------------------------------
-# mod.mk 
-# ----------------------------------------------------------------------
-
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Svc/ComLogger/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Svc/ComLogger/test/ut/mod.mk
deleted file mode 100644
index 699878229..000000000
--- a/Apps/FlightSoftware/fprime/Svc/ComLogger/test/ut/mod.mk
+++ /dev/null
@@ -1,20 +0,0 @@
-# ----------------------------------------------------------------------
-# mod.mk 
-# ----------------------------------------------------------------------
-
-TEST_SRC=Handcode/TesterBase.cpp \
-				 Handcode/GTestBase.cpp \
-				 Tester.cpp \
-				 Main.cpp 
-
-TEST_MODS=Svc/ComLogger \
-			Svc/Ping \
-					Fw/Cmd Fw/Comp Fw/Port Fw/Prm Fw/Time \
-					Fw/Tlm Fw/Types Fw/Log Fw/Obj Os Fw/Com \
-					Utils/Hash \
-					gtest
-
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Svc/Cycle/mod.mk b/Apps/FlightSoftware/fprime/Svc/Cycle/mod.mk
deleted file mode 100644
index f57a24263..000000000
--- a/Apps/FlightSoftware/fprime/Svc/Cycle/mod.mk
+++ /dev/null
@@ -1,20 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = CyclePortAi.xml TimerVal.cpp
-
-HDR = TimerVal.hpp
-		
-		
diff --git a/Apps/FlightSoftware/fprime/Svc/Fatal/mod.mk b/Apps/FlightSoftware/fprime/Svc/Fatal/mod.mk
deleted file mode 100644
index f1ce89ae5..000000000
--- a/Apps/FlightSoftware/fprime/Svc/Fatal/mod.mk
+++ /dev/null
@@ -1,12 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# There are some standard files that are included for reference
-
-SRC = FatalEventPortAi.xml
-		
-		
diff --git a/Apps/FlightSoftware/fprime/Svc/FatalHandler/mod.mk b/Apps/FlightSoftware/fprime/Svc/FatalHandler/mod.mk
deleted file mode 100644
index 089599980..000000000
--- a/Apps/FlightSoftware/fprime/Svc/FatalHandler/mod.mk
+++ /dev/null
@@ -1,21 +0,0 @@
-#
-#   Copyright 2015, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-
-SRC =	FatalHandlerComponentAi.xml FatalHandlerComponentCommonImpl.cpp
-
-SRC_LINUX = FatalHandlerComponentLinuxImpl.cpp
-
-SRC_CYGWIN = FatalHandlerComponentLinuxImpl.cpp
-
-SRC_DARWIN = FatalHandlerComponentLinuxImpl.cpp
-
-SRC_RASPIAN = FatalHandlerComponentLinuxImpl.cpp
-
-HDR = FatalHandlerComponentImpl.hpp	
-
-SUBDIRS = 
diff --git a/Apps/FlightSoftware/fprime/Svc/FileDownlink/mod.mk b/Apps/FlightSoftware/fprime/Svc/FileDownlink/mod.mk
deleted file mode 100644
index 55a082d72..000000000
--- a/Apps/FlightSoftware/fprime/Svc/FileDownlink/mod.mk
+++ /dev/null
@@ -1,13 +0,0 @@
-# ---------------------------------------------------------------------- 
-# mod.mk
-# ---------------------------------------------------------------------- 
-
-SRC = \
-			FileDownlinkComponentAi.xml \
-			File.cpp \
-			FileDownlink.cpp \
-			Warnings.cpp
-
-HDR = FileDownlink.hpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Svc/FileDownlink/test/mod.mk b/Apps/FlightSoftware/fprime/Svc/FileDownlink/test/mod.mk
deleted file mode 100644
index 9322220f9..000000000
--- a/Apps/FlightSoftware/fprime/Svc/FileDownlink/test/mod.mk
+++ /dev/null
@@ -1,5 +0,0 @@
-# ----------------------------------------------------------------------
-# mod.mk 
-# ----------------------------------------------------------------------
-
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Svc/FileDownlink/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Svc/FileDownlink/test/ut/mod.mk
deleted file mode 100644
index 152ad7f37..000000000
--- a/Apps/FlightSoftware/fprime/Svc/FileDownlink/test/ut/mod.mk
+++ /dev/null
@@ -1,33 +0,0 @@
-# ----------------------------------------------------------------------
-# mod.mk 
-# ----------------------------------------------------------------------
-
-TEST_SRC= \
-				Handcode/TesterBase.cpp \
-				Handcode/GTestBase.cpp \
-				Tester.cpp \
-				Main.cpp  \
-				FileBuffer.cpp
-
-TEST_MODS= \
-	Svc/FileDownlink \
-	Svc/Ping \
-	Fw/Tlm \
-	Fw/Log \
-	Fw/Time \
-	Fw/FilePacket \
-	Fw/Cmd \
-	Fw/Com \
-	Fw/Buffer \
-	Fw/Port \
-	Fw/Comp \
-	Os \
-	Fw/Obj \
-	Utils/Hash \
-	CFDP/Checksum \
-	Fw/Types \
-	gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Svc/FileManager/mod.mk b/Apps/FlightSoftware/fprime/Svc/FileManager/mod.mk
deleted file mode 100644
index 53e69c238..000000000
--- a/Apps/FlightSoftware/fprime/Svc/FileManager/mod.mk
+++ /dev/null
@@ -1,20 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = FileManagerComponentAi.xml FileManager.cpp
-
-HDR = FileManager.hpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Svc/FileManager/test/mod.mk b/Apps/FlightSoftware/fprime/Svc/FileManager/test/mod.mk
deleted file mode 100644
index fe1e32e3e..000000000
--- a/Apps/FlightSoftware/fprime/Svc/FileManager/test/mod.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-#
-#   Copyright 2015, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Svc/FileManager/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Svc/FileManager/test/ut/mod.mk
deleted file mode 100644
index 71aab91d8..000000000
--- a/Apps/FlightSoftware/fprime/Svc/FileManager/test/ut/mod.mk
+++ /dev/null
@@ -1,34 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = 	Handcode/TesterBase.cpp Handcode/GTestBase.cpp Tester.cpp Main.cpp 
-
-TEST_MODS = Svc/FileManager \
-			Fw/Tlm \
-			Fw/Comp \
-			Fw/Cmd \
-			Fw/Log \
-			Fw/Obj \
-			Fw/Port \
-			Fw/Time \
-			Fw/Types \
-			Fw/Com \
-			Utils/Hash \
-			Os \
-			gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Svc/FileUplink/mod.mk b/Apps/FlightSoftware/fprime/Svc/FileUplink/mod.mk
deleted file mode 100644
index 33962d0ce..000000000
--- a/Apps/FlightSoftware/fprime/Svc/FileUplink/mod.mk
+++ /dev/null
@@ -1,13 +0,0 @@
-# ---------------------------------------------------------------------- 
-# mod.mk
-# ---------------------------------------------------------------------- 
-
-SRC = \
-			FileUplinkComponentAi.xml \
-			File.cpp \
-			FileUplink.cpp \
-			Warnings.cpp
-
-HDR = FileUplink.hpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Svc/FileUplink/test/mod.mk b/Apps/FlightSoftware/fprime/Svc/FileUplink/test/mod.mk
deleted file mode 100644
index 9322220f9..000000000
--- a/Apps/FlightSoftware/fprime/Svc/FileUplink/test/mod.mk
+++ /dev/null
@@ -1,5 +0,0 @@
-# ----------------------------------------------------------------------
-# mod.mk 
-# ----------------------------------------------------------------------
-
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Svc/FileUplink/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Svc/FileUplink/test/ut/mod.mk
deleted file mode 100644
index 1a96cb214..000000000
--- a/Apps/FlightSoftware/fprime/Svc/FileUplink/test/ut/mod.mk
+++ /dev/null
@@ -1,28 +0,0 @@
-# ----------------------------------------------------------------------
-# mod.mk 
-# ----------------------------------------------------------------------
-TEST_SRC=Handcode/TesterBase.cpp \
-				 Handcode/GTestBase.cpp \
-				 Tester.cpp \
-				 Main.cpp 
-
-TEST_MODS= \
-	CFDP/Checksum \
-	Svc/Ping \
-	Fw/Buffer \
-	Fw/Comp \
-	Fw/FilePacket \
-	Fw/Log \
-	Fw/Obj \
-	Fw/Port \
-	Fw/Time \
-	Fw/Tlm \
-	Fw/Types \
-	Utils/Hash \
-	Os \
-	Svc/FileUplink \
-	gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Svc/GroundInterface/mod.mk b/Apps/FlightSoftware/fprime/Svc/GroundInterface/mod.mk
deleted file mode 100644
index 0f0ee7a97..000000000
--- a/Apps/FlightSoftware/fprime/Svc/GroundInterface/mod.mk
+++ /dev/null
@@ -1,4 +0,0 @@
-SRC = GroundInterfaceComponentAi.xml \
-      GroundInterface.cpp
-
-HDR = GroundInterface.hpp	
diff --git a/Apps/FlightSoftware/fprime/Svc/Health/mod.mk b/Apps/FlightSoftware/fprime/Svc/Health/mod.mk
deleted file mode 100644
index 6e637a06e..000000000
--- a/Apps/FlightSoftware/fprime/Svc/Health/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2015, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-SRC = HealthComponentAi.xml HealthComponentImpl.cpp
-
-HDR = HealthComponentImpl.hpp
-
-SUBDIRS = test
-
-SRC_LINUX = Stub/HealthComponentStubChecks.cpp	
-
-SRC_CYGWIN = Stub/HealthComponentStubChecks.cpp	
-
-SRC_DARWIN = Stub/HealthComponentStubChecks.cpp
-
-SRC_RASPIAN = Stub/HealthComponentStubChecks.cpp	
-
-SRC_TIR4 = CubeRover/HealthComponentCubeRoverChecks.cpp
diff --git a/Apps/FlightSoftware/fprime/Svc/Health/test/mod.mk b/Apps/FlightSoftware/fprime/Svc/Health/test/mod.mk
deleted file mode 100644
index d7eac7088..000000000
--- a/Apps/FlightSoftware/fprime/Svc/Health/test/mod.mk
+++ /dev/null
@@ -1,8 +0,0 @@
-#
-#   Copyright 2004-2015, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Svc/Health/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Svc/Health/test/ut/mod.mk
deleted file mode 100644
index 5eb1f4b10..000000000
--- a/Apps/FlightSoftware/fprime/Svc/Health/test/ut/mod.mk
+++ /dev/null
@@ -1,31 +0,0 @@
-#
-#   Copyright 2004-2015, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-TEST_SRC = 	Handcode/TesterBase.cpp \
-			Handcode/GTestBase.cpp \
-			Tester.cpp \
-			main.cpp
-
-TEST_MODS = Svc/Health \
-			Svc/Ping \
-			Svc/WatchDog \
-			Fw/Tlm \
-			Fw/Comp \
-			Fw/Cmd \
-			Fw/Log \
-			Fw/Obj \
-			Fw/Port \
-			Fw/Time \
-			Fw/Types \
-			Fw/Com \
-			Svc/Sched \
-			Os \
-			gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Svc/Hub/mod.mk b/Apps/FlightSoftware/fprime/Svc/Hub/mod.mk
deleted file mode 100644
index 4bcc56565..000000000
--- a/Apps/FlightSoftware/fprime/Svc/Hub/mod.mk
+++ /dev/null
@@ -1,19 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = CommHubComponentAi.xml SerializableHubImpl.cpp	
-		
-HDR = SerializableHubImpl.hpp	
-		
diff --git a/Apps/FlightSoftware/fprime/Svc/LinuxTime/mod.mk b/Apps/FlightSoftware/fprime/Svc/LinuxTime/mod.mk
deleted file mode 100644
index 682ec93ac..000000000
--- a/Apps/FlightSoftware/fprime/Svc/LinuxTime/mod.mk
+++ /dev/null
@@ -1,30 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-SRC_LINUX = LinuxTimeImpl.cpp
-
-SRC_CYGWIN = LinuxTimeImpl.cpp
-
-SRC_DARWIN = DarwinTimeImpl.cpp
-
-SRC_RASPIAN = LinuxTimeImpl.cpp
-
-SRC_TIR4 = CubeRoverTimeImpl.cpp
-
-SRC = CubeRoverTimeComponentAi.xml
-
-HDR = CubeRoverTimeImpl.hpp
-
-SUBDIRS = test
-
diff --git a/Apps/FlightSoftware/fprime/Svc/LinuxTime/test/mod.mk b/Apps/FlightSoftware/fprime/Svc/LinuxTime/test/mod.mk
deleted file mode 100644
index 9322220f9..000000000
--- a/Apps/FlightSoftware/fprime/Svc/LinuxTime/test/mod.mk
+++ /dev/null
@@ -1,5 +0,0 @@
-# ----------------------------------------------------------------------
-# mod.mk 
-# ----------------------------------------------------------------------
-
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Svc/LinuxTime/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Svc/LinuxTime/test/ut/mod.mk
deleted file mode 100644
index 2eb283ddc..000000000
--- a/Apps/FlightSoftware/fprime/Svc/LinuxTime/test/ut/mod.mk
+++ /dev/null
@@ -1,19 +0,0 @@
-# ----------------------------------------------------------------------
-# mod.mk 
-# ----------------------------------------------------------------------
-
-TEST_SRC=Handcode/TesterBase.cpp \
-				 Handcode/GTestBase.cpp \
-				 Tester.cpp \
-				 Main.cpp 
-
-TEST_MODS=Svc/LinuxTime Svc/Time Fw/Time \
-					Fw/Comp Fw/Types Fw/Obj \
-                                        Fw/Port \
-					Os \
-					gtest
-
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Svc/LinuxTimer/mod.mk b/Apps/FlightSoftware/fprime/Svc/LinuxTimer/mod.mk
deleted file mode 100644
index 83fcce8a2..000000000
--- a/Apps/FlightSoftware/fprime/Svc/LinuxTimer/mod.mk
+++ /dev/null
@@ -1,31 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-SRC = LinuxTimerComponentImplCommon.cpp LinuxTimerComponentAi.xml 
-
-SRC_LINUX = LinuxTimerComponentImplTimerFd.cpp
-
-SRC_CYGWIN = LinuxTimerComponentImplTaskDelay.cpp
-
-SRC_DARWIN = LinuxTimerComponentImplTaskDelay.cpp
-
-SRC_RASPIAN = LinuxTimerComponentImplTimerFd.cpp
-
-HDR = LinuxTimerComponentImpl.hpp
-
-SUBDIRS = test
-
-
-
-SRC_LINUXRT = LinuxTimerComponentImplTimerFd.cpp
diff --git a/Apps/FlightSoftware/fprime/Svc/LinuxTimer/test/mod.mk b/Apps/FlightSoftware/fprime/Svc/LinuxTimer/test/mod.mk
deleted file mode 100644
index 2b9ea41e5..000000000
--- a/Apps/FlightSoftware/fprime/Svc/LinuxTimer/test/mod.mk
+++ /dev/null
@@ -1 +0,0 @@
-SUBDIRS = ut
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/Svc/LinuxTimer/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Svc/LinuxTimer/test/ut/mod.mk
deleted file mode 100644
index cb1d21c0a..000000000
--- a/Apps/FlightSoftware/fprime/Svc/LinuxTimer/test/ut/mod.mk
+++ /dev/null
@@ -1,34 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = 	Handcode/TesterBase.cpp \
-			Handcode/GTestBase.cpp \
-			Tester.cpp \
-			main.cpp
-
-TEST_MODS = Svc/LinuxTimer \
-			Fw/Comp \
-			Fw/Obj \
-			Fw/Time \
-			Fw/Types \
-			Svc/Sched \
-			Svc/Cycle \
-			Fw/Port \
-			Os \
-			gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Svc/PassiveConsoleTextLogger/mod.mk b/Apps/FlightSoftware/fprime/Svc/PassiveConsoleTextLogger/mod.mk
deleted file mode 100644
index e6c77635e..000000000
--- a/Apps/FlightSoftware/fprime/Svc/PassiveConsoleTextLogger/mod.mk
+++ /dev/null
@@ -1,21 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-
-SRC = 	ConsoleTextLoggerImplCommon.cpp
-
-SRC_CYGWIN = Stub/PrintfLoggerImplStub.cpp
-
-SRC_LINUX = Stub/PrintfLoggerImplStub.cpp
-
-SRC_DARWIN = Stub/PrintfLoggerImplStub.cpp
-
-SRC_RASPIAN = Stub/PrintfLoggerImplStub.cpp
-
-SRC_TIR4 = Stub/PrintfLoggerImplStub.cpp
-
-HDR = ConsoleTextLoggerImpl.hpp
diff --git a/Apps/FlightSoftware/fprime/Svc/PassiveTextLogger/mod.mk b/Apps/FlightSoftware/fprime/Svc/PassiveTextLogger/mod.mk
deleted file mode 100644
index 7ae6b4001..000000000
--- a/Apps/FlightSoftware/fprime/Svc/PassiveTextLogger/mod.mk
+++ /dev/null
@@ -1,9 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-
-SRC = 	PassiveTextLoggerComponentAi.xml
diff --git a/Apps/FlightSoftware/fprime/Svc/Ping/mod.mk b/Apps/FlightSoftware/fprime/Svc/Ping/mod.mk
deleted file mode 100644
index 717fae8f4..000000000
--- a/Apps/FlightSoftware/fprime/Svc/Ping/mod.mk
+++ /dev/null
@@ -1,10 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-SRC = PingPortAi.xml
-		
-		
diff --git a/Apps/FlightSoftware/fprime/Svc/PolyDb/mod.mk b/Apps/FlightSoftware/fprime/Svc/PolyDb/mod.mk
deleted file mode 100644
index aa7feeb7b..000000000
--- a/Apps/FlightSoftware/fprime/Svc/PolyDb/mod.mk
+++ /dev/null
@@ -1,20 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = PolyDbComponentAi.xml PolyDbImpl.cpp
-
-HDR = PolyDbImpl.hpp PolyDbImplCfg.hpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Svc/PolyDb/test/mod.mk b/Apps/FlightSoftware/fprime/Svc/PolyDb/test/mod.mk
deleted file mode 100644
index fe1e32e3e..000000000
--- a/Apps/FlightSoftware/fprime/Svc/PolyDb/test/mod.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-#
-#   Copyright 2015, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Svc/PolyDb/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Svc/PolyDb/test/ut/mod.mk
deleted file mode 100644
index 765dce3fa..000000000
--- a/Apps/FlightSoftware/fprime/Svc/PolyDb/test/ut/mod.mk
+++ /dev/null
@@ -1,31 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = 	PolyDbComponentTestAc.cpp \
-			PolyDbTester.cpp \
-			PolyDbImplTester.cpp
-
-TEST_MODS = Svc/PolyDb \
-			Svc/PolyIf \
-			Fw/Comp \
-			Fw/Obj \
-			Fw/Port \
-			Fw/Time \
-			Fw/Types \
-			Os \
-			gtest
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Svc/PolyIf/mod.mk b/Apps/FlightSoftware/fprime/Svc/PolyIf/mod.mk
deleted file mode 100644
index 36f6e5011..000000000
--- a/Apps/FlightSoftware/fprime/Svc/PolyIf/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = PolyPortAi.xml
-		
-		
diff --git a/Apps/FlightSoftware/fprime/Svc/PrmDb/mod.mk b/Apps/FlightSoftware/fprime/Svc/PrmDb/mod.mk
deleted file mode 100644
index 042bd17cf..000000000
--- a/Apps/FlightSoftware/fprime/Svc/PrmDb/mod.mk
+++ /dev/null
@@ -1,20 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = PrmDbComponentAi.xml PrmDbImpl.cpp
-
-HDR = PrmDbImpl.hpp PrmDbImplCfg.hpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Svc/PrmDb/test/mod.mk b/Apps/FlightSoftware/fprime/Svc/PrmDb/test/mod.mk
deleted file mode 100644
index fe1e32e3e..000000000
--- a/Apps/FlightSoftware/fprime/Svc/PrmDb/test/mod.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-#
-#   Copyright 2015, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Svc/PrmDb/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Svc/PrmDb/test/ut/mod.mk
deleted file mode 100644
index dc2f4e383..000000000
--- a/Apps/FlightSoftware/fprime/Svc/PrmDb/test/ut/mod.mk
+++ /dev/null
@@ -1,37 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = 	Handcode/TesterBase.cpp \
-			Handcode/GTestBase.cpp \
-			PrmDbTester.cpp \
-			PrmDbImplTester.cpp
-		
-TEST_MODS = Svc/PrmDb \
-			Svc/Ping \
-			Fw/Cmd \
-			Fw/Com \
-			Fw/Comp \
-			Fw/Log \
-			Fw/Obj \
-			Fw/Port \
-			Fw/Prm \
-			Fw/Time \
-			Fw/Types \
-			Os/Stubs \
-			Os \
-			gtest
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Svc/RateGroupDriver/mod.mk b/Apps/FlightSoftware/fprime/Svc/RateGroupDriver/mod.mk
deleted file mode 100644
index 0b86fc29b..000000000
--- a/Apps/FlightSoftware/fprime/Svc/RateGroupDriver/mod.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = 	RateGroupDriverComponentAi.xml \
-		RateGroupDriverImpl.cpp
-
-HDR = 	RateGroupDriverImpl.hpp
-
-SUBDIRS = test
-		
diff --git a/Apps/FlightSoftware/fprime/Svc/RateGroupDriver/test/mod.mk b/Apps/FlightSoftware/fprime/Svc/RateGroupDriver/test/mod.mk
deleted file mode 100644
index fe1e32e3e..000000000
--- a/Apps/FlightSoftware/fprime/Svc/RateGroupDriver/test/mod.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-#
-#   Copyright 2015, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/Svc/RateGroupDriver/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Svc/RateGroupDriver/test/ut/mod.mk
deleted file mode 100644
index 3256162fd..000000000
--- a/Apps/FlightSoftware/fprime/Svc/RateGroupDriver/test/ut/mod.mk
+++ /dev/null
@@ -1,34 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = 	Handcode/TesterBase.cpp \
-			Handcode/GTestBase.cpp \
-			RateGroupDriverTester.cpp \
-			RateGroupDriverImplTester.cpp
-
-TEST_MODS = Svc/RateGroupDriver \
-			Fw/Comp \
-			Fw/Obj \
-			Fw/Time \
-			Fw/Types \
-			Svc/Sched \
-			Svc/Cycle \
-			Fw/Port \
-			Os \
-			gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Svc/Sched/mod.mk b/Apps/FlightSoftware/fprime/Svc/Sched/mod.mk
deleted file mode 100644
index 9d191de66..000000000
--- a/Apps/FlightSoftware/fprime/Svc/Sched/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = SchedPortAi.xml
-		
-		
diff --git a/Apps/FlightSoftware/fprime/Svc/Seq/mod.mk b/Apps/FlightSoftware/fprime/Svc/Seq/mod.mk
deleted file mode 100644
index 1f8a56e3b..000000000
--- a/Apps/FlightSoftware/fprime/Svc/Seq/mod.mk
+++ /dev/null
@@ -1,5 +0,0 @@
-# ---------------------------------------------------------------------- 
-# mod.mk
-# ---------------------------------------------------------------------- 
-
-SRC = CmdSeqInPortAi.xml
diff --git a/Apps/FlightSoftware/fprime/Svc/Time/mod.mk b/Apps/FlightSoftware/fprime/Svc/Time/mod.mk
deleted file mode 100644
index 8ce080641..000000000
--- a/Apps/FlightSoftware/fprime/Svc/Time/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = TimeComponentAi.xml
-		
-		
diff --git a/Apps/FlightSoftware/fprime/Svc/TlmChan/mod.mk b/Apps/FlightSoftware/fprime/Svc/TlmChan/mod.mk
deleted file mode 100644
index 26f336a9e..000000000
--- a/Apps/FlightSoftware/fprime/Svc/TlmChan/mod.mk
+++ /dev/null
@@ -1,25 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC =      	TlmChanComponentAi.xml \
-			TlmChanImpl.cpp \
-           	TlmChanImplRecv.cpp \
-           	TlmChanImplGet.cpp \
-           	TlmChanImplTask.cpp 
-
-HDR = 		TlmChanImpl.hpp \
-			TlmChanImplCfg.hpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Svc/TlmChan/test/mod.mk b/Apps/FlightSoftware/fprime/Svc/TlmChan/test/mod.mk
deleted file mode 100644
index 83d5d0eb3..000000000
--- a/Apps/FlightSoftware/fprime/Svc/TlmChan/test/mod.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-#
-#   Copyright 2015, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-
-# There are some standard files that are included for reference
-
-SUBDIRS = ut perf
diff --git a/Apps/FlightSoftware/fprime/Svc/TlmChan/test/perf/mod.mk b/Apps/FlightSoftware/fprime/Svc/TlmChan/test/perf/mod.mk
deleted file mode 100644
index 164e6bbff..000000000
--- a/Apps/FlightSoftware/fprime/Svc/TlmChan/test/perf/mod.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = TelemStoreComponentTestAc.cpp TelemChanTester.cpp TelemChanImplTester.cpp
-
-TEST_MODS = Svc/Tlm Svc/TlmChan Fw/Tlm Fw/Cmd Fw/Com Fw/Comp Fw/Log Fw/Obj Fw/Port Fw/Prm Fw/Time Fw/Types Svc/Sched Os
diff --git a/Apps/FlightSoftware/fprime/Svc/TlmChan/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Svc/TlmChan/test/ut/mod.mk
deleted file mode 100644
index 198ec5002..000000000
--- a/Apps/FlightSoftware/fprime/Svc/TlmChan/test/ut/mod.mk
+++ /dev/null
@@ -1,37 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-TEST_SRC = 	Handcode/TesterBase.cpp \
-			Handcode/GTestBase.cpp \
-			TlmChanTester.cpp \
-			TlmChanImplTester.cpp
-
-TEST_MODS = Svc/TlmChan \
-			Svc/Sched \
-			Svc/Ping \
-			Fw/Tlm \
-			Fw/Com \
-			Fw/Comp \
-			Fw/Log \
-			Fw/Obj \
-			Fw/Port \
-			Fw/Time \
-			Fw/Types \
-			Os \
-			gtest
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Svc/UdpReceiver/mod.mk b/Apps/FlightSoftware/fprime/Svc/UdpReceiver/mod.mk
deleted file mode 100644
index cad9192a9..000000000
--- a/Apps/FlightSoftware/fprime/Svc/UdpReceiver/mod.mk
+++ /dev/null
@@ -1,12 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-SRC = UdpReceiverComponentAi.xml UdpReceiverComponentImpl.cpp
-
-HDR =  UdpReceiverComponentImpl.hpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Svc/UdpReceiver/test/mod.mk b/Apps/FlightSoftware/fprime/Svc/UdpReceiver/test/mod.mk
deleted file mode 100644
index 2b9ea41e5..000000000
--- a/Apps/FlightSoftware/fprime/Svc/UdpReceiver/test/mod.mk
+++ /dev/null
@@ -1 +0,0 @@
-SUBDIRS = ut
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/Svc/UdpReceiver/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Svc/UdpReceiver/test/ut/mod.mk
deleted file mode 100644
index 1c01d3976..000000000
--- a/Apps/FlightSoftware/fprime/Svc/UdpReceiver/test/ut/mod.mk
+++ /dev/null
@@ -1,21 +0,0 @@
-
-TEST_SRC = main.cpp \
-	Tester.cpp \
-	Handcode/GTestBase.cpp \
-	Handcode/TesterBase.cpp
-	
-TEST_MODS = Svc/UdpReceiver \
-			Svc/Sched \
-			Fw/Tlm \
-			Fw/Comp \
-			Fw/Log \
-			Fw/Obj \
-			Fw/Port \
-			Fw/Time \
-			Fw/Buffer \
-			Fw/Types \
-			Os \
-			gtest
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Svc/UdpSender/mod.mk b/Apps/FlightSoftware/fprime/Svc/UdpSender/mod.mk
deleted file mode 100644
index 8ce7fce97..000000000
--- a/Apps/FlightSoftware/fprime/Svc/UdpSender/mod.mk
+++ /dev/null
@@ -1,12 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-SRC = UdpSenderComponentAi.xml UdpSenderComponentImpl.cpp
-
-HDR =  UdpSenderComponentImpl.hpp
-
-SUBDIRS = test
diff --git a/Apps/FlightSoftware/fprime/Svc/UdpSender/test/mod.mk b/Apps/FlightSoftware/fprime/Svc/UdpSender/test/mod.mk
deleted file mode 100644
index 2b9ea41e5..000000000
--- a/Apps/FlightSoftware/fprime/Svc/UdpSender/test/mod.mk
+++ /dev/null
@@ -1 +0,0 @@
-SUBDIRS = ut
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/Svc/UdpSender/test/ut/mod.mk b/Apps/FlightSoftware/fprime/Svc/UdpSender/test/ut/mod.mk
deleted file mode 100644
index 5027bba99..000000000
--- a/Apps/FlightSoftware/fprime/Svc/UdpSender/test/ut/mod.mk
+++ /dev/null
@@ -1,21 +0,0 @@
-
-TEST_SRC = main.cpp \
-	Tester.cpp \
-	Handcode/GTestBase.cpp \
-	Handcode/TesterBase.cpp
-	
-TEST_MODS = Svc/UdpSender \
-			Svc/Sched \
-			Fw/Tlm \
-			Fw/Comp \
-			Fw/Log \
-			Fw/Obj \
-			Fw/Port \
-			Fw/Time \
-			Fw/Buffer \
-			Fw/Types \
-			Os \
-			gtest
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/Svc/WatchDog/mod.mk b/Apps/FlightSoftware/fprime/Svc/WatchDog/mod.mk
deleted file mode 100644
index 882552a3c..000000000
--- a/Apps/FlightSoftware/fprime/Svc/WatchDog/mod.mk
+++ /dev/null
@@ -1,10 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-SRC = WatchDogPortAi.xml
-		
-		
diff --git a/Apps/FlightSoftware/fprime/Utils/Hash/mod.mk b/Apps/FlightSoftware/fprime/Utils/Hash/mod.mk
deleted file mode 100644
index 415183b4f..000000000
--- a/Apps/FlightSoftware/fprime/Utils/Hash/mod.mk
+++ /dev/null
@@ -1,23 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = libcrc/CRC32.cpp \
-      libcrc/lib_crc.c \
-      HashBufferCommon.cpp \
-      HashCommon.cpp
-
-HDR = libcrc/CRC32.hpp \
-      Hash.hpp \
-      HashBuffer.hpp
diff --git a/Apps/FlightSoftware/fprime/Utils/Types/mod.mk b/Apps/FlightSoftware/fprime/Utils/Types/mod.mk
deleted file mode 100644
index 6963c8658..000000000
--- a/Apps/FlightSoftware/fprime/Utils/Types/mod.mk
+++ /dev/null
@@ -1,3 +0,0 @@
-SRC = CircularBuffer.cpp
-
-HDR = CircularBuffer.hpp	
diff --git a/Apps/FlightSoftware/fprime/docs/Tutorials/MathComponent/MathPorts/mod.mk b/Apps/FlightSoftware/fprime/docs/Tutorials/MathComponent/MathPorts/mod.mk
deleted file mode 100644
index 675654cac..000000000
--- a/Apps/FlightSoftware/fprime/docs/Tutorials/MathComponent/MathPorts/mod.mk
+++ /dev/null
@@ -1,4 +0,0 @@
-SRC = 	MathOpPortAi.xml \
-		MathResultPortAi.xml
-
-		
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/docs/Tutorials/MathComponent/MathReceiver/mod.mk b/Apps/FlightSoftware/fprime/docs/Tutorials/MathComponent/MathReceiver/mod.mk
deleted file mode 100644
index 71f8e7259..000000000
--- a/Apps/FlightSoftware/fprime/docs/Tutorials/MathComponent/MathReceiver/mod.mk
+++ /dev/null
@@ -1,5 +0,0 @@
-SRC = MathReceiverComponentAi.xml MathReceiverComponentImpl.cpp
-
-HDR = MathReceiverComponentImpl.hpp
-
-SUBDIRS = test
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/docs/Tutorials/MathComponent/MathReceiver/test/mod.mk b/Apps/FlightSoftware/fprime/docs/Tutorials/MathComponent/MathReceiver/test/mod.mk
deleted file mode 100644
index 871e2ff15..000000000
--- a/Apps/FlightSoftware/fprime/docs/Tutorials/MathComponent/MathReceiver/test/mod.mk
+++ /dev/null
@@ -1 +0,0 @@
-SUBDIRS = ut
diff --git a/Apps/FlightSoftware/fprime/docs/Tutorials/MathComponent/MathReceiver/test/ut/mod.mk b/Apps/FlightSoftware/fprime/docs/Tutorials/MathComponent/MathReceiver/test/ut/mod.mk
deleted file mode 100644
index 13fbd7d4b..000000000
--- a/Apps/FlightSoftware/fprime/docs/Tutorials/MathComponent/MathReceiver/test/ut/mod.mk
+++ /dev/null
@@ -1,31 +0,0 @@
-# ----------------------------------------------------------------------
-# mod.mk 
-# ----------------------------------------------------------------------
-
-TEST_SRC =       main.cpp \
-				Tester.cpp \
-				Handcode/GTestBase.cpp \
-				Handcode/TesterBase.cpp
-
-TEST_MODS =          Ref/MathReceiver \
-					Ref/MathPorts \
-					Ref/MathTypes \
-					Svc/Sched \
-					Fw/Cmd \
-					Fw/Comp \
-					Fw/Port \
-					Fw/Prm \
-					Fw/Time \
-					Fw/Tlm \
-					Fw/Types \
-					Fw/Log \
-					Fw/Obj \
-					Fw/Com \
-					Os \
-					Utils/Hash \
-					gtest
-
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/docs/Tutorials/MathComponent/MathSender/mod.mk b/Apps/FlightSoftware/fprime/docs/Tutorials/MathComponent/MathSender/mod.mk
deleted file mode 100644
index 1e9e77ca3..000000000
--- a/Apps/FlightSoftware/fprime/docs/Tutorials/MathComponent/MathSender/mod.mk
+++ /dev/null
@@ -1,5 +0,0 @@
-SRC = 	MathSenderComponentAi.xml MathSenderComponentImpl.cpp
-
-HDR = MathSenderComponentImpl.hpp
-
-SUBDIRS = test
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/docs/Tutorials/MathComponent/MathSender/test/mod.mk b/Apps/FlightSoftware/fprime/docs/Tutorials/MathComponent/MathSender/test/mod.mk
deleted file mode 100644
index 2b9ea41e5..000000000
--- a/Apps/FlightSoftware/fprime/docs/Tutorials/MathComponent/MathSender/test/mod.mk
+++ /dev/null
@@ -1 +0,0 @@
-SUBDIRS = ut
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/docs/Tutorials/MathComponent/MathSender/test/ut/mod.mk b/Apps/FlightSoftware/fprime/docs/Tutorials/MathComponent/MathSender/test/ut/mod.mk
deleted file mode 100644
index 6b771bb0f..000000000
--- a/Apps/FlightSoftware/fprime/docs/Tutorials/MathComponent/MathSender/test/ut/mod.mk
+++ /dev/null
@@ -1,29 +0,0 @@
-# ----------------------------------------------------------------------
-# mod.mk 
-# ----------------------------------------------------------------------
-
-TEST_SRC =       main.cpp \
-				Tester.cpp \
-				Handcode/GTestBase.cpp \
-				Handcode/TesterBase.cpp
-
-TEST_MODS =          Ref/MathSender \
-					Ref/MathPorts \
-					Fw/Cmd \
-					Fw/Comp \
-					Fw/Port \
-					Fw/Prm \
-					Fw/Time \
-					Fw/Tlm \
-					Fw/Types \
-					Fw/Log \
-					Fw/Obj \
-					Fw/Com \
-					Os \
-					Utils/Hash \
-					gtest
-
-
-
-
-COMPARGS = -I$(CURDIR)/test/ut/Handcode
diff --git a/Apps/FlightSoftware/fprime/docs/Tutorials/MathComponent/MathTypes/mod.mk b/Apps/FlightSoftware/fprime/docs/Tutorials/MathComponent/MathTypes/mod.mk
deleted file mode 100644
index 167644ffd..000000000
--- a/Apps/FlightSoftware/fprime/docs/Tutorials/MathComponent/MathTypes/mod.mk
+++ /dev/null
@@ -1,3 +0,0 @@
-SRC = 	MathOpSerializableAi.xml
-
-		
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/gtest/mod.mk b/Apps/FlightSoftware/fprime/gtest/mod.mk
deleted file mode 100644
index 30e60a904..000000000
--- a/Apps/FlightSoftware/fprime/gtest/mod.mk
+++ /dev/null
@@ -1,10 +0,0 @@
-#
-#   Copyright 2004-2008, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-
-SRC = src/gtest-all.cc
-
diff --git a/Apps/FlightSoftware/fprime/mk/configs/builds/CYGWIN.mk b/Apps/FlightSoftware/fprime/mk/configs/builds/CYGWIN.mk
deleted file mode 100644
index 01ead80e0..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/builds/CYGWIN.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-COMP ?= DEFAULT
-
-ifeq ($(COMP),DEFAULT)
- include $(BUILD_ROOT)/mk/configs/builds/cygwin-gcc-debug.mk
-endif
-
-ifeq ($(COMP),gcc-debug)
- include $(BUILD_ROOT)/mk/configs/builds/cygwin-gcc-debug.mk
-endif
-
-ifeq ($(COMP),comp-ut)
- include $(BUILD_ROOT)/mk/configs/builds/cygwin-gcc-ut.mk
-endif
-
-ifeq ($(COMP),comp-ut-nocov)
- include $(BUILD_ROOT)/mk/configs/builds/cygwin-gcc-ut-nocov.mk
-endif
diff --git a/Apps/FlightSoftware/fprime/mk/configs/builds/DARWIN.mk b/Apps/FlightSoftware/fprime/mk/configs/builds/DARWIN.mk
deleted file mode 100644
index ba85cb549..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/builds/DARWIN.mk
+++ /dev/null
@@ -1,21 +0,0 @@
-COMP ?= DEFAULT
-
-ifeq ($(COMP),DEFAULT)
- include $(BUILD_ROOT)/mk/configs/builds/darwin-llvm-debug.mk
-endif
-
-ifeq ($(COMP),comp-ut)
- include $(BUILD_ROOT)/mk/configs/builds/darwin-llvm-ut.mk
-endif
-
-ifeq ($(COMP),comp-ut-nocov)
- include $(BUILD_ROOT)/mk/configs/builds/darwin-llvm-ut-nocov.mk
-endif
-
-ifeq ($(COMP),comp-integ)
- include $(BUILD_ROOT)/mk/configs/builds/darwin-llvm-ut-nocov.mk
-endif
-
-ifeq ($(COMP),llvm-debug)
- include $(BUILD_ROOT)/mk/configs/builds/darwin-llvm-debug.mk
-endif
diff --git a/Apps/FlightSoftware/fprime/mk/configs/builds/LINUX.mk b/Apps/FlightSoftware/fprime/mk/configs/builds/LINUX.mk
deleted file mode 100644
index c0d3f9f37..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/builds/LINUX.mk
+++ /dev/null
@@ -1,21 +0,0 @@
-COMP ?= DEFAULT
-
-ifeq ($(COMP),DEFAULT)
- include $(BUILD_ROOT)/mk/configs/builds/linux-gcc-debug.mk
-endif
-
-ifeq ($(COMP),gcc-debug)
- include $(BUILD_ROOT)/mk/configs/builds/linux-gcc-debug.mk
-endif
-
-ifeq ($(COMP),comp-ut)
- include $(BUILD_ROOT)/mk/configs/builds/linux-gcc-ut.mk
-endif
-
-ifeq ($(COMP),comp-ut-nocov)
- include $(BUILD_ROOT)/mk/configs/builds/linux-gcc-ut-nocov.mk
-endif
-
-ifeq ($(COMP),comp-integ)
- include $(BUILD_ROOT)/mk/configs/builds/linux-gcc-ut-nocov.mk
-endif
diff --git a/Apps/FlightSoftware/fprime/mk/configs/builds/RASPIAN.mk b/Apps/FlightSoftware/fprime/mk/configs/builds/RASPIAN.mk
deleted file mode 100644
index 113b6e541..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/builds/RASPIAN.mk
+++ /dev/null
@@ -1,21 +0,0 @@
-COMP ?= DEFAULT
-
-ifeq ($(COMP),DEFAULT)
- include $(BUILD_ROOT)/mk/configs/builds/raspian-gcc-debug.mk
-endif
-
-ifeq ($(COMP),gcc-debug)
- include $(BUILD_ROOT)/mk/configs/builds/raspian-gcc-debug.mk
-endif
-
-ifeq ($(COMP),gcc-cross)
- include $(BUILD_ROOT)/mk/configs/builds/raspian-gcc-cross.mk
-endif
-
-ifeq ($(COMP),comp-ut)
- include $(BUILD_ROOT)/mk/configs/builds/raspian-gcc-ut.mk
-endif
-
-ifeq ($(COMP),comp-ut-nocov)
- include $(BUILD_ROOT)/mk/configs/builds/raspian-gcc-ut-nocov.mk
-endif
diff --git a/Apps/FlightSoftware/fprime/mk/configs/builds/TIR4.mk b/Apps/FlightSoftware/fprime/mk/configs/builds/TIR4.mk
deleted file mode 100644
index 8bdc542d8..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/builds/TIR4.mk
+++ /dev/null
@@ -1,2 +0,0 @@
-COMPILER := ti-cgt-arm
-TARGET := TIR4
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/mk/configs/builds/builds.mk b/Apps/FlightSoftware/fprime/mk/configs/builds/builds.mk
deleted file mode 100644
index 1b9c2f261..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/builds/builds.mk
+++ /dev/null
@@ -1,8 +0,0 @@
-BUILDS := \
-	DARWIN \
-	LINUX \
-	CYGWIN \
-	RASPIAN \
-	RASPIAN-CROSS \
-	TIR4
-
diff --git a/Apps/FlightSoftware/fprime/mk/configs/builds/cygwin-gcc-debug.mk b/Apps/FlightSoftware/fprime/mk/configs/builds/cygwin-gcc-debug.mk
deleted file mode 100644
index 4c397f345..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/builds/cygwin-gcc-debug.mk
+++ /dev/null
@@ -1,2 +0,0 @@
-COMPILER := gnu-debug-cygwin-x86
-TARGET := x86cygwin
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/mk/configs/builds/cygwin-gcc-ut-nocov.mk b/Apps/FlightSoftware/fprime/mk/configs/builds/cygwin-gcc-ut-nocov.mk
deleted file mode 100644
index b354463ec..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/builds/cygwin-gcc-ut-nocov.mk
+++ /dev/null
@@ -1,2 +0,0 @@
-COMPILER := gnu-ut-nocov-cygwin-x86
-TARGET := x86cygwin
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/mk/configs/builds/cygwin-gcc-ut.mk b/Apps/FlightSoftware/fprime/mk/configs/builds/cygwin-gcc-ut.mk
deleted file mode 100644
index 469cfc427..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/builds/cygwin-gcc-ut.mk
+++ /dev/null
@@ -1,2 +0,0 @@
-COMPILER := gnu-ut-cygwin-x86
-TARGET := x86cygwin
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/mk/configs/builds/darwin-llvm-debug.mk b/Apps/FlightSoftware/fprime/mk/configs/builds/darwin-llvm-debug.mk
deleted file mode 100644
index e3962f9cd..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/builds/darwin-llvm-debug.mk
+++ /dev/null
@@ -1,2 +0,0 @@
-COMPILER := llvm-debug-darwin
-TARGET := x86darwin
diff --git a/Apps/FlightSoftware/fprime/mk/configs/builds/darwin-llvm-ut-nocov.mk b/Apps/FlightSoftware/fprime/mk/configs/builds/darwin-llvm-ut-nocov.mk
deleted file mode 100644
index f3e46800d..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/builds/darwin-llvm-ut-nocov.mk
+++ /dev/null
@@ -1,2 +0,0 @@
-COMPILER := llvm-ut-nocov-darwin
-TARGET := x86darwin
diff --git a/Apps/FlightSoftware/fprime/mk/configs/builds/darwin-llvm-ut.mk b/Apps/FlightSoftware/fprime/mk/configs/builds/darwin-llvm-ut.mk
deleted file mode 100644
index 366c94620..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/builds/darwin-llvm-ut.mk
+++ /dev/null
@@ -1,2 +0,0 @@
-COMPILER := llvm-ut-darwin
-TARGET := x86darwin
diff --git a/Apps/FlightSoftware/fprime/mk/configs/builds/linux-gcc-debug.mk b/Apps/FlightSoftware/fprime/mk/configs/builds/linux-gcc-debug.mk
deleted file mode 100644
index a1d1b3938..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/builds/linux-gcc-debug.mk
+++ /dev/null
@@ -1,2 +0,0 @@
-COMPILER := gnu-debug-linux-x86
-TARGET := x86linux
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/mk/configs/builds/linux-gcc-ut-nocov.mk b/Apps/FlightSoftware/fprime/mk/configs/builds/linux-gcc-ut-nocov.mk
deleted file mode 100644
index 94cf31a48..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/builds/linux-gcc-ut-nocov.mk
+++ /dev/null
@@ -1,2 +0,0 @@
-COMPILER := gnu-debug-linux-x86-ut-nocov
-TARGET := x86linux
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/mk/configs/builds/linux-gcc-ut.mk b/Apps/FlightSoftware/fprime/mk/configs/builds/linux-gcc-ut.mk
deleted file mode 100644
index 9b89c1d7c..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/builds/linux-gcc-ut.mk
+++ /dev/null
@@ -1,2 +0,0 @@
-COMPILER := gnu-debug-linux-x86-ut
-TARGET := x86linux
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/mk/configs/builds/raspian-gcc-cross.mk b/Apps/FlightSoftware/fprime/mk/configs/builds/raspian-gcc-cross.mk
deleted file mode 100644
index ff53bbdef..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/builds/raspian-gcc-cross.mk
+++ /dev/null
@@ -1,2 +0,0 @@
-COMPILER := gnu-debug-raspian-arm-cross
-TARGET := armraspian
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/mk/configs/builds/raspian-gcc-debug.mk b/Apps/FlightSoftware/fprime/mk/configs/builds/raspian-gcc-debug.mk
deleted file mode 100644
index bd0667fb3..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/builds/raspian-gcc-debug.mk
+++ /dev/null
@@ -1,2 +0,0 @@
-COMPILER := gnu-debug-raspian-arm
-TARGET := armraspian
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/mk/configs/builds/raspian-gcc-ut-nocov.mk b/Apps/FlightSoftware/fprime/mk/configs/builds/raspian-gcc-ut-nocov.mk
deleted file mode 100644
index 8d723f9c9..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/builds/raspian-gcc-ut-nocov.mk
+++ /dev/null
@@ -1,2 +0,0 @@
-COMPILER := gnu-debug-raspian-arm-ut-nocov
-TARGET := armraspian
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/mk/configs/builds/raspian-gcc-ut.mk b/Apps/FlightSoftware/fprime/mk/configs/builds/raspian-gcc-ut.mk
deleted file mode 100644
index c0ad1c39c..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/builds/raspian-gcc-ut.mk
+++ /dev/null
@@ -1,2 +0,0 @@
-COMPILER := gnu-debug-raspian-arm-ut
-TARGET := armraspian
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/actools.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/actools.mk
deleted file mode 100644
index 887aeafd5..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/actools.mk
+++ /dev/null
@@ -1,64 +0,0 @@
-#DICT_TYPE specifies what type of dictionary to generate, with the arguments being "PYTHON", "AMPCS", or "XML" 
-#"PYTHON" is the default if the var is not set or is set to the wrong value. 
-DICT_TYPE := "PYTHON"
-
-# Python path addition for ACTOOLS
-
-ifeq ("$(HOST)","Linux") # may need to set LXML_PATH and CHEETAH_PATH if they are somewhere other than where Python is installed
-    export PYTHONPATH := $(BUILD_ROOT)/Autocoders/Python/src:$(BUILD_ROOT)/Autocoders/Python/utils::$(LXML_PATH):$(CHEETAH_PATH)
-endif
-
-ifeq ("$(HOST)","CYGWIN") # may need to set LXML_PATH and CHEETAH_PATH if they are somewhere other than where Python is installed
-    export PYTHONPATH := $(BUILD_ROOT)/Autocoders/Python/src:$(BUILD_ROOT)/Autocoders/Python/utils:$(LXML_PATH):$(CHEETAH_PATH)
-endif
-
-ifeq ("$(HOST)","Darwin") # may need to set LXML_PATH and CHEETAH_PATH if they are somewhere other than where Python is installed
-    export PYTHONPATH := $(BUILD_ROOT)/Autocoders/Python/src:$(BUILD_ROOT)/Autocoders/Python/utils::$(LXML_PATH):$(CHEETAH_PATH)
-endif
-
-
-CODE_GEN := $(PYTHON_BIN) $(BUILD_ROOT)/Autocoders/Python/bin/codegen.py
-DICT_MODULE_SUBDIR := Dict
-AMPCS_DICT_MODULE_SUBDIR := AMPCSDict
-
-HTML_DOC_SUBDIR := docs
-MD_DOC_SUBDIR := docs
-
-AMPCS_DICT_DEPLOYMENT_SUBDIR := dict/AMPCS
-
-AMPCS_COMMAND_MERGE := $(PYTHON_BIN) $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/converters/AmpcsCommandMerge.py
-AMPCS_EVENT_MERGE := $(PYTHON_BIN) $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/converters/AmpcsEventMerge.py
-AMPCS_TELEMETRY_MERGE := $(PYTHON_BIN) $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/converters/AmpcsTelemetryMerge.py
-
-TELEMETRY_PACKETIZER := $(BUILD_ROOT)/mk/bin/run_tlm_packetizer.sh
-
-
-AC_INTERFACE_GEN := $(CODE_GEN) --build_root
-# DEFAULT Dictionary
-AC_COMPONENT_GEN := $(CODE_GEN) --build_root --default_topology_dict --gen_report --html_docs --html_doc_dir $(HTML_DOC_SUBDIR) --md_docs --md_doc_dir $(MD_DOC_SUBDIR)
-#
-AC_TEST_COMPONENT_GEN := $(CODE_GEN) --build_root -u
-#
-AC_IMPL_GEN := $(CODE_GEN) --build_root -t
-	# AMPCS Dictionary
-ifeq ($(DICT_TYPE) , "AMPCS")
-	AC_SERIALIZABLE_GEN := $(CODE_GEN) --build_root
-	AC_TOPOLOGY_GEN := $(CODE_GEN) --build_root --connect_only  --ampcs_topology_dict --dict_dir $(AMPCS_DICT_MODULE_SUBDIR)
-else
-    ifeq ($(DICT_TYPE) , "XML")
-	   AC_SERIALIZABLE_GEN := $(CODE_GEN) --build_root
-	   AC_TOPOLOGY_GEN := $(CODE_GEN) --build_root --connect_only --xml_topology_dict
-	else
-	   AC_SERIALIZABLE_GEN := $(CODE_GEN) --build_root --default_topology_dict --dict_dir $(DICT_MODULE_SUBDIR)
-	   AC_TOPOLOGY_GEN := $(CODE_GEN) --build_root --connect_only  --default_topology_dict
-    endif	
-endif
-	
-AC_DEP_DIR	:= ac_dep
-
-DEP_FILE_ARG := --dependency-file
-
-COMP_REPORT_GEN := $(PYTHON_BIN) $(BUILD_ROOT)/mk/bin/comp_report_collate.py
-
-AC_XML_VALIDATE = $(BUILD_ROOT)/mk/bin/run_xml_validate.sh
-export AC_XML_VALIDATE
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/codegen.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/codegen.mk
deleted file mode 100644
index e69de29bb..000000000
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/cygwin_gnu_common.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/cygwin_gnu_common.mk
deleted file mode 100644
index ccee91458..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/cygwin_gnu_common.mk
+++ /dev/null
@@ -1,42 +0,0 @@
-include $(BUILD_ROOT)/mk/configs/compiler/include_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/defines_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/linux_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/gnu-common.mk
-
-CC :=  /usr/bin/gcc
-CXX := /usr/bin/g++
-GCOV := /usr/bin/gcov
-AR := /usr/bin/ar
-
-BUILD_32BIT := -m32
-
-CC_MUNCH := $(PYTHON_BIN) $(BUILD_ROOT)/mk/bin/empty.py
-
-LINK_LIB := $(AR)
-LINK_LIB_FLAGS := rcs
-LIBRARY_TO := 
-POST_LINK_LIB := ranlib
-
-LINK_BIN := $(CXX)
-LINK_BIN_FLAGS := $(LIBS) $(BUILD_32BIT)
-
-LINK_LIBS := -ldl -lpthread -lm -lrt
-
-LINUX_GNU_CFLAGS := $(LINUX_FLAGS_COMMON) \
-					$(COMMON_DEFINES) \
-					$(GNU_CFLAGS_COMMON) \
-					$(BUILD_32BIT) # Quantum framework won't build 64-bit
-
-LINUX_GNU_CXXFLAGS :=	$(LINUX_FLAGS_COMMON) \
-						$(COMMON_DEFINES) \
-						$(GNU_CXXFLAGS_COMMON) \
-						$(BUILD_32BIT)
-
-COVERAGE := -fprofile-arcs -ftest-coverage
-
-LINUX_GNU_INCLUDES := $(LINUX_INCLUDES_COMMON) $(COMMON_INCLUDES)
-
-
-DUMP = $(PYTHON_BIN) $(BUILD_ROOT)/mk/bin/empty.py
-
-MUNCH := $(PYTHON_BIN) $(BUILD_ROOT)/mk/bin/empty.py
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/darwin_common.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/darwin_common.mk
deleted file mode 100644
index 6f6ccfbba..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/darwin_common.mk
+++ /dev/null
@@ -1,3 +0,0 @@
-LINUX_FLAGS_COMMON := -DTGT_OS_TYPE_DARWIN
-
-LINUX_INCLUDES_COMMON := -I$(BUILD_ROOT)/Fw/Types/Linux
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/darwin_llvm_common.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/darwin_llvm_common.mk
deleted file mode 100644
index a1c2cc20c..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/darwin_llvm_common.mk
+++ /dev/null
@@ -1,46 +0,0 @@
-include $(BUILD_ROOT)/mk/configs/compiler/include_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/defines_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/darwin_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/llvm-common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/ut_flags.mk
-
-CC :=  /usr/bin/clang
-CXX := /usr/bin/clang++
-AR := /usr/bin/ar
-GCOV := gcov
-
-BUILD_32BIT := -m32
-
-CC_MUNCH := $(BUILD_ROOT)/mk/bin/empty.sh
-
-LINK_LIB := $(AR)
-LINK_LIB_FLAGS := rcs
-LIBRARY_TO := 
-POST_LINK_LIB := ranlib -no_warning_for_no_symbols
-
-LINK_BIN := $(CXX)
-LINK_BIN_FLAGS :=  $(LIBS) #$(BUILD_32BIT)
-
-FILE_SIZE := $(LS) $(LS_SIZE)
-LOAD_SIZE := $(SIZE)
-
-LINK_LIBS := -ldl -lpthread -lm -lc++
-
-OPT_SPEED := -Os
-DEBUG := -g3
-POST_LINK_BIN := $(BUILD_ROOT)/mk/bin/empty.sh
-
-DARWIN_LLVM_CFLAGS := $(LINUX_FLAGS_COMMON) \
-					$(COMMON_DEFINES) \
-					$(LLVM_CFLAGS_COMMON) \
-					#$(BUILD_32BIT) # Quantum framework won't build 32-bit
-
-DARWIN_LLVM_CXXFLAGS :=	$(LINUX_FLAGS_COMMON) \
-						$(COMMON_DEFINES) \
-						-std=c++11 \
-						$(LLVM_CXXFLAGS_COMMON) \
-						#$(BUILD_32BIT)
-
-COVERAGE := -fprofile-arcs -ftest-coverage
-
-DARWIN_LLVM_INCLUDES := $(LINUX_INCLUDES_COMMON) $(COMMON_INCLUDES)
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/defines_HAL.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/defines_HAL.mk
deleted file mode 100644
index 915369317..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/defines_HAL.mk
+++ /dev/null
@@ -1,5 +0,0 @@
-#define installation location of Halcogen package for TI R4
-PROJ_ROOT_LOC = ${CUBEROVER_PACKAGE_TOP_LEVEL}/Apps/FlightSoftware/PrimaryFlightController/FlightMCU
-
-HALCOGEN_ROOT_LOC = $(PROJ_ROOT_LOC)/HAL
-HALCOGEN_INCLUDES = $(HALCOGEN_ROOT_LOC)/include
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/defines_ccs.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/defines_ccs.mk
deleted file mode 100644
index 1dc228113..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/defines_ccs.mk
+++ /dev/null
@@ -1,12 +0,0 @@
-TI_ARM_COMPILER_ROOT_LOC = $(HOME)/ti/ccs910/ccs/tools/compiler/ti-cgt-arm_18.12.2.LTS
-TI_ARM_LINKER_ROOT_LOC = $(TI_ARM_COMPILER_ROOT_LOC)
-TI_ARM_ARCHIVER_ROOT_LOC = $(TI_ARM_COMPILER_ROOT_LOC)
-
-TI_ARM_COMPILER_BIN_LOC = $(TI_ARM_COMPILER_ROOT_LOC)/bin/armcl
-TI_ARM_COMPILER_INCLUDE_LOC = $(TI_ARM_COMPILER_ROOT_LOC)/include
-
-TI_ARM_LINKER_BIN_LOC = $(TI_ARM_LINKER_ROOT_LOC)/bin/armcl
-TI_ARM_LINKER_INCLUDE_LOC = $(TI_ARM_LINKER_ROOT_LOC)/include
-TI_ARM_LINKER_LIB_LOC = $(TI_ARM_LINKER_ROOT_LOC)/lib
-
-TI_ARM_ARCHIVER_BIN_LOC = $(TI_ARM_ARCHIVER_ROOT_LOC)/bin/armar
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/defines_common.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/defines_common.mk
deleted file mode 100644
index 7ba10da10..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/defines_common.mk
+++ /dev/null
@@ -1,3 +0,0 @@
-COMMON_DEFINES  := -DISF -DBUILD_$(BUILD)
-CUBEROVER_PACKAGE_TOP_LEVEL=$(HOME)/CubeRoverPackage
-FPRIME_ROOT_LOC=$(HOME)/CubeRoverPackage/Apps/FlightSoftware/fprime
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/defines_freeRTOS.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/defines_freeRTOS.mk
deleted file mode 100644
index fac99b36f..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/defines_freeRTOS.mk
+++ /dev/null
@@ -1,7 +0,0 @@
-#Official Free RTOS distribution
-#FREERTOS_ROOT_LOC = $(HOME)/workspace_v9/FreeRTOSv10.2.1/FreeRTOS
-#FREERTOS_INCLUDES = $(FREERTOS_ROOT_LOC)/Source/include
-
-#F-PRIME INCLUDES 
-FPRIME_FREERTOS_INCLUDES = $(FPRIME_ROOT_LOC)/Os/FreeRTOS
-FPRIME_FREERTOS_STDTYPES_INCLUDES = $(FPRIME_ROOT_LOC)/Fw/Types/Linux
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-common.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-common.mk
deleted file mode 100644
index af7c4593c..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-common.mk
+++ /dev/null
@@ -1,37 +0,0 @@
-GNU_COMMON := -Wall -Wextra \
-               -fno-builtin -fno-asm \
-               -fstrength-reduce \
-               -Wno-unused-parameter \
-               -Wno-long-long
-               
-DEPEND_FILE := -MMD -MP -MF
-
-GNU_CFLAGS_COMMON := $(GNU_COMMON) -std=c99 \
-				-fno-cond-mismatch -pedantic \
-				-Werror-implicit-function-declaration \
-				-Wstrict-prototypes
-
-GNU_CXXFLAGS_COMMON := $(GNU_COMMON)  -fcheck-new \
-				-Wnon-virtual-dtor 
-
-COMPILE_ONLY := -c
-SHARED_LIBRARY :=  -fPIC
-
-COMPILE_TO := -o
-LIBRARY_TO := -o
-LINK_BIN_PRE_TO := -o
-LINK_BIN_POST_TO := -o
-LINK_BIN_TO := -o
-
-POST_LINK_BIN := @echo
-
-LIBS_START := -Wl,--start-group
-LIBS_END := -Wl,--end-group
-
-INCLUDE_PATH := -I
-
-DEBUG := -g3
-OPT_SPEED := -Os
-OPT_NONE := -O0
-
-SYMBOL_CHECK := 
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-debug-cygwin-x86.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-debug-cygwin-x86.mk
deleted file mode 100644
index 6eaeb84a9..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-debug-cygwin-x86.mk
+++ /dev/null
@@ -1,14 +0,0 @@
-include $(BUILD_ROOT)/mk/configs/compiler/cygwin_gnu_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/include_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/ut_flags.mk
-
-CFLAGS := 	$(DEBUG) \
-			$(LINUX_GNU_CFLAGS) \
-			$(LINUX_GNU_INCLUDES)
-
-CXXFLAGS := $(DEBUG) \
-			$(LINUX_GNU_CXXFLAGS) \
-			$(LINUX_GNU_INCLUDES) \
-			-fno-rtti
-
-COMPILER := cygwin-x86-debug-gnu
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-debug-linux-x86-ut-nocov.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-debug-linux-x86-ut-nocov.mk
deleted file mode 100644
index b74959f4f..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-debug-linux-x86-ut-nocov.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-include $(BUILD_ROOT)/mk/configs/compiler/linux_gnu_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/include_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/ut_flags.mk
-
-CFLAGS :=	$(DEBUG) \
-			$(LINUX_GNU_CFLAGS) \
-			$(LINUX_GNU_INCLUDES) \
-			$(UT_FLAGS)
-
-CXXFLAGS :=	$(DEBUG) \
-			$(LINUX_GNU_CXXFLAGS) \
-			$(LINUX_GNU_INCLUDES) \
-			$(UT_FLAGS)
-
-# for e.g. *Intercepter functions in Os/Stubs
-LINK_BIN_FLAGS := -z muldefs $(LINK_BIN_FLAGS)
-
-COMPILER := linux-x86-debug-gnu-ut-nocov
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-debug-linux-x86-ut.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-debug-linux-x86-ut.mk
deleted file mode 100644
index f2f697564..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-debug-linux-x86-ut.mk
+++ /dev/null
@@ -1,20 +0,0 @@
-include $(BUILD_ROOT)/mk/configs/compiler/linux_gnu_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/include_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/ut_flags.mk
-
-CFLAGS :=	$(DEBUG) \
-			$(LINUX_GNU_CFLAGS) \
-			$(LINUX_GNU_INCLUDES) \
-			$(COVERAGE) \
-			$(UT_FLAGS)
-
-CXXFLAGS :=	$(DEBUG) \
-			$(LINUX_GNU_CXXFLAGS) \
-			$(LINUX_GNU_INCLUDES) \
-			$(COVERAGE) \
-			$(UT_FLAGS)
-
-# for e.g. *Intercepter functions in Os/Stubs
-LINK_BIN_FLAGS := -z muldefs $(LINK_BIN_FLAGS) $(COVERAGE) 
-
-COMPILER := linux-x86-debug-gnu-ut
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-debug-linux-x86.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-debug-linux-x86.mk
deleted file mode 100644
index 3eb9c83ed..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-debug-linux-x86.mk
+++ /dev/null
@@ -1,13 +0,0 @@
-include $(BUILD_ROOT)/mk/configs/compiler/linux_gnu_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/include_common.mk
-
-CFLAGS := 	$(DEBUG) \
-			$(LINUX_GNU_CFLAGS) \
-			$(LINUX_GNU_INCLUDES)
-			
-
-CXXFLAGS := $(DEBUG) \
-			$(LINUX_GNU_CXXFLAGS) \
-			$(LINUX_GNU_INCLUDES)
-
-COMPILER := linux-x86-debug-gnu
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-debug-raspian-arm-cross.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-debug-raspian-arm-cross.mk
deleted file mode 100644
index e7b72800e..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-debug-raspian-arm-cross.mk
+++ /dev/null
@@ -1,13 +0,0 @@
-include $(BUILD_ROOT)/mk/configs/compiler/raspian_gnu_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/include_common.mk
-
-CFLAGS := 	$(OPT_SPEED) \
-			$(LINUX_GNU_CFLAGS) \
-			$(LINUX_GNU_INCLUDES)
-			
-
-CXXFLAGS := $(OPT_SPEED) \
-			$(LINUX_GNU_CXXFLAGS) \
-			$(LINUX_GNU_INCLUDES)
-
-COMPILER := raspian-arm-debug-gnu
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-debug-raspian-arm-ut-nocov.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-debug-raspian-arm-ut-nocov.mk
deleted file mode 100644
index ab7b868e8..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-debug-raspian-arm-ut-nocov.mk
+++ /dev/null
@@ -1,15 +0,0 @@
-include $(BUILD_ROOT)/mk/configs/compiler/linux_gnu_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/include_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/ut_flags.mk
-
-CFLAGS :=	$(DEBUG) \
-			$(LINUX_GNU_CFLAGS) \
-			$(LINUX_GNU_INCLUDES) \
-			$(UT_FLAGS)
-
-CXXFLAGS :=	$(DEBUG) \
-			$(LINUX_GNU_CXXFLAGS) \
-			$(LINUX_GNU_INCLUDES) \
-			$(UT_FLAGS)
-
-COMPILER := raspian-arm-debug-gnu-ut-nocov
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-debug-raspian-arm-ut.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-debug-raspian-arm-ut.mk
deleted file mode 100644
index 55d863971..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-debug-raspian-arm-ut.mk
+++ /dev/null
@@ -1,19 +0,0 @@
-include $(BUILD_ROOT)/mk/configs/compiler/linux_gnu_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/include_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/ut_flags.mk
-
-CFLAGS :=	$(DEBUG) \
-			$(LINUX_GNU_CFLAGS) \
-			$(LINUX_GNU_INCLUDES) \
-			$(COVERAGE) \
-			$(UT_FLAGS)
-
-CXXFLAGS :=	$(DEBUG) \
-			$(LINUX_GNU_CXXFLAGS) \
-			$(LINUX_GNU_INCLUDES) \
-			$(COVERAGE) \
-			$(UT_FLAGS)
-
-LINK_BIN_FLAGS := $(LINK_BIN_FLAGS) $(COVERAGE) 
-
-COMPILER := raspian-arm-debug-gnu-ut
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-debug-raspian-arm.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-debug-raspian-arm.mk
deleted file mode 100644
index 0d2eda6b8..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-debug-raspian-arm.mk
+++ /dev/null
@@ -1,13 +0,0 @@
-include $(BUILD_ROOT)/mk/configs/compiler/linux_gnu_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/include_common.mk
-
-CFLAGS := 	$(DEBUG) \
-			$(LINUX_GNU_CFLAGS) \
-			$(LINUX_GNU_INCLUDES)
-			
-
-CXXFLAGS := $(DEBUG) \
-			$(LINUX_GNU_CXXFLAGS) \
-			$(LINUX_GNU_INCLUDES)
-
-COMPILER := raspian-arm-debug-gnu
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-ut-cygwin-x86.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-ut-cygwin-x86.mk
deleted file mode 100644
index 9641c1aae..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-ut-cygwin-x86.mk
+++ /dev/null
@@ -1,19 +0,0 @@
-include $(BUILD_ROOT)/mk/configs/compiler/cygwin_gnu_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/include_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/ut_flags.mk
-
-CFLAGS := 	$(DEBUG) \
-			$(LINUX_GNU_CFLAGS) \
-			$(LINUX_GNU_INCLUDES) \
-			$(COVERAGE) \
-			$(UT_FLAGS)
-
-CXXFLAGS := $(DEBUG) \
-			$(LINUX_GNU_CXXFLAGS) \
-			$(LINUX_GNU_INCLUDES) \
-			$(COVERAGE) \
-			$(UT_FLAGS)
-			
-LINK_BIN_FLAGS := $(LINK_BIN_FLAGS) $(COVERAGE)
-
-COMPILER := cygwin-x86-ut-gnu
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-ut-nocov-cygwin-x86.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-ut-nocov-cygwin-x86.mk
deleted file mode 100644
index 6d851dfb1..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/gnu-ut-nocov-cygwin-x86.mk
+++ /dev/null
@@ -1,15 +0,0 @@
-include $(BUILD_ROOT)/mk/configs/compiler/cygwin_gnu_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/include_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/ut_flags.mk
-
-CFLAGS := 	$(DEBUG) \
-			$(LINUX_GNU_CFLAGS) \
-			$(LINUX_GNU_INCLUDES) \
-			$(UT_FLAGS)
-
-CXXFLAGS := $(DEBUG) \
-			$(LINUX_GNU_CXXFLAGS) \
-			$(LINUX_GNU_INCLUDES) \
-			$(UT_FLAGS)
-			
-COMPILER := cygwin-x86-ut-nocov-gnu
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/include_common.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/include_common.mk
deleted file mode 100644
index a08758060..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/include_common.mk
+++ /dev/null
@@ -1,3 +0,0 @@
-COMMON_INCLUDES := -I$(BUILD_ROOT) -I$(BUILD_ROOT)/gtest/include -I$(BUILD_ROOT)/gtest
-
-JPLFFS_INCLUDE := -I$(BUILD_ROOT)/JplFfs/Core -I$(BUILD_ROOT)/JplFfs
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/linux_common.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/linux_common.mk
deleted file mode 100644
index 98d75934a..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/linux_common.mk
+++ /dev/null
@@ -1,3 +0,0 @@
-LINUX_FLAGS_COMMON := -DTGT_OS_TYPE_LINUX
-
-LINUX_INCLUDES_COMMON := -I$(BUILD_ROOT)/Fw/Types/Linux
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/linux_gnu_common.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/linux_gnu_common.mk
deleted file mode 100644
index 470dd8958..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/linux_gnu_common.mk
+++ /dev/null
@@ -1,49 +0,0 @@
-include $(BUILD_ROOT)/mk/configs/compiler/include_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/defines_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/linux_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/gnu-common.mk
-
-CC :=  /usr/bin/gcc
-CXX := /usr/bin/g++
-GCOV := /usr/bin/gcov
-AR := /usr/bin/ar
-
-BUILD_32BIT := -m32
-
-CC_MUNCH := $(BUILD_ROOT)/mk/bin/empty.sh
-
-LINK_LIB := $(AR)
-LINK_LIB_FLAGS := rcs
-LIBRARY_TO := 
-POST_LINK_LIB := ranlib
-
-LINK_BIN := $(CXX)
-LINK_BIN_FLAGS := -z muldefs $(LIBS) #$(BUILD_32BIT)
-
-FILE_SIZE := $(LS) $(LS_SIZE)
-LOAD_SIZE := $(SIZE)
-
-
-
-LINK_LIBS := -ldl -lpthread -lm -lrt -lutil
-
-OPT_SPEED := -Os
-DEBUG := -g3
-
-LINUX_GNU_CFLAGS := $(LINUX_FLAGS_COMMON) \
-					$(COMMON_DEFINES) \
-					$(GNU_CFLAGS_COMMON) \
-					#$(BUILD_32BIT) # Quantum framework won't build 32-bit
-
-LINUX_GNU_CXXFLAGS :=	$(LINUX_FLAGS_COMMON) \
-						$(COMMON_DEFINES) \
-						$(GNU_CXXFLAGS_COMMON) \
-						#$(BUILD_32BIT)
-
-COVERAGE := -fprofile-arcs -ftest-coverage
-
-LINUX_GNU_INCLUDES := $(LINUX_INCLUDES_COMMON) $(COMMON_INCLUDES)
-
-DUMP = $(BUILD_ROOT)/mk/bin/empty.sh
-
-MUNCH := $(BUILD_ROOT)/mk/bin/empty.sh
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/llvm-common.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/llvm-common.mk
deleted file mode 100644
index 89f06ac21..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/llvm-common.mk
+++ /dev/null
@@ -1,40 +0,0 @@
-LLVM_COMMON := -Wall -Wextra \
-               -fno-builtin -fno-asm \
-               \
-               -Wno-unused-parameter \
-               -Wno-long-long -v
-               
-DEPEND_FILE := -MMD -MP -MF
-
-LLVM_CFLAGS_COMMON := $(LLVM_COMMON) -std=c99 \
-				-pedantic \
-				-Werror-implicit-function-declaration \
-				-Wstrict-prototypes
-
-LLVM_CXXFLAGS_COMMON := $(LLVM_COMMON)
-
-# Special compiler flags to get around known AC warnings
-
-AC_CC_FLAGS :=	-Wno-extra
-AC_CXX_FLAGS :=
-AC_HSM_FLAGS := -Wno-extra -Wno-parentheses
-AC_PARAMS_FLAGS := -fno-strict-aliasing	-Wno-extra	
-
-COMPILE_ONLY := -c
-
-COMPILE_TO := -o
-LIBRARY_TO := -o
-LINK_BIN_PRE_TO := -o
-LINK_BIN_POST_TO := -o
-LINK_BIN_TO := -o
-
-INCLUDE_PATH := -I
-
-
-DEBUG := -g3
-
-OPT_SPEED := -Os
-
-OPT_NONE := -O0
-
-SYMBOL_CHECK := $(PYTHON_BIN) $(BUILD_ROOT)/mk/bin/empty.py
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/llvm-debug-darwin.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/llvm-debug-darwin.mk
deleted file mode 100644
index 32281eb23..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/llvm-debug-darwin.mk
+++ /dev/null
@@ -1,13 +0,0 @@
-include $(BUILD_ROOT)/mk/configs/compiler/darwin_llvm_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/include_common.mk
-
-CFLAGS := 	$(DEBUG) \
-			$(DARWIN_LLVM_CFLAGS) \
-			$(DARWIN_LLVM_INCLUDES)
-
-CXXFLAGS := $(DEBUG) \
-			$(DARWIN_LLVM_CXXFLAGS) \
-			$(DARWIN_LLVM_INCLUDES) \
-			-fno-rtti
-
-COMPILER := darwin-x86-debug-llvm
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/llvm-ut-darwin.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/llvm-ut-darwin.mk
deleted file mode 100644
index 9a9a2d509..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/llvm-ut-darwin.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-include $(BUILD_ROOT)/mk/configs/compiler/darwin_llvm_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/include_common.mk
-
-CFLAGS := 	$(DEBUG) \
-			$(DARWIN_LLVM_CFLAGS) \
-			$(DARWIN_LLVM_INCLUDES) \
-			$(COVERAGE) \
-			$(UT_FLAGS)
-
-CXXFLAGS := $(DEBUG) \
-			$(DARWIN_LLVM_CXXFLAGS) \
-			$(DARWIN_LLVM_INCLUDES) \
-			$(COVERAGE) \
-			$(UT_FLAGS)
-			
-LINK_BIN_FLAGS := $(LINK_BIN_FLAGS) $(COVERAGE)			
-
-COMPILER := darwin-x86-ut-llvm
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/llvm-ut-nocov-darwin.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/llvm-ut-nocov-darwin.mk
deleted file mode 100644
index 9b2d50913..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/llvm-ut-nocov-darwin.mk
+++ /dev/null
@@ -1,14 +0,0 @@
-include $(BUILD_ROOT)/mk/configs/compiler/darwin_llvm_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/include_common.mk
-
-CFLAGS := 	$(DEBUG) \
-			$(DARWIN_LLVM_CFLAGS) \
-			$(DARWIN_LLVM_INCLUDES) \
-			$(UT_FLAGS)
-
-CXXFLAGS := $(DEBUG) \
-			$(DARWIN_LLVM_CXXFLAGS) \
-			$(DARWIN_LLVM_INCLUDES) \
-			$(UT_FLAGS)
-			
-COMPILER := darwin-x86-ut-nocov-llvm
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/raspian_gnu_common.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/raspian_gnu_common.mk
deleted file mode 100644
index c691d7936..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/raspian_gnu_common.mk
+++ /dev/null
@@ -1,49 +0,0 @@
-include $(BUILD_ROOT)/mk/configs/compiler/include_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/defines_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/linux_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/gnu-common.mk
-
-CC :=  $(PI_TOOLS)/tools/arm-bcm2708/arm-linux-gnueabihf/bin/arm-linux-gnueabihf-gcc
-CXX := $(PI_TOOLS)/tools/arm-bcm2708/arm-linux-gnueabihf/bin/arm-linux-gnueabihf-g++
-GCOV := $(PI_TOOLS)/tools/arm-bcm2708/arm-linux-gnueabihf/bin/arm-linux-gnueabihf-gcov
-AR := $(PI_TOOLS)/tools/arm-bcm2708/arm-linux-gnueabihf/bin/arm-linux-gnueabihf-ar
-
-BUILD_32BIT := -m32
-
-CC_MUNCH := $(BUILD_ROOT)/mk/bin/empty.sh
-
-LINK_LIB := $(AR)
-LINK_LIB_FLAGS := rcs
-LIBRARY_TO := 
-POST_LINK_LIB := $(PI_TOOLS)/tools/arm-bcm2708/arm-linux-gnueabihf/bin/arm-linux-gnueabihf-ranlib
-
-LINK_BIN := $(CXX)
-LINK_BIN_FLAGS := -z muldefs $(LIBS) #$(BUILD_32BIT)
-
-FILE_SIZE := $(LS) $(LS_SIZE)
-LOAD_SIZE := $(SIZE)
-
-
-
-LINK_LIBS := -ldl -lpthread -lm -lrt -lutil
-
-OPT_SPEED := -Os
-DEBUG := -g3
-
-LINUX_GNU_CFLAGS := $(LINUX_FLAGS_COMMON) \
-					$(COMMON_DEFINES) \
-					$(GNU_CFLAGS_COMMON) \
-					#$(BUILD_32BIT) # Quantum framework won't build 32-bit
-
-LINUX_GNU_CXXFLAGS :=	$(LINUX_FLAGS_COMMON) \
-						$(COMMON_DEFINES) \
-						$(GNU_CXXFLAGS_COMMON) \
-						#$(BUILD_32BIT)
-
-COVERAGE := -fprofile-arcs -ftest-coverage
-
-LINUX_GNU_INCLUDES := $(LINUX_INCLUDES_COMMON) $(COMMON_INCLUDES)
-
-DUMP = $(BUILD_ROOT)/mk/bin/empty.sh
-
-MUNCH := $(BUILD_ROOT)/mk/bin/empty.sh
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/ti-cgt-arm.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/ti-cgt-arm.mk
deleted file mode 100644
index 56b472dbd..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/ti-cgt-arm.mk
+++ /dev/null
@@ -1,122 +0,0 @@
-include $(BUILD_ROOT)/mk/configs/compiler/include_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/defines_common.mk
-include $(BUILD_ROOT)/mk/configs/compiler/defines_freeRTOS.mk
-include $(BUILD_ROOT)/mk/configs/compiler/defines_HAL.mk
-include $(BUILD_ROOT)/mk/configs/compiler/defines_ccs.mk
-
-# C Compiler
-CC :=  $(TI_ARM_COMPILER_BIN_LOC)
-
-CXX := $(CC)
-
-# Coding standard for C
-CCS_CFLAGS_COMMON = --c99
-
-# Coding for C++
-CCS_CXXFLAGS_COMMON = --c++14
-
-# http://www.ti.com/lit/ug/spnu151r/spnu151r.pdf
-# C Compiler flags
-CFLAGS := 	-mv7R4 \
-			--code_state=32 \
-			-me \
-			--float_support=VFPv3D16 \
-			--diag_warning=225 \
-			-g \
-			--rtti \
-			--cpp_default\
-			-O3 \
-			--diag_wrap=off \
-			--display_error_number \
-			--enum_type=packed \
-			--abi=eabi \
-			--preproc_with_compile \
-			--verbose_diagnostics \
-			--little_endian \
-			$(CCS_CFLAGS_COMMON) \
-			$(CCS_CXXFLAGS_COMMON) \
-			-I$(BUILD_ROOT) -I$(TI_ARM_COMPILER_INCLUDE_LOC) \
-			-I$(FREERTOS_INCLUDES) -I$(FPRIME_FREERTOS_INCLUDES) \
-			-I$(FPRIME_FREERTOS_STDTYPES_INCLUDES) \
-			-I$(PROJ_ROOT_LOC) \
-			-I$(HALCOGEN_INCLUDES)
-
-
-CXXFLAGS := $(CFLAGS)
-
-DEPEND_FILE := -ppa -ppd=
-
-# Generate object code, don't link (like -c on gcc)
-COMPILE_ONLY := -c
-
-# The destination object file (like -o on gcc)
-COMPILE_TO := --output_file
-
-
-# Not the include path itself, but the compiler argument to set it (like -I on gcc)
-INCLUDE_PATH = -I
-
-# Linker
-AR := $(TI_ARM_ARCHIVER_BIN_LOC)
-
-# Tool to create library
-LINK_LIB := $(AR)
-
-##
-## To create a library - use flag below
-##
-LINK_LIB_FLAGS := r
-
-#------------------------------------------------------------------------
-# To create a binary - use flags below
-#------------------------------------------------------------------------
-# argument specifying the file to create the argument
-#LIBRARY_TO := -o
-
-# Argument to Library linker to create a binary
-#LINK_LIB_FLAGS := 	-mv7R4 \
-#					--code_state=32 \
-#					--float_support=VFPv3D16 \
-#					-g \
-#					--diag_warning=225 \
-#					--enum_type=packed \
-#					--abi=eabi \
-#					-z \
-#					--reread_libs \
-#					--diag_wrap=off \
-#					--display_error_number \
-#					--heap_size=0x800 \
-#					--stack_size=0x800 \
-#					--warn_sections \
-#					--rom_model \
-#					-I$(TI_ARM_LINKER_INCLUDE_LOC) \
-#					-I$(TI_ARM_LINKER_LIB_LOC)
-
-# Any post library linking needed (not needed for ar). If not needed, set it to: $(BUILD_ROOT)/mk/bin/empty.py
-POST_LINK_LIB :=
-
-POST_LINK_BIN :=
-
-POST_LINK_POST_ARGS = $(subst .out,.bin,$@)
-
-# Link to an executable binary
-LINK_BIN := $(CC)
-
-# flag to indicate binary output file
-#LINK_BIN_TO :=
-
-# Argument to start/end a list of libraries, if needed
-#LIBS_START :=
-#LIBS_END :=
-
-# tool that runs on binary, if necessary
-#POST_LINK_BIN :=
-
-# Arguments for post linker tool that go before binary file in tool command
-#POST_LINK_PRE_ARGS :=
-
-# Arguments for post linker tool that go after binary
-#POST_LINK_POST_ARGS :=
-
-# Link to other dependent libraries
-#LINK_LIBS :=
diff --git a/Apps/FlightSoftware/fprime/mk/configs/compiler/ut_flags.mk b/Apps/FlightSoftware/fprime/mk/configs/compiler/ut_flags.mk
deleted file mode 100644
index 53239a91d..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/compiler/ut_flags.mk
+++ /dev/null
@@ -1 +0,0 @@
-UT_FLAGS := -DSTATIC= -DBUILD_UT -DPROTECTED=public -DPRIVATE=public -DFW_ASSERT_LEVEL=FW_FILENAME_ASSERT
diff --git a/Apps/FlightSoftware/fprime/mk/configs/host/CYGWIN-generic.mk b/Apps/FlightSoftware/fprime/mk/configs/host/CYGWIN-generic.mk
deleted file mode 100644
index ff89c3495..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/host/CYGWIN-generic.mk
+++ /dev/null
@@ -1,16 +0,0 @@
-include $(BUILD_ROOT)/mk/configs/host/Linux-common.mk
-
-export PYTHON_BIN := python
-export CHEETAH_COMPILE ?= /bin/cheetah-compile
-export MARKDOWN ?= /usr/bin/markdown_py -x markdown.extensions.extra -x markdown.extensions.codehilite
-export DOXYGEN := doxygen 
-
-HOST_BIN_SUFFIX := .exe
-JOBS = -j 4
-
-SYMBOL_CHECK := echo
-
-FILE_HASH := $(PYTHON_BIN) ${BUILD_ROOT}/mk/bin/run_file_hash.py
-
-export HOME := $(HOMEPATH)
-export USER := $(USERNAME)
diff --git a/Apps/FlightSoftware/fprime/mk/configs/host/Darwin-generic.mk b/Apps/FlightSoftware/fprime/mk/configs/host/Darwin-generic.mk
deleted file mode 100644
index 09578bf3d..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/host/Darwin-generic.mk
+++ /dev/null
@@ -1,17 +0,0 @@
-include $(BUILD_ROOT)/mk/configs/host/Linux-common.mk
-
-TIME := time
-export PYTHON_BIN := python
-
-export CHEETAH_COMPILE ?= cheetah-compile
-export MARKDOWN ?= markdown_py -x markdown.extensions.extra -x markdown.extensions.codehilite
-
-FILE_HASH := $(BUILD_ROOT)/mk/bin/run_file_hash.sh
-
-SIZE = size
-CKSUM_SH := $(BUILD_ROOT)/mk/bin/md5.sh
-export CKSUM := /sbin/md5
-
-MAKE = make
-JOBS = -j 4
-#JOBS =
diff --git a/Apps/FlightSoftware/fprime/mk/configs/host/Linux-common.mk b/Apps/FlightSoftware/fprime/mk/configs/host/Linux-common.mk
deleted file mode 100644
index 59130ee98..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/host/Linux-common.mk
+++ /dev/null
@@ -1,25 +0,0 @@
-HOST_BIN_SUFFIX = 
-MKDIR := mkdir -p
-export RM := rm -f
-RM_DIR = $(RM) -rf 
-LS := ls
-SIZE := size
-LS_SIZE := -hs
-export CAT := cat
-TIME := /usr/bin/time -f"Build Time: %E"
-CP := cp
-CP_RECURSE := $(CP) -r
-TEE := tee
-CHMOD_WRITE_USER := chmod -f u+w
-TOUCH := touch
-NM := /usr/bin/nm
-MAKE := /usr/bin/make
-
-PERL_BASE := /usr
-export PERL_BIN := $(PERL_BASE)/bin/perl
-export PERL_LIB := $(PERL_BASE)/lib
-
-SLOC_COUNTER := ${BUILD_ROOT}/mk/bin/ncsl -v -i
-PROCESS_SLOC := ${BUILD_ROOT}/mk/bin/process_ncsl_sloc.py
-FILE_HASH := $(PYTHON_BIN) ${BUILD_ROOT}/mk/bin/run_file_hash.py
-GEN_VERSION := $(PYTHON_BIN) $(BUILD_ROOT)/mk/bin/gen_git_version.py
diff --git a/Apps/FlightSoftware/fprime/mk/configs/host/Linux-generic.mk b/Apps/FlightSoftware/fprime/mk/configs/host/Linux-generic.mk
deleted file mode 100644
index bd09c1a9a..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/host/Linux-generic.mk
+++ /dev/null
@@ -1,27 +0,0 @@
-include $(BUILD_ROOT)/mk/configs/host/Linux-common.mk
-
-export PYTHON_BIN := python
-
-# This assumes that you have installed lxml and cheetah to the python distribution. Probably requires sudo access.
-export LXML_PATH := 
-export CHEETAH_COMPILE ?= cheetah-compile
-export MARKDOWN ?= markdown_py -x markdown.extensions.extra -x markdown.extensions.codehilite
-
-CKSUM_SH := $(BUILD_ROOT)/mk/bin/md5.sh
-export CKSUM := /usr/bin/openssl md5
-CKSUM_SUFFIX := .md5
-
-DOXYGEN := 
-
-JOBS := -j 4
-#JOBS =
-
--include $(BUILD_ROOT)/mk/configs/target/wind-$(TARGET).mk
-
-CRC := $(BUILD_ROOT)/mk/bin/run_file_crc.sh
-
-
-export PI_TOOLS := /opt/tools/rpi
-
-
-SYMBOL_CHECK := echo
diff --git a/Apps/FlightSoftware/fprime/mk/configs/host/build_site_host_list.mk b/Apps/FlightSoftware/fprime/mk/configs/host/build_site_host_list.mk
deleted file mode 100644
index b3670e406..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/host/build_site_host_list.mk
+++ /dev/null
@@ -1,8 +0,0 @@
-# This file can be filled with known hosts that support a particular BUILD_SITE
-# Setting BUILD_SITE will include "somehost.mk" to override locations for tools, etc
-# Otherwise, it will include default for platform
-
-#ifeq ("$(HOSTNAME)","somehost.company.com")
-#  BUILD_SITE := somehost
-#endif
-
diff --git a/Apps/FlightSoftware/fprime/mk/configs/host/compute_build_site.mk b/Apps/FlightSoftware/fprime/mk/configs/host/compute_build_site.mk
deleted file mode 100644
index 3623a53d0..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/host/compute_build_site.mk
+++ /dev/null
@@ -1,4 +0,0 @@
-BUILD_SITE ?= generic
-
-# include optional host to build site list
--include $(BUILD_ROOT)/mk/configs/host/build_site_host_list.mk
diff --git a/Apps/FlightSoftware/fprime/mk/configs/host/compute_host.mk b/Apps/FlightSoftware/fprime/mk/configs/host/compute_host.mk
deleted file mode 100644
index a83cb6014..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/host/compute_host.mk
+++ /dev/null
@@ -1,18 +0,0 @@
-HOST = $(shell uname -s)
-
-#adjust for various hosts
-ifeq ("$(findstring CYGWIN,$(HOST))","CYGWIN") # may need to set LXML_PATH and CHEETAH_PATH if they are somewhere other than where Python is installed
-    HOST = CYGWIN
-    NATIVE_BUILD = $(HOST)
-endif
-
-ifeq ("$(HOST)","Linux")
-    NATIVE_BUILD = LINUX
-endif
-
-ifeq ("$(HOST)","Darwin")
-    NATIVE_BUILD = DARWIN
-endif
-
-
-HOSTNAME ?= $(shell uname -n)
diff --git a/Apps/FlightSoftware/fprime/mk/configs/modules/modules.mk b/Apps/FlightSoftware/fprime/mk/configs/modules/modules.mk
deleted file mode 100644
index 51a881064..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/modules/modules.mk
+++ /dev/null
@@ -1,237 +0,0 @@
-# List of flight software modules to build
-
-# NOTE: Must not be characters after continuation character "\" or will get "commands commence before first target" errors
-
-FW_MODULES := \
-	Fw/FilePacket \
-	Fw/Cfg \
-	Fw/Buffer \
-	Fw/Comp \
-	Fw/Obj \
-	Fw/Port \
-	Fw/Cmd \
-	Fw/Tlm \
-	Fw/Prm \
-	Fw/Log \
-	Fw/Time \
-	Fw/Com \
-	Fw/ComFile \
-	Fw/SerializableFile \
-	Fw/Types
-
-FW_GTEST_MODULES := \
-	Fw/SerializableFile/test/TestSerializable \
-	Fw/FilePacket/GTest \
-	Fw/Types/GTest
-	
-OS_MODULES := \
-	Os 
-
-CFDP_MODULES := \
-	CFDP/Checksum
-
-CFDP_GTEST_MODULES := \
-	CFDP/Checksum/GTest
-	
-UTILS_MODULES := \
-	Utils/Hash \
-	Utils/Types
-        
-# Svc/UdpSender Svc/SocketGndIf Svc/GroundInterface
-SVC_MODULES := \
-	Svc/BufferAccumulator \
-	Svc/BufferLogger \
-	Svc/BufferManager \
-	Svc/CmdDispatcher \
-	Svc/CmdSequencer \
-	Svc/Seq \
-	Svc/ActiveRateGroup \
-	Svc/RateGroupDriver \
-	Svc/Sched \
-	Svc/ComLogger \
-	Svc/TlmChan \
-	Svc/PassiveTextLogger \
-	Svc/PassiveConsoleTextLogger \
-	Svc/Time \
-	Svc/Cycle \
-	Svc/LinuxTime \
-	Svc/LinuxTimer \
-	Svc/ActiveLogger \
-	Svc/Fatal \
-	Svc/PolyIf \
-	Svc/PolyDb \
-	Svc/PrmDb \
-	Svc/Ping \
-	Svc/WatchDog \
-	Svc/Health \
-	Svc/FileUplink \
-	Svc/FileDownlink \
-  Svc/AssertFatalAdapter \
-  Svc/FatalHandler \
-	Svc/FileManager
-	
-DEMO_DRV_MODULES := \
-	Drv/DataTypes \
-	Drv/BlockDriver \
-	Drv/GpioDriverPorts
-		
-LINUX_DRV_MODULES := \
-	Drv/LinuxGpioDriver \
-	Drv/LinuxSerialDriver \
-	Drv/LinuxSpiDriver \
-	Drv/SerialDriverPorts \
-	Drv/SpiDriverPorts \
-	Drv/GpioDriverPorts
-
-CUBEROVER_DRV_MODULES := \
-	Drv/FreeRtosSerialDriver \
-	Drv/SerialDriverPorts
-
-REF_MODULES := \
-	Ref/Top \
-	Ref/RecvBuffApp \
-	Ref/SendBuffApp \
-	Ref/SignalGen \
-	Ref/PingReceiver
-	
-Ref_MODULES := \
-	\
-	$(REF_MODULES) \
-	\
-	$(SVC_MODULES) \
-	\
-	$(DEMO_DRV_MODULES) \
-	\
-	$(FW_MODULES) \
-	\
-	$(OS_MODULES) \
-	\
-	$(CFDP_MODULES) \
-  	\
-  	$(UTILS_MODULES)
-		
-ACDEVTEST_MODULES := \
-	Autocoders/Python/test/active_tester \
-	Autocoders/Python/test/app1 \
-	Autocoders/Python/test/app2 \
-	Autocoders/Python/test/cnt_only \
-	Autocoders/Python/test/command1 \
-	Autocoders/Python/test/command2 \
-	Autocoders/Python/test/command_res \
-	Autocoders/Python/test/command_multi_inst \
-	Autocoders/Python/test/command_string \
-	Autocoders/Python/test/command_tester \
-	Autocoders/Python/test/comp_diff_namespace \
-	Autocoders/Python/test/comp_no_namespace \
-	Autocoders/Python/test/enum1port \
-	Autocoders/Python/test/enum_return_port \
-	Autocoders/Python/test/event1 \
-	Autocoders/Python/test/event2 \
-	Autocoders/Python/test/event_throttle \
-	Autocoders/Python/test/event_enum \
-	Autocoders/Python/test/event_multi_inst \
-	Autocoders/Python/test/event_string \
-	Autocoders/Python/test/ext_dict \
-	Autocoders/Python/test/log1 \
-	Autocoders/Python/test/log_tester \
-	Autocoders/Python/test/main \
-	Autocoders/Python/test/noargport \
-	Autocoders/Python/test/param1 \
-	Autocoders/Python/test/param2 \
-	Autocoders/Python/test/param_enum \
-	Autocoders/Python/test/param_multi_inst \
-	Autocoders/Python/test/param_string \
-	Autocoders/Python/test/param_tester \
-	Autocoders/Python/test/time_tester \
-	#Autocoders/Python/test/queued1 \
-	\ # Autocoders/Python/test/partition \
-	Autocoders/Python/test/pass_by_attrib \
-	\ # Autocoders/Python/test/passive \
-	Autocoders/Python/test/port_nogen \
-	Autocoders/Python/test/port_return_type \
-	Autocoders/Python/test/serialize_enum \
-	Autocoders/Python/test/serialize_stringbuffer \
-	Autocoders/Python/test/serialize_template \
-	Autocoders/Python/test/serialize_user \
-	Autocoders/Python/test/serialize1 \
-	Autocoders/Python/test/serialize2 \
-	Autocoders/Python/test/serialize3 \
-	Autocoders/Python/test/stress \
-	Autocoders/Python/test/string_port \
-	Autocoders/Python/test/telem_tester \
-	Autocoders/Python/test/tlm_enum \
-	Autocoders/Python/test/tlm_string \
-	Autocoders/Python/test/tlm1 \
-	Autocoders/Python/test/tlm2 \
-	Autocoders/Python/test/tlm_onchange \
-	Autocoders/Python/test/tlm_multi_inst \
-	Autocoders/Python/test/interface1 \
-	Autocoders/Python/test/port_loopback \
-	Autocoders/Python/test/serial_passive \
-    \
-	Autocoders/Python/templates
-	
-RPI_APP_MODULES := \
-	RPI/Top \
-	RPI/RpiDemo
-	
-RPI_MODULES := \
-	\
-	$(RPI_APP_MODULES) \
-	\
-	$(SVC_MODULES) \
-	\
-	$(LINUX_DRV_MODULES) \
-	\
-	$(CFDP_MODULES) \
-  	\
-	$(FW_MODULES) \
-	\
-	$(OS_MODULES) \
-	\
-  	$(UTILS_MODULES)
-
-acdev_MODULES := \
-	$(FW_MODULES) \
-	\
-	$(OS_MODULES) \
-	\
-	$(ACDEVTEST_MODULES)
-
-CubeRoverPorts_MODULES := \
-	CubeRover/CubeRoverPorts/CameraTakePicture \
-	CubeRover/CubeRoverPorts/FileDownlink \
-	CubeRover/CubeRoverPorts/IMUData \
-	CubeRover/CubeRoverPorts/MotorData \
-	CubeRover/CubeRoverPorts/MotorCommand \
-	CubeRover/CubeRoverPorts/WatchdogResetRequest
-	
-CubeRover_MODULES := \
-	CubeRover/Top \
-	CubeRover/CubeRoverPorts \
-	CubeRover/IMU \
-	CubeRover/Navigation \
-	CubeRover/MotorControl \
-	CubeRover/UdpInterface \
-	CubeRover/NetworkManager \
-	CubeRover/GroundInterface \
-	CubeRover/WatchDogInterface \
-	CubeRover/Camera \
-	$(FW_MODULES) \
-	$(OS_MODULES) \
-	$(SVC_MODULES) \
-	$(CUBEROVER_DRV_MODULES) \
-	$(CubeRoverPorts_MODULES) \
-	$(UTILS_MODULES)
-	
-# Other modules to build, but not to link with deployment binaries
-OTHER_MODULES := \
-	gtest \
-	Os/Stubs \
-	Fw/Test \
-	$(FW_GTEST_MODULES)
-
-# List deployments
-
-DEPLOYMENTS := Ref acdev RPI CubeRover
-
diff --git a/Apps/FlightSoftware/fprime/mk/configs/target/TIR4.mk b/Apps/FlightSoftware/fprime/mk/configs/target/TIR4.mk
deleted file mode 100644
index 04fef3a35..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/target/TIR4.mk
+++ /dev/null
@@ -1,14 +0,0 @@
-OUTPUT_DIR := tiR4-$(COMPILER)-bin
-OBJ_PREFIX :=
-OBJ_SUFFIX := .o
-
-LIB_PREFIX := lib
-LIB_SUFFIX := .a
-
-BIN_PREFIX := 
-BIN_SUFFIX :=
-
-CONSTRUCTOR_FILE := ctdt.c
-CONSTRUCTOR_OBJ := ctdt.o
-
-SYMBOL_CHECK_FILE := echo
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/mk/configs/target/armraspian.mk b/Apps/FlightSoftware/fprime/mk/configs/target/armraspian.mk
deleted file mode 100644
index e7a1b5fdb..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/target/armraspian.mk
+++ /dev/null
@@ -1,14 +0,0 @@
-OUTPUT_DIR := raspian-$(COMPILER)-bin
-OBJ_PREFIX :=
-OBJ_SUFFIX := .o
-
-LIB_PREFIX := lib
-LIB_SUFFIX := .a
-
-BIN_PREFIX := 
-BIN_SUFFIX :=
-
-CONSTRUCTOR_FILE := ctdt.c
-CONSTRUCTOR_OBJ := ctdt.o
-
-SYMBOL_CHECK_FILE := echo
diff --git a/Apps/FlightSoftware/fprime/mk/configs/target/wind-x86linux.mk b/Apps/FlightSoftware/fprime/mk/configs/target/wind-x86linux.mk
deleted file mode 100644
index ff696aa34..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/target/wind-x86linux.mk
+++ /dev/null
@@ -1 +0,0 @@
-# Empty intentionally
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/mk/configs/target/x86cygwin.mk b/Apps/FlightSoftware/fprime/mk/configs/target/x86cygwin.mk
deleted file mode 100644
index 4ec345813..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/target/x86cygwin.mk
+++ /dev/null
@@ -1,14 +0,0 @@
-OUTPUT_DIR := linux-$(COMPILER)-bin
-OBJ_PREFIX :=
-OBJ_SUFFIX := .o
-
-LIB_PREFIX := lib
-LIB_SUFFIX := .a
-
-BIN_PREFIX := 
-BIN_SUFFIX :=
-
-CONSTRUCTOR_FILE := 
-CONSTRUCTOR_OBJ := 
-
-SYMBOL_CHECK_FILE := echo
diff --git a/Apps/FlightSoftware/fprime/mk/configs/target/x86darwin.mk b/Apps/FlightSoftware/fprime/mk/configs/target/x86darwin.mk
deleted file mode 100644
index 5b1771915..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/target/x86darwin.mk
+++ /dev/null
@@ -1,14 +0,0 @@
-OUTPUT_DIR := darwin-$(COMPILER)-bin
-OBJ_PREFIX :=
-OBJ_SUFFIX := .o
-
-LIB_PREFIX := lib
-LIB_SUFFIX := .a
-
-BIN_PREFIX := 
-BIN_SUFFIX := 
-
-CONSTRUCTOR_FILE := 
-CONSTRUCTOR_OBJ := 
-
-SYMBOL_CHECK_FILE :=
diff --git a/Apps/FlightSoftware/fprime/mk/configs/target/x86linux.mk b/Apps/FlightSoftware/fprime/mk/configs/target/x86linux.mk
deleted file mode 100644
index eccdc08e6..000000000
--- a/Apps/FlightSoftware/fprime/mk/configs/target/x86linux.mk
+++ /dev/null
@@ -1,14 +0,0 @@
-OUTPUT_DIR := linux-$(COMPILER)-bin
-OBJ_PREFIX :=
-OBJ_SUFFIX := .o
-
-LIB_PREFIX := lib
-LIB_SUFFIX := .a
-
-BIN_PREFIX := 
-BIN_SUFFIX :=
-
-CONSTRUCTOR_FILE := ctdt.c
-CONSTRUCTOR_OBJ := ctdt.o
-
-SYMBOL_CHECK_FILE := echo
diff --git a/Apps/FlightSoftware/fprime/mk/make_templates/.cproject b/Apps/FlightSoftware/fprime/mk/make_templates/.cproject
deleted file mode 100644
index 6f069e628..000000000
--- a/Apps/FlightSoftware/fprime/mk/make_templates/.cproject
+++ /dev/null
@@ -1,207 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<?fileVersion 4.0.0?>
-
-<cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
-	<storageModule moduleId="org.eclipse.cdt.core.settings">
-		<cconfiguration id="0.1832741119">
-			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="0.1832741119" moduleId="org.eclipse.cdt.core.settings" name="Default">
-				<externalSettings/>
-				<extensions>
-					<extension id="org.eclipse.cdt.core.VCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-				</extensions>
-			</storageModule>
-			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactName="Fw" buildProperties="" description="" id="0.1832741119" name="Default" parent="org.eclipse.cdt.build.core.prefbase.cfg">
-					<folderInfo id="0.1832741119." name="/" resourcePath="">
-						<toolChain id="org.eclipse.cdt.build.core.prefbase.toolchain.1524622544" name="No ToolChain" resourceTypeBasedDiscovery="false" superClass="org.eclipse.cdt.build.core.prefbase.toolchain">
-							<targetPlatform id="org.eclipse.cdt.build.core.prefbase.toolchain.1524622544.1130957218" name=""/>
-							<builder id="org.eclipse.cdt.build.core.settings.default.builder.1901197336" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="org.eclipse.cdt.build.core.settings.default.builder"/>
-							<tool id="org.eclipse.cdt.build.core.settings.holder.libs.1456980831" name="holder for library settings" superClass="org.eclipse.cdt.build.core.settings.holder.libs"/>
-							<tool id="org.eclipse.cdt.build.core.settings.holder.17639263" name="Assembly" superClass="org.eclipse.cdt.build.core.settings.holder">
-								<option id="org.eclipse.cdt.build.core.settings.holder.incpaths.543302004" superClass="org.eclipse.cdt.build.core.settings.holder.incpaths" valueType="includePath">
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc}&quot;"/>
-								</option>
-								<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.2013870682" languageId="org.eclipse.cdt.core.assembly" languageName="Assembly" sourceContentType="org.eclipse.cdt.core.asmSource" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
-							</tool>
-							<tool id="org.eclipse.cdt.build.core.settings.holder.421673063" name="GNU C++" superClass="org.eclipse.cdt.build.core.settings.holder">
-								<option id="org.eclipse.cdt.build.core.settings.holder.incpaths.227370070" superClass="org.eclipse.cdt.build.core.settings.holder.incpaths" valueType="includePath">
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc}&quot;"/>
-								</option>
-								<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.32477283" languageId="org.eclipse.cdt.core.g++" languageName="GNU C++" sourceContentType="org.eclipse.cdt.core.cxxSource,org.eclipse.cdt.core.cxxHeader" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
-							</tool>
-							<tool id="org.eclipse.cdt.build.core.settings.holder.859904833" name="GNU C" superClass="org.eclipse.cdt.build.core.settings.holder">
-								<option id="org.eclipse.cdt.build.core.settings.holder.incpaths.367834584" superClass="org.eclipse.cdt.build.core.settings.holder.incpaths" valueType="includePath">
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc}&quot;"/>
-								</option>
-								<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.904580806" languageId="org.eclipse.cdt.core.gcc" languageName="GNU C" sourceContentType="org.eclipse.cdt.core.cSource,org.eclipse.cdt.core.cHeader" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
-							</tool>
-						</toolChain>
-					</folderInfo>
-				</configuration>
-			</storageModule>
-			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
-		</cconfiguration>
-	</storageModule>
-	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-		<project id="fsw.null.1134442707" name="fsw"/>
-	</storageModule>
-	<storageModule moduleId="scannerConfiguration">
-		<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		<scannerConfigBuildInfo instanceId="0.1832741119">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-	</storageModule>
-	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
-	<storageModule moduleId="refreshScope"/>
-	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets">
-		<buildTargets>
-			<target name="cygwin" path="Cmd" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments/>
-				<buildTarget>cygwin</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>false</useDefaultCommand>
-				<runAllBuilders>false</runAllBuilders>
-			</target>
-			<target name="clean_cygwin" path="Cmd" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildTarget>clean_cygwin</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>false</useDefaultCommand>
-				<runAllBuilders>false</runAllBuilders>
-			</target>
-			<target name="cygwin" path="Types" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments/>
-				<buildTarget>cygwin</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>false</useDefaultCommand>
-				<runAllBuilders>false</runAllBuilders>
-			</target>
-			<target name="ut699" path="Types" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildTarget>ut699</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>false</useDefaultCommand>
-				<runAllBuilders>false</runAllBuilders>
-			</target>
-			<target name="gen_make" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments/>
-				<buildTarget>gen_make</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>false</useDefaultCommand>
-				<runAllBuilders>false</runAllBuilders>
-			</target>
-			<target name="cygwin" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments/>
-				<buildTarget>cygwin</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>false</useDefaultCommand>
-				<runAllBuilders>false</runAllBuilders>
-			</target>
-			<target name="clean_cygwin" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments/>
-				<buildTarget>clean_cygwin</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>false</useDefaultCommand>
-				<runAllBuilders>false</runAllBuilders>
-			</target>
-			<target name="linux" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildTarget>linux</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>false</useDefaultCommand>
-				<runAllBuilders>false</runAllBuilders>
-			</target>
-			<target name="clean_linux" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildTarget>clean_linux</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>false</useDefaultCommand>
-				<runAllBuilders>false</runAllBuilders>
-			</target>
-			<target name="darwin" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildTarget>darwin</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>false</useDefaultCommand>
-				<runAllBuilders>false</runAllBuilders>
-			</target>
-			<target name="clean_darwin" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildTarget>clean_darwin</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="ut699" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildTarget>ut699</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>false</useDefaultCommand>
-				<runAllBuilders>false</runAllBuilders>
-			</target>
-			<target name="cygwin" path="Port" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments/>
-				<buildTarget>cygwin</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>false</useDefaultCommand>
-				<runAllBuilders>false</runAllBuilders>
-			</target>
-			<target name="cygwin" path="Log" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildTarget>cygwin</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>false</useDefaultCommand>
-				<runAllBuilders>false</runAllBuilders>
-			</target>
-			<target name="cygwin" path="Com" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildTarget>cygwin</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>false</useDefaultCommand>
-				<runAllBuilders>false</runAllBuilders>
-			</target>
-			<target name="cygwin" path="Time" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments/>
-				<buildTarget>cygwin</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>false</useDefaultCommand>
-				<runAllBuilders>false</runAllBuilders>
-			</target>
-			<target name="cygwin" path="Tlm" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments/>
-				<buildTarget>cygwin</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>false</useDefaultCommand>
-				<runAllBuilders>false</runAllBuilders>
-			</target>
-			<target name="cygwin" path="Comp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments/>
-				<buildTarget>cygwin</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>false</useDefaultCommand>
-				<runAllBuilders>false</runAllBuilders>
-			</target>
-			<target name="cygwin" path="Prm" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildTarget>cygwin</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>false</useDefaultCommand>
-				<runAllBuilders>false</runAllBuilders>
-			</target>
-		</buildTargets>
-	</storageModule>
-</cproject>
diff --git a/Apps/FlightSoftware/fprime/mk/make_templates/mod.mk b/Apps/FlightSoftware/fprime/mk/make_templates/mod.mk
deleted file mode 100644
index 7c257365f..000000000
--- a/Apps/FlightSoftware/fprime/mk/make_templates/mod.mk
+++ /dev/null
@@ -1,87 +0,0 @@
-#
-#   Copyright 2015, by the California Institute of Technology.
-#   ALL RIGHTS RESERVED. United States Government Sponsorship
-#   acknowledged.
-#
-#
-
-# This is a template for the mod.mk file that goes in each module
-# and each module's subdirectories.
-# With a fresh checkout, "make gen_make" should be invoked. It should also be
-# run if any of the variables are updated. Any unused variables can 
-# be deleted from the file.
-
-# There are some standard files that are included for reference
-
-SRC = # source common to all targets
-
-SRC_CWSCP124 = # source only compiled for Curtiss-Wright SCP124
-SRC_MXSCS750 = # source only compiled for Maxwell SCS750
-SRC_SMP400K = # source only compiled for Space Micro P400K
-
-SRC_WSTS = # source only compiled for WSTS
-SRC_LINUX = # source only compiled for LINUX
-SRC_DARWIN = # source only compiled for Mac OS Darwin
-
-####
-
-TEST_SRC = # test code common to all targets
-
-TEST_SRC_CWSCP124 = #  test code  only compiled for Curtiss-Wright SCP124
-TEST_SRC_MXSCS750 = #  test code  only compiled for Maxwell SCS750
-TEST_SRC_SMP400K = #  test code  only compiled for Space Micro P400K
-
-TEST_SRC_FLIGHT = # test source only compiled for FLIGHT
-TEST_SRC_FLTS = # test source only compiled for FLTS
-
-TEST_SRC_DARWIN = # test source only compiled for Mac OS Darwin
-TEST_SRC_LINUX = # test source only compiled for Linux
-
-####
-
-TEST_MODS = # other modules to link all test code with
-
-TEST_MODS_CWSCP124 = #  other modules to link for Curtiss-Wright SCP124
-TEST_MODS_MXSCS750 = #  other modules to link for Maxwell SCS750
-TEST_MODS_SMP400K = #  other modules to link for Space Micro P400K
-
-TEST_MODS_WSTS = # other modules to link WSTS test code with
-TEST_MODS_LINUX = # other modules to link LINUX test code with
-
-####
-
-
-TEST_LIBS = # other libraries to link all test code with
-
-TEST_LIBS_CWSCP124 = #  other libraries to link for Curtiss-Wright SCP124
-TEST_LIBS_MXSCS750 = #  other libraries to link for Maxwell SCS750
-TEST_LIBS_SMP400K = #  other libraries to link for Space Micro P400K
-
-TEST_LIBS_WSTS = # other libraries to link WSTS test code with
-TEST_LIBS_LINUX = # other libraries to link LINUX test code with
-
-####
-
-SUBDIRS = # any subdirectories that need to be recursed into.
-
-####
-
-COMPARGS = # any arguments that should be passed to the compiler for this module
-
-COMPARGS_CWSCP124 = # any arguments that should be passed to the compiler for this module only for Curtiss-Wright SCP124
-COMPARGS_MXSCS750 = # any arguments that should be passed to the compiler for this module only for Maxwell SCS750
-COMPARGS_SMP400K = # any arguments that should be passed to the compiler for this module only Space Micro P400K
-
-COMPARGS_WSTS = # any arguments that should be passed to the compiler for this module only for WSTS
-COMPARGS_LINUX = # any arguments that should be passed to the compiler for this module only for LINUX
-
-####
-
-COMPARGS_POST = # any arguments that should be passed to the compiler for this module at the end of the command line
-
-COMPARGS_POST_CWSCP124 = # any arguments that should be passed to the compiler for this module only for Curtiss-Wright SCP124 at the end of the command line
-COMPARGS_POST_MXSCS750 = # any arguments that should be passed to the compiler for this module only for Maxwell SCS750 at the end of the command line
-COMPARGS_POST_SMP400K = # any arguments that should be passed to the compiler for this module only Space Micro P400K at the end of the command line
-
-COMPARGS_POST_WSTS = # any arguments that should be passed to the compiler for this module only for WSTS at the end of the command line
-COMPARGS_POST_LINUX = # any arguments that should be passed to the compiler for this module only for LINUX at the end of the command line
diff --git a/Apps/FlightSoftware/fprime/mk/makefiles/base_targets.mk b/Apps/FlightSoftware/fprime/mk/makefiles/base_targets.mk
deleted file mode 100644
index cc8bed5aa..000000000
--- a/Apps/FlightSoftware/fprime/mk/makefiles/base_targets.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-include $(BUILD_ROOT)/mk/configs/host/compute_host.mk
-include $(BUILD_ROOT)/mk/configs/host/compute_build_site.mk
-include $(BUILD_ROOT)/mk/configs/host/$(HOST)-$(BUILD_SITE).mk
-include $(BUILD_ROOT)/mk/configs/builds/builds.mk
-
-all: $(NATIVE_BUILD)
-
-$(BUILDS):
-	for module in $(MODULES); do \
-		make -f $$module/Makefile $@; \
-	done
\ No newline at end of file
diff --git a/Apps/FlightSoftware/fprime/mk/makefiles/build_vars.mk b/Apps/FlightSoftware/fprime/mk/makefiles/build_vars.mk
deleted file mode 100644
index ac27c4d50..000000000
--- a/Apps/FlightSoftware/fprime/mk/makefiles/build_vars.mk
+++ /dev/null
@@ -1,28 +0,0 @@
-include $(BUILD_ROOT)/mk/configs/host/compute_host.mk 
-include $(BUILD_ROOT)/mk/configs/host/compute_build_site.mk
-
-ifneq ("$(BUILD)","") # only include if building binary targets 
-  include $(BUILD_ROOT)/mk/configs/builds/$(BUILD).mk
-endif
-
-include $(BUILD_ROOT)/mk/configs/host/$(HOST)-$(BUILD_SITE).mk
-
-ifneq ("$(BUILD)","") # only include if building binary targets 
- include $(BUILD_ROOT)/mk/configs/compiler/$(COMPILER).mk
- include $(BUILD_ROOT)/mk/configs/target/$(TARGET).mk
-endif
-
-include $(BUILD_ROOT)/mk/configs/modules/modules.mk
-include $(BUILD_ROOT)/mk/configs/compiler/actools.mk
-
-print_output_dir:
-	@echo $(OUTPUT_DIR)
-	
-print_gcov:
-	@echo $(GCOV)
-	
-print_build_site:
-	@echo $(BUILD_SITE)
-	
-print_native_build:
-	@echo $(NATIVE_BUILD)
diff --git a/Apps/FlightSoftware/fprime/mk/makefiles/deployment_makefile.mk b/Apps/FlightSoftware/fprime/mk/makefiles/deployment_makefile.mk
deleted file mode 100644
index 77f070069..000000000
--- a/Apps/FlightSoftware/fprime/mk/makefiles/deployment_makefile.mk
+++ /dev/null
@@ -1,183 +0,0 @@
-# Makefile to run global make.
-
-#PARSER_VERBOSE =
-#export PARSER_VERBOSE
-
-include $(BUILD_ROOT)/mk/configs/host/compute_host.mk
-include $(BUILD_ROOT)/mk/configs/host/compute_build_site.mk
-include $(BUILD_ROOT)/mk/configs/host/$(HOST)-$(BUILD_SITE).mk
-include $(BUILD_ROOT)/mk/configs/builds/builds.mk
-
-# code generation targets
-
-all: $(NATIVE_BUILD)
-
-clean: $(NATIVE_BUILD)_clean
-
-bin_clean: $(NATIVE_BUILD)_bin_clean
-
-rebuild: gen_make clean all dict_install
-
-dictionary: ac_lvl4 dict_install
-
-run: $(NATIVE_BUILD)_run
-
-ac_lvl1:
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) AC_LVL1
-	
-ac_lvl2:
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) AC_LVL1 AC_LVL2
-
-ac_lvl3:
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) AC_LVL1 AC_LVL2 AC_LVL3
-	
-ac_lvl4:
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) AC_LVL1 AC_LVL2 AC_LVL3 AC_LVL4
-	
-dictionary: ac_lvl4 dict_install
-	
-sloc: $(NATIVE_BUILD)_sloc
-
-sloc_report: $(NATIVE_BUILD)_sloc_report
-
-sloc_csv: $(NATIVE_BUILD)_sloc_csv
-
-sloc_csv_report: $(NATIVE_BUILD)_sloc_csv_report
-
-dox: $(NATIVE_BUILD)_dox
-
-clean_dox: $(NATIVE_BUILD)_clean_dox
-
-$(BUILDS): ac_lvl4
-	@$(TIME) $(MAKE) $(JOBS) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) BUILD=$@ bin
-
-$(foreach build,$(BUILDS),$(build)_debug): ac_lvl4
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile COMP=comp-debug DEPLOYMENT=$(DEPLOYMENT) BUILD=$(subst _debug,,$@) bin
-
-$(foreach build,$(BUILDS),$(build)_debug_clean):
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile COMP=comp-debug DEPLOYMENT=$(DEPLOYMENT) BUILD=$(subst _debug_clean,,$@) clean
-
-$(foreach build,$(BUILDS),$(build)_opt): ac_lvl4
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile COMP=comp-opt DEPLOYMENT=$(DEPLOYMENT) BUILD=$(subst _opt,,$@) bin
-
-$(foreach build,$(BUILDS),$(build)_opt_clean):
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile COMP=comp-opt DEPLOYMENT=$(DEPLOYMENT) BUILD=$(subst _opt_clean,,$@) clean
-
-$(foreach build,$(BUILDS),$(build)_clean):
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) BUILD=$(subst _clean,,$@) clean
-
-$(foreach build,$(BUILDS),$(build)_bin_clean):
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) BUILD=$(subst _bin_clean,,$@) bin_clean
-
-$(foreach build,$(BUILDS),$(build)_opt_bin_clean):
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) BUILD=$(subst _opt_bin_clean,,$@) bin_clean
-
-$(foreach build,$(BUILDS),$(build)_debug_bin_clean):
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile COMP=comp-debug DEPLOYMENT=$(DEPLOYMENT) BUILD=$(subst _debug_clean,,$@) bin_clean
-
-#$(foreach build,$(BUILDS),$(build)_dox):
-#	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile BUILD=$(subst _dox,,$@) dox
-
-$(foreach build,$(BUILDS),$(build)_dox):
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) gen_dox
-	
-#$(foreach build,$(BUILDS),$(build)_clean_dox):
-#	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile BUILD=$(subst _clean_dox,,$@) clean_dox
-
-$(foreach build,$(BUILDS),$(build)_clean_dox):
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) clean_dox
-
-
-$(foreach build,$(BUILDS),$(build)_run):
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) BUILD=$(subst _run,,$@) run
-	
-$(foreach build,$(BUILDS),$(build)_sloc):
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) BUILD=$(subst _sloc,,$@) sloc
-
-$(foreach build,$(BUILDS),$(build)_sloc_report):
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) BUILD=$(subst _sloc_report,,$@) sloc_report
-
-$(foreach build,$(BUILDS),$(build)_sloc_csv):
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) BUILD=$(subst _sloc_csv,,$@) sloc_csv
-
-$(foreach build,$(BUILDS),$(build)_sloc_csv_report):
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) BUILD=$(subst _sloc_csv_report,,$@) sloc_csv_report
-
-gen_make: compile-templates
-	@$(TIME) $(PYTHON_BIN) ${BUILD_ROOT}/mk/src/genmake.py ${BUILD_ROOT}/mk/makefiles
-
-printenv:
-	printenv
-
-help: print_builds
-	@$(CAT) $(BUILD_ROOT)/mk/docs/mk_help.txt $(BUILD_ROOT)/mk/docs/mk_help_dep.txt
-	
-print_builds:
-	@echo "<Build> targets available: $(BUILDS)"
-	
-# Ground system targets
-
-dict_clean:
-	@$(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) dict_clean
-
-command_install:
-	@$(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) command_install
-	
-telemetry_install:
-	@$(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) telemetry_install
-
-events_install:
-	@$(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) events_install
-
-parameters_install:
-	@$(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) parameters_install
-
-serializable_install:
-	@$(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) serializable_install
-
-dict_install: dict_clean
-	@$(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) dict_install
-	
-gen_html_docs:
-	@$(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) gen_html_docs
-	
-sdd:
-	@$(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) gen_dep_sdd
-	
-sdd_clean:
-	@$(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) dep_sdd_clean
-
-comp_report_gen:
-	@$(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) comp_report_gen
-	
-ampcs_event_merge:
-	$(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) ampcs_event_merge
-	
-ampcs_command_merge:
-	$(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) ampcs_command_merge
-		
-ampcs_telemetry_merge:
-	$(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) ampcs_telemetry_merge
-
-ampcs_clean:
-	$(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) ampcs_clean
-	
-ampcs_merge:
-	$(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile DEPLOYMENT=$(DEPLOYMENT) ampcs_merge
-	
-run_unit_tests:
-	@cd $(BUILD_ROOT)/ptf && $(BUILD_ROOT)/ptf/runtests.sh -i $(USER) -r suites/fw_unit_tests.suite
-	
-submod:
-	git submodule update --init --recursive
-	
-coverity: coverity_clean
-	@$(COVERITY_BIN)/cov-build --dir .coverity_output make COV_BUILD
-	@$(COVERITY_BIN)/cov-analyze --user-model-file $(BUILD_ROOT)/mk/coverity/ModelAssert.xmldb --dir .coverity_output
-	@$(COVERITY_BIN)/cov-format-errors --html-output .coverity_output/html -dir .coverity_output -x -X
-	@echo "HTML output in: .coverity_output/html/index.html"
-	
-coverity_clean:
-	$(RM_DIR) ./.coverity_output
-	
-include $(BUILD_ROOT)/mk/makefiles/templates.mk
diff --git a/Apps/FlightSoftware/fprime/mk/makefiles/front.mk b/Apps/FlightSoftware/fprime/mk/makefiles/front.mk
deleted file mode 100644
index c61fe10ed..000000000
--- a/Apps/FlightSoftware/fprime/mk/makefiles/front.mk
+++ /dev/null
@@ -1,6 +0,0 @@
-include $(BUILD_ROOT)/mk/makefiles/build_vars.mk
-
-# make variables
-
-DEPLOYMENT_BINS : $(foreach deployment,$(DEPLOYMENTS),bin_$(deployment))
-DEPLOYMENT_CLEANS : $(foreach deployment,$(DEPLOYMENTS),clean_$(deployment))
diff --git a/Apps/FlightSoftware/fprime/mk/makefiles/middle.mk b/Apps/FlightSoftware/fprime/mk/makefiles/middle.mk
deleted file mode 100644
index 74eb3ccf0..000000000
--- a/Apps/FlightSoftware/fprime/mk/makefiles/middle.mk
+++ /dev/null
@@ -1,21 +0,0 @@
-		 
-# overall targets
-
-all: bin
-
-bin: $(DEPLOYMENT_BINS)
-
-clean: $(DEPLOYMENT_CLEANS)
-
-ac_lvl1: $(foreach deployment,$(DEPLOYMENTS),$(AC_SERIALIZED_TARGETS_$(deployment)))
-ac_lvl2: $(foreach deployment,$(DEPLOYMENTS),$(AC_PORTS_TARGETS_$(deployment)))
-ac_lvl3: $(foreach deployment,$(DEPLOYMENTS),$(AC_COMPONENTS_TARGETS_$(deployment)))
-
-clean_all: clean
-
-# Module targets
-
-BLD_LVL1_TARGET_$(MOD_TARGET) : $(SRC_AC_SERIALIZABLE_$(MOD_TARGET))
-BLD_LVL2_TARGET_$(MOD_TARGET) : $(SRC_AC_PORT_$(MOD_TARGET))
-BLD_LVL3_TARGET_$(MOD_TARGET) : $(SRC_AC_COMPONENT_$(MOD_TARGET))
-
diff --git a/Apps/FlightSoftware/fprime/mk/makefiles/module_targets.mk b/Apps/FlightSoftware/fprime/mk/makefiles/module_targets.mk
deleted file mode 100644
index 7f11bcd7d..000000000
--- a/Apps/FlightSoftware/fprime/mk/makefiles/module_targets.mk
+++ /dev/null
@@ -1,161 +0,0 @@
-include $(BUILD_ROOT)/mk/configs/host/compute_host.mk
-include $(BUILD_ROOT)/mk/configs/host/compute_build_site.mk
-include $(BUILD_ROOT)/mk/configs/host/$(HOST)-$(BUILD_SITE).mk
-include $(BUILD_ROOT)/mk/configs/builds/builds.mk
-
-all: $(NATIVE_BUILD)
-
-clean: $(NATIVE_BUILD)_clean
-
-bin_clean: $(NATIVE_BUILD)_bin_clean
-
-rebuild: gen_make clean all
-
-ac_clean: $(NATIVE_BUILD)_ac_clean
-
-bin_clean: $(NATIVE_BUILD)_bin_clean
-
-ut: ut_$(NATIVE_BUILD)
-
-ut_clean: ut_clean_$(NATIVE_BUILD)
-
-run_ut: run_ut_$(NATIVE_BUILD)
-
-ut_nocov: ut_nocov_$(NATIVE_BUILD)
-
-ut_nocov_clean: ut_nocov_clean_$(NATIVE_BUILD)
-
-run_ut_nocov: run_ut_nocov_$(NATIVE_BUILD)
-
-integ: integ_$(NATIVE_BUILD)
-
-integ_clean: integ_clean_$(NATIVE_BUILD)
-
-run_integ: run_integ_$(NATIVE_BUILD)
-
-cov: cov_$(NATIVE_BUILD)
-
-sloc: sloc_$(NATIVE_BUILD)
-
-
-ac_lvl1:
-	@echo "Building module $(MODULE) code generation (level 1)"
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile MOD_TARGET=$(MODULE) MOD_AC_LVL1
-
-ac_lvl2:
-	@echo "Building module $(MODULE) code generation (level 2)"
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile MOD_TARGET=$(MODULE) MOD_AC_LVL1 MOD_AC_LVL2
-
-ac_lvl3:
-	@echo "Building module $(MODULE) code generation (level 3)"
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile MOD_TARGET=$(MODULE) MOD_AC_LVL1 MOD_AC_LVL2 MOD_AC_LVL3 
-
-ac_lvl4:
-	@echo "Building module $(MODULE) code generation (level 4)"
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile MOD_TARGET=$(MODULE) MOD_AC_LVL1 MOD_AC_LVL2 MOD_AC_LVL3 MOD_AC_LVL4 
-
-$(BUILDS): ac_lvl4
-	@echo "Building module $(MODULE) for $@"
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile BUILD=$@ $(MODULE)
-
-$(foreach build,$(BUILDS),$(build)_opt): ac_lvl4
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile COMP=comp-opt BUILD=$(subst _opt,,$@) $(MODULE)
-
-$(foreach build,$(BUILDS),$(build)_optclean):
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile COMP=comp-opt BUILD=$(subst _opt_clean,,$@) $(MODULE)_clean
-
-$(foreach build,$(BUILDS),$(build)_clean):
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile BUILD=$(subst _clean,,$@) $(MODULE)_clean
-
-$(foreach build,$(BUILDS),$(build)_ac_clean):
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile BUILD=$(subst _ac_clean,,$@) $(MODULE)_ac_clean
-
-$(foreach build,$(BUILDS),$(build)_bin_clean):
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile BUILD=$(subst _bin_clean,,$@) $(MODULE)_bin_clean
-
-testcomp:
-	@echo "Generating test components for $(MODULE)"
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile $(MODULE)_testcomp
-
-impl:
-	@echo "Generating implementation template for $(MODULE)"
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile $(MODULE)_impl
-
-$(foreach build,$(BUILDS),ut_$(build)):
-	@echo "Compiling $@ unit test for $(MODULE)"
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile COMP=comp-ut BUILD=$(subst ut_,,$@) test_$(MODULE)testut
-
-$(foreach build,$(BUILDS),ut_nocov_$(build)):
-	@echo "Compiling $@ unit test for $(MODULE)"
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile COMP=comp-ut-nocov BUILD=$(subst ut_nocov_,,$@) test_$(MODULE)testut
-
-$(foreach build,$(BUILDS),ut_clean_$(build)):
-	@echo "Cleaning unit test for $(MODULE)"
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile COMP=comp-ut BUILD=$(subst ut_clean_,,$@) test_$(MODULE)testut_clean
-
-$(foreach build,$(BUILDS),ut_nocov_clean_$(build)):
-	@echo "Cleaning unit test for $(MODULE)"
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile COMP=comp-ut-nocov BUILD=$(subst ut_nocov_clean_,,$@) test_$(MODULE)testut_clean
-
-$(foreach build,$(BUILDS),run_ut_$(build)):
-	@echo "Running unit test for $(MODULE)"
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile COMP=comp-ut BUILD=$(subst run_ut_,,$@) run_ut
-
-$(foreach build,$(BUILDS),run_ut_nocov_$(build)):
-	@echo "Running unit test for $(MODULE)"
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile COMP=comp-ut-nocov BUILD=$(subst run_ut_nocov_,,$@) run_ut
-
-$(foreach build,$(BUILDS),integ_$(build)):
-	@echo "Compiling $@ integration test for $(MODULE)"
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile COMP=comp-integ BUILD=$(subst integ_,,$@) test_$(MODULE)testinteg
-
-$(foreach build,$(BUILDS),integ_clean_$(build)):
-	@echo "Cleaning integration test for $(MODULE)"
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile COMP=comp-integ BUILD=$(subst integ_clean_,,$@) test_$(MODULE)testinteg_clean
-
-$(foreach build,$(BUILDS),run_integ_$(build)):
-	@echo "Running integration test for $(MODULE)"
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile COMP=comp-integ BUILD=$(subst run_integ_,,$@) run_integ
-
-$(foreach build,$(BUILDS),cov_$(build)):
-	@echo "Checking coverage for $(MODULE)"
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile COMP=comp-ut BUILD=$(subst cov_,,$@) MOD_TARGET=$(MODULE) cov
-
-$(foreach build,$(BUILDS),sloc_$(build)):
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile BUILD=$(subst sloc_,,$@) sloc_build $(MODULE)_sloc $(MODULE)_sloc_dump
-
-gen_make: compile-templates
-	@echo "Regenerating global Makefile"
-	@$(TIME) $(PYTHON_BIN) $(BUILD_ROOT)/mk/src/genmake.py ${BUILD_ROOT}/mk/makefiles
-
-gen_dox:
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile BUILD=$(NATIVE_BUILD) gen_dox_$(MODULE)
-	
-show_dox:
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile BUILD=$(NATIVE_BUILD) show_dox_$(MODULE)
-	
-clean_dox:
-	@$(TIME) $(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile BUILD=$(NATIVE_BUILD) clean_dox_$(MODULE)
-	
-sdd: 
-	@$(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile $(MODULE)_sdd
-	
-sdd_clean:
-	@$(MAKE) -f $(BUILD_ROOT)/mk/makefiles/Makefile $(MODULE)_sdd_clean
-	
-help: print_builds
-	@$(CAT) $(BUILD_ROOT)/mk/docs/mk_help.txt $(BUILD_ROOT)/mk/docs/mk_help_mod.txt
-	
-print_builds:
-	@echo "<Build> targets available: $(BUILDS)"
-	
-coverity: coverity_clean
-	@$(COVERITY_BIN)/cov-build --dir .coverity_output make bin_clean all
-	@$(COVERITY_BIN)/cov-analyze --dir .coverity_output
-	@$(COVERITY_BIN)/cov-format-errors --html-output .coverity_output/html -dir .coverity_output -x -X
-	@echo "HTML output in: .coverity_output/html/index.html"
-	
-coverity_clean:
-	$(RM_DIR) ./.coverity_output	
-	
-include $(BUILD_ROOT)/mk/makefiles/templates.mk	
diff --git a/Apps/FlightSoftware/fprime/mk/makefiles/template.mk b/Apps/FlightSoftware/fprime/mk/makefiles/template.mk
deleted file mode 100644
index a568efdbb..000000000
--- a/Apps/FlightSoftware/fprime/mk/makefiles/template.mk
+++ /dev/null
@@ -1,10 +0,0 @@
-TMPL := $(wildcard *.tmpl)
-TEMPLATE_PY := $(TMPL:%.tmpl=%.py)
-
-all: $(TEMPLATE_PY)
-
-clean:
-	$(RM) *.py.bak $(TEMPLATE_PY) *.pyc
-
-%.py: %.tmpl
-	$(CHEETAH_COMPILE) $<
diff --git a/Apps/FlightSoftware/fprime/mk/makefiles/templates.mk b/Apps/FlightSoftware/fprime/mk/makefiles/templates.mk
deleted file mode 100644
index fc1122070..000000000
--- a/Apps/FlightSoftware/fprime/mk/makefiles/templates.mk
+++ /dev/null
@@ -1,33 +0,0 @@
-
-compile-templates:
-	@echo "Generating templates"
-	@cd $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/generators/templates/component && $(MAKE) -f Makefile
-	@cd $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/generators/templates/test && $(MAKE) -f Makefile
-	@cd $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/generators/templates/port && $(MAKE) -f Makefile
-	@cd $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/generators/templates/serialize && $(MAKE) -f Makefile
-	@cd $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/generators/templates/commands && $(MAKE) -f Makefile
-	@cd $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/generators/templates/events && $(MAKE) -f Makefile
-	@cd $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/generators/templates/channels && $(MAKE) -f Makefile
-	@cd $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/generators/templates/html && $(MAKE) -f Makefile
-	@cd $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/generators/templates/md && $(MAKE) -f Makefile
-	@cd $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/generators/templates/gtest && $(MAKE) -f Makefile
-	@cd $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/generators/templates/impl && $(MAKE) -f Makefile
-	@cd $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/generators/templates/topology && $(MAKE) -f Makefile
-	@cd $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/generators/templates/test_impl && $(MAKE) -f Makefile
-
-clean-templates:
-	@echo "Cleaning templates"
-	@cd $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/generators/templates/component && $(MAKE) -f Makefile  clean
-	@cd $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/generators/templates/test && $(MAKE) -f Makefile  clean
-	@cd $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/generators/templates/port && $(MAKE) -f Makefile clean
-	@cd $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/generators/templates/serialize && $(MAKE) -f Makefile clean
-	@cd $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/generators/templates/commands && $(MAKE) -f Makefile clean
-	@cd $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/generators/templates/events && $(MAKE) -f Makefile clean
-	@cd $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/generators/templates/channels && $(MAKE) -f Makefile clean
-	@cd $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/generators/templates/html && $(MAKE) -f Makefile clean
-	@cd $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/generators/templates/md && $(MAKE) -f Makefile clean
-	@cd $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/generators/templates/gtest && $(MAKE) -f Makefile clean
-	@cd $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/generators/templates/impl && $(MAKE) -f Makefile clean
-	@cd $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/generators/templates/topology && $(MAKE) -f Makefile clean
-	@cd $(BUILD_ROOT)/Autocoders/Python/src/fprime_ac/generators/templates/test_impl && $(MAKE) -f Makefile clean
-