diff --git a/2_Motor_Master/Motor_Master/Motor_Master/bldc.c b/2_Motor_Master/Motor_Master/Motor_Master/bldc.c
index 12c1587..30a04f5 100644
--- a/2_Motor_Master/Motor_Master/Motor_Master/bldc.c
+++ b/2_Motor_Master/Motor_Master/Motor_Master/bldc.c
@@ -23,7 +23,13 @@ void motor_StateMachine(BLDCMotor_t *motor)
 	
 	switch (motor->motor_state.currentstate)
 	{
-		case MOTOR_INIT:
+		case MOTOR_INIT: ;
+			volatile uint8_t currentHall = motor->readHall();
+			if((currentHall > 6) || (currentHall < 1) )  {
+				motor->motor_state.fault = MOTOR_HALLSENSORINVALID;
+				motor->motor_state.currentstate = MOTOR_FAULT;
+				break;	
+			} 
 			motor->motor_state.previousstate = motor->motor_state.currentstate;
 			motor->motor_state.currentstate = MOTOR_IDLE;
 		break;
@@ -175,19 +181,21 @@ void BldcInitStruct(BLDCMotor_t *motor, BLDCMotor_param_t *motor_param)
 
 void exec_commutation(BLDCMotor_t *motor)
 {
+	
 	// ----------------------------------------------------------------------
 	// Read Motor Hall Sensors
 	// ----------------------------------------------------------------------
 	//tic_port(DEBUG_2_PORT);
 	//motor->motor_status.currentHallPattern = readM1Hall();
-	volatile uint8_t currentHall = motor->readHall();
+	volatile uint8_t currentHall = 1;
+	currentHall = motor->readHall();
 	motor->motor_status.currentHallPattern = currentHall;
-	if(((currentHall == INVALID_HALL_0) || (currentHall == INVALID_HALL_7))) {
-		//motor->motor_state.fault = MOTOR_HALLSENSORINVALID;
-		//motor->motor_state.currentstate = MOTOR_FAULT;
-		//applicationStatus.currentstate = APP_FAULT;
-	}
-																   
+	
+	
+	volatile uint8_t currentHallv2 = readHallSensorM1v2();
+	
+	
+																	   
 	// ----------------------------------------------------------------------
 	// Set Pattern Buffers
 	// ----------------------------------------------------------------------
@@ -406,27 +414,66 @@ void BLDC_runOpenLoop(BLDCMotor_t *motor, int16_t duty)
 	motor->motor_status.duty_cycle = u_clamp(abs(duty), 0, MAX_PWM); 
 }
 
-uint8_t readHallSensorM1(void)
+volatile uint8_t readHallSensorM1(void)
 {
-	volatile uint8_t a = gpio_get_pin_level(M1_HALL_A_PIN);
-	volatile uint8_t b = gpio_get_pin_level(M1_HALL_B_PIN);
-	volatile uint8_t c = gpio_get_pin_level(M1_HALL_C_PIN);
-	
-	return ((a << 2)	|
-			(b << 1)	|
-			(c << 0));
 	
+	volatile uint8_t motor_read = 0;
+	motor_read = (motor_read & M1_HALL_A_MASK) | (uint8_t)((PORT->Group[M1_HALL_A_GROUP].IN.reg & M1_HALL_A_PORT)>>(M1_HALL_A_LSR)); 
+	motor_read = (motor_read & M1_HALL_B_MASK) | (uint8_t)((PORT->Group[M1_HALL_B_GROUP].IN.reg & M1_HALL_B_PORT)>>(M1_HALL_B_LSR)); 
+	motor_read = (motor_read & M1_HALL_C_MASK) | (uint8_t)((PORT->Group[M1_HALL_C_GROUP].IN.reg & M1_HALL_C_PORT)>>(M1_HALL_C_LSR)); 
+		
+	//volatile uint8_t a = gpio_get_pin_level(M1_HALL_A_PIN);
+	//volatile uint8_t b = gpio_get_pin_level(M1_HALL_B_PIN);
+	//volatile uint8_t c = gpio_get_pin_level(M1_HALL_C_PIN);
+	//volatile uint8_t motor_read2 = ((a << 2)|(b << 1)|(c << 0));
+	//return ((a << 2)	|
+		//(b << 1)	|
+		//(c << 0));
+	return motor_read;
 }
 
-uint8_t readHallSensorM2(void)
+volatile uint8_t readHallSensorM1v2(void)
 {
-	volatile uint8_t a = gpio_get_pin_level(M2_HALL_A_PIN);
-	volatile uint8_t b = gpio_get_pin_level(M2_HALL_B_PIN);
-	volatile uint8_t c = gpio_get_pin_level(M2_HALL_C_PIN);
 	
-	return ((a << 2)	|
-			(b << 1)	|
-			(c << 0));
+	volatile uint8_t motor_read = 0;
+	motor_read = (motor_read & M1_HALL_A_MASK) | (uint8_t)((PORT->Group[M1_HALL_A_GROUP].IN.reg & M1_HALL_A_PORT)>>(M1_HALL_A_LSR)); 
+	motor_read = (motor_read & M1_HALL_B_MASK) | (uint8_t)((PORT->Group[M1_HALL_B_GROUP].IN.reg & M1_HALL_B_PORT)>>(M1_HALL_B_LSR)); 
+	motor_read = (motor_read & M1_HALL_C_MASK) | (uint8_t)((PORT->Group[M1_HALL_C_GROUP].IN.reg & M1_HALL_C_PORT)>>(M1_HALL_C_LSR)); 
+		
+	//volatile uint8_t a = gpio_get_pin_level(M1_HALL_A_PIN);
+	//volatile uint8_t b = gpio_get_pin_level(M1_HALL_B_PIN);
+	//volatile uint8_t c = gpio_get_pin_level(M1_HALL_C_PIN);
+	//volatile uint8_t motor_read2 = ((a << 2)|(b << 1)|(c << 0));
+	//return ((a << 2)	|
+		//(b << 1)	|
+		//(c << 0));
+	return motor_read;
+}
+
+volatile uint8_t readHallSensorM2(void)
+{
+	
+	volatile uint8_t motor_read = 0;
+	motor_read = (motor_read & M2_HALL_A_MASK) | (uint8_t)((PORT->Group[M2_HALL_A_GROUP].IN.reg & M2_HALL_A_PORT)>>(M2_HALL_A_LSR)); 
+	motor_read = (motor_read & M2_HALL_B_MASK) | (uint8_t)((PORT->Group[M2_HALL_B_GROUP].IN.reg & M2_HALL_B_PORT)>>(M2_HALL_B_LSR)); 
+	motor_read = (motor_read & M2_HALL_C_MASK) | (uint8_t)((PORT->Group[M2_HALL_C_GROUP].IN.reg & M2_HALL_C_PORT)>>(M2_HALL_C_LSR)); 
+	
+	if(((motor_read == INVALID_HALL_0) || (motor_read == INVALID_HALL_7))) {
+		Motor2.motor_state.fault = MOTOR_HALLSENSORINVALID;
+		Motor2.motor_state.currentstate = MOTOR_FAULT;
+		//applicationStatus.currentstate = APP_FAULT;
+	}
+	
+	
+	
+	//volatile uint8_t a = gpio_get_pin_level(M2_HALL_A_PIN);
+	//volatile uint8_t b = gpio_get_pin_level(M2_HALL_B_PIN);
+	//volatile uint8_t c = gpio_get_pin_level(M2_HALL_C_PIN);	
+	//volatile uint8_t motor_read2 = ((a << 2)|(b << 1)|(c << 0));
+	//return ((a << 2)	|
+			//(b << 1)	|
+			//(c << 0));
+	return motor_read;
 }
 
 // ----------------------------------------------------------------------
diff --git a/2_Motor_Master/Motor_Master/Motor_Master/bldc.h b/2_Motor_Master/Motor_Master/Motor_Master/bldc.h
index 4796651..c3558ea 100644
--- a/2_Motor_Master/Motor_Master/Motor_Master/bldc.h
+++ b/2_Motor_Master/Motor_Master/Motor_Master/bldc.h
@@ -26,8 +26,8 @@
 #define DIRECTION_CCW_OFFSET	(8) //CBA
 
 /* if the Hall sensor reads 0x0 or 0x7 that means either one of the hall sensor is damaged or disconnected*/
-#define INVALID_HALL_0              (0U)
-#define INVALID_HALL_7              (7U)
+#define INVALID_HALL_0              (0)
+#define INVALID_HALL_7              (7)
 
 // ----------------------------------------------------------------------
 // 	ADC Parameters
@@ -88,7 +88,8 @@ static void BLDC_runSpeedCntl(BLDCMotor_t *motor, const float32_t speedfbk, cons
 static void BLDC_runCurrentCntl(BLDCMotor_t *motor, const float32_t curfbk, const float32_t curRef);
 static void BLDC_runPosCntl(BLDCMotor_t *motor, int16_t posfbk, int16_t posRef);
 static void BLDC_runOpenLoop(BLDCMotor_t *motor, int16_t duty);
-uint8_t readHallSensorM1(void);
-uint8_t readHallSensorM2(void);
+volatile uint8_t readHallSensorM1(void);
+volatile uint8_t readHallSensorM2(void);
+volatile uint8_t readHallSensorM1v2(void);
 
 #endif /* BLDC_H_ */
\ No newline at end of file
diff --git a/2_Motor_Master/Motor_Master/Motor_Master/configuration.h b/2_Motor_Master/Motor_Master/Motor_Master/configuration.h
index 30adfb2..04a3aa1 100644
--- a/2_Motor_Master/Motor_Master/Motor_Master/configuration.h
+++ b/2_Motor_Master/Motor_Master/Motor_Master/configuration.h
@@ -45,24 +45,24 @@ inline static void configure_tcc_pwm(void)
 	hri_tcc_set_WAVE_POL3_bit(TCC0);
 	hri_tcc_set_WAVE_POL4_bit(TCC0);
 	hri_tcc_set_WAVE_POL5_bit(TCC0);
-	hri_tcc_write_CC_CC_bf(TCC0, 0, 150);
-	hri_tcc_write_CC_CC_bf(TCC0, 1, 150);
-	hri_tcc_write_CC_CC_bf(TCC0, 2, 150);
-	hri_tcc_write_CC_CC_bf(TCC0, 3, 150);
-	hri_tcc_write_CC_CC_bf(TCC0, 4, 150);
-	hri_tcc_write_CC_CC_bf(TCC0, 5, 150);
+	hri_tcc_write_CC_CC_bf(TCC0, 0, 0);
+	hri_tcc_write_CC_CC_bf(TCC0, 1, 0);
+	hri_tcc_write_CC_CC_bf(TCC0, 2, 0);
+	hri_tcc_write_CC_CC_bf(TCC0, 3, 0);
+	hri_tcc_write_CC_CC_bf(TCC0, 4, 0);
+	hri_tcc_write_CC_CC_bf(TCC0, 5, 0);
 	hri_tcc_write_PER_reg(TCC0,1200);
 	//hri_tcc_write_CCBUF_CCBUF_bf(TCC0, 0,250);
 	hri_tcc_write_CTRLA_ENABLE_bit(TCC0, 1 << TCC_CTRLA_ENABLE_Pos);	
 	
 	/* TCC1 */
 	hri_tcc_set_WEXCTRL_OTMX_bf(TCC1, 0x02);
-	hri_tcc_write_CC_CC_bf(TCC1, 0, 150);
-	hri_tcc_write_CC_CC_bf(TCC1, 1, 150);
-	hri_tcc_write_CC_CC_bf(TCC1, 2, 150);
-	hri_tcc_write_CC_CC_bf(TCC1, 3, 150);
-	hri_tcc_write_CC_CC_bf(TCC0, 4, 150);
-	hri_tcc_write_CC_CC_bf(TCC0, 5, 150);
+	hri_tcc_write_CC_CC_bf(TCC1, 0, 0);
+	hri_tcc_write_CC_CC_bf(TCC1, 1, 0);
+	hri_tcc_write_CC_CC_bf(TCC1, 2, 0);
+	hri_tcc_write_CC_CC_bf(TCC1, 3, 0);
+	hri_tcc_write_CC_CC_bf(TCC0, 4, 0);
+	hri_tcc_write_CC_CC_bf(TCC0, 5, 0);
 	//
 	////pwm_set_parameters(&TCC_PWM, 1000, 250);
 	hri_tcc_set_WAVE_POL0_bit(TCC1);
diff --git a/2_Motor_Master/Motor_Master/Motor_Master/motorparameters.h b/2_Motor_Master/Motor_Master/Motor_Master/motorparameters.h
index 458dc70..fe9aaf3 100644
--- a/2_Motor_Master/Motor_Master/Motor_Master/motorparameters.h
+++ b/2_Motor_Master/Motor_Master/Motor_Master/motorparameters.h
@@ -16,8 +16,8 @@
 
 #define M1_HALL_A_PIN					GPIO(GPIO_PORTA, 4)
 #define M1_HALL_A_PORT					PORT_PA04
-#define M1_HALL_A_MASK					~(1<<0)
-#define M1_HALL_A_LSR					M1_HALL_A_PIN	- M1_HALL_A_GROUP*32 -0
+#define M1_HALL_A_MASK					~(1<<2)
+#define M1_HALL_A_LSR					M1_HALL_A_PIN	- M1_HALL_A_GROUP*32 -2
 #define M1_HALL_A_GROUP					M1_HALL_A_PIN/32
 
 #define M1_HALL_B_PIN					GPIO(GPIO_PORTA, 5)
@@ -28,8 +28,8 @@
 
 #define M1_HALL_C_PIN					GPIO(GPIO_PORTA, 6)
 #define M1_HALL_C_PORT					PORT_PA06
-#define M1_HALL_C_MASK					~(1<<2)
-#define M1_HALL_C_LSR					M1_HALL_C_PIN	- M1_HALL_C_GROUP*32 -2
+#define M1_HALL_C_MASK					~(1<<0)
+#define M1_HALL_C_LSR					M1_HALL_C_PIN	- M1_HALL_C_GROUP*32 -0
 #define M1_HALL_C_GROUP					M1_HALL_C_PIN/32
 
 // ----------------------------------------------------------------------
@@ -38,8 +38,8 @@
 
 #define M2_HALL_A_PIN					GPIO(GPIO_PORTA, 22)
 #define M2_HALL_A_PORT					PORT_PA22
-#define M2_HALL_A_MASK					~(1<<0)
-#define M2_HALL_A_LSR					M2_HALL_A_PIN	- M2_HALL_A_GROUP*32 -0
+#define M2_HALL_A_MASK					~(1<<2)
+#define M2_HALL_A_LSR					M2_HALL_A_PIN	- M2_HALL_A_GROUP*32 -2
 #define M2_HALL_A_GROUP					M2_HALL_A_PIN/32
 
 #define M2_HALL_B_PIN					GPIO(GPIO_PORTA, 23)
@@ -50,8 +50,8 @@
 
 #define M2_HALL_C_PIN					GPIO(GPIO_PORTA, 24)
 #define M2_HALL_C_PORT					PORT_PA24
-#define M2_HALL_C_MASK					~(1<<2)
-#define M2_HALL_C_LSR					M2_HALL_C_PIN	- M2_HALL_C_GROUP*32 -2
+#define M2_HALL_C_MASK					~(1<<0)
+#define M2_HALL_C_LSR					M2_HALL_C_PIN	- M2_HALL_C_GROUP*32 -0
 #define M2_HALL_C_GROUP					M2_HALL_C_PIN/32