diff --git a/2_Motor_Master/Motor_Master/Motor_Master/bldc.c b/2_Motor_Master/Motor_Master/Motor_Master/bldc.c
index 966d875..d5f80fc 100644
--- a/2_Motor_Master/Motor_Master/Motor_Master/bldc.c
+++ b/2_Motor_Master/Motor_Master/Motor_Master/bldc.c
@@ -35,7 +35,7 @@ void motor_StateMachine(BLDCMotor_t* const motor)
 		case  MOTOR_IDLE:
 			//hri_tcc_write_PATTBUF_reg(motor->motor_param->pwm_desc->device.hw,  DISABLE_PATTERN);
 			motor->motor_state.previousstate = motor->motor_state.currentstate;
-			motor->motor_state.currentstate = MOTOR_IDLE;
+			motor->motor_state.currentstate = MOTOR_PVI_CTRL_STATE;
 		break;
 		case MOTOR_OPEN_LOOP_STATE:
 			BLDC_runOpenLoop(motor, *M1_Desired_dc);
diff --git a/2_Motor_Master/Motor_Master/Motor_Master/main.c b/2_Motor_Master/Motor_Master/Motor_Master/main.c
index ecc8a56..2262acb 100644
--- a/2_Motor_Master/Motor_Master/Motor_Master/main.c
+++ b/2_Motor_Master/Motor_Master/Motor_Master/main.c
@@ -77,7 +77,9 @@ void enable_NVIC_IRQ(void)
 	//NVIC_EnableIRQ(TC2_IRQn);	 // TC2: M1_Speed_Timer
 	//NVIC_EnableIRQ(TC4_IRQn);	 // TC4: M2_Speed_Timer
 	NVIC_EnableIRQ(DMAC_0_IRQn);
-	//NVIC_SetPriority(DMAC_0_IRQn, 1);
+	NVIC_EnableIRQ(DMAC_1_IRQn);
+	NVIC_SetPriority(DMAC_0_IRQn, 2);
+	NVIC_SetPriority(ADC1_0_IRQn, 3);
 	NVIC_EnableIRQ(TCC0_0_IRQn);
 	NVIC_EnableIRQ(TCC1_0_IRQn);
 	//NVIC_SetPriority(TCC0_0_IRQn, 3);
@@ -184,6 +186,7 @@ int main(void)
 			PORT->Group[1].OUTCLR.reg = (1<<GPIO_PIN(SPI1_CS));
 			_dma_enable_transaction(DMAC_CHANNEL_CONF_SERCOM_1_RECEIVE, false);
 			_dma_enable_transaction(DMAC_CHANNEL_CONF_SERCOM_1_TRANSMIT, false);
+			volatile int x = 1;
 			//spi_m_dma_transfer(&SPI_1_MSIF, (uint8_t*)Slave_1.tx_buffer, (uint8_t*)Slave_1.rx_buffer, MASTER_BUFFER_SIZE);
 		}
 		
diff --git a/Twincat/MotorData/.vs/MotorData/v15/.suo b/Twincat/MotorData/.vs/MotorData/v15/.suo
index 9d9a1a7..63ea731 100644
Binary files a/Twincat/MotorData/.vs/MotorData/v15/.suo and b/Twincat/MotorData/.vs/MotorData/v15/.suo differ
diff --git a/Twincat/MotorData/MotorData.sln b/Twincat/MotorData/MotorData.sln
index 1206126..53e8314 100644
--- a/Twincat/MotorData/MotorData.sln
+++ b/Twincat/MotorData/MotorData.sln
@@ -1,6 +1,6 @@
 
 Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio 15
+# TcXaeShell Solution File, Format Version 11.00
 VisualStudioVersion = 15.0.28010.2050
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{B1E792BE-AA5F-4E3C-8C82-674BF9C0715B}") = "MotorData", "MotorData\MotorData.tsproj", "{627AF960-8AD6-492C-BE55-42F15976A40C}"